Medicine box push-over control method, system and equipment for medicine selling machine and medium

Abstract

The invention discloses a medicine box pushing-over control method, system and equipment for a medicine selling machine and a medium. The method comprises the following steps that whether medicine enters an operation area through a conveying device or not is detected; obtaining drug form data according to the drug delivery condition; according to the medicine form data, judging the medicine pushing-over standard reaching condition; calculating medicine deduction parameters according to the medicine deduction standard reaching condition and the medicine form data; medicine pushing-over processing is conducted according to the medicine pushing-over parameters; after the camera obtains the medicine box information, the mechanical arm can move according to a reasonable path through logic calculation of physical data of the medicine box, the vertical medicine box is pushed down to be in a flat state, it is guaranteed that services continue to be carried out, the medicine selling efficiency is improved, the operation and maintenance cost is reduced, the defects in the prior art are overcome, and high application value is achieved.

Description

Technical Field

[0001] The present invention relates to the technical field of self-service medicine vending machine control, and in particular to a medicine box pushing-down control method, system, equipment and medium for a medicine vending machine. Background Art

[0002] With the intelligent development of the medical industry, remote medical consultation and unmanned drug sales are becoming a trend. With the combination of medical care and the Internet, hospitals and pharmacies have launched smart drug sales equipment to provide smart service functions. With the help of remote consultation, drugs can be sold self-service on smart drug vending machines.

[0003] Because the falling shape of the drugs cannot be guaranteed to be the most ideal after they enter the operation area from the medicine cabinet through the conveyor device, there is a probability that the medicine box will stand upright, which will affect the subsequent business processes. Summary of the invention

[0004] The object of the present invention is to provide a medicine box pushing-down control method, system, device and medium for a medicine vending machine, thereby solving all or one of the above-mentioned problems existing in the prior art.

[0005] In order to solve the above technical problems, the specific technical solutions of the present invention are as follows: In one aspect, the present invention provides a medicine box push-down control method for a medicine vending machine, comprising the following steps: Drug delivery detection: Detect whether the drugs enter the operation area through the conveyor; Drug form data acquisition: Obtain drug form data based on drug delivery conditions; Morphological data judgment: Determine the compliance of the drug with the standard according to the drug form data; Push down parameter calculation: Calculate drug pushing parameters according to the drug pushing compliance status and the drug morphology data; Push Down Control: The drug pushing process is performed according to the drug pushing parameters.

[0006] As an improved solution, the step of obtaining drug form data according to drug delivery conditions further includes: In response to the drug conveying condition that the drug enters the operating area through the conveying device, the drug morphology data is acquired based on the depth camera and the color camera.

[0007] As an improved solution, the method of obtaining the drug morphology data based on a depth camera and a color camera includes: Acquire drug image information based on the depth camera and the color camera; The drug image information is calculated based on an AI image algorithm to obtain drug position information, size information and rotation angle information as the drug morphology data.

[0008] As an improved solution, the method of judging whether the drug meets the standard according to the drug form data further includes: Identify whether the drug shape data meets the requirement that the drug is in an upright shape. If so, determine whether the drug is pushed down to meet the push-down condition.

[0009] As an improved solution, the method of calculating the drug pushing parameters according to the drug pushing compliance status and the drug morphology data further includes: In response to the drug pushing condition meeting the pushing condition, a drug pushing path is calculated based on the drug morphology data as the drug pushing parameter.

[0010] As an improved solution, the step of calculating the drug push path based on the drug form data includes: Confirm the coordinates of the vertices of the medicine box; Confirm the minimum movement distance; Calculate the starting and ending points of the push-down according to the minimum movement distance and the coordinates of the vertices of the medicine box; The medicine pushing path is determined based on the pushing starting and ending points.

[0011] As an improved solution, the drug pushing process according to the drug pushing parameter includes: The mechanical arm in the self-service medicine vending machine is controlled to move along the medicine pushing path to push the medicine.

[0012] On the other hand, the present invention also provides a medicine box pushing control system for a medicine vending machine, comprising: The drug delivery detection module is used to detect whether the drug enters the operation area through the delivery device; The drug form data acquisition module is used to: acquire drug form data according to drug delivery conditions; A morphological data judgment module is used to: judge whether the drug meets the standard according to the drug morphological data; A push-down parameter calculation module, used to calculate the drug push-down parameters according to the drug push-down compliance status and the drug morphology data; The push-down control module is used to: perform drug push-down processing according to the drug push-down parameters.

