Method for taking medicine with a needle of a medicine taking device and device therefor

Abstract

The application discloses a kind of needle medicine taking method and device of medicine taking device, comprising the following steps: shooting needle tray to be processed picture, obtain the needle storage position of N rows M columns contained in the upper end face of needle tray from the picture to be processed and whether needle is deposited;Obtain a plurality of needle segments, and the plurality of needle segments are sorted and received to the number of needle to be taken, the following operations are continuously executed, operation includes: according to the direction from the head of queue to the tail, a needle segment is obtained from the queue, which has not been processed;When the remaining quantity is greater than or equal to the number of needles in the needle segment, control the robot to take a preset number of needles from the needle segment, and the state of the needle segment W is processed;When the remaining quantity is less than the number of needles in the needle segment, control the robot to take a preset number of needles from the needle segment, so that the needle can be quickly grabbed.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of medicine storage, in particular to a method for taking injections by a medicine taking device and the device. BACKGROUND

[0002] In modern medicine, injections are a common form of medicine and are widely used in the treatment of various diseases. In hospitals, in order to speed up the storage and retrieval of medicines, an automated pharmacy is usually provided, and a needle tray is usually provided in the automated pharmacy. The upper end face of the needle tray is provided with a plurality of rows and columns of needle storage positions, and each needle storage position can store one needle. In the medicine taking device, a mechanical hand is usually provided. In order to improve the speed of grabbing the needle, the mechanical hand can grab at most Num1 needles arranged in a row at a time, wherein Num1 is a natural number and Num1>1.

[0003] It can be understood that how to improve the speed of grabbing the needle by the medicine taking device has become a problem to be solved. SUMMARY

[0004] Therefore, the main purpose of the present application is to provide a method for taking injections by a medicine taking device and the device.

[0005] To achieve the above purpose, the technical scheme of the present application is as follows: a method for taking injections by a medicine taking device, the medicine taking device is provided with a mechanical hand and a camera, the mechanical hand can grab at most Num1 needles arranged in a row at a time, the camera is used to shoot the upper end face of a needle tray in the medicine taking device, the upper end face of the needle tray is provided with a plurality of rows and columns of needle storage positions, and each needle storage position can store one needle, wherein Num1 is a natural number and Num1>1; comprising the following steps:

[0006] receiving a needle tray, controlling the camera to shoot a to-be-processed picture containing the upper end face of the needle tray; processing the to-be-processed picture to obtain the N rows and M columns of needle storage positions contained in the upper end face of the needle tray and whether there is a needle in each needle storage position; wherein, according to the arrangement direction of N rows, N rows are marked as row 1, row 2, …, row N; according to the arrangement direction of M columns, M columns are marked as column 1, column 2, …, column M; N and M are natural numbers;

[0007] The N rows are counted to obtain a plurality of needle segments, each needle segment containing information including: a row H, a starting column L1 and an ending column L2, and needle agents are stored in the row H from the L1 column to the L2 column, when L1≠1, no needle agent is stored in the L1-1 column; when L2≠M, no needle agent is stored in the L2+1 column; for any two needle segments of the same row, the corresponding starting columns L1 are different, and the corresponding ending columns L2 are different; the state of each needle segment is an unprocessed device; the plurality of needle segments are arranged in a queue Q in a row number increasing order and a starting column number increasing order, and the number of needle agents in the needle segment is L2-L1+1, wherein 1≤L1≤L2≤M;

[0008] A number of needle agents to be taken Num2 is received, and the following operations are continuously performed until Num2=0, the operations including: obtaining an unprocessed needle segment W from the queue Q in a direction from a head to a tail; when Num2≥ the number of needle agents Num3 in the needle segment W, controlling the mechanical hand to take a preset number of needle agents from the needle segment W, the preset number being Num3, the value of Num2 being reduced by Num3, and the state of the needle segment W being processed; when Num2< the number of needle agents Num3 in the needle segment W, controlling the mechanical hand to take a preset number of needle agents from the needle segment W, the preset number being Num2, and Num2=0; wherein the "controlling the mechanical hand to take a preset number of needle agents from the needle segment W" includes: when the preset number≤Num1, controlling the mechanical hand to grab the preset number of needle agents from the needle segment W at one time; and when the preset number>Num1, continuously controlling the mechanical hand to grab Num1 needle agents from the needle segment W, and then controlling the mechanical hand to grab Num4 needle agents from the needle segment W, Num4 being the preset number mod Num1.

