Method and apparatus for a robotic arm to retrieve medicine from a medicine tray.

Abstract

The present invention discloses a method and a device for a manipulator to pick up medicines from a medicine tray. The method includes the following steps: receiving an instruction to grasp Num2 medicines; continuously performing the following operations on the medicine tray until Num2 = 0 or there are no medicines stored in the medicine tray. The operations specifically include: if the number of remaining medicines in the target row ≥ Num2, grasp Num2 of them; if the number of remaining medicines in the target row < Num2, grasp all of them, and during this process, control all the grippers in the manipulator in the storage area, thereby ensuring safety.

Description

Technical Field

[0001] This invention relates to the field of pharmaceutical storage technology, and in particular to a method and apparatus for a robotic arm to retrieve medicines from a medicine tray. Background Technology

[0002] Hospital pharmacies typically have medicine cabinets, and medicine trays are generally used to store medications in these cabinets. Figure 1 As shown, a medicine tray is typically divided into M rows and N columns of storage spaces, with each space capable of holding one medicine; for example... Figure 2 As shown, the robotic arm has Num1 grippers 11 arranged in a row, each gripper 11 capable of holding one medicine. The Num1 grippers 11 of the robotic arm can simultaneously align with Num1 storage positions in the same row, and can pick up one medicine from each aligned storage position (if the storage position contains medicine). All storage positions constitute a medicine storage area.

[0003] In practice, sometimes, for safety reasons (for example, if the gripper 11 is located outside the drug storage area, it may touch other parts and cause damage), it is necessary for all grippers 11 to be located only within the drug storage area. Summary of the Invention

[0004] In view of this, the main objective of the present invention is to provide a method and apparatus for a robotic arm to retrieve medicine from a medicine tray.

[0005] To achieve the above object, the technical solution of the present invention is implemented as follows: A method for a manipulator to pick up drugs from a medicine tray. The medicine tray is divided into storage positions arranged in M rows and N columns. Each storage position can hold one drug. In the direction from one end of the M rows to the other end, the row numbers of the M rows are sequentially numbered from 1 to M; in the direction from one end of the N columns to the other end, the column numbers of the N columns are sequentially numbered from 1 to N. There are Num1 grippers arranged in a row in the manipulator, and each gripper can grasp one drug. In the manipulator, in the direction from the head to the tail of the row, the grippers are numbered from 1 to Num1 in sequence; in the same row, the distance between adjacent storage positions in adjacent columns is equal to the distance between adjacent grippers; where M, N, and Num1 are all natural numbers, and Num1 < M, Num1 < N; the method includes the following steps: receiving an instruction to grasp Num2 drugs, where Num2 is a natural number and Num2 ≤ Num1; continuously performing the following operations on the medicine tray until Num2 = 0 or there is no drug stored in the medicine tray. The operations specifically include: selecting a target row, where at least one storage position in the target row stores a drug; obtaining a target storage position in the target row that stores a drug and has the smallest column number. The row number of the target row is L, and the column number of the target storage position is C; when N - C + 1 ≥ Num1, controlling the manipulator to align with the target row, and the Num2 grippers numbered from 1 to Num2 respectively grasp the drugs from the storage positions with column numbers from C to C + Num2 - 1, and Num2 = 0; when Num2 ≤ N - C + 1 ≤ Num1, controlling the manipulator to align with the target row, and the Num2 grippers numbered from Num1 - N + C to Num1 - N + C + Num2 - 1 respectively grasp the drugs from the storage positions with column numbers from C to C + Num2 - 1, and Num2 = 0; when N - C + 1 ≤ Num2, controlling the manipulator to align with the target row, and the grippers numbered from Num1 - N + C to Num1 respectively grasp the drugs from the storage positions with column numbers from C to N, and Num2 is subtracted by N - C + 1.

[0006] As an improvement of an embodiment of the present invention, the drug is an injection or a medicament.

[0007] As an improvement of an embodiment of the present invention, the "selecting a target row" specifically includes: selecting the target row with the smallest row number.

[0008] As an improvement of an embodiment of the present invention, the method further includes the following steps: when Num2 ≠ 0 and there is no drug stored in the medicine tray, obtaining the next target medicine tray, and continuously performing the above operations on the target medicine tray until Num2 = 0 or there is no drug stored in the target medicine tray.