[0013] On the other hand, the present invention also provides a computer-readable storage medium having a computer program stored thereon, and when the computer program is executed by a processor, the steps of the medicine box pushing-down control method for a medicine vending machine are implemented.

[0014] On the other hand, the present invention further provides a computer device, comprising a processor, a communication interface, a memory and a communication bus, wherein the processor, the communication interface and the memory communicate with each other via the communication bus; wherein: The memory is used to store computer programs; The processor is used to execute the steps of the medicine box pushing down control method for the medicine vending machine by running the program stored in the memory.

[0015] The beneficial effects of the technical solution of the present invention are: 1. The medicine box pushing control method for a medicine vending machine described in the present invention can realize that after the camera obtains the medicine box information, through the logical calculation of the physical data of the medicine box, the mechanical arm moves along a reasonable path and pushes the upright medicine box to a lying state, thereby ensuring the continuation of business, improving the efficiency of medicine sales, reducing operation and maintenance costs, making up for the defects of the existing technology, and having a high application value.

[0016] 2. The medicine box pushing down control system for a medicine vending machine described in the present invention can realize the medicine box pushing down control method for a medicine vending machine described in the present invention through the mutual cooperation of system modules.

[0017] 3. The computer-readable storage medium described in the present invention can realize the cooperation of the guidance system module, and then realize the medicine box pushing down control method for the medicine vending machine described in the present invention, and the computer-readable storage medium described in the present invention also effectively improves the operability of the medicine box pushing down control method for the medicine vending machine.

[0018] 4. The computer device described in the present invention can store and execute the computer-readable storage medium, thereby realizing the medicine box pushing down control method for the medicine vending machine described in the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the specific implementation methods of the present invention or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0020] Figure 1 1 is a flow chart of a medicine box pushing-down control method for a medicine vending machine according to Embodiment 1 of the present invention; Figure 2 It is a logical flow diagram of the medicine box pushing down control method for a medicine vending machine according to Embodiment 1 of the present invention; Figure 3 2 is a schematic diagram of the architecture of a medicine box pushing control system for a medicine vending machine according to Embodiment 2 of the present invention; Figure 4 is a schematic diagram of the structure of the computer device described in Example 4 of the present invention; The symbols in the accompanying drawings are explained as follows: 1501, processor; 1502, communication interface; 1503, memory; 1504, communication bus. DETAILED DESCRIPTION

[0021] The preferred embodiments of the present invention are described in detail below in conjunction with the accompanying drawings so that the advantages and features of the present invention can be more easily understood by those skilled in the art, thereby making a clearer and more definite definition of the protection scope of the present invention.

[0022] In the description of the present invention, it should be noted that the embodiments described in the present invention are only part of the embodiments of the present invention, rather than all of the embodiments; based on the embodiments in the present invention, all other embodiments obtained by ordinary technicians in the field without making creative work are within the scope of protection of the present invention.

[0023] The terms "first", "second", etc. in the specification and claims of this article and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of this article described here can be implemented in an order other than those illustrated or described here. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, device, product or equipment that includes a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or equipment.

[0024] Since the upright medicine box pushing function of the intelligent medicine vending machine involves the cooperation of other business links, the following related technical points need to be briefly explained in the description of the present invention: (1) Drug entry into the database means that before the smart drug vending machine is used, the information of the drugs being sold needs to be entered into the database, mainly including the name, size, picture, etc. The size must meet the condition that the length is greater than or equal to the width is greater than or equal to the height (length>=width>=height).

[0025] (2) Drug identification means that after a drug enters the operating area, image information will be collected through depth and color cameras, and then the location and size information of the drug will be obtained through algorithm comparison. Due to factors such as tooling, the data may contain errors.

[0026] (3) Drug push-to condition means that after the drug passes through the conveyor from the medicine cabinet into the operating area, it should be placed with the largest surface facing upward (lying flat) as much as possible to improve recognition accuracy and ease of operation. When the difference between the height and width in the drug recognition result is greater than a certain threshold (height-width>20), the current state is considered to be upright and the push-to condition is met. After testing and verification, a threshold of 20 mm is found to be the best.

