A control method, apparatus, and storage medium for a secondary drug storage facility.

Abstract

This invention discloses a control method, device, and storage medium for a secondary drug storage warehouse. The secondary drug storage warehouse includes an entrance location and a drug basket storage area, and a drug basket retrieval and placement device. The steps are as follows: obtaining the horizontal coordinates (x, y) of the entrance location and N drug basket positions that are not currently occupied; calculating the relationship between the entrance location and the drug basket position P. i The horizontal distance between N medicine baskets is used to arrange them into an ascending queue Q. When a medicine basket is detected at the entrance position and the length of the ascending queue Q is not equal to 0, a target medicine basket position is selected from the head of the ascending queue Q. The medicine basket picking and placing device grabs the medicine basket located at the entrance position, moves it to the target medicine basket position, and places the grabbed medicine basket into the target medicine basket position. The medicine basket position at the head of the ascending queue Q is then removed. This control method reduces the storage time, shortens the storage distance, and improves storage efficiency.

Description

Technical Field

[0001] This invention relates to the field of secondary drug storage technology, specifically to a control method, apparatus, and storage medium for secondary drug storage. Background Technology

[0002] Hospital warehouses typically consist of a main warehouse and secondary warehouses. The secondary warehouse is usually used as a backup warehouse. In the secondary warehouse, there are several medicine basket positions for storing medicine baskets. A medicine basket retrieval and placement device is needed to move the medicine baskets from the entrance position to the medicine basket positions that do not contain medicine baskets. Therefore, if the medicine basket transportation plan is not properly planned, the movement distance of the medicine basket retrieval and placement device may be too long, thereby reducing work efficiency. Summary of the Invention

[0003] The purpose of this invention is to address the above-mentioned problems by providing a control method, apparatus, and storage medium for a secondary drug storage facility.

[0004] The secondary medicine storage area includes: an entrance location and a medicine basket storage area, wherein the medicine basket storage area has several medicine basket positions, and the medicine basket positions and the entrance location are located on the same horizontal plane. The medicine baskets are used to store medicines. A medicine basket retrieval and placement device is also included, capable of grabbing a medicine basket from the entrance location, moving it to any medicine basket position, and placing the medicine basket into that position. Specifically, it includes:

[0005] Obtain the horizontal coordinates (x, y) of the entrance location and the N medicine basket positions P1, P2, ..., P that are not currently occupied by medicine baskets. N Among them, the medicine basket position P i The horizontal coordinate is (a i ,b i ), where i and N are both natural numbers, i = 1, 2, ..., N;

[0006] Calculate the inlet position and the medicine basket position P. i horizontal distance Place the medicine baskets at positions P1, P2, ..., P... N Arranged into an ascending queue Q, in which the medicine basket is located at position P. i Corresponding Z i The smaller the size, the more medicine baskets are available. i The closer to the front of the line;

[0007] The following operations are performed continuously: when a medicine basket is detected at the entrance position and the length of the ascending queue Q is not equal to 0, a target medicine basket position is selected from the head of the ascending queue Q, the medicine basket picking and placing device is controlled to grab the medicine basket located at the entrance position, move it to the target medicine basket position, and place the grabbed medicine basket into the target medicine basket position, and delete the medicine basket position at the head of the ascending queue Q.

[0008] Including any of the above technical solutions, specifically including:

[0009] Each medicine basket location is equipped with a sensor to detect whether a medicine basket is placed on it;

[0010] The process of obtaining the horizontal coordinates (x, y) of the entrance location of the secondary drug warehouse and the N drug basket positions P1, P2, ..., P that are not currently occupied by any medicine baskets is described. N Specifically, this includes: obtaining the horizontal coordinates (x, y) of the entrance location, sequentially receiving the detection results from all sensors, and thus obtaining the N medicine basket positions P1, P2, ..., P that do not contain medicine baskets. N .

[0011] Including any of the above technical solutions, specifically including:

[0012] An alarm is issued when a medicine basket is detected at the entrance location and the length of the ascending queue Q is 0.

[0013] Including any of the above technical solutions, specifically including:

[0014] The phrase "controlling the medicine basket picking and placing device to grab the medicine basket located at the entrance position and move it to the target medicine basket position" specifically includes: controlling the medicine basket picking and placing device to move to the entrance position, then grabbing the medicine basket located at the entrance position and moving it along a preset path to the target medicine basket position, and then placing the grabbed medicine basket into the target medicine basket position, wherein the preset path is a straight line path between the entrance position and the target medicine basket position.

