A method and system for monitoring operation of a self-service medicine dispensing machine

Abstract

This invention discloses a method and system for monitoring the operation of a self-service dispensing machine. By determining the target location of the medicine to be dispensed and the position of the elevator in the machine, the movement path of the elevator is determined. Then, a first sensor mounted on the elevator collects infrared data along the movement path to determine if there are any obstacles. If no obstacles are found, the elevator moves to the location of the medicine to be dispensed. If obstacles are found, the elevator stops operating and an alarm is generated. Therefore, this invention enables real-time monitoring of the self-service dispensing machine during operation, effectively ensuring its safe operation.

Description

Technical Field

[0001] This invention relates to the field of automated dispensing equipment technology, and in particular to an operation monitoring method and system based on a self-service dispensing machine. Background Technology

[0002] A self-service dispensing machine is an automated medication dispensing device used in pharmacies. Its main function is to identify the medications on the prescription, control an elevator to sequentially reach the corresponding medication compartments, and then control the power unit of the compartments to push the medication boxes onto the elevator's conveyor belt. Finally, after the elevator has collected all the medications on the prescription, the conveyor belt transports all the medications to the dispensing slot and dispenses them. Therefore, the implementation of self-service dispensing machines has transformed the previous situation of "people waiting for medication" into "medicine waiting for people," significantly reducing patients' waiting time and providing them with a convenient and efficient medical experience.

[0003] Traditional self-service dispensing machines primarily focus on correctly identifying the various medications on a prescription and determining their location, lacking real-time monitoring of the dispensing process. This means that while the machine can correctly identify the medications and their locations, dispensing can easily fail due to unforeseen circumstances, such as the elevator getting stuck on an obstacle during its movement. Therefore, how to implement real-time monitoring of self-service dispensing machines to improve their safety has become a pressing issue. Summary of the Invention

[0004] This invention provides a method and system for monitoring the operation of a self-service dispensing machine, which can monitor the self-service dispensing machine in real time during operation, effectively improving the safety of the self-service dispensing machine.

[0005] One embodiment of the present invention provides an operation monitoring method based on a self-service dispensing machine, comprising:

[0006] Obtain prescription information and determine each drug in the prescription information, as well as the location of each drug in the medicine container;

[0007] Based on the location of each medicine in the medicine tank, determine the medicine to be retrieved and the target location of the medicine tank where the medicine to be retrieved is located.

[0008] Based on the target location and the location of the elevator in the self-service dispensing machine, determine the movement path of the elevator;

[0009] The elevator is controlled to move according to the moving path, and the presence of obstacles on the moving path is determined based on the infrared data collected by the first sensor pre-mounted on the elevator.

[0010] If so, the elevator is controlled to stop operating, and a first alarm message is generated to indicate an abnormal operation of the elevator.

[0011] If not, control the elevator to move to the target position, and then control the power device of the medicine tank where the medicine to be taken is located to push the medicine to be taken onto the conveyor belt on the surface of the elevator;

[0012] After confirming that all the medications in the prescription information are on the conveyor belt on the surface of the elevator, the conveyor belt is controlled to transport each medication in the prescription information to the dispensing port.

[0013] Furthermore, the above-described method for monitoring the operation of a self-service dispensing machine also includes:

[0014] When the power unit of the medicine tank where the medicine to be taken is located finishes operating, the detection data collected by the medicine drop detection sensor installed at the outlet of the medicine tank is used to characterize whether the medicine to be taken has been pushed off.

[0015] When the detection data indicates that the medicine to be retrieved has been pushed down, a number of images are captured by the first camera mounted on the elevator during the falling of the medicine to be retrieved.

[0016] Based on several of the images, calculate the number of jitter frames of the first camera during the process of the medicine to be retrieved falling;

[0017] When the number of jitter frames exceeds a preset jitter threshold, it is determined that the medicine to be retrieved has been pushed onto the conveyor belt on the surface of the elevator.

[0018] When the number of jitter frames does not exceed a preset jitter threshold, the self-service dispensing machine is controlled to stop operating, and a second alarm message is generated to characterize the abnormal drug drop.