[0027] (4) Platform coordinate system means: the operation area is a rectangular area, the coordinate system is drawn with the center point as the origin, the right is the positive direction of the x-axis, the top is the positive direction of the y-axis, the positive direction of the x-axis is the rotation angle of 0°, and the rotation is counterclockwise.

[0028] (5) Push-over direction means: in order to coordinate with the reasonable rotation of the robot arm, the rotation angle range of the medicine box identification is specified as -90° to 90°. When the absolute value of the medicine box rotation angle is greater than 45° (i.e. -90° to -45° or 45° to 90°), the robot arm's push-over action is a vertical movement (i.e. movement along the y-axis direction). When the absolute value of the medicine box rotation angle is equal to or less than 45° (i.e. -45° to 45°), the robot arm's push-over action is a horizontal movement (i.e. movement along the x-axis direction).

[0029] (6) Minimum movement distance refers to the minimum distance of the movement path of the robot arm's push-down action, that is, the straight-line distance from the push-down starting point to the push-down end point must meet the minimum value. The minimum value is the square root of two times the medicine box recognition width (width) plus twice the diameter of the robot arm's head end (diam), that is, width*1.414+diam*2. Example 1

[0030] This embodiment provides a medicine box push-down control method for a medicine vending machine. Figure 1 and Figure 2 As shown, the following steps are included: The core function of this method is to propose a method for pushing down the upright medicine box applied to the intelligent medicine vending machine. After the camera obtains the medicine box information, the mechanical arm moves along a reasonable path through logical calculation of the medicine box physical data, and pushes the upright medicine box down to a flat state, ensuring the continuation of business, improving medicine vending efficiency, and reducing operation and maintenance costs. The specific steps are as follows: S100, drug delivery detection: In this step, it is detected whether the medicine enters the operation area through the conveying device. After entering the operation area, the final falling form of the medicine is unknown; S200, drug form data acquisition: In this step, the physical data of the final form of the medicine box is obtained through the cooperation of the depth camera and the color camera after the AI ​​image algorithm is calculated, mainly including information such as position, size, and rotation angle; S300, morphological data judgment: In this step, the above-mentioned morphological data is identified, and when the drug is identified as being in an upright state, it is determined that the knocking-down condition is satisfied; S400, push down parameter calculation: In this step, the starting and ending points of the pushing motion are calculated based on the physical data of the medicine box; Specifically, confirm the coordinates of the vertices of the medicine box. The code is as follows: private fun push(info: ScanInfoBean) { val centerXMm = 0 / / center x val centerYMm = 0 / / center y val corners = info.cornerProjection!! / / Vertex coordinates of the medicine box Specifically, to confirm the minimum movement distance, the code is as follows: var startX: Double var startY: Double var endX: Double var endY: Double val minDis = AIR_SENSOR_DIAM * 2 + info.minLength * 1.4 / / Minimum movement distance Specifically, the push-down path is calculated based on the minimum movement distance and the coordinates of the vertices of the medicine box. The algorithm code is as follows: if (abs(info.rotation) > 45) { / / up and down startX = info.centerX.toDouble() endX = info.centerX.toDouble() val yList = corners.map { it.y }.sortedWith { d0, d1 -> / / descending order if (d0 > d1) -1 else 1 } if (info.centerY > centerYMm) { / / ↓ startY = yList.first() endY = yList.last() val dis = startY - endY if (dis < minDis) { / / less than the minimum movement distance to expand the point val diff = (minDis - dis) / 2 startY += diff endY -= diff } } else { / / ↑ startY = yList.last() endY = yList.first() val dis = endY - startY if (dis < minDis) { / / less than the minimum movement distance to expand the point val diff = (minDis - dis) / 2 startY -= diff endY += diff } } } else { / / left and right startY = info.centerY.toDouble() endY = info.centerY.toDouble() val xList = corners.map { it.x }.sortedWith { d0, d1 -> / / descending order if (d0 > d1) -1 else 1 } if (info.centerX > centerXMm) { / / ← startX = xList.first() endX = xList.last() val dis = startX - endX if (dis < minDis) { / / less than the minimum movement distance to expand the point val diff = (minDis - dis) / 2 startX += diff endX -= diff } } else { / / → startX = xList.last() endX = xList.first() val dis = endX - startX if (dis < minDis) { / / less than the minimum movement distance to expand the point val diff = (minDis - dis) / 2 startX -= diff endX += diff } } } val z = SampleController.rightCenterPosition.z +SampleController.depthHeight - info.centerZ val startPosition = Position(startX.roundToInt(),startY.roundToInt(), z - 10) val endPosition = Position(endX.roundToInt(), endY.roundToInt(), z - 10) } S500, push down control: In this step, the robot arm in the self-service medicine vending machine is controlled to move along the calculated path, and finally the upright medicine box is pushed down; It should be noted that the above examples are only for explaining the present invention and cannot limit the protection scope of the present invention. Example 2

