Drug delivery method, drug delivery system and robot

Abstract

The embodiment of the invention relates to the field of medicine distribution, in particular to a medicine distribution method, a medicine distribution system and a robot, and the method comprises the steps: obtaining a distribution task instruction which comprises the position of a medicine cabinet and a distribution destination, planning a medicine taking route according to the position of the medicine cabinet, and going to the medicine cabinet based on the medicine taking route. The medicine is taken out from the medicine taking grid opening of the medicine cabinet through the first mechanical arm, the medicine is stored in the storage bin of the robot, a distribution route is planned according to the distribution destination, and the robot goes to the distribution destination based on the distribution route. According to the invention, automatic medicine distribution can be realized, the remote medicine taking requirement of a patient is met, and the medicine distribution efficiency is improved.

Description

Technical Field

[0001] The embodiments of the present invention relate to the field of drug delivery, and in particular to a drug delivery method, a drug delivery system and a robot. Background Art

[0002] In hospital management, drug distribution is a key daily operation that is directly related to the efficiency and safety of medical services. The traditional way of getting medicine in a hospital is that after the patient sees a doctor in the hospital, the doctor will issue an electronic prescription receipt, which is accepted and reviewed by the hospital pharmacy. After the patient pays at the pharmacy, he or she queues up at the pharmacy window to get the medicine. This method has some obvious problems: patients need to go to the hospital in person to queue up for medicine, which is very inconvenient for most patients, especially the elderly and weak patients. Summary of the invention

[0003] The embodiment of the present invention provides a medicine delivery method, which can realize automatic medicine delivery, meet the patient's demand for remote medicine collection, and improve the efficiency of medicine delivery.

[0004] In a first aspect, an embodiment of the present invention provides a drug delivery method, which is applied to a robot, wherein the robot includes a first mechanical arm, and the method includes:

[0005] Obtaining a delivery task instruction, wherein the delivery task instruction includes a medicine cabinet location and a delivery destination;

[0006] Planning a medicine-collecting route according to the location of the medicine cabinet, and going to the medicine cabinet based on the medicine-collecting route;

[0007] Taking out medicines from the medicine taking opening of the medicine cabinet by the first robot arm and storing the medicines in the storage bin of the robot;

[0008] A delivery route is planned according to the delivery destination, and the delivery destination is traveled to based on the delivery route.

[0009] In some embodiments, the first mechanical arm further comprises an information reader, and the delivery task instruction further comprises target drug information;

[0010] The method of taking out medicine from the medicine taking opening of the medicine cabinet by the first mechanical arm includes:

[0011] Providing identity information to the medicine cabinet for identity verification, wherein the medicine cabinet performs identity verification on the robot after receiving the identity information, and opens the medicine dispensing compartment of the medicine cabinet when the identity verification of the robot is passed;

[0012] Obtaining drug information of the medicine dispensing slot, wherein the drug information is obtained by scanning with the information reader and / or by requesting feedback from the medicine cabinet;

[0013] Comparing the drug information with the target drug information to determine whether the drug at the drug dispensing slot matches the target drug of the delivery task instruction;

[0014] If the medicine in the medicine dispensing opening matches the target medicine in the delivery task instruction, the medicine is taken out from the medicine dispensing opening of the medicine cabinet by the first robotic arm.

[0015] In some embodiments, after the step of storing the medicine in a storage bin of the robot, the method further comprises:

[0016] A successful removal signal is sent to the medicine cabinet, so that the medicine cabinet closes the medicine taking compartment of the medicine cabinet after receiving the successful removal signal.

[0017] In some embodiments, after the step of travelling to the delivery destination based on the delivery route, the method further comprises:

[0018] Send medication pick-up notifications to users;

[0019] In response to the received unlocking instruction, authenticating the user;

[0020] When the identity authentication of the user is passed, opening the storage bin of the robot to allow the user to take out the medicine;

[0021] or,

[0022] In response to the received confirmation signal, the storage bin of the robot is closed.

[0023] In some embodiments, the delivery task instruction further includes target drug information, and the target drug information includes drug properties;

[0024] After storing the medicine in the storage bin of the robot, the method further comprises:

[0025] The storage environment of the storage bin is adjusted according to the properties of the medicine, wherein the storage environment includes a low temperature environment, a normal temperature environment and a cool environment.

[0026] In some embodiments, the method further comprises:

[0027] Real-time detection of the robot's operating status;

[0028] If the operating state is an abnormal state, abnormal information is sent to the control system, wherein the control system performs abnormal diagnosis on the robot according to the received abnormal information and sends a processing instruction to the robot;

[0029] Receive a processing instruction sent by the control system, and execute a processing flow based on the processing instruction, wherein the processing flow includes restarting operation, suspending execution of a task, or transferring a delivery task.

[0030] In a second aspect, an embodiment of the present invention provides a drug delivery system, comprising:

[0031] A robot, used to perform the drug delivery method as described in the first aspect above;

[0032] Medicine cabinets for:

[0033] Get drug delivery orders;

[0034] Generate a delivery task instruction according to the medicine delivery order and select a delivery robot, wherein the delivery task instruction includes the medicine cabinet location and the delivery destination;

[0035] The delivery task instruction is sent to the robot, so that the robot plans a medicine-collecting route according to the location of the medicine cabinet, goes to the medicine cabinet based on the medicine-collecting route, takes out medicines from the medicine-collecting opening of the medicine cabinet through the first robotic arm, stores the medicines in the storage bin of the robot, plans a delivery route according to the delivery destination, and goes to the delivery destination based on the delivery route.