[0019] Furthermore, controlling the operation of the conveyor belt to transport each medication from the prescription information to the dispensing port includes:

[0020] The conveyor belt is controlled to move towards the dispensing port, and then the second camera mounted on top of the self-service dispensing machine is controlled to capture the first image to be detected of the conveyor belt;

[0021] The first image to be detected is input into a preset image detection model so that the image detection model outputs a first image detection result that characterizes whether there is a drug on the conveyor belt;

[0022] When the first image detection result indicates that there is medicine on the conveyor belt, the abnormality handling operation is repeated until the second image detection result indicates that there is no medicine on the conveyor belt;

[0023] The exception handling operation includes:

[0024] Control the conveyor belt to move in the opposite direction to the medicine dispensing port to a preset retraction distance, and then control the conveyor belt to move in the direction of the medicine dispensing port;

[0025] The second camera is controlled to capture a second image of the conveyor belt to be detected, so that the image detection model outputs a second image detection result to characterize whether there is a drug on the conveyor belt.

[0026] Furthermore, after controlling the second camera to capture the second image to be detected on the conveyor belt, the method further includes:

[0027] Obtain the execution count of the exception handling operation and increment the execution count by one;

[0028] When the number of executions exceeds a preset threshold, the self-service dispensing machine is controlled to stop operating, and a third alarm message is generated to indicate an abnormality in the conveyor belt operation.

[0029] Another embodiment of the present invention provides an operation monitoring system based on a self-service dispensing machine, including: a first sensor and a self-service dispensing machine controller; wherein, the first sensor is mounted on the elevator of the self-service dispensing machine;

[0030] The self-service dispensing machine controller is used to acquire prescription information and determine each medicine in the prescription information, as well as the location of each medicine in the medicine slot.

[0031] Based on the location of each medicine in the medicine tank, determine the medicine to be retrieved and the target location of the medicine tank where the medicine to be retrieved is located.

[0032] Based on the target location and the location of the elevator in the self-service dispensing machine, determine the movement path of the elevator;

[0033] The elevator is controlled to move according to the moving path, and a first control command is generated to control the first sensor to collect infrared data of the moving path.

[0034] The first sensor is used to collect infrared data of the movement path according to the first control command and transmit it to the self-service dispensing machine controller;

[0035] The self-service dispensing machine controller is also used to determine whether there are obstacles on the movement path based on the infrared data;

[0036] If so, the elevator is controlled to stop operating, and a first alarm message is generated to indicate an abnormal operation of the elevator.

[0037] If not, control the elevator to move to the target position, and then control the power device of the medicine tank where the medicine to be taken is located to push the medicine to be taken onto the conveyor belt on the surface of the elevator;

[0038] After confirming that all the medications in the prescription information are on the conveyor belt on the surface of the elevator, the conveyor belt is controlled to transport each medication in the prescription information to the dispensing port.

[0039] Furthermore, the above-described embodiment of the invention includes an operation monitoring system based on a self-service dispensing machine, which further includes: a drug drop detection sensor and a first camera; wherein, the drug drop detection sensor is installed at the outlet of each medicine slot of the self-service dispensing machine; and the first camera is mounted on the elevator of the self-service dispensing machine.

[0040] The drug drop detection sensor is used to detect whether the drug to be taken has fallen and to generate detection data to characterize whether the drug to be taken has been pushed off.

[0041] The first camera is used to capture several images during the process of the medicine to be taken falling;

[0042] The self-service dispensing machine controller is also used to acquire the detection data collected by the drug drop detection sensor when the power device of the medicine trough where the medicine to be dispensed is located finishes operating.

[0043] When the detection data indicates that the medicine to be taken has been pushed down, the first camera captures several images during the falling process of the medicine to be taken.

[0044] Based on several of the images, calculate the number of jitter frames of the first camera during the process of the medicine to be retrieved falling;

[0045] When the number of jitter frames exceeds a preset jitter threshold, it is determined that the medicine to be retrieved has been pushed onto the conveyor belt on the surface of the elevator.