[0031] This embodiment is based on the same inventive concept as the medicine box push-down control method for a medicine vending machine described in Embodiment 1, and provides a medicine box push-down control system for a medicine vending machine, such as Figure 3 As shown, including: The drug delivery detection module is used to detect whether the drug enters the operation area through the delivery device; The drug form data acquisition module is used to: acquire drug form data according to drug delivery conditions; A morphological data judgment module is used to: judge whether the drug meets the standard according to the drug morphological data; A push-down parameter calculation module, used to calculate the drug push-down parameters according to the drug push-down compliance status and the drug morphology data; The push-down control module is used to: perform drug push-down processing according to the drug push-down parameters. Example 3

[0032] This embodiment provides a computer-readable storage medium, including: The storage medium is used to store computer software instructions used to implement the medicine box pushing down control method for medicine vending machines described in the above-mentioned embodiment 1, which includes a program for executing the above-mentioned medicine box pushing down control method for medicine vending machines; specifically, the executable program can be built into the medicine box pushing down control system for medicine vending machines described in embodiment 2, so that the medicine box pushing down control system for medicine vending machines can implement the medicine box pushing down control method for medicine vending machines described in embodiment 1 by executing the built-in executable program.

[0033] In addition, the computer-readable storage medium of this embodiment may adopt any combination of one or more computer-readable storage media, wherein the computer-readable storage medium includes electrical, optical, electromagnetic, infrared or semiconductor systems, devices or components, or any combination thereof. Example 4

[0034] This embodiment provides an electronic device, such as Figure 4 As shown, the electronic device may include: a processor 1501 , a communication interface 1502 , a memory 1503 and a communication bus 1504 , wherein the processor 1501 , the communication interface 1502 , and the memory 1503 communicate with each other via the communication bus 1504 .

[0035] Memory 1503, used for storing computer programs; The processor 1501 is used to execute the computer program stored in the memory 1503 to implement the steps of the medicine box pushing down control method for the medicine vending machine described in the above-mentioned embodiment 1.

[0036] As an embodiment of the present invention, the communication bus mentioned in the above terminal can be a Peripheral Component Interconnect (PCI) bus or an Extended Industry Standard Architecture (EISA) bus. The communication bus can be divided into an address bus, a data bus, a control bus, etc. For ease of representation, Figure 4 Only one thick line is used in the diagram, but this does not mean that there is only one bus or only one type of bus.

[0037] As an implementation mode of the present invention, the communication interface is used for communication between the above-mentioned terminal and other devices.

[0038] As an embodiment of the present invention, the memory may include a random access memory (RAM) or a non-volatile memory, such as at least one disk memory. Optionally, the memory may also be at least one storage device located away from the aforementioned processor.

[0039] As an embodiment of the present invention, the above-mentioned processor can be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc.; it can also be a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field programmable gate array (FPGA) or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components.

[0040] Different from the existing technology, the present application adopts a medicine box pushing down control method, system, equipment and medium for a medicine vending machine. After the camera obtains the medicine box information, through logical calculation of the physical data of the medicine box, the mechanical arm can move along a reasonable path and push the upright medicine box to a lying state, thereby ensuring the continuation of business, improving the efficiency of medicine sales, reducing operation and maintenance costs, making up for the defects of the existing technology, and having high application value.

[0041] It should be understood that in the various embodiments of this document, the size of the serial numbers of the above-mentioned processes does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of this document.

[0042] It should also be understood that in the embodiments of this article, the term "and / or" is only a description of the association relationship of the associated objects, indicating that three relationships may exist. For example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone. In addition, the character " / " in this article generally indicates that the associated objects before and after are in an "or" relationship.