[0036] In some embodiments, the medicine cabinet is also used for:

[0037] Obtaining identity information sent by the robot and authenticating the robot;

[0038] When the identity verification of the robot is passed, the medicine dispensing opening of the medicine cabinet is opened, so that the robot can take out medicine from the medicine dispensing opening of the medicine cabinet;

[0039] Alternatively, the drug information of the medicine dispensing slot is sent to the robot, so that after receiving the drug information of the medicine dispensing slot, the robot compares the drug information of the medicine dispensing slot with the target drug information to determine whether the drug of the medicine dispensing slot is consistent with the drug of the delivery task instruction;

[0040] Alternatively, after receiving a successful removal signal sent by the robot, the medicine taking compartment of the medicine cabinet is closed.

[0041] In some embodiments, the medicine cabinet includes a second mechanical arm, the medicine delivery order includes a medicine name, a medicine quantity, and a medicine property, and the medicine cabinet is further used for:

[0042] Determine the location of the drug according to the drug name;

[0043] According to the position of the medicine and the quantity of the medicine, taking out the medicine by the second robotic arm;

[0044] Selecting packaging materials according to the properties of the medicine, and packaging the medicine with the packaging materials;

[0045] The medicine is stored in the medicine dispensing opening, and the storage environment of the medicine dispensing opening is adjusted according to the properties of the medicine.

[0046] In a third aspect, an embodiment of the present invention provides a robot, comprising:

[0047] at least one processor, and

[0048] A memory, wherein the memory is communicatively connected to the at least one processor, the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute the method described in the first aspect above.

[0049] Beneficial effects of the embodiments of the present invention: Different from the prior art, the drug delivery method provided by the embodiments of the present invention obtains a delivery task instruction, the delivery task instruction includes the location of the medicine cabinet and the delivery destination, plans a drug-taking route according to the location of the medicine cabinet, goes to the medicine cabinet based on the drug-taking route, takes out the drugs from the drug-taking slot of the medicine cabinet through the first robotic arm, stores the drugs in the storage bin of the robot, plans a delivery route according to the delivery destination, and goes to the delivery destination based on the delivery route. The present invention can realize automatic drug delivery, meet the patient's remote drug-taking needs, and improve the efficiency of drug delivery. BRIEF DESCRIPTION OF THE DRAWINGS

[0050] One or more embodiments are exemplarily described by pictures in the corresponding drawings, and these exemplified descriptions do not constitute limitations on the embodiments. Elements with the same reference numerals in the drawings represent similar elements, and unless otherwise stated, the figures in the drawings do not constitute proportional limitations.

[0051] Figure 1 A schematic diagram of an application environment of a medicine delivery method provided by an embodiment of the present invention;

[0052] Figure 2 A schematic diagram of the system structure of a robot provided by an embodiment of the present invention;

[0053] Figure 3 A structural block diagram of a robot provided by an embodiment of the present invention;

[0054] Figure 4 A schematic diagram of a process flow of a medicine delivery method provided by an embodiment of the present invention;

[0055] Figure 5 A schematic diagram of a process flow of a medicine delivery method provided by another embodiment of the present invention;

[0056] Figure 6 A schematic diagram of a process flow of a medicine delivery method provided by another embodiment of the present invention;

[0057] Figure 7 A schematic diagram of a process flow of a medicine delivery method provided by another embodiment of the present invention;

[0058] Figure 8 A schematic diagram of the structure of a medicine delivery system provided in one embodiment of the present invention. DETAILED DESCRIPTION

[0059] The present invention is described in detail below in conjunction with specific embodiments. The following embodiments will help those skilled in the art to further understand the present invention, but are not intended to limit the present invention in any form. It should be noted that, for those of ordinary skill in the art, several variations and improvements may be made without departing from the concept of the present invention. These all belong to the protection scope of the present invention.

[0060] In order to make the purpose, technical solution and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0061] It should be noted that, if there is no conflict, the various features in the embodiments of the present invention can be combined with each other, all within the scope of protection of the present application. In addition, although the functional modules are divided in the device schematic diagram and the logical order is shown in the flow chart, in some cases, the steps shown or described can be performed in a different order than the module division in the device or the flow chart. In addition, the words "first", "second", "third", etc. used herein do not limit the data and execution order, but only distinguish the same items or similar items with basically the same functions and effects.

[0062] Unless otherwise defined, all technical and scientific terms used in this specification have the same meaning as those commonly understood by those skilled in the art of the present invention. The terms used in this specification and in the specification of the present invention are only for the purpose of describing specific embodiments and are not intended to limit the present invention. The term "and / or" used in this specification includes any and all combinations of one or more of the related listed items.

[0063] In addition, the technical features involved in the various embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0064] Figure 1is a schematic diagram of the application environment of the drug delivery method provided by an embodiment of the present invention, Figure 2 is a schematic diagram of the system structure of the robot provided by the embodiment of the present invention. Figure 1-Figure 2 , the application environment includes a robot 10 , a medicine cabinet 20 , and a user 30 .