[0009] An embodiment of the present invention further provides a device for a manipulator to pick up medicines from a medicine tray. The medicine tray is divided into storage positions arranged in M rows and N columns, and each storage position can hold one medicine. In the direction from one end of the M rows to the other end, the row numbers of the M rows are sequentially numbered from 1 to M; in the direction from one end of the N columns to the other end, the column numbers of the N columns are sequentially numbered from 1 to N; there are Num1 grippers arranged in a row in the manipulator, and each gripper can hold one medicine. In the manipulator, in the direction from the head to the tail of the row, the grippers are numbered from 1 to Num1 in sequence; in the same row, the distance between adjacent storage positions in adjacent columns is equal to the distance between adjacent grippers; where M, N, and Num1 are all natural numbers, and Num1 < M, Num1 < N; it includes the following modules: an instruction receiving module, configured to receive an instruction to pick up Num2 medicines, where Num2 is a natural number and Num2 ≤ Num1; a first processing module, configured to continuously perform the following operations on the medicine tray until Num2 = 0 or there is no medicine stored in the medicine tray. The operations specifically include: selecting a target row, where at least one storage position in the target row stores a medicine; obtaining a target storage position with the smallest column number among the storage positions storing medicines in the target row, the row number of the target row is L, and the column number of the target storage position is C; when N - C + 1 ≥ Num_1, controlling the manipulator to align with the target row, and the Num2 grippers numbered from 1 to Num2 respectively pick up medicines from the storage positions with column numbers from C to C + Num2 - 1 one by one, and Num2 = 0; when Num2 ≤ N - C + 1 ≤ Num1, controlling the manipulator to align with the target row, and the Num2 grippers numbered from Num1 - N + C to Num1 - N + C + Num2 - 1 respectively pick up medicines from the storage positions with column numbers from C to C + Num2 - 1 one by one, and Num2 = 0; when N - C + 1 ≤ Num2, controlling the manipulator to align with the target row, and the grippers numbered from Num1 - N + C to Num1 respectively pick up medicines from the storage positions with column numbers from C to N one by one, and Num2 is subtracted by N - C + 1.

[0010] As an improvement of an embodiment of the present invention, the medicine is an injection or a pharmaceutical agent.

[0011] As an improvement of an embodiment of the present invention, the first processing module is further configured to: select the target row with the smallest row number.

[0012] As an improvement of an embodiment of the present invention, it further includes the following module: a second processing module, configured to, when Num2 ≠ 0 and there is no medicine stored in the medicine tray, obtain the next target medicine tray, and continuously perform the above operations on the target medicine tray until Num2 = 0 or there is no medicine stored in the target medicine tray.

[0013] The method and device for a manipulator to pick up medicines from a medicine tray provided by the embodiments of the present invention have the following advantages: The present invention discloses a method and device for a manipulator to pick up medicines from a medicine tray. The method includes the following steps: receiving an instruction to grasp Num2 medicines; continuously performing the following operations on the medicine tray until Num2 = 0 or there are no medicines stored in the medicine tray. The operations specifically include: if the number of remaining medicines in the target row ≥ Num2, grasp Num2; if the number of remaining medicines in the target row < Num2, grasp all of them, and during this process, control all the grippers in the manipulator in the storage area. Thus, safety can be ensured. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 is a structural diagram of the medicine tray provided by the embodiments of the present invention;

[0015] Figure 2 is a structural diagram of the manipulator provided by the embodiments of the present invention;

[0016] Figure 3 is a schematic flow chart of the method for picking up medicines from the medicine tray provided by the embodiments of the present invention;

[0017] Figure 4 and Figure 5 is a schematic diagram of the principle of the method for picking up medicines from the medicine tray provided by the embodiments of the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0018] The present invention will be described in detail below in conjunction with the embodiments shown in the drawings. However, this embodiment does not limit the present invention, and any structural, method, or functional transformation made by those of ordinary skill in the art based on this embodiment is included in the protection scope of the present invention.

[0019] The following description and accompanying drawings fully illustrate specific embodiments described herein to enable those skilled in the art to practice them. Some embodiments may include or substitute parts and features of other embodiments. The scope of the embodiments herein encompasses 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. The various embodiments described herein are presented in a progressive manner, with each embodiment focusing on its differences from other embodiments; similar or identical parts between embodiments can be referred to interchangeably.

[0020] The terms "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer" used in this document to indicate orientation or positional relationships are based on the orientation or positional relationships shown in the accompanying drawings and are used only for the convenience of describing this document and simplifying the description. They do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as limiting the invention. In the description herein, unless otherwise specified and limited, the terms "installed," "connected," and "linked" should be interpreted broadly. For example, they can refer to mechanical or electrical connections, or internal connections between two elements, or direct connections or indirect connections through an intermediate medium. Those skilled in the art can understand the specific meaning of the above terms according to the specific circumstances.

