Medicine box homing control method and device, terminal equipment and storage medium

Abstract

The invention provides a medicine box homing control method and device, terminal equipment and a storage medium, and the method comprises the steps: initializing a medicine box system, and distributing a unique position number for each medicine box in the medicine box system; the driving mechanism is controlled to move based on a medicine dispensing instruction sent by a user, so that the driving mechanism obtains a target medicine box and delivers the target medicine box to a target area; when it is detected that the driving mechanism triggers the limiting switch, the medicine chest system is controlled to enter an emergency stop state, and the driving mechanism is paused; medicine chest detection is conducted on the driving mechanism, and the moving path of the driving mechanism is controlled according to a medicine chest detection result; when it is detected that the target medicine box exists on the surface of the driving mechanism and the medicine dispensing instruction is executed, the target medicine box is distributed to the first storage position corresponding to the unique position number; and when it is detected that the target medicine box does not exist on the surface of the driving mechanism, the moving structure is controlled to the first storage position to continue to execute the medicine dispensing instruction. According to the invention, the processing efficiency and safety of the medicine chest system when the abnormity occurs can be improved.

Description

Technical Field

[0001] The present invention relates to the field of automation control technology, and in particular to a medicine box homing control method, device, terminal equipment and storage medium. Background Art

[0002] The medicine box system is an intelligent device system for managing and controlling medicines. It can automatically take out the required medicines from the storage location and deliver them to the medicine distribution point according to the doctor's order. When the medicine is lower than the set inventory level, it will automatically replenish the medicine to the corresponding storage location. The system monitors the operating status of the medicine box through sensors and cameras, including the location of the medicine box and the operating status of the fork. During operation, if the medicine box or fork fails, the medicine box fails to return to its position correctly, or other abnormal conditions occur, the system will automatically trigger the emergency stop program, lock the current status, and issue an alarm to notify the maintenance personnel. The maintenance personnel will perform fault detection and troubleshooting.

[0003] However, the existing abnormal handling measures for medicine boxes require maintenance personnel to enter the medicine box system to perform manual operation and confirmation before the medicine box can be placed back to its original storage position. However, the internal space of the medicine box cabinet is limited, and manual intervention is difficult, especially in high-level storage positions. Even if maintenance personnel enter the medicine box cabinet, it is difficult to put the medicine box back to the high-level storage position. And after putting the medicine box back to its original storage position, the maintenance personnel need to exit the cabinet to check the equipment before unlocking the emergency stop program to reset the fork to zero and restart the distribution and delivery of medicines. The abnormal handling process of the medicine box requires maintenance personnel to go in and out of the cabinet equipment for inspection, which takes a long time to process, affecting the efficiency of the medicine box system, and there are certain safety hazards in the manual intervention process. Summary of the invention

[0004] The present invention aims to provide a medicine box homing control method, device, terminal equipment and storage medium to solve the above-mentioned technical problems and improve the processing efficiency and safety of the medicine box system when an abnormality occurs.

[0005] In order to solve the above technical problems, the present invention provides a medicine box homing control method, which is applied to a medicine box system, comprising:

[0006] Initialize the medicine box system and assign a unique position code to each medicine box in the medicine box system; wherein the unique position code is used to characterize the initial storage position of the medicine box in the medicine box system;

[0007] Controlling the movement of the driving mechanism based on the dispensing instruction sent by the user, so that the driving mechanism acquires the target medicine box and delivers the target medicine box to the target area;

[0008] When it is detected that the driving mechanism triggers the limit switch, the medicine box system is controlled to enter an emergency stop state and the driving mechanism is paused;

[0009] The driving mechanism is subjected to a medicine box detection, and a moving path of the driving mechanism is controlled according to the detection result; wherein, when it is detected that the target medicine box exists on the surface of the driving mechanism and the execution of the dispensing instruction is completed, the driving mechanism is controlled to deliver the target medicine box to the first storage position corresponding to the unique position number; when it is detected that the target medicine box does not exist on the surface of the driving mechanism, the moving structure is controlled to move to the first storage position to continue to execute the dispensing instruction.

[0010] In the above scheme, the medicine box is returned to its original position by using automatic control and drive mechanism. The maintenance personnel do not need to frequently enter and exit the medicine box cabinet, which avoids the cumbersome manual intervention process, saves time and resources, and reduces the risk of errors caused by manual operation. Automated homing control can greatly shorten the time for the medicine box to return to its original position. The system can automatically adjust the moving path when the medicine box detects a problem, so as to quickly return the medicine box to the designated storage location and improve the efficiency of drug distribution and delivery. The system assigns a unique location number to each medicine box and returns the medicine box based on this number. This method can ensure that the position of the medicine box in the system is always accurate, avoiding position confusion caused by human error. Compared with the existing manual intervention process, the above medicine box homing control method significantly improves the efficiency, safety and accuracy of the medicine box system by introducing automated and intelligent technical means. It reduces the workload and safety risks of maintenance personnel, shortens equipment downtime, and can make the homing process of the medicine box more accurate and efficient.