[0065] The robot 10 is in communication connection with the medicine cabinet 20. The robot 10 is used to obtain medicines from the medicine cabinet 20 and deliver the medicines to the user 30, and the medicine cabinet 20 is used to provide the robot 10 with medicines to be delivered.

[0066] In some embodiments, the user 30 can communicate with the robot 10 through the user terminal and send a message to the robot 10, and the user terminal is in communication connection with the robot 10. In other embodiments, the user can also send a message to the robot 10 through the human-machine interaction control interface of the robot 10.

[0067] The robot 10 includes a first robotic arm 100 and a storage bin 200, wherein the first robotic arm 100 is used to receive instructions from the robot 10 to perform operations, such as taking medicines according to the instructions of the robot 10; the storage bin 200 is used to store items, such as storing medicines. In some embodiments, the storage environment of the storage bin 200 can be adjusted. For example, the storage environment of the storage bin 200 can be set to a low-temperature environment. For example, the storage environment of the storage bin 200 can be set to a light-proof environment.

[0068] In some embodiments, the first robotic arm 100 includes an information reader 110, which is used to read drug information, such as scanning a drug QR code or barcode to obtain drug information, such as reading drug RFID data to identify drug information; the information reader 110 can be a barcode scanner, an RFID reader, or a high-definition camera, etc.

[0069] An embodiment of the present invention provides a drug delivery method, which is executed by a robot 10 and can achieve automatic drug delivery, meet the patient's remote drug collection needs, improve the efficiency of drug delivery, and effectively reduce labor costs.

[0070] Before introducing the drug delivery method in detail, the hardware structure of the robot provided in another embodiment of the present invention is described.

[0071] Another embodiment of the present invention provides a robot, such as Figure 3 As shown, the robot 10 includes at least one processor 11 and a memory 12 ( Figure 3 A bus connection and a processor are used as an example). A person skilled in the art can understand that Figure 3 The structure shown is for illustration only and does not limit the structure of the electronic device. Figure 3 More or fewer components as shown, or with Figure 3 Different configurations are shown.

[0072] The processor 11 is used to provide computing and control capabilities to control the robot 10 to perform corresponding tasks, for example, to control the robot 10 to perform any one of the drug delivery methods provided in the following embodiments of the invention.

[0073] It can be understood that the processor 11 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 gate or transistor logic devices, discrete hardware components.

[0074] The memory 12, as a non-transient computer-readable storage medium, can be used to store non-transient software programs, non-transient computer executable programs and modules, such as program instructions / modules corresponding to the drug delivery method in the embodiment of the present invention. The processor 11 can implement the drug delivery method in any of the following method embodiments by running the non-transient software programs, instructions and modules stored in the memory 12. The memory 12 may include a high-speed random access memory and may also include a non-transient memory, such as at least one disk storage device, a flash memory device, or other non-transient solid-state storage device. In some embodiments, the memory 12 may also include a memory remotely arranged relative to the processor, and these remote memories may be connected to the processor via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network and a combination thereof.

[0075] The following is a detailed description of the drug delivery method provided by the embodiment of the present invention. Figure 4 The drug delivery method includes but is not limited to the following steps S401-S405:

[0076] S401: Obtain a delivery task instruction, which includes the location of the medicine cabinet and the delivery destination.

[0077] The robot obtains a delivery task instruction, which is used to instruct the robot to obtain and deliver medicines. For example, the delivery task instruction can be issued by the medicine cabinet or by the control system. The delivery task instruction includes the medicine cabinet location and the delivery destination, wherein the medicine cabinet location is the location of the medicine cabinet where the medicine to be delivered is located. It should be understood that there may be more than one medicine to be delivered, and it may not be possible to obtain all the medicines required for an order in one medicine cabinet, so the delivery task instruction may include multiple medicine cabinet locations. In other embodiments, the user interacts with the robot and sends a delivery task instruction to the robot.

[0078] S402: Plan a medicine-collecting route according to the location of the medicine cabinet, and go to the medicine cabinet based on the medicine-collecting route.

[0079] According to the location of the medicine cabinet in the delivery task instruction, the route to the medicine cabinet is planned. For example, the robot can calculate the optimal path from the robot's current location to the medicine cabinet in real time through the intelligent route planning algorithm in the built-in navigation system. The algorithm comprehensively considers multiple factors, such as the distance of the route, the estimated time, traffic conditions, and the route efficiency in historical data. When it is necessary to go to multiple medicine cabinets, the optimal path that can cover all medicine cabinets is planned. The robot goes to the medicine cabinet based on the planned route for taking medicine.

[0080] S403: Taking out medicine from the medicine taking opening of the medicine cabinet by the first robotic arm.

[0081] Among them, the first mechanical arm is set on the robot and is used to operate according to the robot's instructions. After arriving near the medicine cabinet, the robot takes out the medicine from the medicine dispensing opening of the medicine cabinet through the first mechanical arm. It should be understood that the medicine dispensing opening of the medicine cabinet can be a sealed opening that can be opened and closed. When the robot arrives, the opening is opened so that the robot can take the medicine, and the medicine dispensing opening is closed after the robot has taken the medicine; the medicine dispensing opening of the medicine cabinet can also be an open opening. When the robot arrives, the medicine cabinet puts the corresponding medicine into the open medicine dispensing opening. The robot can place the first mechanical arm in the medicine dispensing opening in advance to wait for the medicine to be dispensed, or it can control the mechanical arm to take the medicine after the medicine arrives at the medicine dispensing opening.