[0021] Embodiment 1 of the present invention provides a method for a robotic arm to retrieve medicine from a medicine tray, such as... Figure 1As shown, the medicine tray is divided into M rows and N columns of storage positions, each capable of holding one medicine. From one end of the M rows towards the other, the M rows are numbered sequentially from 1 to M; from one end of the N columns towards the other, the N columns are numbered sequentially from 1 to N. The robotic arm has Num1 grippers 11 arranged in a row, each gripper capable of holding one medicine. From the first end of the row towards the last end, the grippers 11 are numbered sequentially from 1 to Num1. Within the same row, the distance between adjacent columns of storage positions is equal to the distance between adjacent grippers 11. Where M, N, and Num1 are all natural numbers, and Num1... <M,Num1<N。

[0022] exist Figure 1 In this system, each small square is a storage location, and each location can hold one medicine, which can be a boxed medicine or an injection, etc. All the storage locations constitute a medicine storage area. For example... Figure 2 As shown, the robotic arm is equipped with a drive device 12 and grippers 11. The drive device 12 can drive each gripper 11 to grasp a medicine, and can also control each gripper to release a medicine. Figure 1 As shown, in the same row, the distance between storage locations in adjacent columns is D2 (that is, the distance between the center points of storage locations in adjacent columns is D2). Figure 2 As shown, the distance between adjacent grippers 11 is D1 (i.e., the distance between the center lines of adjacent grippers 11 is D1), and D1=D2. This means that the Num1 grippers 11 of the robot can simultaneously align with Num1 storage positions in the same row, and can pick up one medicine from each aligned storage position (if the storage position contains medicine). Here, initially, each storage position contains one medicine.

[0023] like Figure 3 As shown, it includes the following steps:

[0024] Step 301: Receive the instruction to grab Num2 medicines, where Num2 is a natural number and Num2≤Num1.

[0025] Step 302: Continuously perform the following operations on the medicine tray until Num2=0 or the medicine tray contains no medicine. Specifically, the operations include: selecting a target row, where at least one storage position in the target row contains medicine; obtaining the target storage position with the smallest column number containing medicine from the target row, where the row number of the target row is L and the column number of the target storage position is C; when N-C+1≥Num1, controlling the robotic arm to align with the target row, and gripping the storage positions from column number C to C+Num2-1 with the corresponding grippers 11 numbered 1 to Num2. When taking medicine, Num2=0; when Num2≤N-C+1≤Num1, control the robotic arm to align with the target row, and the Num2 grippers 11 numbered Num1-N+C to Num1-N+C+Num2-1 grab medicine from the storage positions with column numbers C to C+Num2-1 respectively, Num2=0; when N-C+1≤Num2, control the robotic arm to align with the target row, and the grippers 11 numbered Num1-N+C to Num1 grab medicine from the storage positions with column numbers C to N respectively, Num2 minus N-C+1.

[0026] In this method, the medicines are retrieved in the order of rows 1 to M, and in each row, in the order of columns 1 to N.

[0027] If the column number of the target storage location is C in row L, it means that there are no medicines stored in the storage locations from column 1 to column C-1, and medicines are stored in the storage locations from column C to column N. It can be understood that the number of medicines stored in row L is N-C+1.

[0028] like Figure 3 As shown, when N-C+1≥Num1≥Num2, it indicates that the robotic arm can grab Num2 medicines in row L at once. Therefore, gripper 11 numbered 1 is aligned with storage position C, gripper 11 numbered 2 is aligned with storage position C+1, ..., gripper 11 numbered Num2 can be aligned with storage position C+Num2-1, ..., gripper 11 numbered Num1 can be aligned with storage position C+Num1-1, and the robotic arm controls the Num2 grippers 11 numbered 1 to Num2 to grab medicines from storage positions C to C+Num2-1 in a one-to-one correspondence. It can be understood that at this time, no gripper 11 is located outside the medicine storage area.

[0029] like Figure 4As shown, when Num2≤N-C+1≤Num1, it indicates that the robotic arm can grab Num2 medicines in row L at once. Therefore, the gripper 11 numbered Num1 is aligned with the storage position at column number N, the gripper 11 numbered Num-1 is aligned with the storage position at column number N-1, ..., the gripper 11 numbered Num1-N+C can be aligned with the storage position at column number C, and the Num2 grippers 11 numbered Num1-N+C to Num1-N+C+Num2-1 are controlled to grab medicines from the storage positions at row numbers C to C+Num2-1 respectively. It can be understood that at this time, no gripper 11 is located outside the medicine storage area.