[0015] To achieve one of the above-mentioned objectives, an embodiment of the present invention provides a control device for a secondary drug storage warehouse. The secondary drug storage warehouse includes: an entrance location and a drug basket storage area, wherein the drug basket storage area has several drug basket positions, the drug basket positions and the entrance location are located on the same horizontal plane, and the drug baskets are used to store drugs; a drug basket retrieval and placement device, capable of removing and storing drug baskets from the drug basket storage area, or placing stored drug baskets into the drug basket storage area; specifically, it includes the following modules:

[0016] The information acquisition module is used to acquire the horizontal coordinates (x, y) of the entrance location of the secondary drug warehouse and the N drug basket positions P1, P2, ..., P that are not currently occupied by any medicine baskets. N Among them, the medicine basket position P i The horizontal coordinate is (a i ,b i ), where i and N are both natural numbers, i = 1, 2, ..., N;

[0017] The calculation module is used to calculate the relationship between the inlet position and the medicine basket position P. iHorizontal distance, Place the medicine baskets at positions P1, P2, ..., P... N Arranged into an ascending queue Q, in which the medicine basket is located at position P. i Corresponding Z i The smaller the size, the more medicine baskets are available. i The closer to the front of the line;

[0018] The execution module continuously performs the following operations: when it detects that a medicine basket is stored at the entrance position and the length of the ascending queue Q is not equal to 0, it selects the target medicine basket position from the head of the ascending queue Q, controls the medicine basket picking and placing device to move the medicine basket located at the entrance position to the target medicine basket position, and deletes the medicine basket position at the head of the ascending queue Q.

[0019] Including any of the above technical solutions, specifically including:

[0020] The medicine basket storage area is evenly arranged along the horizontal direction.

[0021] Including any of the above technical solutions, specifically including:

[0022] Each medicine basket location is equipped with a sensor to detect whether a medicine basket is placed on it;

[0023] The process of obtaining the horizontal coordinates (x, y) of the entrance location of the secondary drug warehouse and the N drug basket positions P1, P2, ..., P that are not currently occupied by any medicine baskets is described. N Specifically, this includes: obtaining the horizontal coordinates (x, y) of the entrance location of the secondary drug storage area, sequentially receiving the detection results from all sensors, and thus obtaining the locations of N drug baskets that are not currently occupied by any drug baskets, P1, P2, ..., P... N .

[0024] To achieve one of the above-mentioned objectives, one embodiment of the present invention provides a secondary drug storage facility, comprising: a drug basket storage area with a plurality of drug basket positions for storing drugs; a drug basket retrieval and placement device capable of removing and storing drug baskets from the drug basket storage area, or placing stored drug baskets into the drug basket storage area; a memory and a processor, wherein the memory stores a computer program executable on the processor, and the processor executes the program to implement the steps of any of the above-mentioned methods.

[0025] To achieve one of the above-mentioned objectives, one embodiment of the present invention provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps in any of the above-mentioned methods.

[0026] The advantages of the control method for secondary drug warehouses provided by this invention are: reduced storage time, shortened storage distance, and increased rate of adding medicine baskets to the secondary drug warehouse. Attached Figure Description

[0027] Figure 1 This is a schematic diagram of the control method for a secondary drug warehouse described in this invention; Detailed Implementation

[0028] The present invention will now be described in detail with reference to the specific embodiments shown in the accompanying drawings. However, these embodiments do not limit the present invention, and any structural, methodological, or functional modifications made by those skilled in the art based on these embodiments are included within the scope of protection of the present invention.

[0029] If the present invention involves orientation (e.g., up, down, left, right, front, back, outside, inside, etc.) in its description, then the orientations involved need to be defined.

[0030] The scope of embodiments described herein includes the entire scope of the claims and all available equivalents thereof. Throughout this document, the terms “first,” “second,” etc., are used only to distinguish one element from another without requiring or implying any actual relationship or order between the elements. Indeed, a first element can also be referred to as a second element, and vice versa. Furthermore, the terms “comprising,” “including,” or any other variations thereof are intended to cover non-exclusive inclusion, such that a structure, apparatus, or device that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a structure, apparatus, or device. Without further limitation, an element defined by the phrase “comprising one…” does not exclude the presence of other identical elements in the structure, apparatus, or device that includes said element.