[0082] In some embodiments, see Figure 5 The first robotic arm further includes an information reader, and the delivery task instruction further includes target drug information. Step S403, taking out the drug from the drug taking opening of the medicine cabinet by the first robotic arm, includes steps S501-S504:

[0083] S501: Providing identity information to the medicine cabinet for identity verification.

[0084] Among them, after receiving the identity information, the medicine cabinet authenticates the robot, and when the robot's identity authentication is passed, the medicine cabinet's medicine dispensing opening is opened.

[0085] After arriving near the medicine cabinet, the robot provides identity information to the medicine cabinet so that the medicine cabinet can authenticate the robot. The identity information may include robot ID information, order information delivered by the robot, etc., and the identity information may be encrypted.

[0086] In some embodiments, when approaching the medicine cabinet, the robot will conduct preliminary communication with the medicine cabinet through the wireless network in advance, and transmit a proximity signal to the medicine cabinet so that the medicine cabinet can perform corresponding data processing in advance. For example, an interactive window is displayed to the robot. The interactive window can be an RFID card contact surface, a QR code, a bar code display window, or a communication interface to facilitate subsequent mutual communication. Identity authentication can also be performed in advance to improve efficiency.

[0087] After the medicine cabinet receives the identity information sent by the robot, it authenticates the robot to determine whether the robot's identity is legal. For example, the medicine cabinet's built-in security system performs encrypted data comparison on the identity information provided by the robot to determine whether the robot is a robot authorized to perform the current task. When the identity information provided by the robot matches the identity information of the security system built into the medicine cabinet, it is determined that the robot's identity authentication is passed; when the identity information provided by the robot does not match the identity information of the security system built into the medicine cabinet, it is determined that the robot's identity authentication is not passed. The current delivery task is matched with the robot and the medicine cabinet, thereby ensuring that only authorized robots can obtain medicines and protect the safety of medicines.

[0088] When the robot's identity verification is passed, the medicine cabinet opens the medicine dispensing slot. Specifically, after passing the security verification, the medicine cabinet opens the corresponding medicine dispensing slot according to the order information in the identity information sent by the robot, such as the task ID. Each medicine dispensing slot strictly corresponds to the order to ensure that the robot obtains the correct medicine.

[0089] In some embodiments, when the medicine dispensing opening is opened, the medicine cabinet sends corresponding medicine dispensing opening information to the robot, such as the specific location of the medicine dispensing opening, specific information of the medicine to be taken, etc., or the medicine dispensing opening is accompanied by light guidance and / or sound prompts to guide the robot to accurately dock and efficiently obtain the medicine.

[0090] S502: Obtain the drug information of the medicine dispensing slot.

[0091] The drug information may include drug name, drug quantity, drug production date and expiration date, drug batch number and drug manufacturer, etc. The drug information is obtained by scanning with an information reader and / or by requesting feedback from the medicine cabinet. The information reader is disposed on the first mechanical arm and is used to obtain drug information. The information reader may be a barcode scanner, an RFID reader or a high-definition camera, etc.

[0092] Specifically, the robot can obtain drug information by scanning through an information reader, for example, by scanning and reading the QR code on the drug package in the medicine dispensing opening through a barcode reader to obtain drug information, for example, by scanning the RFID tag of the drug in the medicine dispensing opening through an RFID reader to obtain drug information. The robot can also obtain drug information by requesting feedback from the medicine cabinet, for example, real-time data exchange is performed between the medicine cabinet and the robot, the robot sends request information to the medicine cabinet, and after receiving the request information, the medicine cabinet sends drug information of the drug in the medicine dispensing opening to the robot.

[0093] S503: Compare the drug information with the target drug information to determine whether the drug at the drug dispensing slot matches the target drug in the delivery task instruction.

[0094] After obtaining the drug information, the drug information is compared with the target drug information to determine whether the drug at the medicine pick-up slot matches the target drug in the delivery task instruction, for example, to determine whether the drug type matches, whether the drug quantity matches, etc.

[0095] S504: If the medicine at the medicine dispensing opening matches the target medicine of the delivery task instruction, the medicine is taken out from the medicine dispensing opening of the medicine cabinet by the first robotic arm.

[0096] If it is determined that the medicine at the medicine dispensing opening matches the target medicine of the delivery task instruction, the medicine is accurately taken out from the medicine dispensing opening of the medicine cabinet by the first robotic arm.

[0097] In some embodiments, some drugs have special storage and retrieval requirements, such as the need to maintain stability to avoid vibration or the need to maintain a specific direction. The robot's drug retrieval action will be adjusted accordingly based on the special requirements to ensure the integrity and safety of the drugs.

[0098] In some embodiments, during the process of taking medicine by the first robotic arm, the robot's built-in camera system can be used to record the medicine taking action for subsequent review and quality control.

[0099] In this embodiment, identity information is provided to the medicine cabinet for identity authentication to ensure that the robot's identity is legitimate and matches the delivery task, preventing the medicine from being obtained by unauthorized robots and ensuring the safety of the medicine. Before taking the medicine, the medicine information at the medicine picking slot is obtained and compared with the target medicine information to ensure that the medicine at the medicine picking slot is consistent with the target medicine of the delivery task instruction, ensuring that the robot obtains the correct medicine and ensuring the accuracy of the medicine.