[0009] As an improvement of the embodiment of the application, the "continuously controlling the mechanical hand to grab Num1 needle agents from the needle segment W" specifically includes: continuously controlling the mechanical hand to grab Num1 needle agents from the needle segment W in an order of increasing column numbers.

[0010] As an improvement of the embodiment of the application, the "continuously controlling the mechanical hand to grab Num1 needle agents from the needle segment W" specifically includes: continuously controlling the mechanical hand to grab Num1 needle agents from the needle segment W in an order of decreasing column numbers.

[0011] As a kind of improvement of the embodiment of the application, multiple mechanical claws are arranged in a row in the mechanical arm, and the distance between adjacent mechanical claws is adjustable;The "processing the picture to be processed to obtain N rows of M columns of needle storage positions contained in the upper end surface of the needle tray, and whether needle is stored in each needle storage position" specifically includes: processing the picture to be processed to obtain N rows of M columns of needle storage positions contained in the upper end surface of the needle tray, and whether needle is stored in each needle storage position, and the distance D between the center points of the needle storage positions of adjacent columns, and the distance between the grabbing central axes of adjacent mechanical claws is set to D.

[0012] As a kind of improvement of the embodiment of the application, the "controlling the mechanical arm to grab Num1 needles from the needle section W" specifically includes: controlling Num1 mechanical claws in the mechanical arm to grab one needle from the needle section W respectively.

[0013] The embodiment of the present application also provides a needle medicine taking device of a medicine taking device, the medicine taking device is provided with a mechanical hand and a camera, the mechanical hand can grasp at most Num1 needles arranged in a row each time, the camera is used for shooting an upper end surface of a needle tray located in the medicine taking device, the upper end surface of the needle tray is provided with a plurality of rows and a plurality of columns of needle storage positions, each needle storage position can store one needle, wherein Num1 is a natural number, and Num1>1; the needle medicine taking device comprises the following modules: an information receiving module, used for receiving one needle tray, controlling the camera to shoot a to-be-processed picture containing the upper end surface of the needle tray; processing the to-be-processed picture to obtain N rows and M columns of needle storage positions contained in the upper end surface of the needle tray and whether each needle storage position stores a needle; wherein, N rows are marked as row 1, row 2,..., row N according to the arrangement direction of the N rows; M columns are marked as column 1, column 2,..., column M according to the arrangement direction of the M columns; N and M are natural numbers; an information processing module, used for counting the N rows to obtain a plurality of needle sections, each needle section contains the following information: a row H, a starting column L1 and an ending column L2, in the row H, all the needles are stored from the L1 column to the L2 column, when L1≠1, no needle is stored in the L1-1 column; when L2≠M, no needle is stored in the L2+1 column; for any two needle sections of the same row, the corresponding starting columns L1 are all different, and the corresponding ending columns L2 are all different; the state of each needle section is an untreated device; the plurality of needle sections are arranged to obtain a queue Q in the order of increasing row number for different rows and increasing starting column number for the same row, wherein the number of needles in the needle section=L2-L1+1, and 1≤L1≤L2≤M; a medicine taking module, used for receiving a desired number Num2 of needles, and continuously performing the following operation until Num2=0, the operation comprising: obtaining an untreated needle section W from the queue Q in the direction from the head of the queue to the tail; when Num2≥ the number Num3 of needles in the needle section W, controlling the mechanical hand to take a preset number of needles from the needle section W, the preset number is Num3, the value of Num2 is reduced by Num3, and the state of the needle section W is handled; when Num2< the number Num3 of needles in the needle section W, controlling the mechanical hand to take a preset number of needles from the needle section W, and Num2=0; wherein, the "controlling the mechanical hand to take a preset number of needles from the needle section W" comprises: when the preset number≤Num1, controlling the mechanical hand to grasp the preset number of needles from the needle section W at a time; and when the preset number>Num1, continuously controlling the mechanical hand to grasp Num1 needles from the needle section W, and then controlling the mechanical hand to grasp Num4 needles from the needle section W, Num4=the preset number mod Num1.

