Drug dispensing robot

Abstract

Embodiments of the present invention relate to the field of robots and disclose a medicine dispensing robot. 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 is provided with a longitudinal through hole; and a medicine pushing rod connected to the main shaft and disposed above the medicine dispensing tray; and a first power module connected to the medicine pushing rod; and a control module connected to the first power module; and a medicine taking cup disposed below the medicine dispensing tray; wherein, the medicine pushing rod includes: a main joint connected to the first power module; and a rear medicine pushing rod connected to the main joint; and an auxiliary joint connected to the rear medicine pushing rod; and a front medicine pushing rod connected to the auxiliary joint; the main joint drives the overall rotation of the rear medicine pushing rod, the auxiliary joint and the front medicine pushing rod, and the auxiliary joint drives the rotation of the front medicine pushing rod. The technical solution provided by the embodiments of the present application can push out medicines to the medicine taking cup through the medicine pushing rod for the user to take the medicines.

Description

Technical Field

[0001] The embodiments of the present invention relate to the field of robots, and particularly to a medicine dispensing robot. Background Art

[0002] The development of the medical and health undertakings has enabled the treatment or control of many diseases, greatly improving the health level of humans and extending the lifespan of humans. Many diseases that were previously 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 simultaneously 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, which can dial out medicines to a medicine-taking cup through a medicine-dialing rod for users to take the medicines.

[0004] To solve the above technical problems, in a first aspect, the embodiments of the present invention provide a medicine dispensing robot, including: a main shaft; a medicine dispensing tray connected to the main shaft, the medicine dispensing tray being provided with a longitudinal through hole; a medicine-dialing rod connected to the main shaft and disposed above the medicine dispensing tray; a first power module connected to the medicine-dialing rod; a control module connected to the first power module; and a medicine-taking cup disposed below the medicine dispensing tray; wherein the medicine-dialing rod includes: a main joint connected to the first power module; a rear dialing rod connected to the main joint; an auxiliary joint connected to the rear dialing rod; and a front dialing rod connected to the auxiliary joint; the main joint drives the overall rotation of the rear dialing rod, the auxiliary joint and the front dialing rod, and the auxiliary joint drives the rotation of the front dialing rod.

[0005] Compared with the prior art, in the embodiments of the present invention, the control module of the medicine dispensing robot controls the rotation of the front dialing rod and the rear dialing rod of the medicine-dialing rod to dial out the medicines to the medicine-taking cup for users to take the medicines. Compared with pouring out the medicines and then the user taking the specified number of medicines by hand, obtaining the specified number of medicines through the medicine dispensing robot causes less pollution to the medicines that are not taken this time and improves the safety of the medicines. Brief Description of the Drawings

[0006] One or more embodiments are exemplarily illustrated by the pictures in the corresponding drawings. These exemplary illustrations do not constitute limitations on the embodiments. Elements with the same reference numerals in the drawings are represented as similar elements, unless otherwise stated, and the drawings in the drawings do not constitute a proportional limitation.

[0007] Figure 1 is a schematic structural diagram of a medicine dispensing robot in an embodiment of the present application;

[0008] Figure 2It is a schematic structural diagram of the rear medicine dispensing rod after the front lever of the medicine dispensing robot rotates around the rear lever in an embodiment of the present application;

[0009] Figure 3 It is a schematic structural diagram of a medicine dispensing rod in an embodiment of the present application;

[0010] Figure 4 It is a schematic structural diagram of the medicine dispensing robot in another embodiment of the present application;

[0011] Figure 5 It is a schematic structural diagram of the medicine dispensing robot in another embodiment of the present application;

[0012] Figure 6 It is a schematic structural diagram of the first push rod of the medicine dispensing robot in an embodiment of the present application;

[0013] Figure 7 It is a schematic structural diagram of the first push rod of the medicine dispensing robot in another embodiment of the present application;

[0014] Figures 8a - 8c It is a schematic structural diagram of the connection part between the first push rod and the medicine storage cup in a connection mode between the first push rod and the medicine storage cup of the medicine dispensing robot in an embodiment of the present application;

[0015] Figure 9a It is a schematic structural diagram of the medicine storage cup in another connection mode between the first push rod and the medicine storage cup of the medicine dispensing robot in an embodiment of the present application;

[0016] Figure 9b It is a schematic structural diagram of the first push rod in another connection mode between the first push rod and the medicine storage cup of the medicine dispensing robot in an embodiment of the present application;

[0017] Figure 10 It is a schematic structural diagram of the medicine dispensing robot in yet another embodiment of the present application;

[0018] Figure 11 It is a schematic structural diagram of the medicine dispensing robot in still another embodiment of the present application;

[0019] Figure 12 It is a schematic structural diagram of the medicine dispensing robot with a light source in an embodiment of the present application;

[0020] Figure 13 It is a schematic position diagram of the first power module, the second power module, the third power module, the fourth power module and the fifth power module in an embodiment of the present application;

[0021] Figure 14 It is a schematic flow diagram of the medicine dispensing vision method executed by the medicine dispensing robot in an embodiment of the present application;

[0022] Figure 15 It is a schematic flowchart of the visual medicine dispensing method executed by the medicine dispensing robot in another embodiment of the present application;

[0023] Figure 16a of the present application Figure 15 In the visual medicine dispensing method shown, when the rotating tray is in the rotating position and the rotating tray rotates to the second preset position, it is a partial structural schematic diagram of the medicine dispensing robot;

[0024] Figure 16b of the present application Figure 16a In the medicine dispensing robot shown, when the rotating tray rises to the medicine dispensing position, it is a partial structural schematic diagram of the medicine dispensing robot;

[0025] Figure 16c of the present application Figure 16a In the medicine dispensing robot shown, when the first push rod pushes the movable bottom of the medicine storage cup upward, it is a partial structural schematic diagram of the medicine dispensing robot;

[0026] Figures 17a - 17d is Figure 15 Schematic diagram of picking up medicine from the medicine pushing rod to area B in the visual medicine dispensing method of the medicine dispensing robot shown;

[0027] Figure 18a of the present application Figure 15 In the visual medicine dispensing method shown, when the rotating tray descends to the rotating position, it is a partial structural schematic diagram of the medicine dispensing robot;

[0028] Figure 18b of the present application Figure 15 In the visual medicine dispensing method shown, when the rotating tray is in the rotating position and the rotating tray rotates to the third preset position, it is a partial structural schematic diagram of the medicine dispensing robot;

[0029] Figure 18c of the present application Figure 15 In the visual medicine dispensing method shown, when the rotating tray rises to the medicine dispensing position again, it is a partial structural schematic diagram of the medicine dispensing robot;

[0030] Figure 18d of the present application Figure 15 In the visual medicine dispensing method shown, when the rotating tray descends to the rotating position again, it is a partial structural schematic diagram of the medicine dispensing robot;

[0031] Figures 19a - 19b of the present application Figure 15 Schematic diagram of the process of the front medicine pushing rod and the rear medicine pushing rod cooperating to dispense medicine in the visual medicine dispensing method shown;

[0032] Figures 20a - 20c of the present application Figure 15In the visual medicine dispensing method shown, it is a schematic diagram of the process in which the medicine dispensing rod rotates along the direction of the remaining medicine to the first preset position;

[0033] Figures 21a - 21c is of the present application Figure 15 In the visual medicine dispensing method shown, it is a schematic diagram of the process in which the medicine dispensing rod rotates along the first direction and dispenses the dispensed medicine to the position where the longitudinal through hole is located;

[0034] Figures 22a - 22c is of the present application Figure 15 In the visual medicine dispensing method shown, it is a schematic diagram of the process in which the medicine dispensing rod rotates along the second direction and dispenses the dispensed medicine to the position where the longitudinal through hole is located;

[0035] Figure 23 is a schematic diagram of the flow of the medicine dispensing visual medicine dispensing method executed by the medicine dispensing robot in still another embodiment of the present application;

[0036] Figure 24 is a schematic diagram of the structure of a medicine dispensing system in one embodiment of the present application;

[0037] Figure 25 is a schematic diagram of the structure of a medicine dispensing system in another embodiment of the present application. Detailed implementation manners

[0038] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the following will elaborate on the various embodiments of the present invention with reference to the accompanying drawings. However, those of ordinary skill in the art can understand that in the various embodiments of the present invention, many technical details are provided to help readers better understand the present application. However, even without these technical details and various changes and modifications based on the following embodiments, the technical solutions claimed in the present application can still be implemented. The following division of each embodiment is for convenience of description and should not constitute any limitation on the specific implementation manners of the present invention. The various embodiments can be combined and cross-referenced with each other on the premise of not being contradictory.