[0100] S404: Store the medicines in the storage bin of the robot.

[0101] The storage bin is provided on the robot and can be used to store items. After the medicine is obtained by the first robot arm, the medicine is stored in the storage bin of the robot to ensure the stability and safety of the medicine during transportation.

[0102] In some embodiments, after storing the medicine in the storage bin of the robot in step S404, the method further includes step S505:

[0103] S505: Send a successful removal signal to the medicine cabinet, so that the medicine cabinet closes the medicine taking compartment of the medicine cabinet after receiving the successful removal signal.

[0104] The robot takes out the medicine through the first mechanical arm, stores the medicine in the storage bin, and sends a successful taking-out signal to the medicine cabinet. After receiving the successful taking-out signal, the medicine cabinet closes the corresponding medicine taking-out slot. In some embodiments, after the medicine cabinet closes the medicine taking-out slot, the order status and medicine inventory are updated to record that the medicine has been taken out.

[0105] In some embodiments, the delivery task instruction also includes target drug information, and the target drug information includes the properties of the drug. After storing the drug in the storage bin of the robot in step S404, the process further includes step S506:

[0106] S506: Adjust the storage environment of the storage warehouse according to the properties of the medicines.

[0107] The storage environment includes a low temperature environment, a normal temperature environment and a cool environment. A low temperature environment refers to an environment of 2 to 10 degrees Celsius, a normal temperature environment refers to an environment of 10 to 30 degrees Celsius, and a cool environment refers to a light-shielded environment not exceeding 20 degrees Celsius.

[0108] It should be understood that different medicines have different properties and require different storage environments. After storing the medicines in the robot's storage bin, the robot will adjust the storage environment of the storage bin according to the properties of the medicines. For example, for medicines without special requirements, the storage environment is set to a normal temperature environment; for some medicines that are easily degraded or deteriorated when the temperature rises, such as unopened insulin, interferon, etc., the storage environment is adjusted to a low temperature environment; for medicines that require to be stored in a cool place, the storage environment is adjusted to a cool environment. In addition, for some medicines that require light-shielding storage, on the basis of the light-shielding of the drug packaging itself, the storage bin can also be made light-shielding, for example, by adding baffles or using light-shielding film stickers to make the storage bin a light-shielding environment.

[0109] In this embodiment, by adjusting the storage environment of the storage warehouse according to the properties of the medicines, it is possible to ensure that the medicines are stored and transported in the best conditions, thereby preventing the medicines from becoming ineffective or deteriorating due to an unsuitable environment.

[0110] S405: Planning a delivery route according to the delivery destination, and traveling to the delivery destination based on the delivery route.

[0111] Specifically, the robot can plan the delivery route through the built-in navigation system. The navigation system has a built-in route planning algorithm that can calculate in real time the optimal delivery path from the current medicine cabinet location to the delivery destination. The algorithm comprehensively considers multiple factors, such as the distance of the route, estimated time, traffic conditions, and route efficiency in historical data, and uses the optimal delivery path as the delivery route to deliver the medicine to the delivery destination based on the delivery route.

[0112] In some embodiments, the robot may perform multiple delivery tasks at the same time, and the system will prioritize the delivery tasks. For urgent delivery tasks, the fastest route to complete the delivery task will be selected first, and the route planning of other non-urgent tasks will be adjusted to ensure that the medicines for the urgent delivery tasks are delivered as soon as possible.

[0113] In some embodiments, see Figure 6 In step S405, after planning a delivery route according to the delivery destination and heading to the delivery destination based on the delivery route, steps S601-S603 are also included:

[0114] S601: Send a medication pick-up notification to the user.

[0115] After the robot arrives at the delivery destination, it sends a medicine pick-up notification to the user. It can be understood that the robot can send the medicine pick-up notification to the user through text messages, phone calls, WeChat notifications, mini-program notifications, voice reminders, etc. to remind the user that the medicine has arrived.

[0116] In some embodiments, during the process of the robot delivering medicines, the user can track the robot's position and status in real time through the user terminal to better understand the drug distribution situation.

[0117] In some embodiments, the user is allowed to adjust the delivery time or temporarily change the delivery location when necessary, and the robot's task instructions are adjusted in real time based on the user's modification request.

[0118] S602: In response to the received unlocking instruction, authenticate the user.

[0119] After receiving the notification, the user can send an unlocking command to the robot. For example, the user sends a remote unlocking command to the robot through a small program or app on the user terminal, or the user sends an unlocking command to the robot through the robot's human-computer interaction control interface.

[0120] After receiving the unlocking command, the robot authenticates the user. For example, the robot activates the built-in camera and prompts the user to perform face recognition verification. After the user faces the robot's camera, the robot uses face recognition technology to compare the user's facial features with the pre-stored user facial data to determine whether the user matches; the robot can also use other biometric recognition technologies to authenticate the user, such as fingerprint verification, voiceprint verification, iris verification, etc. The robot can also use a preset identification code to authenticate the user, such as asking the user to enter the order number of the medicine taken. By authenticating the user, it can ensure that the medicine is delivered to the verified user and that the user corresponds to the order.

[0121] S603: When the user's identity verification is passed, the storage bin of the robot is opened to allow the user to take out the medicine.