[0014] As a kind of improvement of the embodiment of the application, the medicine taking module is further used to: continuously control the mechanical hand to grab Num1 injections from injection section W in ascending order of column number.

[0015] As a kind of improvement of the embodiment of the application, the medicine taking module is further used to: continuously control the mechanical hand to grab Num1 injections from injection section W in descending order of column number.

[0016] As a kind of improvement of the embodiment of the application, multiple mechanical claws are arranged in a column in the mechanical hand, and the distance between adjacent mechanical claws is adjustable; the information receiving module is further used to: process the to-be-processed picture to obtain N rows and M columns of injection storage positions contained in the upper end face of the injection tray, whether injection is stored in each injection storage position, and the distance D between the center points of injection storage positions of adjacent columns, and set the distance between the center axes of adjacent mechanical claws as D.

[0017] As a kind of improvement of the embodiment of the application, the medicine taking module is further used to: control Num1 mechanical claws in the mechanical hand to grab one injection from injection section W respectively.

[0018] The injection taking method and device of the medicine taking device provided by the embodiment have the following advantages: the embodiment discloses an injection taking method and device of a medicine taking device, including the following steps: taking a to-be-processed picture of an injection tray, obtaining N rows and M columns of injection storage positions contained in the upper end face of the injection tray and whether injection is stored from the to-be-processed picture; obtaining multiple injection sections, and sorting the multiple injection sections to receive the number of injections to be taken, and continuously performing the following operations until the taking is completed, the operations including: obtaining an unprocessed injection section from the queue in the direction from the head of the queue to the tail of the queue; when the remaining number is greater than or equal to the number of injections in the injection section, controlling the mechanical hand to take a preset number of injections from the injection section, and the state of injection section W is processed; when the remaining number is less than the number of injections in the injection section, controlling the mechanical hand to take a preset number of injections from the injection section; so that the injection can be quickly grabbed. BRIEF DESCRIPTION OF DRAWINGS

[0019] Figure 1 It is a principle diagram of the injection taking method in the embodiment;

[0020] Figure 2 It is a flowchart of the injection taking method in the embodiment. DETAILED DESCRIPTION

[0021] The application will be described in detail below with reference to the embodiments shown in the drawings. However, the embodiments do not limit the application, and the changes in structure, method or function made by those skilled in the art based on the embodiments are included in the protection scope of the application.

[0022] The following description and drawings are illustrative of the specific embodiments herein and are not intended to be limiting. Parts and features of some embodiments can be included or replaced by parts and features of other embodiments. The scope of the embodiments herein includes the whole area of possibilities of the claims and all available equivalents of the claims. In this document, the terms "first", "second", etc. are used to distinguish between similar elements. It is however possible that the first element could also be referred to as the second element and vice versa without changing the meaning of the description. Furthermore, the terms "comprise", "include" or their variants are meant to cover non-exclusive inclusion, so that processes, methods, articles, or apparatuses that comprise, include, or are

[0023] The terms "longitudinal", "lateral", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer" and the like, as used herein, refer to the orientation or position of an item shown in the drawings, and are used only for convenience in describing the present document and simplifying the description, and do not indicate or imply that the referred item must have a particular orientation, be constructed and operated in a particular orientation, and therefore should not be construed as limiting the present document. In the description of the document, unless otherwise specified and limited, the terms "mount", "connect", "connection" should be interpreted broadly, for example, it can be a mechanical connection or an electrical connection, it can be a communication between two elements inside, it can be a direct connection or an indirect connection through an intermediate medium, and the specific meaning of the above terms can be understood by those skilled in the art according to the specific circumstances.