[0039] In the description of the disclosure of the present invention, it should be understood that the terms "first", "second", etc. are only used for descriptive purposes and cannot be construed as indicating or implying relative importance. In addition, in the description of the disclosure of the present invention, unless otherwise specified, the meaning of "a plurality" is two or more.

[0040] In the embodiments of the present application, as Figure 1 shown, the medicine dispensing robot includes: 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 disposed above the medicine dispensing tray 12; and a first power module connected to the medicine dispensing rod 13 ( Figure 1(not shown); and, a control module connected to the first power module ( Figure 1 (not shown); and, a medicine-taking cup 14 disposed below the medicine dispensing tray 12. Among them, the medicine pushing rod 13 includes: a main joint 131 connected to the first power module; and, a rear pushing rod 132 connected to the main joint 131; and, an auxiliary joint 133 connected to the rear pushing rod 132; and, a front pushing rod 134 connected to the auxiliary joint 133; wherein, the main joint 131 drives the overall rotation of the rear pushing rod 132, the auxiliary joint 133 and the front pushing rod 134, and the auxiliary joint 133 drives the rotation of the front pushing rod 134.

[0041] In the embodiment of the present application, the control module of the medicine dispensing robot rotates the front pushing rod and the rear pushing rod of the medicine pushing rod to push out the medicine into the medicine-taking cup for the user to take the medicine. Compared with pouring out the medicine and then the user taking the specified number of medicines by hand, obtaining the specified number of medicines through the medicine dispensing robot 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, obtaining the specified number of medicines through the medicine dispensing robot causes less pollution to the medicines that are not taken this time, improving the safety of the medicines.

[0042] It should be noted that those skilled in the art can understand that the first power module can be disposed inside the main shaft to reduce the space occupied by the first power module, or can be disposed at other positions. The first power module can provide power for the medicine pushing rod 13, and the setting position of the control module is not limited in this embodiment.

[0043] 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 matching the gear set of the first power module and rotates under the drive of the gear set of the first power module.

[0044] Optionally, the minimized design of the auxiliary joint 133 satisfies that the front pushing rod 134 can rotate around the auxiliary joint 133.

[0045] For example, as Figure 1 shown, the auxiliary joint 133 includes a rotating shaft, that is, the front pushing rod 134 and the rear pushing rod 132 are connected by a rotating shaft. To enable the front pushing rod to rotate, the medicine pushing rod further includes an elastic cord, and the front pushing rod 134 and the rear pushing rod 132 are of a hollow structure. The elastic cord passes through the front pushing rod 134, and the elastic cord is in a state of being straightened but without tension when the front pushing rod 134 and the rear pushing rod 132 are parallel, as Figure 1 shown. The elastic cord is connected to the servo motor, and the servo motor rotates to pull the elastic cord. Driven by the tension, the front pushing rod 134 will rotate around the rear pushing rod 132, as Figure 2As shown, the servo motor rotates in the reverse direction, and the elastic cord loosens. The release of the tension of the elastic cord causes the front medicine-pushing rod 134 and the rear medicine-pushing rod 132 to return to a straight-line state. In this way, the servo motor of the secondary joint can be saved, and the cost can be reduced.

[0046] It should be noted that those skilled in the art can understand that the medicine-pushing rod 13 can also adopt other designs. For example, a servo motor for controlling the secondary joint 133 can be arranged on the main shaft, and the medicine-pushing rod 13 can be controlled by the servo motor for controlling the main joint 131 and the servo motor for controlling the secondary joint 133. This embodiment is only for illustration.

[0047] In one embodiment, as Figure 3 shown, the side of the front medicine-pushing rod 134 close to the medicine-dividing tray 12 is serrated. Specifically, considering that the distance between small-volume medicines may be too small, making it difficult for the front medicine-pushing rod to accurately insert between the medicines. In this embodiment, the side of the front medicine-pushing rod 134 close to the medicine-dividing tray is designed to be serrated. This enables small-volume medicines to be separated by the serrations, facilitating the accurate insertion of the front medicine-pushing rod between the medicines.

[0048] Optionally, the diameter of the medicine < the serration pitch d < 2 * the diameter of the medicine.

[0049] It should be noted that those skilled in the art can understand that the front medicine-pushing rod 134 can also adopt other designs, and this embodiment does not make any restrictions.

[0050] In one embodiment, as Figure 3 shown, the side of the front medicine-pushing rod away from the secondary joint is pointed. Specifically, the head part of the front medicine-pushing rod is called the rod head. In order to improve the speed of separating medicines by the rod head, the rod head can be made thinner so that the rod head can be inserted into the medicines.

[0051] In one embodiment, as Figure 4 shown, the medicine-dividing robot further includes: a photographing module 15 connected to the control module; the photographing area of the photographing module 15 includes the area where the medicine-dividing tray is located.

[0052] It should be noted that those skilled in the art can understand that the control module can be arranged inside the main shaft or at other positions. The control module can receive the images captured by the photographing module 15 and control the medicine-pushing rod 13 by controlling the first power module. This embodiment does not limit the installation position of the control module.

[0053] It should be noted that Figure 4The structure of the medicine dispensing robot is illustrated by taking the example of the shooting module 15 being suspended on the shell 21 of the medicine dispensing robot. In actual applications, the shooting module 15 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 15.

[0054] In one embodiment, Figure 5 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 14 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 5 and a first push rod 18 connected to the bottom 172 of the medicine storage cup; and a third power module ( Figure 5 (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 14. 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 14 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 14, wherein the first preset position is the position of the longitudinal through hole.

[0055] 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 14 as an example. In actual applications, the medicine storage cup 17 and the medicine dispensing cup 14 can also be controlled to rotate separately. For example, one or more medicine storage cups 17 and medicine dispensing cups 14 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 14 separately by controlling each independent rotating bracket. This embodiment does not impose any limitation.

[0056] 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.

[0057] It should be noted that Figure 5 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.

[0058] 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.

[0059] The following Figure 5 The structure of the first push rod 18 in FIG. 1 is illustrated by way of example.

[0060] In one embodiment, Figure 6 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.

[0061] Optional, such as Figure 7 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 .

[0062] 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.

[0063] In another example, to enable the first push rod to have a pushing effect, a longitudinal opening is provided on the main shaft 11, the third power module is arranged inside 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 longitudinal opening is provided on the main shaft 11, the second push rod branch 182 can move up and down.

[0064] It should be noted that those skilled in the art can understand that the pushing effect of the first push rod can also be achieved by other means, and this embodiment will not list them one by one.

[0065] The following gives an example of the connection method between the first push rod 18 and the medicine storage cup.

[0066] In one example, as Figure 8a , the connection between the medicine storage cup 17 and the first push rod 18 is realized by an electromagnet. Specifically, the medicine storage cup 17 includes a medicine storage cup wall 171, a movable bottom 172 of the medicine storage cup, and a fixed bottom 173 of the medicine storage cup. The fixed bottom 173 of the medicine storage cup is connected to the medicine storage cup wall 171 and is located below the movable bottom 172 of the medicine storage cup to prevent the movable bottom 172 of the medicine storage cup from falling off. A longitudinal through hole is provided in the middle of the fixed bottom 173 of the medicine storage cup for the first push rod 18 to pass through and connect. The movable bottom 172 of the medicine storage cup 17 is made of a material that can be magnetically attracted, for example, metal, etc. The first push rod support 183 on the first push rod 18 is an electromagnet device. The first push rod support 183 and the movable bottom 172 of the medicine storage cup form a coupling device, and this coupling device ensures that the medicine storage cup 17 is placed in a fixed position. As Figure 8b and Figure 8c shown, when the electromagnet is energized, the first push rod 18 and the movable bottom 172 of the medicine storage cup are attracted together, and the first push rod 18 can push or pull the movable bottom 172 of the medicine storage cup. When the medicine storage cup 17 needs to be taken out, the electromagnet is powered off.