[0030] like Figure 4 As shown, when N-C+1≤Num2, it indicates that the robotic arm cannot grab all Num2 medicines in row L at once, but can grab all N-C+1 medicines at once. Therefore, the gripper 11 numbered Num1 is aligned with the storage position at column number N, the gripper 11 numbered Num-1 is aligned with the storage position at column number N-1, ..., the gripper 11 numbered Num1-N+C can be aligned with the storage position at column number C, and the grippers 11 numbered Num1-N+C to Num1-N-C+1 are controlled to grab medicines from the storage positions at row numbers C to N respectively. It can be understood that at this time, no gripper 11 is located outside the medicine storage area, and Num2 needs to be subtracted from N-C+1.

[0031] In summary, after performing the above operations multiple times, it is possible to collect Num2 medicines, or it is impossible to collect Num2 medicines because the number of medicines in the medicine tray is less than Num2.

[0032] Optional, Num1=4.

[0033] In this embodiment, the drug is an injection or a pharmaceutical preparation.

[0034] In this embodiment, "selecting the target row" specifically includes: selecting the target row with the smallest row number.

[0035] In this embodiment, the following steps are also included: when Num2≠0 and the medicine tray does not contain any medicine, obtain the next target medicine tray, and continue to perform the operation on the target medicine tray until Num2=0 or the target medicine tray does not contain any medicine. The number of medicines in a medicine tray... <Num2。

[0036] Embodiment 2 of the present invention provides a device for a manipulator to pick up medicines from a medicine tray. The medicine tray is divided into storage positions arranged in M rows and N columns. Each storage position can hold one medicine. In the direction from one end of the M rows to the other end, the numbers of the M rows are sequentially 1 to M; in the direction from one end of the N columns to the other end, the numbers of the N columns are sequentially 1 to N. There are Num1 grippers 11 arranged in a row in the manipulator. Each gripper 11 can grasp one medicine. In the manipulator, in the direction from the head to the tail of the row, the numbers of the grippers 11 are sequentially 1 to Num1. In the same row, the distance between adjacent storage positions in adjacent columns is equal to the distance between adjacent grippers 11. Here, M, N, and Num1 are all natural numbers, and Num1 < M, Num1 < N. It includes the following modules:

[0037] An instruction receiving module, which is used to receive an instruction to grasp Num2 medicines, where Num2 is a natural number and Num2 ≤ Num1.

[0038] A first processing module, which is used to continuously perform the following operations on the medicine tray until Num2 = 0 or there is no medicine stored in the medicine tray. The operations specifically include: Select a target row, where at least one storage position in the target row stores a medicine; Obtain a target storage position with the smallest column number among the storage positions storing medicines in the target row. The row number of the target row is L, and the column number of the target storage position is C; When N - C + 1 ≥ Num1, control the manipulator to align with the target row, and Num2 grippers 11 numbered from 1 to Num2 respectively grasp the medicines from the storage positions with column numbers from C to C + Num2 - 1, and Num2 = 0; When Num2 ≤ N - C + 1 ≤ Num1, control the manipulator to align with the target row, and Num2 grippers 11 numbered from Num1 - N + C to Num1 - N + C + Num2 - 1 respectively grasp the medicines from the storage positions with column numbers from C to C + Num2 - 1, and Num2 = 0; When N - C + 1 ≤ Num2, control the manipulator to align with the target row, and the grippers 11 numbered from Num1 - N + C to Num1 respectively grasp the medicines from the storage positions with column numbers from C to N, and Num2 is subtracted by N - C + 1.

[0039] Optionally, Num1 = 4.

[0040] In this embodiment, the medicine is an injection or a pharmaceutical agent.

[0041] In this embodiment, the first processing module is further used for:

[0042] Select the target row with the smallest row number.

[0043] In this embodiment, the following module is also included: a second processing module, used to obtain the next target medicine tray when Num2≠0 and the medicine tray does not contain any medicine, and to continuously perform the operation on the target medicine tray until Num2=0 or the target medicine tray does not contain any medicine.

[0044] It should be understood that although this specification describes embodiments, not every embodiment contains only one independent technical solution. This way of describing the specification is only for clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment can also be appropriately combined to form other embodiments that can be understood by those skilled in the art.

[0045] The detailed descriptions listed above are merely specific descriptions of feasible embodiments of the present invention, and are not intended to limit the scope of protection of the present invention. All equivalent embodiments or modifications made without departing from the spirit of the present invention should be included within the scope of protection of the present invention.