[0024] The embodiment one of the present application provides a needle medicine taking method of a medicine taking device, the medicine taking device is provided with a mechanical hand and a camera, the mechanical hand can grab at most Num1 needles arranged in a row each time, the camera is used for shooting an upper end surface of a needle tray in the medicine taking device, the upper end surface of the needle tray is provided with a plurality of rows and a plurality of columns of needle storage positions 1, each needle storage position 1 can store one needle, wherein Num1 is a natural number, and Num1>1; One execution module can be arranged in the medicine taking device, and the needle medicine taking method is executed by the execution module, and the execution module can be an MCU (Microcontroller Unit), a PC (Personal Computer), an industrial computer and the like. Here, the mechanical hand can grab a plurality of needles arranged in a row each time, and the number can be 1, 2,..., Num1; the camera can be a CCD (Charge Coupled Device), a CMOS (Complementary Metal Oxide Semiconductor) and the like; in actual use, a base can be arranged in the medicine taking device, when the medicine taking device receives a needle tray, the needle tray is stored on the upper end surface of the base, and then the camera can shoot the upper end surface of the needle tray. In actual use, the needle is usually cylindrical, so, as shown in the figure, the needle storage position 1 can be a circular recess, and one needle can be placed in the recess. Figure 1

[0025] As shown in the figure, the method comprises the following steps: Figure 2

[0026] Step 201: receiving a needle tray, controlling the camera to shoot a to-be-processed picture containing the upper end surface of the needle tray; processing the to-be-processed picture to obtain N rows and M columns of needle storage positions 1 contained in the upper end surface of the needle tray and whether a needle is stored in each needle storage position 1; wherein, according to the arrangement direction of N rows, N rows are marked as row 1, row 2,..., row N; according to the arrangement direction of M columns, M columns are marked as column 1, column 2,..., column M; N and M are natural numbers; here, as shown in the figure, the X axis is the extension direction of the row, the Y axis is the extension direction of the column, along the direction of the vector Figure 1 ​​​​The direction of the rows is indicated by the arrow, and the rows are labeled as row 1, row 2,..., row 4. Here, in order to facilitate identification of the needle storage position 1 and whether the needle storage position 1 stores a needle from the to-be-processed picture, the color of the upper end surface of the needle tray is A, the color of the bottom surface of the recess is B, and the color of the upper end surface of the needle is C, and the color A, the color B and the color C are all different.

[0027] Step 202: Counting the N rows, obtaining a plurality of needle segments, each needle segment containing information: the row H in which it is located, the starting column L1 and the ending column L2, and the needle is stored in the column L1 to the column L2 in the row H, and no needle is stored in the column L1-1 when L1≠1; no needle is stored in the column L2+1 when L2≠M; for any two needle segments in the same row, the corresponding starting column L1 is different, and the corresponding ending column L2 is different; the state of each needle segment is an unprocessed device; the plurality of needle segments are arranged in the order of increasing row number and increasing starting column number to obtain a queue Q, and the number of needles in the needle segment is L2-L1+1, wherein 1≤L1≤L2≤M.

[0028] In Figure 1 , the hollow circle represents no needle storage, and the solid circle represents needle storage. The following needle segments can be counted: needle segment W1 (row H=1, starting column L1=3, ending column L2=7), needle segment W2 (row H=2, starting column L1=2, ending column L2=4), needle segment W3 (row H=2, starting column L1=6, ending column L2=7), and needle segment W4 (row H=4, starting column L1=3, ending column L2=7). It can be understood that, in the order from the head of the queue to the tail of the queue, the queue Q is: needle segment W1-->needle segment W2-->needle segment W3-->needle segment W4.