[0067] In another example, the movable bottom 172 of the medicine storage cup is provided with a first slide rail 174, as Figure 9a shown. The first push rod support 183 is provided with a second slide rail 184, as Figure 9b shown. The first slide rail 174 is matched with the second slide rail 184 to achieve coupling. Among them, the structure of the medicine storage cup 17 Figures 8a - 8c is similar, the difference is that the material of the movable bottom 172 of the medicine storage cup can be any material.

[0068] It should be noted that those skilled in the art can understand that other connection methods can also be adopted between the movable 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 after the first push rod 18 and the movable bottom 172 of the medicine storage cup are connected, they can achieve pushing and pulling. This embodiment does not limit the connection method between the movable bottom 172 of the medicine storage cup and the first push rod 18.

[0069] Optionally, to further ensure that the medicine storage cup 17 is placed in the designated position, a positioning device can be installed on the first push rod 18 and the movable bottom of the medicine storage cup 17. After detecting that the positioning device is activated, subsequent operations such as medicine dispensing are performed.

[0070] In one embodiment, as Figure 10 shown, the medicine taking cup 14 includes a medicine taking cup wall 141 and a movable bottom 142 of the medicine taking cup. The movable bottom 142 of the medicine taking cup is located inside the medicine taking cup wall 141; the medicine dispensing robot further includes: a second push rod 19 connected to the movable bottom 142 of the medicine taking cup; and a fifth power module (not shown) connected to the second push rod 19. Among them, the connection method between the second push rod 19 and the medicine taking cup 14 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 taking cup 14 and the second push rod 19 will not be elaborated here.

[0071] It is worth mentioning that if the medicine taking cup 14 is fixed by an electromagnet, the medicine dispensing robot can control the energization and de-energization of the electromagnet according to the user's medication time to avoid accidental ingestion of medicine. Specifically, at the user's medication time, the electromagnet is de-energized so that the user can pick up the medicine taking cup 14 to prevent the user from picking up the medicine taking cup 14 at the wrong time and causing accidental ingestion of medicine.

[0072] It should be noted that those skilled in the art can understand that the medicine storage cup 17 or the medicine taking cup 14 given in this embodiment is a circular cup body. In practice, it can also be designed in 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, and the centers of the multiple medicine storage cups 17 coincide to form a circle, or multiple medicine taking cups 14 are set as fan-shaped cup bodies with the same arc length, and the centers of the multiple medicine taking cups 14 coincide to form a circle, the space can be utilized more fully.

[0073] In one embodiment, on the basis of the Figure 10 shown medicine dispensing robot, the medicine dispensing robot further includes: a waste medicine cup arranged above the rotating tray 16. When the user fails to take medicine on time, to prevent the medicine dispensed this time from being retained in the medicine taking cup 14 and causing accidental ingestion next time, the medicine dispensing robot controls the second push rod 19 to push the movable bottom of the medicine taking cup upward, and the medicine in the medicine taking cup 14 passes through the longitudinal through hole 120, so that the medicine pushing rod 13 can push out the medicine in the medicine taking cup 14. The medicine dispensing robot controls the second push rod 19 to pull the movable bottom of the medicine taking cup 14 back to the bottom end of the medicine taking cup wall. 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 pushing rod 13 to push the medicine pushed out from the medicine taking cup 14 to the longitudinal through hole 120 so that the medicine falls into the waste medicine cup.

[0074] 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. The fourth power module for controlling the rotating tray 16 is arranged inside the medicine dispensing robot. When it is necessary to rotate the rotating tray 16, the position of the rotating tray 16 is lowered to reduce the friction between the medicine dispensing tray 12, the medicine storage cup 17 and the medicine taking cup 14 during the rotation of the rotating tray 16, delay the service life of the medicine dispensing tray 12, the medicine storage cup 17 and the medicine taking cup 14, and reduce the maintenance cost. 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 rotating position.

[0075] In one embodiment, a lid or a plug matching the medicine storage cup 17 is arranged below the medicine dispensing tray 12; alternatively, the lower surface layer of the medicine dispensing tray 12 is a flexible layer. By arranging a lid or a plug below the medicine dispensing tray 12, when medicine dispensing is not required, 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 at the sixth preset position, the medicine storage cup 17 abuts against the lid or the plug. Through the lid or the plug, the flow of air inside and outside the medicine storage cup 17 can be reduced, and the airtightness and dryness inside the medicine storage cup 17 can be maintained.

[0076] It should be noted that those skilled in the art can understand that other measures can also be taken to improve the dryness of the environment where the medicine is located. For example, a drying module is arranged inside the medicine dispensing robot (such as on the rotating tray 16), and the drying module is used to place desiccant. Another example is that the medicine dispensing robot is also provided with a door, and the medicine storage cup and the medicine taking cup are taken out and put in through this door; or, the medicine dispensing robot is provided with a door for each position where the medicine storage cup and the medicine taking cup are placed. The 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 is limited when putting and taking medicine.

[0077] Optionally, the size of the lid is greater than or equal to the size of the medicine storage cup. The size of the plug is equal to the size of the medicine storage cup.

[0078] It should be noted that those skilled in the art can understand that the number of plugs or lids is set according to the number of medicine storage cups, and this embodiment does not make any restrictions.

[0079] In one embodiment, as Figure 11 shown, the medicine dispensing robot further includes: an annular railing 121, which is an annular railing arranged above the medicine dispensing tray 12, and the center of the annular railing 121 coincides with the main shaft 11; a transverse through hole is provided on one side of the medicine dispensing rod 13 close to the medicine dispensing tray 12, and the annular railing 121 passes through this transverse through hole.

[0080] Specifically, a circular baffle 121 is provided on the medicine dispensing tray 12. Optionally, in a top view, the circular baffle 121 and the medicine dispensing tray 12 are two concentric circles. These two concentric circles divide the Figure 11 medicine dispensing working area 122 in Figure 11 . The medicine dispensing working area 122 refers to the working area where the medicine dispensing rod 13 is used to dispense medicine. The medicine is confined within the medicine dispensing working area 122 by the circular baffle 121. Among them, the medicine dispensing working 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 in the medicine dispensing working area 122 other than area A. Since the inner edge of the medicine dispensing working area 122 is smooth and there is no dead angle that the medicine dispensing rod 13 cannot reach, the medicine for this dispensing can be prevented from remaining in the medicine dispensing working area 122 and then being misidentified as the medicine for the next dispensing and distributed to the patient, resulting in the patient accidentally taking it.

[0081] Optionally, the transverse through hole is located in the rear rod.

[0082] It should be noted that those skilled in the art can understand that the circular baffle can also be arranged in other ways. For example, a circular slide rail is provided on the medicine dispensing tray, and the circular baffle is connected to the circular slide rail so that the circular baffle rotates along the circular slide rail; there is an opening on the circular baffle, and the medicine dispensing rod is arranged in the opening. Among them, the size of the opening matches the medicine dispensing rod to prevent the medicine from passing through the opening and reaching the inside of the circular baffle. The setting method of the circular baffle is not limited in this embodiment.

[0083] The control module will be illustrated by way of example below.

[0084] In one embodiment, the control module includes a processing sub-module with processing capabilities, and the shooting module is connected to the processing sub-module. The medicine dispensing robot processes the images or other data captured by the shooting module through the processing sub-module, and controls the cooperation of each structure in the medicine dispensing robot to complete operations such as medicine dispensing based on the processing results.