[0046] When the number of jitter frames does not exceed a preset jitter threshold, the self-service dispensing machine is controlled to stop operating, and a second alarm message is generated to characterize the abnormal drug drop.

[0047] Furthermore, the above-described embodiment of the invention includes an operation monitoring system based on a self-service dispensing machine, which further includes a second camera; wherein the second camera is mounted on the top of the self-service dispensing machine.

[0048] The second camera is used to take pictures of the conveyor belt according to the second control command of the self-service dispensing machine controller;

[0049] The self-service dispensing machine controller is also used to control the conveyor belt to run towards the dispensing port, and then generate a second control command to control the second camera to capture a first image to be detected of the conveyor belt;

[0050] The first image to be detected is input into a preset image detection model so that the image detection model outputs a first image detection result that characterizes whether there is a drug on the conveyor belt;

[0051] When the first image detection result indicates that there is medicine on the conveyor belt, the abnormality handling operation is repeated until the second image detection result indicates that there is no medicine on the conveyor belt;

[0052] The exception handling operation includes:

[0053] Control the conveyor belt to move in the opposite direction to the medicine dispensing port to a preset retraction distance, and then control the conveyor belt to move in the direction of the medicine dispensing port;

[0054] A second control command is generated to control the second camera to capture a second image to be detected on the conveyor belt, so that the image detection model outputs a second image detection result to characterize whether there is a drug on the conveyor belt.

[0055] Furthermore, the self-service dispensing machine controller is also used to obtain the number of times the abnormal handling operation is executed after controlling the second camera to capture the second image to be detected on the conveyor belt, and to increment the number of executions by one;

[0056] When the number of executions exceeds a preset threshold, the self-service dispensing machine is controlled to stop operating, and a third alarm message is generated to indicate an abnormality in the conveyor belt operation.

[0057] The following benefits can be obtained by implementing the present invention:

[0058] This invention provides a method and system for monitoring the operation of a self-service dispensing machine. By determining the target location of the medicine to be dispensed and the position of the elevator in the machine, the movement path of the elevator is determined. Then, a first sensor mounted on the elevator collects infrared data along the movement path to determine if there are any obstacles. If no obstacles are found, the elevator moves to the location of the medicine to be dispensed. If an obstacle is found, the elevator stops operating and an alarm is generated. Therefore, this invention can effectively prevent the elevator from colliding with protruding medicine boxes or other obstacles during movement, thus avoiding serious malfunctions of the self-service dispensing machine and significantly improving its operational safety. Attached Figure Description

[0059] Figure 1 This is a flowchart illustrating an operation monitoring method based on a self-service dispensing machine, provided by an embodiment of the present invention.

[0060] Figure 2 This is a schematic diagram of the operation monitoring system based on a self-service dispensing machine provided in an embodiment of the present invention.

[0061] Figure 3 This is a schematic diagram of the position of the first sensor provided in an embodiment of the present invention;

[0062] in, Figure 3 (a) is a schematic diagram of the upper anti-collision sensor. Figure 3 (b) is a schematic diagram of the lower collision avoidance sensor. Detailed Implementation

[0063] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0064] See Figure 1 This invention provides an operational monitoring method based on a self-service dispensing machine, comprising:

[0065] S1. Obtain prescription information and determine each drug in the prescription information, as well as the location of each drug in the medicine container;

[0066] In a preferred embodiment of the present invention, when a patient or pharmacist inputs prescription information into the self-service dispensing machine, the machine automatically identifies each medication in the prescription and determines the location of each medication in its designated compartment. This function is common to all types of self-service dispensing machines and will not be elaborated upon here.

[0067] S2. Based on the location of each medicine in the medicine tank, determine one medicine to be retrieved and the target location of the medicine tank where the medicine to be retrieved is located.

[0068] In a preferred embodiment of the present invention, the order in which the elevator retrieves the medicines is planned according to the location of each medicine in its storage tank, and a medicine to be retrieved and the target location of its storage tank are determined sequentially according to this order. It is readily understood that the order in which the elevator retrieves the medicines can be planned based on the fastest retrieval efficiency or the shortest distance.