[0029] Step 203: Upon receiving the desired quantity of injections Num2, continue performing the following operations until Num2 = 0. These operations include: retrieving an unprocessed injection segment W from queue Q in the direction from the head of the queue to the tail; when Num2 ≥ the quantity of injections Num3 in injection segment W, controlling the robotic arm to retrieve a preset quantity of injections from injection segment W, where the preset quantity is Num3, decrementing the value of Num2 by Num3, and setting the state of injection segment W to processed; when Num2 < the quantity of injections Num3 in injection segment W, controlling... The robotic arm is controlled to take a preset number of injections from the injection section W, where the preset number is Num2 and Num2 = 0; wherein, "controlling the robotic arm to take a preset number of injections from the injection section W" includes: when the preset number is ≤ Num1, controlling the robotic arm to grab the preset number of injections from the injection section W at one time; when the preset number is > Num1, continuously controlling the robotic arm to grab Num1 injections from the injection section W, and then controlling the robotic arm to grab Num4 injections from the injection section W, where Num4 = preset number mod Num1.

[0030] Here, in Figure 1 In the conscious state shown, the syringes are extracted sequentially from syringe segments W1-->W2-->W3-->W4 until the number of syringes extracted equals Num2. Each extraction attempt aims to extract as many syringes as possible (i.e., extract Num1 syringes whenever possible).

[0031] Here, when Num4 = 0, the injection can be dispensed without grabbing the injection from the injection segment W.

[0032] In this embodiment, the "continuously controlling the robotic arm to grasp Num1 syringes from syringe segment W" specifically includes: continuously controlling the robotic arm to grasp Num1 syringes from syringe segment W in ascending column order. Figure 1 In the scenario shown, assuming Num1 = 2 and the target to be grabbed is the injection segment W1, the injections in row 1, column 3 and row 1, column 4 can be grabbed first, then the injections in row 1, column 5 and row 1, column 6 can be grabbed, until finally, there is 1 injection left (i.e., row 1, column 7), and then one injection is grabbed from row 1, column 7.

[0033] In this embodiment, the "continuously controlling the robotic arm to grasp Num1 syringes from syringe segment W" specifically includes: continuously controlling the robotic arm to grasp Num1 syringes from syringe segment W in descending order of column number. Figure 1 In the scenario shown, assuming Num1 = 2 and the target to be grabbed is the injection segment W1, the injections in row 1, column 7 and row 1, column 6 can be grabbed first. Then, the injections in row 1, column 5 and row 1, column 4 can be grabbed until, finally, there is 1 injection left (i.e., row 1, column 3). Then, one injection is grabbed from row 1, column 3.

[0034] In the embodiment, the mechanical hand is provided with a plurality of mechanical claws arranged in a row, and the distance between adjacent mechanical claws is adjustable.

[0035] The "processing the to-be-processed picture to obtain N rows and M columns of needle storage positions 1 contained in the upper end surface of the needle tray, and whether a needle is stored in each needle storage position 1" specifically includes: processing the to-be-processed picture to obtain N rows and M columns of needle storage positions 1 contained in the upper end surface of the needle tray, whether a needle is stored in each needle storage position 1, and the distance D between the center points of the needle storage positions 1 of adjacent columns, and setting the distance between the grabbing central axes of adjacent mechanical claws as D. In practice, the radii of cross sections of different needles are usually different, so the radii of the needle storage positions 1, the distances between adjacent needle storage positions 1 in the same row are also different, and therefore, the distance between the grabbing central axes of adjacent mechanical claws needs to be adjusted accordingly.

[0036] In the embodiment, the "controlling the mechanical hand to grab Num1 needles from the needle section W" specifically includes: controlling Num1 mechanical claws in the mechanical hand to grab one needle from the needle section W respectively.