[0085] In another embodiment, the control module includes a processing sub-module and a communication sub-module. The shooting module is connected to the communication sub-module, and the communication sub-module is connected to the cloud, the terminal or the edge server. Specifically, the relevant programs for the medicine dispensing robot to perform operations such as medicine dispensing are stored in the cloud, the terminal or the edge server, or are distributed among the cloud, the edge server and the terminal as needed. The medicine dispensing robot sends the images captured by the shooting module to the cloud, the terminal or the edge server through the communication sub-module. The cloud, the terminal or the edge server analyzes the images and generates various control instructions. The communication sub-module receives the various control instructions and transmits them to the processing sub-module, so that the processing sub-module controls the various structures in the medicine dispensing robot to cooperate to complete operations such as medicine dispensing based on the control instructions. Among them, the communication sub-module includes, but is not limited to, Bluetooth, ZigBee, WiFi, LoRa, GSM, 3G, 4G, 5G, etc.

[0086] In one embodiment, the shooting module includes one or more cameras. The images captured by the one or more cameras can show the situation of the medicines in the medicine dispensing work area.

[0087] It should be noted that those skilled in the art can understand that the number and installation position of the cameras can be determined according to the size of the medicine dispensing robot, etc., and no limitation is made here.

[0088] In one embodiment, as Figure 12 shown, the medicine dispensing robot further includes a light source 20, and the light source 20 can be fixed on the housing 21. Since the light source 20 is provided in the medicine dispensing robot, the environmental brightness of the medicine dispensing tray is increased, making the images captured by the shooting module clearer.

[0089] It should be noted that Figure 12 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, as long as it can improve the environmental brightness of the medicine dispensing work area. This embodiment does not play a limiting role.

[0090] In one embodiment, the medicine dispensing robot further includes a reminder module connected to the control module for reminding the user to take medicine. Specifically, due to the development of the medical and health undertakings, many diseases can be treated or controlled, greatly improving the health level of humans and extending their lifespan. Many diseases that were previously difficult to cure have become chronic diseases that require long-term treatment. During the process of taking medicine for a long time, the problem of not taking medicine on time becomes prominent. At the same time, the types of drugs and health products taken by humans are becoming more and more diverse. Therefore, there is also the problem of not taking the required medicine correctly and completely. Medication compliance refers to the behavior of a patient taking medicine in accordance with the doctor's advice. The reasons for problems with taking medicine are diverse. Among them, 70% of the reasons are related to the behavioral factors of the person taking the medicine. For different people, these behavioral factors vary greatly. Taking age as an example, for the elderly, most of the reasons are forgetting; for middle-aged and young people, most of the reasons are being busy at work; for children, most of the reasons are the dereliction of duty of the guardian or the immaturity of the child, etc. Therefore, more extensive medication management, including a series of services such as medication reminders, dosage instructions, rational drug use, patient education, follow-up visits, consultation and guidance, etc., to achieve the purpose of improving compliance and enhancing the curative effect, is the very important last mile in treatment. To address these issues, in this embodiment, the medicine dispensing robot can automatically dispense the medicine for each meal, remind the user to take the medicine, find out whether the user has taken the medicine, and even participate in the treatment. Placing the medicine dispensing robot beside the person taking the medicine, like a home caregiver, can improve the compliance of the person taking the medicine and prevent medication risks.

[0091] It should be noted that those skilled in the art can understand that relying on its ability to dispense medicine and remind the user to take medicine, the medicine dispensing robot can also provide other medical and health-related services, such as medication guidance, diet management, lifestyle management, follow-up visits, patient education, remote consultation, recommendation of health management services, prescription renewal, etc. This embodiment does not list them all.

[0092] 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 means such as lights, pictures, sounds, videos, etc.

[0093] 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, which 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. Another example is that the communication module is communicatively connected to 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 illustrative purposes and does not limit the implementation manner of the reminder module.

[0094] In one example, the medicine dispensing robot first performs the medicine dispensing operation and then the reminder operation. The medicine dispensing operation is completed first and then the user is reminded to take the medicine, so the user does not need to wait for the medicine dispensing robot to complete the medicine dispensing operation.

[0095] In another example, the medicine dispensing robot first performs the reminder operation, and then, after determining that the user comes to take the medicine through devices such as a camera or an infrared sensor, performs the medicine dispensing operation. Dispensing the medicine after determining that the user comes to take the medicine can reduce the situation where the medicine is not taken after dispensing.

[0096] In one embodiment, as Figure 13 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. Among them, 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 up and down movement of the rotating tray. 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 may 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 to the linear gear to move up and down.

[0097] In one embodiment, the medicine dispensing robot can also be equipped with devices such as a heart rate detection module, a body temperature detection module, a blood pressure detection module, and a blood glucose detection module to provide more health and treatment services.

[0098] The above embodiments can be combined and cited with each other. For example, the following is an example after combining the embodiments, but it is not limited thereto; the embodiments can be arbitrarily combined into a new embodiment on the premise of not being contradictory.

[0099] It is worth mentioning that each module involved in the above embodiments is a logical module. In practical applications, a logical 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, units not closely related to solving the technical problems proposed by the present invention are not introduced in the above embodiments, but this does not mean that there are no other units in the above embodiments.

[0100] The present application also provides a visual medicine dispensing method, which is based on the vision system of a medicine dispensing robot. Among them, the vision system includes a shooting module and a vision algorithm (such as an image recognition algorithm, etc.). Among them, the vision algorithm can be set in the control module, or can be set in the cloud, the terminal or the 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. However, those skilled in the art can understand that in practical applications, medicine dispensing can also be based on other systems, for example, a gravity system, etc., that is, by sensing the weight of the medicine on the medicine dispensing tray to dispense medicine. This embodiment does not limit the specific medicine dispensing method.

[0101] As Figure 14 shown, the visual medicine dispensing method executed by the medicine dispensing robot includes the following steps.

[0102] Step 101: Obtain the target quantity of the medicine.

[0103] Specifically, when dispensing medicine for the first time, the medicine dispensing robot can determine the quantity of medicine that the user needs to take based on the user's medication plan, and use the required quantity of medicine as the target quantity of the medicine; or, the medicine dispensing robot uses the quantity of medicine that the user inputs as the target quantity of the medicine. After the first medicine dispensing, the medicine dispensing robot calculates the target quantity according to the quantity of medicine that the user needs to take and the quantity of medicine that drops into the medicine cup each time.

[0104] The following takes an example to illustrate the way for the medicine dispensing robot to obtain the medication plan.

[0105] The medication plan includes what medicine to take, the usage and dosage of the medicine, the taking time, etc. The medication plan can be input by the user into the medicine dispensing robot, or can be actively sent by the user's medical service or health service provider in the cloud to the medicine dispensing robot or the cloud connected to the medicine dispensing robot. It can also be that the medicine dispensing robot or the cloud sends a request to the user's medical service or health service provider, and the user's medical service or health service provider sends it to the medicine dispensing robot or the cloud after receiving the request.

[0106] In an example, the ways for the user to input the medication plan into the medicine dispensing robot include but are not limited to:

[0107] Way 1: The user places the identification code on the medicine bottle (which 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 pasted on the medicine bottle (which can be anywhere on the medicine bottle) to obtain the medication plan. Among them, the external camera refers to a camera whose shooting area is located outside the medicine dispensing robot. The identification code can be a QR code, a barcode, etc.

[0108] Method 2: The user places the paper material recording the medication plan in the shooting area of the external camera of the pill dispensing robot. The pill dispensing robot uses OCR (Optical Character Recognition) technology to recognize the medication plan on the paper material.

[0109] Method 3: The user interacts with the pill dispensing robot through voice or keyboard to input the medication plan into the pill dispensing robot.

[0110] Method 4: The user inputs the medication plan into the terminal, and the terminal transmits the medication plan to the pill dispensing robot, or the terminal transmits the medication plan to the cloud, and the cloud sends the medication plan to the pill dispensing robot.

[0111] Step 102: Dial the medicine in the medicine storage cup of the pill dispensing robot to the medicine dispensing tray of the pill dispensing robot.

[0112] Specifically, the user or the user's caregiver independently loads each medicine (or health product) to be taken into the medicine storage cup of the pill dispensing robot.