[0069] S3. Determine the movement path of the elevator based on the target location and the location of the elevator in the self-service dispensing machine;

[0070] In a preferred embodiment of the present invention, the elevator needs to move upward or downward, and the required distance is determined based on the target location and the position of the elevator in the self-service dispensing machine.

[0071] S4. Control the elevator to move according to the moving path, and determine whether there are obstacles on the moving path based on the infrared data collected by the first sensor pre-mounted on the elevator.

[0072] In a preferred embodiment of the present invention, the first sensor is an infrared sensor capable of emitting infrared beams in all directions. When the elevator moves downwards, it emits an infrared beam downwards; when the elevator moves upwards, it emits an infrared beam upwards, thereby collecting infrared data corresponding to the movement path. It should be noted that, as... Figure 3 As mentioned above, an infrared sensor can be installed above and below the elevator to collect infrared data corresponding to the movement path.

[0073] Specifically, as the elevator moves, a first sensor emits an infrared beam. When it encounters an object, the beam is reflected back to the sensor. After receiving the reflected light signal, the first sensor generates the intensity and reflection time of the reflected light. Based on the intensity and reflection time, the distance between the object and the elevator can be calculated. When there are no obstacles on the moving path, the calculated distance is either the distance between the top of the self-service dispensing machine and the elevator, or the distance between the bottom of the self-service dispensing machine and the elevator.

[0074] When the elevator moves upward, if the calculated distance is not equal to the distance between the top of the self-service medicine dispenser and the elevator, it can be determined that there is an obstacle in the movement path. When the elevator moves downward, if the calculated distance is not equal to the distance between the bottom of the self-service medicine dispenser and the elevator, it can be determined that there is an obstacle in the movement path.

[0075] S5. If so, control the elevator to stop running and generate a first alarm message to indicate abnormal operation of the elevator;

[0076] In a preferred embodiment of the present invention, when an obstacle is detected on the movement path, the elevator is stopped to prevent it from colliding with the obstacle during movement and causing serious damage. Simultaneously, a first alarm message indicating an abnormal elevator operation is generated and sent to maintenance personnel, enabling them to promptly arrive at the site to assess the situation and perform timely maintenance on the self-service dispensing machine. Therefore, the present invention effectively prevents the elevator from colliding with protruding medicine boxes or other obstacles during movement, thus avoiding serious malfunctions of the self-service dispensing machine and significantly improving its operational safety.

[0077] S6. If not, control the elevator to move to the target position, and then control the power device of the medicine tank where the medicine to be taken is located to push the medicine to be taken onto the conveyor belt on the surface of the elevator.

[0078] Preferably, the operation monitoring method based on a self-service dispensing machine described in the above embodiments further includes:

[0079] S61. When the power unit of the medicine tank where the medicine to be taken is located finishes operating, acquire detection data collected by the medicine drop detection sensor installed at the outlet of the medicine tank to characterize whether the medicine to be taken has been pushed off.

[0080] S62. When it is determined that the detection data indicates that the medicine to be retrieved has been pushed down, acquire several images taken by the first camera mounted on the elevator during the falling of the medicine to be retrieved.

[0081] S63. Calculate the number of shaking frames of the first camera during the process of the medicine to be taken falling, based on the images.

[0082] S64. When the number of jitter frames exceeds a preset jitter threshold, it is determined that the medicine to be retrieved has been pushed onto the conveyor belt on the surface of the elevator.

[0083] S65. When the number of jitter frames does not exceed the preset jitter threshold, control the self-service dispensing machine to stop running and generate a second alarm message to characterize the abnormal drug drop.

[0084] In a preferred embodiment of the present invention, to ensure that the medicine falls accurately onto the conveyor belt of the elevator, a medicine drop detection sensor and a first camera are used for medicine drop detection. The medicine drop detection sensor is installed at the medicine tank outlet. When the medicine falls through the medicine tank outlet, the medicine drop detection sensor generates corresponding detection data.