[0037] Embodiment two of the present application provides a needle taking device of a medicine taking device, the medicine taking device is provided with a mechanical hand and a camera, the mechanical hand can grab at most Num1 needles arranged in a row at a time, the camera is used for shooting the upper end surface of a needle tray in the medicine taking device, the upper end surface of the needle tray is provided with a plurality of rows and a plurality of columns of needle storage positions, each needle storage position can store one needle, wherein Num1 is a natural number, and Num1>1; comprising the following modules:

[0038] An information receiving module is configured to receive a needle tray, control the camera to shoot a to-be-processed picture containing the upper end surface of the needle tray, process the to-be-processed picture to obtain N rows and M columns of needle storage positions contained in the upper end surface of the needle tray, and whether a needle is stored in each needle storage position; wherein, according to the arrangement direction of N rows, N rows are marked as row 1, row 2, …, and row N; according to the arrangement direction of M columns, M columns are marked as column 1, column 2, …, and column M; N and M are natural numbers;

[0039] The information processing module is configured to count the N rows, and obtain a plurality of needle segments, each of which contains information including a row H, a starting column L1, and an ending column L2, and needle agents are stored in the row H from the column L1 to the column L2, and no needle agent is stored in the column L1-1 when L1≠1, and no needle agent is stored in the column L2+1 when L2≠M, and the starting column L1 of any two needle segments of the same row is different, and the ending column L2 of any two needle segments of the same row is different, and the state of each needle segment is an unprocessed device, and the plurality of needle segments are arranged in a queue Q in an order of increasing row number and an order of increasing starting column number, and the number of needle agents in the needle segment is L2-L1+1, where 1≤L1≤L2≤M.

[0040] The medicine taking module is configured to receive a desired number Num2 of needle agents, and continuously perform the following operations until Num2=0, the operations including: obtaining an unprocessed needle segment W from the queue Q in a direction from a head of the queue to a tail of the queue, when Num2≥Num3, the number of needle agents in the needle segment W, controlling the mechanical hand to take a preset number of needle agents from the needle segment W, the preset number being Num3, and a value of Num2 being reduced by Num3, and the state of the needle segment W being processed, and when Num2<Num3, controlling the mechanical hand to take a preset number of needle agents from the needle segment W, the preset number being Num2, and Num2=0, where the "controlling the mechanical hand to take a preset number of needle agents from the needle segment W" includes: when the preset number≤Num1, controlling the mechanical hand to grab the preset number of needle agents from the needle segment W at one time, and when the preset number>Num1, continuously controlling the mechanical hand to grab Num1 needle agents from the needle segment W, and then controlling the mechanical hand to grab Num4 needle agents from the needle segment W, Num4 being the preset number mod Num1.

[0041] In this embodiment, the medicine taking module is further configured to continuously control the mechanical hand to grab Num1 needle agents from the needle segment W in an order of increasing column number.

[0042] In this embodiment, the medicine taking module is further configured to continuously control the mechanical hand to grab Num1 needle agents from the needle segment W in an order of decreasing column number.

[0043] In this embodiment, the mechanical hand is provided with a plurality of mechanical claws arranged in a column, and a distance between adjacent mechanical claws is adjustable, and the information receiving module is further configured to process the to-be-processed picture to obtain N rows and M columns of needle agent storage positions on an upper end surface of the needle agent tray, and whether needle agents are stored in each needle agent storage position, and a distance D between center points of needle agent storage positions of adjacent columns, and the distance between the grabbing central axes of adjacent mechanical claws is set as D.

[0044] In this embodiment, the medicine taking module is further configured to control the Num1 mechanical claws in the mechanical arm to respectively grab one injection from the injection section W.

[0045] It should be noted that although the above describes the steps in a specific order, it does not mean that the steps must be performed in the above specific order, in fact, some of the steps can be performed concurrently, or even change the order, as long as the required function can be realized.

[0046] The present application can be a system, a method, and / or a computer program product. The computer program product can include a readable storage medium (or / and storage device) having computer readable program instructions stored therein to implement various aspects of the present application.

[0047] The computer readable program instructions can include program elements, data files, etc. that implement various aspects of the present application. The program instructions can be executable by one or more processors of a processing system, such as a computer system or other processing system. The program instructions can cause a processing system to execute processes that perform various aspects of the present application, for example.