[0113] The following is an example of the method for the pill dispensing robot to move the medicine to the medicine dispensing tray.

[0114] In an example, the pill dispensing robot includes: a main shaft; and a medicine dispensing tray connected to the main shaft, the medicine dispensing tray is provided with a longitudinal through hole; and a medicine dialing rod connected to the main shaft and arranged above the medicine dispensing tray; and a first power module connected to the medicine dialing 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; and 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 movable bottom of the medicine storage cup, and the movable bottom of the medicine storage cup 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 bottom of the medicine storage cup; and a third power module connected to the first push rod. Among them, the medicine dialing rod includes: a main joint connected to the first power module; and a rear dialing rod connected to the main joint; and an auxiliary joint connected to the rear dialing rod; and a front dialing rod connected to the auxiliary joint; the main joint drives the rear dialing rod, the auxiliary joint and the front dialing rod to rotate as a whole, and the auxiliary joint drives the front dialing rod to rotate. The pill dispensing robot controls the rotation of the medicine dialing rod to dial out the medicine from the medicine taken out by the medicine storage cup to the medicine dispensing tray.

[0115] In another example, the medicine dispensing robot includes: a main shaft; a medicine dispensing tray connected to the main shaft, the medicine dispensing tray being provided with a longitudinal through hole; a medicine pushing rod connected to the main shaft and disposed above the medicine dispensing tray; a first power module connected to the medicine pushing 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 disposed below the medicine dispensing tray; a housing; a hanging rod and a medicine storage cup, one end of the hanging rod is fixed on the housing, and the other end is connected to an inclined rod at the bottom of the medicine storage cup. Among them, the medicine pushing rod includes: a main joint connected to the first power module; a rear medicine pushing rod connected to the main joint; an auxiliary joint connected to the rear medicine pushing rod; a front medicine pushing rod connected to the auxiliary joint; the main joint drives the rear medicine pushing rod, the auxiliary joint and the front medicine pushing rod to rotate as a whole, and the auxiliary joint drives the front medicine pushing rod to rotate. When taking medicine is needed, 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.

[0116] It should be noted that those skilled in the art can understand that in actual applications, other methods can also be used to obtain the medicine in the medicine storage cup, and they are not listed one by one in this embodiment.

[0117] Step 103: Based on the image captured by the shooting module, identify the number of the dispensed medicines.

[0118] Step 104: Determine whether the number of the dispensed medicines is less than or equal to the target number.

[0119] Specifically, if it is determined that the number of the dispensed medicines is less than or equal to the target number, execute Step 105; otherwise, execute Step 107.

[0120] Step 105: Control the medicine pushing rod of the medicine dispensing robot to push the dispensed medicines to the first preset position. Among them, the first preset position is the position where the longitudinal through hole is located.

[0121] Step 106: Determine whether the number of the dispensed medicines is equal to the target number.

[0122] Specifically, if it is determined that the quantity of the dispensed medicine is equal to the target quantity, the medicine dispensing process ends; if it is determined that the quantity of the dispensed medicine is not equal to the target quantity, return to execute step 101. That is, if the quantity of the medicine dispensed by the medicine dispensing lever is exactly equal to the target quantity, the medicine dispensing robot controls the medicine dispensing lever to continue rotating until all the medicine is pushed into the medicine taking cup. If the quantity of the dispensed medicine is less than the target quantity, the medicine dispensing robot controls the medicine dispensing lever to continue rotating until the medicine is pushed into the medicine taking cup. The medicine dispensing robot continues the next medicine dispensing process. In the next medicine dispensing process, when the medicine dispensing robot obtains the target quantity of the medicine, the target quantity of the medicine obtained = the quantity of the medicine the user needs to take - the sum of the quantity of the medicine dispensed into the medicine taking cup each time; or, the target quantity of the medicine = the target quantity in the previous medicine dispensing process - the quantity of the medicine dispensed into the medicine taking cup in the previous medicine dispensing process.

[0123] Step 107: Based on the image captured by the shooting module, control the front lever and the rear lever of the medicine dispensing lever to move, and scrape the medicine from the medicine dispensing tray. Then execute step 105.

[0124] Through the above operations, the medicine dispensing robot can control the medicine dispensing lever to dispense the quantity of medicine the user needs to take into the medicine taking cup to achieve automatic medicine dispensing.

[0125] Optionally, the visual medicine dispensing method further includes: sending a reminder message for reminding taking medicine.

[0126] Optionally, the visual medicine dispensing method further includes: determining whether the medicine taking cup is in a certain state. If it is determined to be so, record the current medicine taking record to record and count the user's medicine taking situation. The medicine taking record may include the time of taking the medicine this time, the type of the medicine taken, and the quantity of the medicine taken.

[0127] Optionally, upload the current medicine taking record to the cloud so that the cloud can record and count the user's medicine taking situation.

[0128] In one embodiment, as Figure 15 shown, the visual medicine dispensing method executed by the medicine dispensing robot includes the following steps. Among them, step 201, step 207, step 208, step 209 to step 211 are respectively substantially the same as Figure 14 the steps 101, step 103, step 104, step 106 and step 107 shown. The same parts are not described herein again. The following mainly introduces the differences.

[0129] Step 201: Obtain the target quantity of the medicine.

[0130] Step 202: Control the rotating tray of the medicine dispensing robot to rotate to the second preset position, and control the first push rod of the medicine dispensing robot to push the movable bottom of the storage cup of the medicine storage cup upward.

[0131] 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.

[0132] 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. When the rotating tray rotates to the second preset position, the medicine storage cup is located below the longitudinal through hole, as Figure 16a shown. When the rotating tray is located at the second preset position, the medicine storage cup containing 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 Figure 16b shown. 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 above the medicine dispensing tray, as Figure 16c shown.

[0133] Optionally, the medicine dispensing robot controls the first push rod to push the movable bottom of the medicine storage cup upward, including: determining a first moving distance according to the target quantity; controlling the first push rod to push the movable bottom upward by the first moving distance. Specifically, when the rising height of the movable bottom of the medicine storage cup is too low, the amount of medicine dispensed by the medicine dispensing rod is too small to meet the required quantity of medicine; when the rising height of the movable bottom of the medicine storage cup is too high, the amount of medicine dispensed by the medicine dispensing rod is too large, increasing the difficulty of dispensing the target quantity of medicine by the medicine dispensing rod. Therefore, whether the rising height of the movable bottom of the medicine storage cup is too high or too low will affect the medicine dispensing efficiency. To improve the medicine dispensing efficiency, the control module controls the rising height of the movable bottom of the medicine storage cup according to the obtained target quantity to control the amount of medicine dispensed, avoiding dispensing too much or too little medicine.

[0134] The following gives an example of the method for determining the first moving distance according to the target quantity.

[0135] 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.

[0136] For example, after the medicine dispensing robot determines whether the quantity of the dispensed medicine is less than or equal to the target quantity, it adjusts the parameters in the first constraint relationship according to the determination result. Specifically, the determination result indicates the magnitude relationship between the quantity of the dispensed medicine and the target quantity. If the quantity of the dispensed medicine is greater than the target quantity, the parameters in the first constraint relationship are adjusted so that for the same target quantity, the first moving distance calculated based on the adjusted first constraint relationship is less than the first moving distance calculated based on the unadjusted first constraint relationship. If the quantity of the dispensed medicine is equal to the target quantity, the first constraint relationship is not adjusted. If the quantity of the dispensed medicine is less than the target quantity, the parameters in the first constraint relationship are adjusted so that for the same target quantity, the first moving distance calculated based on the adjusted first constraint relationship is greater than the first moving distance calculated based on the unadjusted first constraint relationship.

[0137] For another example, after the medicine dispensing robot determines whether the quantity of the dispensed medicine is less than or equal to the target quantity, it calculates the difference between the quantity of the dispensed medicine and the target quantity, 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 quantity, the first moving distance calculated based on the adjusted first constraint relationship is less than the first moving distance calculated based on the unadjusted first constraint relationship. 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 quantity, the first moving distance calculated based on the adjusted first constraint relationship is greater than the first moving distance calculated based on the unadjusted first constraint relationship.