[0031] Embodiment 1 of the present invention provides a control method for a secondary drug warehouse, the secondary drug warehouse including: an entrance position and a drug basket storage area, the drug basket storage area being provided with a plurality of drug basket positions, the drug basket positions and the entrance position being located on the same horizontal plane, the drug baskets being used to store drugs; and a drug basket picking and placing device, the drug basket picking and placing device being able to pick up a drug basket, move it to any drug basket position and place the drug basket into the drug basket position;

[0032] The control method includes the following steps:

[0033] Obtain the horizontal coordinates (x, y) of the entrance location of the secondary drug warehouse and the N drug basket positions P1, P2, ..., P that are not currently occupied by any medicine baskets. N Among them, the medicine basket position P i The horizontal coordinate is (a i,b i ), where i and N are both natural numbers, i = 1, 2, ..., N;

[0034] Calculate the inlet position and the medicine basket position P. i horizontal distance Place the medicine baskets at positions P1, P2, ..., P... N Arranged into an ascending queue Q, in which the medicine basket is located at position P. i Corresponding Z i The smaller the size, the more medicine baskets are available. i The closer to the front of the line;

[0035] The following operations are performed continuously: when a medicine basket is detected at the entrance position and the length of the ascending queue Q is not equal to 0, a target medicine basket position is selected from the head of the ascending queue Q, the medicine basket picking and placing device is controlled to move the medicine basket located at the entrance position to the target medicine basket position, and the picked medicine basket is placed into the target medicine basket position, and the medicine basket position at the head of the ascending queue Q is deleted.

[0036] Here, the control device includes a database containing information on all drug types in the secondary drug warehouse, the corresponding numbers of several medicine baskets for each drug type, the quantity of drugs stored in each medicine basket, and the location information of each medicine basket position. Based on this database, the horizontal coordinates (x, y) of the entrance position of the secondary drug warehouse and the N medicine basket positions P1, P2, ..., P3 that are not currently filled with medicine baskets can be obtained. N .

[0037] In this embodiment, the medicine basket storage area is evenly arranged along the horizontal direction.

[0038] In this embodiment, each medicine basket position is equipped with a sensor for detecting whether a medicine basket is placed on it;

[0039] The process of obtaining the horizontal coordinates (x, y) of the entrance location of the secondary drug warehouse and the N drug basket positions P1, P2, ..., P that are not currently occupied by any medicine baskets is described. N Specifically, this includes: obtaining the horizontal coordinates (x, y) of the entrance location, sequentially receiving the detection results from all sensors, and thus obtaining the N medicine basket positions P1, P2, ..., P that do not contain medicine baskets. N .

[0040] In practice, the sensor used to detect whether a medicine basket is stored in the medicine basket position can be a resistive sensor, a weighing sensor, a resistance strain gauge sensor, a piezoresistive sensor, or other types of sensors, as long as it can detect whether a medicine basket is stored in the medicine basket position.

[0041] In this embodiment, when a medicine basket is detected at the entrance location and the length of the ascending queue Q is 0, an alarm message is issued.

[0042] Here, when it is detected that there is a medicine basket at the entrance position and the length of the ascending queue Q is 0, it means that all the medicine basket positions set in the secondary warehouse are filled with medicine baskets. At this time, the control device will issue an alarm message, which can be sound, light, text prompts, etc.

[0043] In this embodiment, the step of "controlling the medicine basket picking and placing device to grab the medicine basket located at the entrance position and move it to the target medicine basket position" specifically includes: controlling the medicine basket picking and placing device to move to the entrance position, then grabbing the medicine basket located at the entrance position and moving it along a preset path to the target medicine basket position, and then placing the grabbed medicine basket into the target medicine basket position, wherein the preset path is a straight line path between the entrance position and the target medicine basket position.

[0044] In practice, the control device will set a preset path based on the actual situation. If an obstacle or malfunction occurs along the way for various reasons, an alarm message will be issued. At this time, the obstacle or malfunction should be eliminated according to the prompts to enable it to work normally. Understandably, this will greatly improve the efficiency of warehousing.