[0085] To prevent medicines from getting stuck before they land on the elevator after leaving the medicine tank, this invention utilizes the slight vibrations generated by the elevator during the medicine drop. A first camera captures several images of the medicine falling, and an image detection algorithm is used to calculate the number of shaking frames in the images. Finally, the number of shaking frames is used to determine whether the medicine has successfully landed on the elevator.

[0086] It should be noted that the accuracy of drug drop detection can be adjusted by adjusting the shake threshold and the shooting area of ​​the first camera.

[0087] S7. After confirming that all the medicines in the prescription information are on the conveyor belt on the surface of the elevator, control the operation of the conveyor belt to transport each medicine in the prescription information to the dispensing port.

[0088] Preferably, controlling the operation of the conveyor belt to transport each medicine in the prescription information to the dispensing port includes:

[0089] S71. Control the conveyor belt to run towards the medicine dispensing port, and then control the second camera mounted on the top of the self-service medicine dispensing machine to capture the first image to be detected of the conveyor belt;

[0090] S72. Input the first image to be detected into a preset image detection model so that the image detection model outputs a first image detection result to characterize whether there is a drug on the conveyor belt;

[0091] S73. When the first image detection result indicates that there is medicine on the conveyor belt, the abnormal processing operation is repeated until the second image detection result indicates that there is no medicine on the conveyor belt.

[0092] The exception handling operation includes:

[0093] S731. Control the conveyor belt to move in the opposite direction to the medicine dispensing port to a preset retraction distance, and then control the conveyor belt to move in the direction of the medicine dispensing port;

[0094] S732. Control the second camera to capture a second image to be detected on the conveyor belt, so that the image detection model outputs a second image detection result to characterize whether there is a drug on the conveyor belt.

[0095] In a preferred embodiment of the present invention, in order to prevent the medicine from getting stuck on the conveyor belt and not being able to fall, after determining that all the medicines in the prescription information are on the conveyor belt on the surface of the elevator and controlling the conveyor belt to run towards the dispensing port, the first image to be detected of the conveyor belt taken by the second camera mounted on the top of the self-service dispensing machine is used to determine whether the conveyor belt has successfully transported the medicine to the dispensing port.

[0096] If the image detection model detects that there are still medicines on the conveyor belt, it will initiate an exception handling operation. The conveyor belt will be controlled to run backward first, and then forward, to try to transport the medicine stuck on the conveyor belt to the medicine dispensing port again.

[0097] Preferably, after controlling the second camera to capture the second image to be detected on the conveyor belt, the method further includes:

[0098] S733. Obtain the execution count of the exception handling operation and increment the execution count by one;

[0099] S734. When the number of executions exceeds a preset threshold, control the self-service dispensing machine to stop operating and generate a third alarm message to indicate abnormal operation of the conveyor belt.

[0100] In a preferred embodiment of the present invention, after each exception handling operation, the number of executions of the exception handling operation is accumulated. When the number of executions exceeds a preset threshold, it can be determined that the medicine on the conveyor belt is stuck and the self-service dispensing machine cannot resolve the abnormal situation on its own. The self-service dispensing machine needs to be stopped and a third alarm message is generated to indicate the abnormal operation of the conveyor belt, so as to inform the maintenance personnel to maintain the self-service dispensing machine in a timely manner.

[0101] This invention discloses a method and system for monitoring the operation of a self-service dispensing machine. By determining the target location of the medicine to be dispensed and the position of the elevator in the machine, the movement path of the elevator is determined. Then, a first sensor mounted on the elevator collects infrared data along the movement path to determine if there are any obstacles. If no obstacles are found, the elevator moves to the location of the medicine to be dispensed. If obstacles are found, the elevator stops operating and an alarm is generated. Therefore, this invention enables real-time monitoring of the self-service dispensing machine during operation, effectively ensuring its safe operation.

[0102] See Figure 2 This invention provides an operation monitoring system based on a self-service dispensing machine, comprising: a first sensor and a self-service dispensing machine controller; wherein the first sensor is mounted on the elevator of the self-service dispensing machine;

[0103] The self-service dispensing machine controller is used to acquire prescription information and determine each medicine in the prescription information, as well as the location of each medicine in the medicine slot.