[0043] Those of ordinary skill in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of the two. In order to clearly illustrate the interchangeability of hardware and software, the composition and steps of each example have been generally described in terms of function in the above description. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this article.

[0044] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the systems, devices and units described above can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0045] In the several embodiments provided herein, it should be understood that the disclosed systems, devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic, for example, the division of the units is only a logical function division, and there may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. In addition, the mutual coupling or direct coupling or communication connection shown or discussed can be an indirect coupling or communication connection through some interfaces, devices or units, or can be electrical, mechanical or other forms of connection.

[0046] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the embodiments of this article.

[0047] In addition, each functional unit in each embodiment of this invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above integrated unit may be implemented in the form of hardware or in the form of software functional unit.

[0048] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this article is essentially or the part that contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a number of instructions to enable a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of this article. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk and other media that can store program codes.

[0049] The above descriptions are merely embodiments of the present invention and are not intended to limit the patent scope of the present invention. Any equivalent structure or equivalent process transformation made using the contents of the present invention specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present invention.

Claims

1. A medicine box push-down control method for a medicine vending machine, characterized in that: The following steps are involved: Drug delivery detection: Detect whether the drugs enter the operation area through the conveyor; Drug form data acquisition: Obtain drug form data based on drug delivery conditions; Morphological data judgment: Determine the compliance of the drug with the standard according to the drug form data; Push down parameter calculation: Calculate drug pushing parameters according to the drug pushing compliance status and the drug morphology data; Push Down Control: The drug pushing process is performed according to the drug pushing parameters.

2. The medicine box push-down control method for a medicine vending machine according to claim 1, characterized in that: The step of obtaining drug form data according to drug delivery conditions further includes: In response to the drug conveying condition that the drug enters the operating area through the conveying device, the drug morphology data is acquired based on the depth camera and the color camera.

3. The medicine box push-down control method for a medicine vending machine according to claim 1, characterized in that: The method of obtaining the drug morphology data based on a depth camera and a color camera includes: Acquire drug image information based on the depth camera and the color camera; The drug image information is calculated based on an AI image algorithm to obtain drug position information, size information and rotation angle information as the drug morphology data.

4. The medicine box push-down control method for a medicine vending machine according to claim 1, characterized in that: The step of judging the compliance of the drug with the standard according to the drug form data further includes: Identify whether the drug shape data meets the requirement that the drug is in an upright shape. If so, determine whether the drug is pushed down to meet the push-down condition.

5. The medicine box push-down control method for a medicine vending machine according to claim 1, characterized in that: The step of calculating the drug pushing parameters according to the drug pushing compliance status and the drug morphology data further includes: In response to the drug pushing condition meeting the pushing condition, a drug pushing path is calculated based on the drug morphology data as the drug pushing parameter.

6. The medicine box push-down control method for a medicine vending machine according to claim 5, characterized in that: The calculating of the drug push path based on the drug form data includes: Confirm the coordinates of the vertices of the medicine box; Confirm the minimum movement distance; Calculate the starting and ending points of the push-down according to the minimum movement distance and the coordinates of the vertices of the medicine box; The medicine pushing path is determined based on the pushing starting and ending points.

7. The medicine box push-down control method for a medicine vending machine according to claim 5, characterized in that: The drug pushing process according to the drug pushing parameter includes: The mechanical arm in the self-service medicine vending machine is controlled to move along the medicine pushing path to push the medicine.

8. A medicine box push-down control system for a medicine vending machine, characterized in that: include: The drug delivery detection module is used to detect whether the drug enters the operation area through the delivery device; The drug form data acquisition module is used to: acquire drug form data according to drug delivery conditions; A morphological data judgment module is used to: judge whether the drug meets the standard according to the drug morphological data; A push-down parameter calculation module, used to calculate the drug push-down parameters according to the drug push-down compliance status and the drug morphology data; The push-down control module is used to: perform drug push-down processing according to the drug push-down parameters.

9. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the medicine box pushing down control method for a medicine vending machine according to any one of claims 1 to 7 are implemented.

10. A computer device, characterized in that: It includes a processor, a communication interface, a memory and a communication bus, wherein the processor, the communication interface and the memory communicate with each other through the communication bus; wherein: The memory is used to store computer programs; The processor is used to execute the steps of the medicine box pushing down control method for a medicine vending machine as described in any one of claims 1 to 7 by running the program stored in the memory.

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