[0122] If the user identity verification is successful, for example, the user's facial features match the pre-stored user facial data, the robot's storage bin is automatically opened, allowing the user to take out the medicine.

[0123] In some other embodiments, after planning a delivery route according to the delivery destination in step S405 and heading to the delivery destination based on the delivery route, step S604 is also included:

[0124] S604: In response to the received confirmation signal, close the storage bin of the robot.

[0125] After taking the medicines, the user confirms receipt through the user terminal or the robot's human-machine interaction control interface motor and sends a confirmation signal to the robot. After receiving the confirmation signal, the robot closes the corresponding storage bin.

[0126] In some embodiments, after the robot closes the storage bin, if there are unfinished delivery tasks, it continues to perform the delivery tasks. If there are no unfinished delivery tasks, it automatically returns to the charging station, charges itself and enters standby mode until receiving new delivery task instructions.

[0127] In some embodiments, if the user does not confirm receipt after taking the medicine, the robot will send a reminder notification to the user terminal to remind the user to send a confirmation receipt signal.

[0128] In some embodiments, see Figure 7 The drug distribution method further includes steps S701-S703:

[0129] S701: Detect the operating status of the robot in real time.

[0130] Specifically, the robot can detect its own operating status in real time through the built-in monitoring system, for example, detecting the battery power, robotic arm status and communication system function.

[0131] S702: If the operating state is an abnormal state, an abnormal information is sent to the control system.

[0132] If the operating status is detected to be abnormal, for example, low battery, abnormal robot arm, etc., abnormal information is sent to the control system, and the abnormal information includes the abnormal type, occurrence time, cause of occurrence, etc.

[0133] After receiving the abnormal information, the control system will diagnose the robot according to the abnormal situation, take corresponding preset measures, and send corresponding processing instructions to the robot. For example, in the case of abnormal operation, the robot will be restarted first; if the battery power is insufficient to complete the delivery task, the robot will suspend the delivery task and go to the nearest charging station for charging; for example, in the case of abnormal robot arm, if the robot has picked up the medicine, it will complete the delivery task first, and then go to the maintenance point to wait for maintenance after the delivery task is completed; if the medicine has not been picked up, the delivery task will be suspended and go to the maintenance point to wait for maintenance.

[0134] When necessary, for example, when the task of the robot in an abnormal state is an emergency task, the control system will dispatch a backup robot to the robot to take over the robot's delivery task so that the delivery task can continue and ensure the smooth and safe delivery of the medicines.

[0135] S703: Receive a processing instruction sent by the control system, and execute a processing flow based on the processing instruction.

[0136] The processing flow includes restarting the operation, suspending the execution of the task or transferring the delivery task. The control system can be a local system of the robot or a cloud system, which is used to monitor the robot status or control the robot operation.

[0137] Specifically, the robot receives processing instructions sent by the control system, such as restarting; pausing the delivery task and going to the charging station to charge; pausing the delivery task and waiting to hand over the task to the backup robot, etc., and executes the corresponding processing flow based on the processing instructions, such as restarting operation, pausing the execution of the task, or transferring the delivery task.

[0138] In some embodiments, when encountering a serious fault, the robot can activate the emergency mode. After activating the emergency mode, it will temporarily dock in a nearby safe area and send a remote technical support request or a manual intervention request to the control system, waiting for processing.

[0139] In this embodiment, through real-time detection and reporting of the operating status, abnormal situations can be discovered and handled in a timely manner to avoid adverse consequences due to robot abnormalities and ensure the safe delivery of drugs when necessary.

[0140] In summary, the drug delivery method provided by the embodiment of the present invention obtains a delivery task instruction, the delivery task instruction includes the location of the medicine cabinet and the delivery destination, plans a drug-taking route according to the location of the medicine cabinet, goes to the medicine cabinet based on the drug-taking route, takes out the drugs from the drug-taking slot of the medicine cabinet through the first robotic arm, stores the drugs in the storage bin of the robot, plans a delivery route according to the delivery destination, and goes to the delivery destination based on the delivery route. The present invention can realize automatic drug delivery, meet the needs of patients for remote medical treatment and drug collection at home, and improve the efficiency of drug delivery.

[0141] Another embodiment of the present invention also provides a drug delivery system, such as Figure 8 As shown, the medicine delivery system 40 includes a robot 10 and a medicine cabinet 20 .

[0142] The robot 10 is used to execute the drug delivery method as described above. The medicine cabinet 20 is used to obtain a drug delivery order, generate a delivery task instruction according to the drug delivery order and select a delivery robot, the delivery task instruction includes the location of the medicine cabinet and the delivery destination, and send the delivery task instruction to the robot so that the robot plans a drug collection route according to the location of the medicine cabinet, goes to the medicine cabinet based on the drug collection route, takes out the drugs from the drug collection slot of the medicine cabinet through the first robot arm, stores the drugs in the storage bin of the robot, plans a delivery route according to the delivery destination, and goes to the delivery destination based on the delivery route.

[0143] Specifically, the medicine cabinet obtains the medicine delivery order, which includes the user ID, medicine information, delivery address, and expected delivery time, etc. It evaluates the drug inventory status based on the order information, determines the availability of all drugs, and prioritizes the orders, with urgent orders being given priority; it generates delivery task instructions, which include the location of the medicine cabinet and the delivery destination. Based on the specific situation of the delivery task, the delivery task is assigned to the robot, and the location, power, maintenance record, and expected delivery time and distance of the currently available robots are comprehensively considered to select the most suitable robot to maximize the optimization of delivery resource allocation. After the robot is selected, the delivery task instruction is sent to the corresponding robot.