[0104] Based on the location of each medicine in the medicine tank, determine the medicine to be retrieved and the target location of the medicine tank where the medicine to be retrieved is located.

[0105] Based on the target location and the location of the elevator in the self-service dispensing machine, determine the movement path of the elevator;

[0106] The elevator is controlled to move according to the moving path, and a first control command is generated to control the first sensor to collect infrared data of the moving path.

[0107] The first sensor is used to collect infrared data of the movement path according to the first control command and transmit it to the self-service dispensing machine controller;

[0108] The self-service dispensing machine controller is also used to determine whether there are obstacles on the movement path based on the infrared data;

[0109] If so, the elevator is controlled to stop operating, and a first alarm message is generated to indicate an abnormal operation of the elevator.

[0110] If not, control the elevator to move to the target position, and then control the power device of the medicine tank where the medicine to be taken is located to push the medicine to be taken onto the conveyor belt on the surface of the elevator;

[0111] After confirming that all the medications in the prescription information are on the conveyor belt on the surface of the elevator, the conveyor belt is controlled to transport each medication in the prescription information to the dispensing port.

[0112] Furthermore, the above-described embodiment of the invention includes an operation monitoring system based on a self-service dispensing machine, which further includes: a drug drop detection sensor and a first camera; wherein, the drug drop detection sensor is installed at the outlet of each medicine slot of the self-service dispensing machine; and the first camera is mounted on the elevator of the self-service dispensing machine.

[0113] The drug drop detection sensor is used to detect whether the drug to be taken has fallen and to generate detection data to characterize whether the drug to be taken has been pushed off.

[0114] The first camera is used to capture several images during the process of the medicine to be taken falling;

[0115] The self-service dispensing machine controller is also used to acquire the detection data collected by the drug drop detection sensor when the power device of the medicine trough where the medicine to be dispensed is located finishes operating.

[0116] When the detection data indicates that the medicine to be taken has been pushed down, the first camera captures several images during the falling process of the medicine to be taken.

[0117] Based on several of the images, calculate the number of jitter frames of the first camera during the process of the medicine to be retrieved falling;

[0118] When the number of jitter frames exceeds a preset jitter threshold, it is determined that the medicine to be retrieved has been pushed onto the conveyor belt on the surface of the elevator.

[0119] When the number of jitter frames does not exceed a preset jitter threshold, the self-service dispensing machine is controlled to stop operating, and a second alarm message is generated to characterize the abnormal drug drop.

[0120] Furthermore, the above-described embodiment of the invention includes an operation monitoring system based on a self-service dispensing machine, which further includes a second camera; wherein the second camera is mounted on the top of the self-service dispensing machine.

[0121] The second camera is used to take pictures of the conveyor belt according to the second control command of the self-service dispensing machine controller;

[0122] The self-service dispensing machine controller is also used to control the conveyor belt to run towards the dispensing port, and then generate a second control command to control the second camera to capture a first image to be detected of the conveyor belt;

[0123] The first image to be detected is input into a preset image detection model so that the image detection model outputs a first image detection result that characterizes whether there is a drug on the conveyor belt;

[0124] When the first image detection result indicates that there is medicine on the conveyor belt, the abnormality handling operation is repeated until the second image detection result indicates that there is no medicine on the conveyor belt;

[0125] The exception handling operation includes:

[0126] Control the conveyor belt to move in the opposite direction to the medicine dispensing port to a preset retraction distance, and then control the conveyor belt to move in the direction of the medicine dispensing port;

[0127] A second control command is generated to control the second camera to capture a second image to be detected on the conveyor belt, so that the image detection model outputs a second image detection result to characterize whether there is a drug on the conveyor belt.

[0128] Furthermore, the self-service dispensing machine controller is also used to obtain the number of times the abnormal handling operation is executed after controlling the second camera to capture the second image to be detected on the conveyor belt, and to increment the number of executions by one;

[0129] When the number of executions exceeds a preset threshold, the self-service dispensing machine is controlled to stop operating, and a third alarm message is generated to indicate an abnormality in the conveyor belt operation.