[0138] 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 make any restrictions.

[0139] In the second example, the medicine dispensing robot determines the first moving distance according to the target quantity, the information of the medicine, and the second constraint relationship among 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 is 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 according to the target quantity, the medicine information, and the second constraint relationship.

[0140] For example, after the medicine dispensing robot determines whether the quantity of the dispensed medicine is less than or equal to the target quantity, it adjusts the parameters in the second constraint relationship according to the determination result. Specifically, the determination result indicates the magnitude relationship between the quantity of the dispensed medicine and the target quantity. If the quantity of the dispensed medicine is greater than the target quantity, the parameters in the second constraint relationship are adjusted so that for the same target quantity, the first moving distance calculated based on the adjusted second constraint relationship is less than the first moving distance calculated based on the unadjusted second constraint relationship. If the quantity of the dispensed medicine is equal to the target quantity, the second constraint relationship is not adjusted. If the quantity of the dispensed medicine is less than the target quantity, the parameters in the second constraint relationship are adjusted so that for the same target quantity, the first moving distance calculated based on the adjusted second constraint relationship is greater than the first moving distance calculated based on the unadjusted second constraint relationship.

[0141] For another example, after the medicine dispensing robot determines whether the quantity of the dispensed medicine is less than or equal to the target quantity, it calculates the difference between the quantity of the dispensed medicine and the target quantity, 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 quantity, the first moving distance calculated based on the adjusted second constraint relationship is less than the first moving distance calculated based on the unadjusted second constraint relationship. 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 quantity, the first moving distance calculated based on the adjusted second constraint relationship is greater than the first moving distance calculated based on the unadjusted second constraint relationship.

[0142] 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 make any restrictions.

[0143] It should be noted that those skilled in the art can understand that the medicine dispensing robot can also calculate the first moving distance based on other methods, which will not be elaborated here one by one.

[0144] Step 203: Control the medicine dispensing rod to rotate in the first direction.

[0145] Specifically, as Figures 17a - 17d shown, the medicine dispensing robot drives the rear dispensing rod, the auxiliary joint, and the rear dispensing rod to rotate by controlling the main joint, so as to dispense a certain quantity of medicine from the medicine storage cup to area B of the medicine dispensing work area.

[0146] 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 across 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 an appropriate quantity of medicine from area A of the medicine dispensing work area to area B of the medicine dispensing work area. Among them, the first direction can be the clockwise direction or the counterclockwise direction, which is not limited here.

[0147] 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.

[0148] Step 204: Determine whether the dispensed medicines are arranged in a preset shape.

[0149] 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.

[0150] Step 205: Determine whether the medicine-moving rod has reached the rotation stop position.

[0151] 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.

[0152] 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.

[0153] 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.

[0154] 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.

[0155] Step 206: Control the medicine-dispensing rod to stop rotating.

[0156] Step 207: Based on the image captured by the capturing module, identify the quantity of the dispensed medicines.

[0157] Step 208: Determine whether the quantity of the dispensed drugs is less than or equal to the target quantity.

[0158] 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.

[0159] Step 209: Control the rotating tray to rotate to the third preset position, and control the drug dispensing rod of the drug dispensing robot to dispense the dispensed drugs to the first preset position. When the rotating tray rotates to the third preset position, the medicine cup is located below the longitudinal through hole; the first preset position is the position where the longitudinal through hole is located.

[0160] Optionally, before controlling the drug dispensing rod of the drug dispensing robot to dispense the dispensed drugs to the first preset position, it further includes: controlling the rotating tray to rotate to the third preset position; when the rotating tray is located at the third preset position, the medicine cup of the drug dispensing robot is located below the longitudinal through hole.

[0161] Specifically, the drug dispensing robot controls the rotating tray to descend to the rotating position, as Figure 18a shown. The drug dispensing robot controls the rotating tray to rotate to the third preset position. When the rotating tray is located at the third preset position, the medicine cup is located below the longitudinal through hole, as Figure 18b shown. The drug dispensing robot controls the rotating tray to ascend to the drug dispensing position, as Figure 18c shown. The drug dispensing rod dispenses the dispensed drugs to the position where the longitudinal through hole is located, so that the dispensed drugs fall into the medicine cup. After the drug dispensing is completed, the drug dispensing robot controls the rotating tray to descend to the rotating position, as Figure 18d shown.

[0162] It should be noted that Figures 18a - 18d taking the simultaneous lifting and lowering of the medicine cup and the medicine storage cup as an example, the lifting and lowering process of the medicine storage cup and the medicine cup is illustrated. In practice, the medicine storage cup or the medicine cup can also be controlled to lift and lower independently.

[0163] Step 210: Determine whether the quantity of the dispensed drugs is equal to the target quantity. If it is determined that the quantity of the dispensed drugs is equal to the target quantity, end the drug dispensing process; if it is determined that the quantity of the dispensed drugs is not equal to the target quantity, return to execute Step 201.

[0164] Step 211: Based on the image captured by the shooting module, control the front rod and the rear rod of the drug dispensing rod to move, and scrape the drugs from the drug dispensing tray.

[0165] In one example, the medicine dispensing robot determines a first angle and a second angle based on the image captured by the imaging module; controls the medicine dispensing rod to rotate by the first angle in a second direction, where the second direction is opposite to the first direction; controls the front dispensing rod of the medicine dispensing rod to rotate by the second angle in the first direction; controls the medicine dispensing rod to rotate in the first direction to pick up the medicine. If the first direction is the clockwise direction, the second direction is the counterclockwise direction; if the first direction is the counterclockwise direction, the second direction is the clockwise direction.

[0166] Specifically, if the number of medicines dispensed by the medicine dispensing rod is greater than the target number, the front dispensing rod and the rear dispensing rod cooperate to dispense the medicine. As Figure 19a shown, under the guidance of the vision system, first, the main joint drives the front dispensing rod and the rear dispensing rod to rotate by the first angle in the second direction, that is, the rotation direction this time is opposite to the rotation direction of the medicine dispensing rod during the medicine dispensing process described in step 203. Then, the auxiliary joint drives the front dispensing rod to rotate by the second angle in the first direction, that is, the rotation direction is the same as the rotation direction of the medicine dispensing rod during the medicine dispensing process described in step 203, so that a certain angle is formed between the front dispensing rod and the rear dispensing rod. Finally, the auxiliary joint remains stationary, and the main joint rotates forward to complete the medicine dispensing, as Figure 19b shown.

[0167] Optionally, determining the first angle and the second angle based on the image captured by the imaging module includes: determining the medicine dispensing information according to the image captured by the imaging module, where the medicine dispensing information includes any one or any combination of the distribution area of the medicine, the volume of the medicine, the number of medicines, and the target number; determining the first angle according to the medicine dispensing information and the third constraint relationship between the medicine dispensing information and the first angle; determining the second angle according to the medicine dispensing information and the fourth constraint relationship between the medicine dispensing information and the second angle. For example, a third constraint relationship between the medicine dispensing information and the first angle is established in advance, and the medicine dispensing robot calculates the first angle based on the third constraint relationship and the medicine information. Calculating the first angle based on the medicine dispensing information makes the first angle more suitable for cutting the current medicine and improves the medicine dispensing efficiency.

[0168] It should be noted that those skilled in the art can understand that the first angle can also be a preset angle, and this embodiment does not make any restrictions.

[0169] It should be noted that those skilled in the art can understand that during the medicine dispensing process, the vision system can command the main joint and the auxiliary joint to make fine adjustments according to the situation of the medicines in the medicine dispensing work area to find a better cutting angle.

[0170] 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 perform step 209.