[0144] After receiving the delivery task instruction, the robot plans a medicine-taking route according to the location of the medicine cabinet, goes to the medicine cabinet based on the medicine-taking route, takes out the medicine from the medicine-taking opening of the medicine cabinet through the first robotic arm, stores the medicine in the robot's storage bin, plans a delivery route according to the delivery destination, and goes to the delivery destination based on the delivery route.

[0145] In some embodiments, the medicine cabinet is also used to:

[0146] Obtain the identity information sent by the robot and authenticate the robot;

[0147] When the robot's identity verification is passed, the medicine dispensing opening of the medicine cabinet is opened, so that the robot can take out medicine from the medicine dispensing opening of the medicine cabinet;

[0148] Alternatively, the drug information of the medicine dispensing slot is sent to the robot, so that after receiving the drug information of the medicine dispensing slot, the robot compares the drug information of the medicine dispensing slot with the target drug information to determine whether the drug of the medicine dispensing slot is consistent with the drug of the delivery task instruction;

[0149] Alternatively, after receiving a successful removal signal sent by the robot, the medicine taking compartment of the medicine cabinet is closed.

[0150] Specifically, after the robot arrives at the medicine cabinet, the medicine cabinet obtains the identity information sent by the robot, authenticates the robot, ensures that the robot is legitimate, and is authorized to perform the delivery task, to prevent robots with illegitimate identities from obtaining medicines. When the robot's identity verification passes, the medicine cabinet opens the corresponding medicine dispensing opening to allow the robot to take medicines from the medicine dispensing opening.

[0151] Real-time data exchange is carried out between the medicine cabinet and the robot. The medicine cabinet sends the drug information of the medicine dispensing slot to the robot. The drug information includes the drug name, drug quantity, drug batch number, drug expiration date, etc. After the robot receives the drug information from the medicine dispensing slot, it compares the drug information of the medicine dispensing slot with the target drug information to determine whether the drug at the medicine dispensing slot matches the drug in the delivery task instruction.

[0152] After the robot successfully takes out the medicine, it sends a successful removal signal to the medicine cabinet. After receiving the successful removal signal, the medicine cabinet closes the medicine taking opening, updates the order status and medicine inventory, and records that the medicine has been taken out.

[0153] In some embodiments, the medicine cabinet includes a second robotic arm, the medicine delivery order includes a medicine name, a medicine quantity, and a medicine property, and the medicine cabinet is further used to:

[0154] Determine the location of the drug based on its name;

[0155] According to the location and quantity of the medicine, the second robotic arm takes out the medicine;

[0156] Select packaging materials according to the properties of the drugs, and use the packaging materials to package the drugs;

[0157] Store the medicines in the medicine dispensing opening and adjust the storage environment of the medicine dispensing opening according to the nature of the medicines.

[0158] In this embodiment, the medicine cabinet determines the location of the medicine according to the name of the medicine in the medicine delivery order. For example, the medicine cabinet can find the required medicine according to the name through the location table stored in the system; the medicine cabinet can also automatically scan and identify the location of the medicine through the built-in RFID reader and barcode scanner. After determining the location of the medicine, the medicine cabinet takes out the corresponding number of medicines through the second mechanical arm. After taking out the medicine, the packaging material is selected according to the nature of the medicine, such as moisture-proof material, pressure-resistant material, thermal insulation material, etc. For some special medicines, auxiliary materials for heat preservation or cooling are automatically added during the packaging process, such as ice bags, etc., and the medicine is automatically packaged by the packaging material. The packaged medicine is stored in the medicine dispensing opening, and the storage environment of the medicine dispensing opening is automatically adjusted according to the nature of the medicine, such as adjusting the temperature, humidity and shading of the medicine dispensing opening.

[0159] In some embodiments, when the medicine cabinet takes out medicines through the second mechanical arm, the physical state of the medicines is detected. For example, the medicine cabinet checks whether the packaging of the medicines is complete through the sensor built into the second mechanical arm.

[0160] In some embodiments, packaging materials are selected based on the properties of the drugs, and before the drugs are packaged with the packaging materials, quality control tests are performed on the drugs, including weight testing, component analysis, and expiration date verification, to ensure that the drugs meet medical standards.

[0161] Another embodiment of the present invention further provides a non-volatile computer-readable storage medium, wherein the computer-readable storage medium stores computer-executable instructions. When the computer-executable instructions are executed by at least one processor, the at least one processor executes the drug delivery method as described in any one of the above embodiments.

[0162] It should be noted that the device embodiments described above are merely illustrative, wherein the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0163] Through the description of the above implementation methods, ordinary technicians in this field can clearly understand that each implementation method can be implemented by means of software plus a general hardware platform, and of course, it can also be implemented by hardware. Ordinary technicians in this field can understand that all or part of the processes in the above-mentioned embodiment method can be completed by instructing related hardware through a computer program, and the program can be stored in a computer-readable storage medium. When the program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, the storage medium can be a disk, an optical disk, a read-only memory (ROM) or a random access memory (RAM), etc.