[0130] This invention provides an operation monitoring system for a self-service dispensing machine. By determining the target location of the medicine to be dispensed and the position of the elevator in the machine, the system determines the movement path of the elevator. A first sensor mounted on the elevator collects infrared data along the movement path to determine if any obstacles exist. If no obstacles are found, the elevator moves to the location of the medicine to be dispensed. If obstacles are found, the elevator stops and an alarm is generated. Therefore, this invention enables real-time monitoring of the self-service dispensing machine during operation, effectively ensuring its safe operation.

[0131] The above description represents the preferred embodiments of the present invention. It should be noted that those skilled in the art can make various improvements and modifications without departing from the principles of the present invention, and these improvements and modifications are also considered to be within the scope of protection of the present invention.

Claims

1. A method for monitoring operation of a self-service medicine dispensing machine, characterized by, include: Obtain prescription information and determine each drug in the prescription information, as well as the location of each drug in the medicine container; Based on the location of each medicine in the medicine tank, determine the medicine to be retrieved and the target location of the medicine tank where the medicine to be retrieved is located. Based on the target location and the location of the elevator in the self-service dispensing machine, determine the movement path of the elevator; The elevator is controlled to move according to the moving path, and the presence of obstacles on the moving path is determined based on the infrared data collected by the first sensor pre-mounted on the elevator. If so, the elevator is controlled to stop operating, and a first alarm message is generated to indicate an abnormal operation of the elevator. If not, control the elevator to move to the target position, and then control the power device of the medicine tank where the medicine to be taken is located to push the medicine to be taken onto the conveyor belt on the surface of the elevator; When the power unit of the medicine tank where the medicine to be retrieved is located finishes operating, the detection data collected by the medicine drop detection sensor mounted at the outlet of the medicine tank is acquired to indicate whether the medicine to be retrieved has been pushed off the tank; when the detection data indicates that the medicine to be retrieved has been pushed off the tank, several images captured by the first camera mounted on the elevator during the falling of the medicine to be retrieved are acquired; based on the several images, the number of shaking frames of the first camera during the falling of the medicine to be retrieved is calculated. When the number of jitter frames exceeds a preset jitter threshold, it is determined that the medicine to be taken has been pushed onto the conveyor belt on the surface of the elevator; when the number of jitter frames does not exceed the preset jitter threshold, the self-service dispensing machine is controlled to stop operating, and a second alarm message is generated to characterize the abnormality of the medicine falling. After confirming that all the medications in the prescription information are on the conveyor belt on the surface of the elevator, the conveyor belt is controlled to transport each medication in the prescription information to the dispensing port.

2. The operation monitoring method based on the self-service medicine dispenser according to claim 1, characterized in that, The control of the conveyor belt operation to transport the various medications in the prescription information to the dispensing port includes: The conveyor belt is controlled to move towards the dispensing port, and then the second camera mounted on top of the self-service dispensing machine is controlled to capture the first image to be detected of the conveyor belt; The first image to be detected is input into a preset image detection model so that the image detection model outputs a first image detection result that characterizes whether there is a drug on the conveyor belt; When the first image detection result indicates that there is medicine on the conveyor belt, the abnormality handling operation is repeated until the second image detection result indicates that there is no medicine on the conveyor belt; The exception handling operation includes: Control the conveyor belt to move in the opposite direction to the medicine dispensing port to a preset retraction distance, and then control the conveyor belt to move in the direction of the medicine dispensing port; The second camera is controlled to capture a second image of the conveyor belt to be detected, so that the image detection model outputs a second image detection result to characterize whether there is a drug on the conveyor belt.

3. The operation monitoring method based on the self-service medicine dispenser according to claim 2, characterized in that, After controlling the second camera to capture the second image to be detected on the transmission belt, the method further includes: Obtain the execution count of the exception handling operation and increment the execution count by one; When the number of executions exceeds a preset threshold, the self-service dispensing machine is controlled to stop operating, and a third alarm message is generated to indicate an abnormality in the conveyor belt operation.