Claims

1. A method for a robotic arm to retrieve medicine from a medicine tray, the medicine tray being divided into M rows and N columns of storage positions, each storage position capable of holding one medicine, the M rows being numbered sequentially from one end to the other, the M columns being numbered sequentially from one end to the other, the N columns being numbered sequentially from one end to the other; the robotic arm being provided with Num1 grippers (11) arranged in a row, each gripper (11) capable of grasping one medicine, the grippers (11) being numbered sequentially from one end to the other in the robotic arm; within the same row, the distance between adjacent storage positions is equal to the distance between adjacent grippers (11); wherein, M, N, and Num1 are all natural numbers, and Num1 < M, Num1 < N; it is characterized by including the following steps: Receiving an instruction to grab Num2 medicines, where Num2 is a natural number and Num2 ≤ Num1; Continuously performing the following operations on the medicine tray until Num2 = 0 or there is no medicine stored in the medicine tray. The operations specifically include: Selecting a target row in which at least one storage position stores medicine; obtaining the target storage position with the smallest column number among those storing medicine from the target row. The row number of the target row is L, and the column number of the target storage position is C; when N - C + 1 ≥ Num1, controlling the manipulator to align with the target row, and Num2 grippers (11) numbered from 1 to Num2 respectively grab medicines from the storage positions with column numbers from C to C + Num2 - 1, and Num2 = 0; when Num2 ≤ N - C + 1 ≤ Num1, controlling the manipulator to align with the target row, and Num2 grippers (11) numbered from Num1 - N + C to Num1 - N + C + Num2 - 1 respectively grab medicines from the storage positions with column numbers from C to C + Num2 - 1, and Num2 = 0; when N - C + 1 ≤ Num2, controlling the manipulator to align with the target row, and grippers (11) numbered from Num1 - N + C to Num1 respectively grab medicines from the storage positions with column numbers from C to N, and Num2 is subtracted by N - C + 1.

2. The method according to claim 1, wherein: The medicine is an injection or a medicament.

3. The method according to claim 1, characterized in that, The "selecting the target row" specifically includes: Selecting the target row with the smallest row number.

4. The method according to claim 1, characterized in that, It further includes the following steps: When Num2 ≠ 0 and there is no medicine stored in the medicine tray, obtaining the next target medicine tray and continuously performing the above operations on the target medicine tray until Num2 = 0 or there is no medicine stored in the target medicine tray.

5. A device for a robotic arm to retrieve medicine from a medicine tray, the medicine tray being divided into M rows and N columns of storage positions, each storage position capable of holding one medicine; the M rows are numbered sequentially from 1 to M from one end to the other; the N columns are numbered sequentially from 1 to N from one end to the other; the robotic arm is provided with Num1 grippers (11) arranged in a row, each gripper (11) capable of grasping one medicine; the grippers (11) are numbered sequentially from 1 to Num1 from one end to the other in the robotic arm; within the same row, the distance between adjacent storage positions is equal to the distance between adjacent grippers (11); wherein, M, N, and Num1 are all natural numbers, and Num1 < M, Num1 < N; it is characterized by including the following modules: An instruction receiving module for receiving an instruction to grab Num2 medicines, where Num2 is a natural number and Num2 ≤ Num1; The first processing module is used to continuously perform the following operations on the medicine tray until Num2=0 or the medicine tray is empty. The operation specifically includes: selecting a target row, where at least one storage position in the target row contains medicine; obtaining the target storage position with the smallest column number containing medicine from the target row, where the row number of the target row is L and the column number of the target storage position is C; when N-C+1≥Num1, controlling the robotic arm to align with the target row, and the Num2 grippers (11) numbered 1 to Num2 corresponding to the storage positions with column numbers C to C+Num2-1. Take the medicine, Num2=0; when Num2≤N-C+1≤Num1, control the robot to align with the target row, and the grippers (11) numbered Num1-N+C to Num1-N+C+Num2-1 will grab the medicine from the storage positions with column numbers C to C+Num2-1 respectively, Num2=0; when N-C+1≤Num2, control the robot to align with the target row, and the grippers (11) numbered Num1-N+C to Num1 will grab the medicine from the storage positions with column numbers C to N respectively, Num2 minus N-C+1.

6. The apparatus according to claim 5, characterized in that: The medicine is an injection or a pharmaceutical preparation.

7. The apparatus according to claim 5, characterized in that, The first processing module is also used for: Select the target row with the smallest row number.

8. The apparatus according to claim 5, characterized in that, It also includes the following modules: The second processing module is used to obtain the next target medicine tray when Num2≠0 and the medicine tray does not contain any medicine, and to continuously perform the operation on the target medicine tray until Num2=0 or the target medicine tray does not contain any medicine.

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