[0164] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit them. Under the concept of the present invention, the technical features in the above embodiments or different embodiments may also be combined, the steps may be implemented in any order, and there are many other changes in different aspects of the present invention as described above, which are not provided in detail for the sake of simplicity. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they may still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A drug delivery method, applied to a robot, wherein the robot comprises a first mechanical arm, characterized in that: include: Obtaining a delivery task instruction, wherein the delivery task instruction includes a medicine cabinet location and a delivery destination; Planning a medicine-collecting route according to the location of the medicine cabinet, and going to the medicine cabinet based on the medicine-collecting route; Taking out medicines from the medicine taking opening of the medicine cabinet by the first robot arm and storing the medicines in the storage bin of the robot; A delivery route is planned according to the delivery destination, and the delivery destination is traveled to based on the delivery route.

2. The method according to claim 1, characterized in that The first mechanical arm further includes an information reader, and the delivery task instruction further includes target drug information; The method of taking out medicine from the medicine taking opening of the medicine cabinet by the first mechanical arm includes: Providing identity information to the medicine cabinet for identity verification, wherein the medicine cabinet performs identity verification on the robot after receiving the identity information, and opens the medicine dispensing compartment of the medicine cabinet when the identity verification of the robot is passed; Obtaining drug information of the medicine dispensing slot, wherein the drug information is obtained by scanning with the information reader and / or by requesting feedback from the medicine cabinet; Comparing the drug information with the target drug information to determine whether the drug at the drug dispensing slot matches the target drug of the delivery task instruction; If the medicine in the medicine dispensing opening matches the target medicine in the delivery task instruction, the medicine is taken out from the medicine dispensing opening of the medicine cabinet by the first robotic arm.

3. The method according to claim 1, characterized in that After the step of storing the medicine in a storage bin of the robot, the method further comprises: A successful removal signal is sent to the medicine cabinet, so that the medicine cabinet closes the medicine taking compartment of the medicine cabinet after receiving the successful removal signal.

4. The method according to claim 1, characterized in that: After the step of heading to the delivery destination based on the delivery route, the method further includes: Send medication pick-up notifications to users; In response to the received unlocking instruction, authenticating the user; When the identity authentication of the user is passed, opening the storage bin of the robot to allow the user to take out the medicine; or, In response to the received confirmation signal, the storage bin of the robot is closed.

5. The method according to claim 1, characterized in that The delivery task instruction also includes target drug information, and the target drug information includes the properties of the drug; After storing the medicine in the storage bin of the robot, the method further comprises: The storage environment of the storage bin is adjusted according to the properties of the medicine, wherein the storage environment includes a low temperature environment, a normal temperature environment and a cool environment.

6. The method according to any one of claims 1 to 5, characterized in that: The method further comprises: Real-time detection of the robot's operating status; If the operating state is an abnormal state, abnormal information is sent to the control system, wherein the control system performs abnormal diagnosis on the robot according to the received abnormal information and sends a processing instruction to the robot; Receive a processing instruction sent by the control system, and execute a processing flow based on the processing instruction, wherein the processing flow includes restarting operation, suspending execution of a task, or transferring a delivery task.

7. A drug delivery system, characterized in that: include: A robot for executing the drug delivery method according to any one of claims 1 to 6; Medicine cabinets for: Get drug delivery orders; Generate a delivery task instruction according to the medicine delivery order and select a delivery robot, wherein the delivery task instruction includes the medicine cabinet location and the delivery destination; The delivery task instruction is sent to the robot, so that the robot plans a medicine-collecting route according to the location of the medicine cabinet, goes to the medicine cabinet based on the medicine-collecting route, takes out medicines from the medicine-collecting opening of the medicine cabinet through the first robotic arm, stores the medicines in the storage bin of the robot, plans a delivery route according to the delivery destination, and goes to the delivery destination based on the delivery route.

8. The drug delivery system according to claim 7, characterized in that: The medicine cabinet is also used for: Obtaining identity information sent by the robot and authenticating the robot; When the identity verification of the robot is passed, the medicine dispensing opening of the medicine cabinet is opened, so that the robot can take out medicine from the medicine dispensing opening of the medicine cabinet; Alternatively, the drug information of the medicine dispensing slot is sent to the robot, so that after receiving the drug information of the medicine dispensing slot, the robot compares the drug information of the medicine dispensing slot with the target drug information to determine whether the drug of the medicine dispensing slot is consistent with the drug of the delivery task instruction; Alternatively, after receiving a successful removal signal sent by the robot, the medicine taking compartment of the medicine cabinet is closed.

9. The drug delivery system according to claim 7, characterized in that: The medicine cabinet includes a second mechanical arm, the medicine delivery order includes the name of the medicine, the quantity of the medicine and the nature of the medicine, and the medicine cabinet is further used for: Determine the location of the drug according to the drug name; According to the position of the medicine and the quantity of the medicine, taking out the medicine by the second robotic arm; Selecting packaging materials according to the properties of the medicine, and packaging the medicine with the packaging materials; The medicine is stored in the medicine dispensing opening, and the storage environment of the medicine dispensing opening is adjusted according to the properties of the medicine.

10. A robot, characterized in that: include: at least one processor, and A memory, wherein the memory is communicatively connected to the at least one processor, the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute the method described in any one of claims 1 to 6.

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