[0048] Embodiments of the present application have been described above, and the above description is intended to be illustrative of the embodiments of the present application and not exhaustive, and is not limited to the disclosed embodiments. Numerous modifications and variations are apparent to those skilled in the art without departing from the scope and spirit of the described embodiments. The choice of words in this document is intended to best explain the principles of the embodiments, practical application, or technical improvement in the art, or to enable other ordinary skilled persons in the art to understand the embodiments disclosed herein.

Claims

1. A method for picking up a needle agent by a picking device, the picking device being provided with a mechanical hand and a camera, the mechanical hand being capable of picking up at most Num1 needle agents arranged in a row each time, the camera being used for shooting an upper end surface of a needle agent tray located in the picking device, the upper end surface of the needle agent tray being provided with a plurality of rows and a plurality of columns of needle agent storage sites (1), each needle agent storage site (1) being capable of storing one needle agent, wherein, Num1 is a natural number, and Num1>1; characterized in that, comprising the following steps: Receiving a needle tray, controlling the camera to shoot a to-be-processed picture containing the upper end face of the needle tray; processing the to-be-processed picture to obtain N rows and M columns of needle storage positions (1) contained in the upper end face of the needle tray, and whether each needle storage position (1) stores a needle; wherein, according to the arrangement direction of N rows, N rows are marked as row 1, row 2, …, row N; according to the arrangement direction of M columns, M columns are marked as column 1, column 2, …, column M; N and M are natural numbers; Statistically processing N rows to obtain a plurality of needle sections, each needle section containing information that: the row H where it is located, the starting column L1 and the ending column L2, and the needle is stored from L1 column to L2 column in row H; when L1≠1, no needle is stored in L1-1 column; when L2≠M, no needle is stored in L2+1 column; for any two needle sections of the same row, the corresponding starting column L1 is different, and the corresponding ending column L2 is different; the state of each needle section is an untreated device; the plurality of needle sections are arranged in a queue Q in the order of increasing row number for different rows and increasing starting column number for the same row, and the number of needles in the needle section=L2-L1+1, wherein, 1≤L1≤L2≤M; Receiving a number Num2 of needles to be taken, and continuously performing the following operations until Num2=0, the operations comprising: obtaining an untreated needle section W from the queue Q in the direction from the head of the queue to the tail; when Num2≥ the number Num3 of needles in the needle section W, controlling the mechanical hand to take a preset number of needles from the needle section W, and the preset number is Num3, the value of Num2 is reduced by Num3, and the state of the needle section W is handled; when Num2< the number Num3 of needles in the needle section W, controlling the mechanical hand to take a preset number of needles from the needle section W, and the preset number is Num2, Num2=0; wherein, the "controlling the mechanical hand to take a preset number of needles from the needle section W" comprises: when the preset number≤Num1, controlling the mechanical hand to grab a preset number of needles from the needle section W at one time; when the preset number>Num1, continuously controlling the mechanical hand to grab Num1 needles from the needle section W, and then controlling the mechanical hand to grab Num4 needles from the needle section W, Num4=the preset number mod Num1.

2. The needle dispensing method of claim 1, wherein, The "continuously controlling the mechanical hand to grab Num1 needles from the needle section W" specifically comprises: Continuously controlling the mechanical hand to grab Num1 needles from the needle section W in the order of increasing column number.

3. The needle dispensing method of claim 1, wherein, The "continuously controlling the mechanical hand to grab Num1 needles from the needle section W" specifically comprises: Continuously controlling the mechanical hand to grab Num1 needles from the needle section W in the order of decreasing column number.

4. The needle taking method according to claim 1, characterized in that, The mechanical hand is provided with a plurality of mechanical claws arranged in a column, and the distance between adjacent mechanical claws is adjustable. The "processing the to-be-processed picture to obtain N rows and M columns of needle storage positions (1) contained in the upper end surface of the needle tray, and whether a needle is stored in each needle storage position (1)" specifically includes: processing the to-be-processed picture to obtain N rows and M columns of needle storage positions (1) contained in the upper end surface of the needle tray, and whether a needle is stored in each needle storage position (1), and the distance D between the center points of the needle storage positions (1) of adjacent columns, and setting the distance between the grabbing central axes of adjacent mechanical claws as D.