[0045] Embodiment 2 of the present invention provides a control device for a secondary drug storage warehouse. The secondary drug storage warehouse includes: an entrance position and a drug basket storage area. The drug basket storage area is provided with a plurality of drug basket positions, and the drug basket positions and the entrance position are located on the same horizontal plane. The drug baskets are used to store drugs. A drug basket retrieval and placement device is provided, which can remove and store drug baskets from the drug basket storage area, or place stored drug baskets in the drug basket storage area. The control device includes the following modules:

[0046] The information acquisition module is used to acquire the horizontal coordinates (x, y) of the entrance location of the secondary drug warehouse and the N drug basket positions P1, P2, ..., P that are not currently occupied by any medicine baskets. N Among them, the medicine basket position P i The horizontal coordinate is (a i ,b i ), where i and N are both natural numbers, i = 1, 2, ..., N;

[0047] The calculation module is used to calculate the relationship between the inlet position and the medicine basket position P. i Horizontal distance, Place the medicine baskets at positions P1, P2, ..., P... N Arranged into an ascending queue Q, in which the medicine basket is located at position P. i Corresponding Z i The smaller the size, the more medicine baskets are available. i The closer to the front of the line;

[0048] The execution module continuously performs the following operations: when it detects that a medicine basket is stored at the entrance position and the length of the ascending queue Q is not equal to 0, it selects the target medicine basket position from the head of the ascending queue Q, controls the medicine basket picking and placing device to move the medicine basket located at the entrance position to the target medicine basket position, and deletes the medicine basket position at the head of the ascending queue Q.

[0049] In this embodiment, the medicine basket storage area is evenly arranged along the horizontal direction.

[0050] In this embodiment, each medicine basket position is equipped with a sensor for detecting whether a medicine basket is placed on it;

[0051] The process of obtaining the horizontal coordinates (x, y) of the entrance location of the secondary drug warehouse and the N drug basket positions P1, P2, ..., P that are not currently occupied by any medicine baskets is described. N Specifically, this includes: obtaining the horizontal coordinates (x, y) of the entrance location of the secondary drug storage area, sequentially receiving the detection results from all sensors, and thus obtaining the locations of N drug baskets that are not currently occupied by any drug baskets, P1, P2, ..., P... N .

[0052] Embodiment 3 of the present invention provides a secondary drug storage facility, comprising: a drug basket storage area with a plurality of drug basket positions for storing drugs; a drug basket retrieval and placement device capable of removing and storing drug baskets from the drug basket storage area, or placing stored drug baskets in the drug basket storage area; a memory and a processor, wherein the memory stores a computer program executable on the processor, and the processor executes the program to implement the steps of any of the above methods.

[0053] Embodiment 4 of the present invention provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps in any of the above methods.

[0054] The embodiments of the present invention have been described above. These descriptions are exemplary and not exhaustive, nor are they limited to the disclosed embodiments. Many modifications and variations will be apparent to those skilled in the art without departing from the scope and spirit of the described embodiments. The terminology used herein is chosen to best explain the principles of the embodiments, their practical application, or technological improvements in the market, or to enable others skilled in the art to understand the embodiments disclosed herein.

Claims

1. A control method for a secondary drug storage facility, the secondary drug storage facility comprising: An entrance location and a medicine basket storage area, wherein the medicine basket storage area is provided with several medicine basket positions, the medicine basket positions and the entrance location are located on the same horizontal plane, and the medicine baskets are used to store medicines; a medicine basket picking and placing device, the medicine basket picking and placing device is capable of grabbing a medicine basket from the entrance location, moving it to any medicine basket position and placing the medicine basket into the medicine basket position; characterized in that each medicine basket position is provided with a sensor for detecting whether a medicine basket is placed there; including the following steps: Obtain the horizontal coordinates (x, y) of the entrance location and the N medicine basket positions that are not currently occupied. Specifically, this includes: obtaining the horizontal coordinates (x, y) of the entrance location, and sequentially receiving the detection results from all sensors to obtain the N medicine basket positions that do not contain medicine baskets. Among them, the medicine basket position The horizontal coordinate is Both i and N are natural numbers, i = 1, 2, ..., N; Calculate the inlet position and the medicine basket position. horizontal distance Place the medicine basket Arranged into an ascending queue Q, in which the medicine baskets are located... corresponding The smaller the size, the more space the medicine basket can hold. The closer to the front of the line; The following operations are continuously performed: When a medicine basket is detected at the entrance position and the length of the ascending queue Q is not equal to 0, a target medicine basket position is selected from the head of the ascending queue Q. The medicine basket picking and placing device is controlled to grab the medicine basket located at the entrance position and move it to the target medicine basket position. Specifically, the medicine basket picking and placing device is controlled to move to the entrance position, then grab the medicine basket located at the entrance position and move it to the target medicine basket position along a preset path. Then, the grabbed medicine basket is placed into the target medicine basket position. The preset path is a straight line path between the entrance position and the target medicine basket position. The medicine basket position at the head of the ascending queue Q is then deleted.