4. An operation monitoring system based on a self-service medicine dispenser, characterized by comprising: include: A first sensor and a self-service dispensing machine controller; wherein the first sensor is mounted on the elevator of the self-service dispensing machine; The self-service dispensing machine controller is used to acquire prescription information and determine each medicine in the prescription information, as well as the location of each medicine in the medicine slot. Based on the location of each medicine in the medicine tank, determine the medicine to be retrieved and the target location of the medicine tank where the medicine to be retrieved is located. Based on the target location and the location of the elevator in the self-service dispensing machine, determine the movement path of the elevator; The elevator is controlled to move according to the moving path, and a first control command is generated to control the first sensor to collect infrared data of the moving path. The first sensor is used to collect infrared data of the movement path according to the first control command and transmit it to the self-service dispensing machine controller; The self-service dispensing machine controller is also used to determine whether there are obstacles on the movement path based on the infrared data; If so, the elevator is controlled to stop operating, and a first alarm message is generated to indicate an abnormal operation of the elevator. If not, control the elevator to move to the target position, and then control the power device of the medicine tank where the medicine to be taken is located to push the medicine to be taken onto the conveyor belt on the surface of the elevator; After confirming that all the medications in the prescription information are on the conveyor belt on the surface of the elevator, the conveyor belt is controlled to transport each medication in the prescription information to the dispensing port.

5. The operation monitoring system based on the self-service medicine dispenser according to claim 4, wherein Also includes: The device includes a drug detection sensor and a first camera; wherein the drug detection sensor is installed at the outlet of each medicine slot of the self-service dispensing machine; and the first camera is mounted on the elevator of the self-service dispensing machine. The drug drop detection sensor is used to detect whether the drug to be taken has fallen and to generate detection data to characterize whether the drug to be taken has been pushed off. The first camera is used to capture several images during the process of the medicine to be taken falling; The self-service dispensing machine controller is also used to acquire the detection data collected by the drug drop detection sensor when the power device of the medicine trough where the medicine to be dispensed is located finishes operating. When the detection data indicates that the medicine to be retrieved has been pushed down, the first camera captures several images during the process of the medicine to be retrieved falling. Based on several of the images, calculate the number of jitter frames of the first camera during the process of the medicine to be retrieved falling; When the number of jitter frames exceeds a preset jitter threshold, it is determined that the medicine to be retrieved has been pushed onto the conveyor belt on the surface of the elevator. When the number of jitter frames does not exceed a preset jitter threshold, the self-service dispensing machine is controlled to stop operating, and a second alarm message is generated to characterize the abnormality of drug drop.

6. The operation monitoring system based on the self-service medicine dispenser according to claim 5, wherein Also includes: A second camera; wherein the second camera is mounted on the top of the self-service dispensing machine; The second camera is used to take pictures of the conveyor belt according to the second control command of the self-service dispensing machine controller; The self-service dispensing machine controller is also used to control the conveyor belt to run towards the dispensing port, and then generate a second control command to control the second camera to capture a first image to be detected of the conveyor belt; The first image to be detected is input into a preset image detection model so that the image detection model outputs a first image detection result that characterizes whether there is a drug on the conveyor belt; When the first image detection result indicates that there is medicine on the conveyor belt, the abnormality handling operation is repeated until the second image detection result indicates that there is no medicine on the conveyor belt; The exception handling operation includes: Control the conveyor belt to move in the opposite direction to the medicine dispensing port to a preset retraction distance, and then control the conveyor belt to move in the direction of the medicine dispensing port; A second control command is generated to control the second camera to capture a second image to be detected on the conveyor belt, so that the image detection model outputs a second image detection result to characterize whether there is a drug on the conveyor belt.

7. The operation monitoring system based on the self-service medicine dispenser according to claim 6, wherein The self-service dispensing machine controller is also used to obtain the number of times the abnormal handling operation is executed after controlling the second camera to capture the second image to be detected on the conveyor belt, and to increment the number of executions by one; When the number of executions exceeds a preset threshold, the self-service dispensing machine is controlled to stop operating, and a third alarm message is generated to indicate an abnormality in the conveyor belt operation.

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