5. The needle dispensing method according to claim 2, wherein, The "controlling the mechanical hand to grab Num1 needles from the needle section W" specifically includes: controlling Num1 mechanical claws in the mechanical hand to grab one needle from the needle section W respectively.

6. A needle dispensing device of a medicine dispensing device, wherein a mechanical hand capable of grabbing at most Num1 needles arranged in a row each time and a camera for shooting an upper end face of a needle tray located in the medicine dispensing device are arranged in the medicine dispensing device, and the upper end face of the needle tray is provided with a plurality of rows and columns of needle storage positions (1), each of which can store a needle, wherein, Num1 is a natural number, and Num1>1; and the method comprises the following modules: An information receiving module is configured to receive a needle tray, control a camera to capture a to-be-processed picture containing an upper end surface of the needle tray, process the to-be-processed picture to obtain N rows and M columns of needle storage positions (1) contained in the upper end surface of the needle tray, and whether a needle is stored in each needle storage position (1); wherein, the N rows are marked as row 1, row 2, …, and row N according to the arrangement direction of the N rows, and the M columns are marked as column 1, column 2, …, and column M according to the arrangement direction of the M columns; N and M are natural numbers; An information processing module is configured to count the N rows to obtain a plurality of needle sections, each needle section containing information including: a row H, a starting column L1, and an ending column L2, a needle being stored in each of the columns from the L1 column to the L2 column in the row H, no needle being stored in the L1-1 column when L1≠1, no needle being stored in the L2+1 column when L2≠M, the starting columns L1 of any two needle sections in the same row being different, the ending columns L2 of any two needle sections in the same row being different, and the state of each needle section being an unprocessed device; the plurality of needle sections are arranged to obtain a queue Q in the order of increasing row number for different rows and increasing starting column number for the same row, and the number of needles in the needle section is L2-L1+1, wherein, 1≤L1≤L2≤M. The medicine taking module is configured to receive a number Num2 of needles to be taken, and continuously perform the following operations until Num2=0, the operations including: obtaining an unprocessed needle segment W from the queue Q in a direction from the head of the queue to the tail of the queue; when Num2>=Num3, the number of needles in the needle segment W, controlling the mechanical hand to take a preset number of needles from the needle segment W, the preset number being Num3, the value of Num2 being reduced by Num3, and the state of the needle segment W being processed; when Num2<Num3, the number of needles in the needle segment W, controlling the mechanical hand to take a preset number of needles from the needle segment W, the preset number being Num2, and Num2=0; wherein the "controlling the mechanical hand to take a preset number of needles from the needle segment W" includes: when the preset number <=Num1, controlling the mechanical hand to grab the preset number of needles from the needle segment W at one time; and when the preset number >Num1, continuously controlling the mechanical hand to grab Num1 needles from the needle segment W, and then controlling the mechanical hand to grab Num4 needles from the needle segment W, Num4 being the preset number mod Num1.

7. The needle dose drawing device according to claim 6, characterized in that The medicine taking module is further configured to: continuously control the mechanical hand to grab Num1 needles from the needle segment W in an order of increasing column numbers.

8. The needle dose drawing device of claim 6, wherein, The medicine taking module is further configured to: continuously control the mechanical hand to grab Num1 needles from the needle segment W in an order of decreasing column numbers.

9. The needle taking device according to claim 6, characterized in that: the mechanical hand is provided with a plurality of mechanical claws arranged in a column, and the distance between adjacent mechanical claws is adjustable; the information receiving module is further configured to: process the to-be-processed picture to obtain N rows of M columns of needle storage positions (1) contained in the upper end surface of the needle tray, whether a needle is stored in each needle storage position (1), and the distance D between the center points of the needle storage positions (1) of adjacent columns, and set the distance between the grabbing central axes of adjacent mechanical claws as D.

10. The needle taking device according to claim 7, characterized in that: the medicine taking module is further configured to: control Num1 mechanical claws in the mechanical hand to respectively grab one needle from the needle segment W.

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