[0011] In one implementation, controlling the movement of the driving mechanism based on the medication dispensing instruction sent by the user specifically includes:

[0012] A guide rail and a drive motor are pre-arranged in the three-dimensional direction of the medicine box system; wherein the drive motor is used to drive the guide rail;

[0013] A motion planning path for the drive mechanism is generated based on the dispensing instruction, and a drive motor in each three-dimensional direction is driven according to the motion planning path to move the drive mechanism in the three-dimensional direction; wherein the drive mechanism is associated with a guide rail in each three-dimensional direction through a preset connection method.

[0014] In one implementation, the medicine box homing control method further includes:

[0015] The limit switch is installed at a first preset position of the driving mechanism; wherein the first preset position includes: a left edge, a right edge and a lower bottom surface of the driving mechanism;

[0016] The position of the driving mechanism is detected based on the limit switch, and when the driving mechanism moves to a preset limit position, it is determined that the driving mechanism triggers the limit switch.

[0017] In one implementation, the performing medicine box detection on the driving mechanism specifically includes:

[0018] Installing detection sensors at a plurality of preset azimuth angles on the surface of the driving mechanism;

[0019] The driving mechanism is subjected to a medicine box detection based on the detection sensor, and when the detection sensor detects an occlusion signal, it is determined that the target medicine box exists on the surface of the driving mechanism and a first prompt signal is sent.

[0020] In one implementation, before controlling the driving mechanism to deliver the target medicine box to the first storage position corresponding to the unique position number, the method further includes:

[0021] A positioning pin is pre-arranged at a second preset position of the driving mechanism and a card slot is pre-arranged at a corresponding position at the bottom of each medicine box in the medicine box system;

[0022] When the positioning pin of the driving mechanism is aligned with the slot of the target medicine box, it is determined that the target medicine box has been accurately placed on the surface of the driving mechanism, the emergency stop state of the medicine box system is released and the driving mechanism is controlled to deliver the target medicine box to the first storage position.

[0023] In one implementation, when detecting that the target medicine box exists on the surface of the driving mechanism, the method further includes:

[0024] Obtaining the position of the driving mechanism in the medicine box system and the status of the medicines in the target medicine box; wherein,

[0025] When the driving mechanism has not reached the drug adding port and there is no drug in the target medicine box, the driving mechanism is moved to the drug adding port to add the drug;

[0026] When the driving mechanism reaches the drug adding port and there are drugs in the target medicine box, the driving mechanism is moved to the inventory area to perform drug proofreading on the drugs in the target medicine box. When the proofreading result of the drugs in the target medicine box is correct, it is determined that the dispensing instruction is completed.

[0027] In a second aspect, the present application also provides a medicine box homing control device, which is applied to a medicine box system, and includes: an initialization module, a distribution module, a detection module and a control module;

[0028] The initialization module is used to initialize the medicine box system and assign a unique position number to each medicine box in the medicine box system; wherein the unique position code is used to characterize the initial storage position of the medicine box in the medicine box system;

[0029] The delivery module is used to control the movement of the driving mechanism based on the dispensing instruction sent by the user, so that the driving mechanism obtains the target medicine box and delivers the target medicine box to the target area;

[0030] The detection module is used to control the medicine box system to enter an emergency stop state and pause the driving mechanism when it is detected that the driving mechanism triggers a limit switch;

[0031] The control module is used to perform a medicine box detection on the driving mechanism and control the moving path of the driving mechanism according to the medicine box detection result; wherein, when it is detected that the target medicine box exists on the surface of the driving mechanism and the execution of the dispensing instruction is completed, the driving mechanism is controlled to deliver the target medicine box to the first storage position corresponding to the unique position number; when it is detected that the target medicine box does not exist on the surface of the driving mechanism, the moving structure is controlled to move to the first storage position to continue executing the dispensing instruction.

[0032] In the above scheme, the medicine box is returned to its original position by using automatic control and drive mechanism. Maintenance personnel do not need to frequently enter and exit the medicine box cabinet, which avoids the cumbersome manual intervention process, saves time and resources, and reduces the risk of errors caused by manual operation. Automated return control can greatly shorten the time for the medicine box to return to its original position. The system can automatically adjust the moving path when the medicine box detects a problem, so as to quickly return the medicine box to the designated storage location and improve the efficiency of drug distribution and delivery. The system assigns a unique location number to each medicine box and returns the medicine box based on this number. This method can ensure that the position of the medicine box in the system is always accurate, avoiding position confusion caused by human error. Compared with the existing manual intervention process, the above medicine box return control device significantly improves the efficiency, safety and accuracy of the medicine box system by introducing automated and intelligent technical means. It reduces the workload and safety risks of maintenance personnel, shortens equipment downtime, and can make the return process of the medicine box more accurate and efficient.