2. The control method according to claim 1, characterized in that, The medicine basket storage area is evenly arranged along the horizontal direction.

3. The control method according to claim 1, characterized in that, Also perform the following steps: An alarm is issued when a medicine basket is detected at the entrance location and the length of the ascending queue Q is 0.

4. A control device for a secondary drug storage facility, the secondary drug storage facility comprising: The system includes an entrance location and a medicine basket storage area, wherein the medicine basket storage area has several medicine basket positions, and the medicine basket positions and the entrance location are located on the same horizontal plane. The medicine baskets are used to store medicines. A medicine basket retrieval and placement device is also included, capable of removing and storing medicine baskets from the medicine basket storage area, or placing stored medicine baskets back into the medicine basket storage area. The system is characterized by having a sensor at each medicine basket position for detecting whether a medicine basket is stored thereon. The system includes the following modules: The information acquisition module is used to acquire the horizontal coordinates (x, y) of the entrance location of the secondary drug warehouse and the N drug basket positions that are not currently occupied. Specifically, this includes: obtaining the horizontal coordinates (x, y) of the entrance location, and sequentially receiving the detection results from all sensors to obtain the N medicine basket positions that do not contain medicine baskets. Among them, the medicine basket position The horizontal coordinate is Both i and N are natural numbers, i = 1, 2, ..., N; The calculation module is used to calculate the inlet position and the medicine basket position. Horizontal distance, Place the medicine basket Arranged into an ascending queue Q, in which the medicine baskets are located... corresponding The smaller the size, the more space the medicine basket can hold. The closer to the front of the line; The execution module continuously performs the following operations: when it detects that a medicine basket is stored at the entrance position and the length of the ascending queue Q is not equal to 0, it selects a target medicine basket position from the head of the ascending queue Q, and controls the medicine basket picking and placing device to move the medicine basket located at the entrance position to the target medicine basket position. Specifically, this includes: controlling the medicine basket picking and placing device to move to the entrance position, then grabbing the medicine basket located at the entrance position and moving it along a preset path to the target medicine basket position, then placing the grabbed medicine basket into the target medicine basket position, the preset path being a straight line path between the entrance position and the target medicine basket position; and deleting the medicine basket position at the head of the ascending queue Q from the target medicine basket position.

5. The control device according to claim 4, characterized in that, The medicine basket storage area is evenly arranged along the horizontal direction.

6. The control device according to claim 4, characterized in that, Each medicine basket location is equipped with a sensor to detect whether a medicine basket is placed on it; The step of obtaining the horizontal coordinates (x, y) of the entrance location of the secondary drug warehouse and the N drug basket positions that are not currently occupied by any medicine baskets is described. Specifically, this includes: obtaining the horizontal coordinates (x, y) of the entrance location of the secondary drug storage area, and sequentially receiving the detection results from all sensors to obtain the N drug basket locations that are not currently occupied. .

7. A secondary drug storage facility, said secondary drug storage facility comprising: A medicine basket storage area is provided, wherein the medicine basket is used to store medicines; A medicine basket retrieval and placement device, the medicine basket retrieval and placement device being capable of removing and storing medicine baskets from a medicine basket storage area, or placing stored medicine baskets in a medicine basket storage area; a memory and a processor, the memory storing a computer program executable on the processor, characterized in that, when the processor executes the program, it implements the steps of the control method of any one of claims 1 to 3.

8. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements the steps of the control method of any one of claims 1-3.

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