[0171] Specifically, when the rotating tray is in 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 dialing rod to rotate in the second direction, so that the front dialing rod and the rear dialing rod return to a straight line again. As Figure 20a shown. Then, the main joint drives the medicine dialing rod to rotate in the second direction to dial the excess medicine back into the medicine storage cup, as Figure 20b and Figure 20c shown. Finally, the control module controls the rotating tray to rotate to the third preset position and controls the medicine dialing rod to dial the dispensed medicine to the position where the longitudinal through hole is located. For example, as Figures 21a - 21c shown, the medicine dialing rod rotates in the first direction to dial the dispensed medicine to the position where the longitudinal through hole is located. Another example, as Figures 22a - 22c shown, the medicine dialing rod rotates in the second direction to dial the dispensed medicine to the position where the longitudinal through hole is located.

[0172] Optionally, before controlling the medicine dialing rod to rotate to the first preset position along the direction where the remaining medicine is located, the medicine dispensing robot controls the front dialing rod to rotate a second angle in the second direction.

[0173] It should be noted that those skilled in the art can understand that step 212 in this embodiment can be selectively implemented, and step 212 is not a necessary step in this embodiment. If step 212 is not executed, after step 211 is really not feasible, step 209 is executed.

[0174] In one embodiment, as Figure 23 shown, the vision-based medicine dispensing method executed by the medicine dispensing robot includes the following steps. Among them, steps 301 to 312 are respectively substantially the same as steps 201 to 212 of the vision-based medicine dispensing method shown in Figure 15 shown, and will not be elaborated here.

[0175] Step 301: Obtain the target quantity of the medicine.

[0176] Step 302: Control the rotating tray of the medicine dispensing robot to rotate to the second preset position, and control the first push rod to push the movable bottom of the medicine storage cup to move upward.

[0177] Step 303: Control the medicine dialing rod to rotate in the first direction.

[0178] Step 304: Determine whether the dispensed medicine is arranged in a preset form.

[0179] Specifically, if the control module determines that the medicine is not arranged in a preset form, for example, a straight line, step 305 is executed; if the control module determines that the medicine is arranged in a preset form, step 306 is executed.

[0180] Step 305: Determine whether the medicine dialing rod reaches the rotation stop position.

[0181] Specifically, if the medicine dispensing rod reaches the rotation stop position, step 306 is executed; if the medicine dispensing rod does not reach the rotation stop position, step 303 is executed.

[0182] Step 306: Control the medicine dispensing rod to stop rotating.

[0183] Step 307: Based on the image captured by the shooting module, identify the quantity of the dispensed medicine.

[0184] Step 308: Determine whether the quantity of the dispensed medicine is less than or equal to the target quantity.

[0185] Specifically, if it is determined that the quantity of the dispensed medicine is less than or equal to the target quantity, step 309 is executed; otherwise, step 311 is executed.

[0186] Step 309: Control the rotating tray to rotate to the third preset position, and control the medicine dispensing rod of the medicine dispensing robot to dispense the dispensed medicine to the first preset position. When the rotating tray rotates to the third preset position, the medicine taking cup is located below the longitudinal through hole; the first preset position is the position where the longitudinal through hole is located.

[0187] Step 310: 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 equal to the target quantity, the medicine dispensing process ends; if it is determined that the quantity of the dispensed medicine is not equal to the target quantity, return to execute step 301.

[0188] Step 311: Based on the image captured by the shooting module, control the front rod and the rear rod of the medicine dispensing rod to move and scrape the medicine from the medicine dispensing tray.

[0189] Step 312: Control the rotating tray to rotate to the second preset position, and control the medicine dispensing rod to rotate to the first preset position along the direction where the remaining medicine is located.

[0190] Step 313: Based on the image captured by the shooting module, identify the quantity of the scraped medicine.

[0191] Step 314: Determine whether the quantity of the scraped medicine is equal to the target quantity.

[0192] Specifically, if the medicine dispensing robot determines that the quantity of the scraped medicine is equal to the target quantity, step 315 is executed; otherwise, step 316 is executed.

[0193] Step 315: Control the rotating tray to rotate to the third preset position, and control the medicine dispensing rod to dispense the scraped medicine to the first preset position. Then the process ends.

[0194] Step 316: Determine whether the quantity of the scraped medicine is less than the target quantity.

[0195] Specifically, if the control module determines that the quantity of the dispensed drugs is less than the target quantity, it executes step 317; otherwise, it executes step 311.

[0196] Step 317: Control the rotating tray to rotate to the third preset position, and control the medicine dispensing rod to dispense the dispensed drugs to the first preset position. Then execute step 301.

[0197] It should be noted that steps 301 to 317 constitute a single medicine dispensing process. When returning from step 317 to execute step 301, the medicine dispensing robot starts the next medicine dispensing process for the current drug. At this time, the target quantity of drugs obtained by the medicine dispensing robot = the quantity of drugs the user needs to take - the sum of the quantity of drugs dispensed into the medicine cup each time; or, the target quantity of drugs = the target quantity in the previous medicine dispensing process - the quantity of drugs dispensed into the medicine cup in the previous medicine dispensing process.

[0198] In one embodiment, the vision system including a camera and vision algorithms can also perform operations including but not limited to the following:

[0199] Operation 1: Drug identification. Specifically, when loading drugs into the medicine storage cup, the vision system can confirm that the loaded drugs are correct by comparing the shape, color, etc. of the drugs.

[0200] It should be noted that drug identification can also be performed by other means. For example, it can be identified through precise detection instruments such as Raman spectrometers.

[0201] Operation 2: Detection of drug residue. Specifically, the vision system detects the drugs in the medicine storage cup. When the quantity of drugs is less than a certain preset range, the vision system can notify the user (the person taking the medicine or the caregiver) to replenish the drugs, or directly send a prescription renewal order to the pharmacy.

[0202] Operation 3: Detection of the height of drugs in the medicine dispensing work area. Specifically, when pushing the drugs upward, the vision 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 quantity of drugs above the plane of the medicine dispensing tray based on the shape and stacking form of the drugs in the image, and the control module or the cloud controls the first push rod to stop pushing based on the quantity of drugs on the plane of the medicine dispensing tray.

[0203] Operation 4: The vision system captures an image inside the medicine cup and confirms whether the quantity of the taken-out drugs is correct based on the image inside the medicine cup. Optionally, the image inside the medicine cup can be saved for record.

[0204] Operation 5: During the first medicine dispensing process, before placing the dispensed medicine into the medicine cup, confirm whether the medicine cup is empty. If the medicine cup is not empty, it is possible that the medicine dispensed last time was not taken. Empty the medicine cup by operating the second push rod and the medicine dispensing rod.

[0205] Operation 6: The vision system has the function of medicine recognition. When the medicine in the medicine cup has not been taken, the medicine in the medicine cup can be dispensed onto the medicine dispensing tray, and then based on characteristics such as the shape and color of the medicine, medicine recognition is carried out. Optionally, to improve the recognition efficiency, other medicine detection devices can be added inside the medicine dispensing robot, such as a Raman spectroscopy detector. Based on the recognition result, the medicine is dispensed through the medicine dispensing rod and separately dispensed into the corresponding medicine storage cups.

[0206] This application also provides a medicine dispensing system, as Figure 24 shown. The medicine dispensing system includes: a medicine dispensing robot 41, a cloud 42 communicatively connected to the medicine dispensing robot 41, and a medical service providing device 43 communicatively connected to the medicine dispensing robot 41. Among them, the medicine dispensing robot 41 is an execution mechanism for medicine dispensing and reminder, providing services such as medicine dispensing and reminder mentioned in the above embodiments. The cloud 42 is responsible for training the medicine dispensing robot, providing customized reminder capabilities, and the medical service providing device 43. The medical service providing device 43 provides information related to taking medicine. Since the medicine dispensing robot 41 is connected to the cloud 42, relatively complex programs can be transferred to the cloud 42 for execution, the medicine-taking records of users can be stored in the cloud, and external information can also be obtained through the cloud 42. Since the medicine dispensing robot 41 is connected to the medical service providing device 43, the medicine dispensing robot 41 can timely adjust the medicine dispensing service based on the information of the medical service provider.

[0207] It should be noted that the above embodiments take the medicine dispensing system including both the cloud 42 and the medical service providing device 43 as an example for illustration. In actual applications, the medicine dispensing system can also include the cloud 42 or the medical service providing device 43, and this embodiment does not make any restrictions.

[0208] It should be noted that Figure 24 in this case, the medicine dispensing robot 41 is directly communicatively connected to the medical service providing device 43 as an example for illustration. In actual applications, the medicine dispensing robot 41 can also be communicatively connected to the medical service providing device 43 through the cloud 42. After medicine dispensing, the medicine dispensing robot 41, the cloud 42, and the medical service providing device 43 can also establish communication connections with each other, and this embodiment does not make any restrictions.

[0209] In one embodiment, Figure 25As shown in the figure, the medicine dispensing system includes: a medicine dispensing robot 41, a cloud 42, a user terminal 44, and a medical service providing device 43. Among them, the medicine dispensing robot 41 is the executing agency for medicine dispensing and reminder, providing services such as medicine dispensing and reminder 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 providing device 43. The user terminal 44 (such as the APP, SMS, or phone on the patient side) is the executing agency for reminder and the input agency for medicine-taking related information. The medical service providing device 43 provides medicine-taking related information.

[0210] The following gives an example of the interaction between each end in the medicine dispensing system.

[0211] 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 range, that is, when the user's medicine is about to run out, the medicine dispensing robot 41 notifies the cloud 42. The cloud 42 notifies the pharmacy terminal of the medical service providing device 43 to achieve automatic prescription renewal.

[0212] In the second example, when the user's examination results come out, the medicine dispensing robot 41 transmits the examination results to the cloud 42. The cloud 42 determines whether to notify the doctor according to the user's instructions or the pre-set rules for sending examination results. If necessary, it sends the examination results to the doctor terminal of the medical service providing device 43 so that the doctor can judge the treatment effect and decide whether to adjust the treatment plan.

[0213] In one embodiment, the medicine dispensing robot can interact with other service robots, connecting 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. Another example is that after the medicine dispensing robot has dispensed the medicine, the medicine delivery robot picks up the dispensed medicine and delivers it to the medicine-taker. Even the medicine dispensing robot can be placed inside the medicine delivery robot. Another example is that the medicine dispensing robot can share the voice dialogue capabilities of other service robots. The interaction methods between the medicine dispensing robot and other service robots are not listed one by one here.

[0214] In one embodiment, the connection between the user terminal, the medicine dispensing robot, the medical service providing device, and the cloud can be achieved through various wide-area network technologies. For example, it can be achieved through a 5G network. When it is achieved through a 5G slice private network, privacy protection and security of key data such as medical health can be realized, and the quality of service (QoS) can be guaranteed.

[0215] In one embodiment, because the medicine dispensing robot is connected to the medical service providing device, in addition to dispensing medicine and reminding of taking medicine, the medicine dispensing robot can also have functions including but not limited to the following.

[0216] Function 1: The medicine dispensing robot stops providing the medicine indicated by the medicine discontinuation instruction from the medical service provider device or the pharmaceutical company to the user. Specifically, due to reasons of the medicine itself or some problems occurring during the treatment process, if the medical service provider device or the pharmaceutical company needs to ensure that the user stops taking the medicine, it can send a medicine discontinuation instruction to the medicine dispensing robot.

[0217] Function 2: The medicine dispensing robot can assist in completing the medicine refill. Specifically, when the user's medicine is about to run out, the medicine dispensing robot notifies the user according to the prescription information. The user then selects the provider of the medicine purchase service according to the prompt to complete the refill; or according to the user's settings, it notifies a certain provider of the medicine purchase service to automatically complete the refill.

[0218] Function 3: The medicine dispensing robot assists in the communication between the medical provider and the user. Specifically, when the medical service provider device needs to communicate with the user, for example, when it is necessary for the user to complete a certain scale, conduct a follow-up visit on the user, have a video communication with the user, or prompt the user to measure biological indicators, etc., the medicine dispensing robot can complete it through its own interaction interface.

[0219] The medicine dispensing robot provided by the embodiments of the present application has good applications in CRO clinical trials. First, through the medicine dispensing robot, it can remind the user to take medicine on time, saving costs, improving compliance, and ensuring the accuracy of the test results. Second, the robot can record the user's medicine-taking behavior. On the one hand, it can confirm whether the user has taken the medicine through the vision system of the medicine dispensing robot. On the other hand, it records the user's medicine-taking behavior as evidence data and stores it in the cloud encrypted or unencrypted as needed. Third, the strong interaction capabilities provided by the medicine dispensing robot to the user, such as the voice interaction ability based on NLP, the video conferencing ability provided by the screen and camera, the input and output ability provided by the screen, etc., and the text and picture recognition abilities based on OCR, image recognition, and the camera, can meet the needs of follow-up visits, scales, data recording, etc. in clinical trials. Fourth, the medicine dispensing robot does not require manual intervention and can continuously observe the patient, allowing the user to complete the test at home, greatly improving the extensibility of the clinical trial and reducing costs.

[0220] The embodiments of the present application also provide a computer-readable storage medium storing a computer program. When the computer program is executed by a processor, the above method embodiments are implemented.

[0221] Those of ordinary skill in the art can understand that the above embodiments are specific embodiments for implementing the present invention, and in actual applications, various changes can be made in form and details without departing from the spirit and scope of the present invention.

Claims

1. A medicine dispensing robot, characterized in that, Comprising: 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 pushing rod connected to the main shaft and disposed above the medicine dispensing tray; and, A first power module connected to the medicine pushing rod; and, A control module connected to the first power module; And, A medicine taking cup disposed below the medicine dispensing tray; Wherein, the medicine pushing rod includes: a main joint connected to the first power module; a rear pushing rod connected to the main joint; an auxiliary joint connected to the rear pushing rod; and a front pushing rod connected to the auxiliary joint; the main joint drives the rear pushing rod, the auxiliary joint and the front pushing rod to rotate as a whole, and the auxiliary joint drives the front pushing rod to rotate; The medicine dispensing robot further includes: an annular railing; The annular railing is disposed above the medicine dispensing tray, and the center of the annular railing coincides with the main shaft; a transverse through-hole is provided on a side of the medicine pushing rod close to the medicine dispensing tray, and the annular railing passes through the transverse through-hole; or, An annular slide rail is provided on the medicine dispensing tray, and the annular railing is connected to the annular slide rail so that the annular railing rotates along the annular slide rail; an opening is provided on the annular railing, and the medicine pushing rod is disposed within the opening; The medicine dispensing robot further includes: 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.

2. The medicine dispensing robot according to claim 1, wherein The side of the front pushing rod close to the medicine dispensing tray is serrated.

3. The medicine dispensing robot according to claim 1, wherein The front pushing rod and the rear pushing rod are of a hollow structure, the auxiliary joint is a rotating shaft, and the medicine pushing rod further includes an elastic cord, one end of the elastic cord is connected to the first power module, and the other end of the elastic cord passes through the rear pushing rod and is connected to the front pushing rod.

4. The medicine dispensing robot according to claim 1, wherein, The side of the front pushing rod away from the auxiliary joint is pointed.

5. The medicine dispensing robot according to claim 1, wherein The medicine dispensing robot further includes: A rotating tray connected to the main shaft, the rotating tray is disposed below the medicine dispensing tray, and the medicine taking cup is disposed on the rotating tray; and, At least one medicine storage cup disposed on the rotating tray, the medicine storage cup includes a medicine storage cup wall and a movable bottom of the medicine storage cup, and the movable bottom of the medicine storage cup is located within 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 bottom of the medicine storage cup; and, A third power module connected to the first push rod.

6. The medicine dispensing robot according to claim 5, wherein The medicine dispensing robot further includes: a fourth power module connected to the rotating tray for controlling the lifting of the rotating tray.

7. The medicine dispensing robot according to claim 6, characterized in that, A lid or a stopper matching the medicine storage cup is disposed below the medicine dispensing tray; or, the lower surface layer of the medicine dispensing tray is a flexible layer.

8. The medicine dispensing robot according to claim 1, characterized in that, The transverse through-hole is located in the rear pushing rod.

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