[0033] In one implementation, the delivery module is used to control the movement of the driving mechanism based on the dispensing instruction sent by the user, specifically including:

[0034] A guide rail and a drive motor are pre-arranged in the three-dimensional direction of the medicine box system; wherein the drive motor is used to drive the guide rail;

[0035] A motion planning path for the drive mechanism is generated based on the dispensing instruction, and a drive motor in each three-dimensional direction is driven according to the motion planning path to move the drive mechanism in the three-dimensional direction; wherein the drive mechanism is associated with a guide rail in each three-dimensional direction through a preset connection method.

[0036] In one implementation, the medicine box homing control device further includes:

[0037] The limit switch is installed at a first preset position of the driving mechanism; wherein the first preset position includes: a left edge, a right edge and a lower bottom surface of the driving mechanism;

[0038] The position of the driving mechanism is detected based on the limit switch, and when the driving mechanism moves to a preset limit position, it is determined that the driving mechanism triggers the limit switch.

[0039] In one implementation, the performing medicine box detection on the driving mechanism specifically includes:

[0040] Installing detection sensors at a plurality of preset azimuth angles on the surface of the driving mechanism;

[0041] The driving mechanism is subjected to a medicine box detection based on the detection sensor, and when the detection sensor detects an occlusion signal, it is determined that the target medicine box exists on the surface of the driving mechanism and a first prompt signal is sent.

[0042] In one implementation, before controlling the driving mechanism to deliver the target medicine box to the first storage position corresponding to the unique position number, the method further includes:

[0043] A positioning pin is pre-arranged at a second preset position of the driving mechanism and a card slot is pre-arranged at a corresponding position at the bottom of each medicine box in the medicine box system;

[0044] When the positioning pin of the driving mechanism is aligned with the slot of the target medicine box, it is determined that the target medicine box has been accurately placed on the surface of the driving mechanism, the emergency stop state of the medicine box system is released and the driving mechanism is controlled to deliver the target medicine box to the first storage position.

[0045] In one implementation, when detecting that the target medicine box exists on the surface of the driving mechanism, the method further includes:

[0046] Obtaining the position of the driving mechanism in the medicine box system and the status of the medicines in the target medicine box; wherein,

[0047] When the driving mechanism has not reached the drug adding port and there is no drug in the target medicine box, the driving mechanism is moved to the drug adding port to add the drug;

[0048] When the driving mechanism reaches the drug adding port and there are drugs in the target medicine box, the driving mechanism is moved to the inventory area to perform drug proofreading on the drugs in the target medicine box. When the proofreading result of the drugs in the target medicine box is correct, it is determined that the dispensing instruction is completed.

[0049] In a third aspect, the present application also provides a terminal device, including a processor, a memory, and a computer program stored in the memory and configured to be executed by the processor, and when the processor executes the computer program, the medicine box homing control method as described above is implemented.

[0050] In a fourth aspect, the present application also provides a computer-readable storage medium, the computer-readable storage medium including a stored computer program, wherein when the computer program is running, the device where the computer-readable storage medium is located is controlled to execute the medicine box repositioning control method as described above. BRIEF DESCRIPTION OF THE DRAWINGS

[0051] Figure 1 It is a flow chart of a medicine box homing control method provided in one embodiment of the present invention;

[0052] Figure 2 It is a structural schematic diagram of a medicine box system provided in one embodiment of the present invention;

[0053] Figure 3 It is a structural schematic diagram of a driving mechanism provided in one embodiment of the present invention;

[0054] Figure 4 A schematic diagram of the physical structure of a driving mechanism provided in one embodiment of the present invention;

[0055] Figure 5 A schematic diagram of a flow chart of executing a medication dispensing instruction provided in one embodiment of the present invention;

[0056] Figure 6 This is a module schematic diagram of a medicine box homing control device provided in one embodiment of the present invention. DETAILED DESCRIPTION

[0057] The specific implementation of the present invention is further described in detail below in conjunction with the accompanying drawings and examples. The following examples are used to illustrate the present invention, but are not intended to limit the scope of the present invention.

[0058] The terms "first" and "second" and the like in the specification, claims and drawings of this application are used to distinguish different objects, rather than to describe a specific order. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device comprising a series of steps or units is not limited to the listed steps or units, but may optionally include steps or units not listed, or may optionally include other steps or units inherent to these processes, methods, products or devices.

[0059] Reference to "embodiments" herein means that a particular feature, structure, or characteristic described in conjunction with the embodiments may be included in at least one embodiment of the present application. The appearance of the phrase in various locations in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment that is mutually exclusive with other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0060] Example 1

[0061] See also Figure 1 , Figure 1 The flowchart of a medicine box homing control method provided in an embodiment of the present invention is as follows. The present invention provides a medicine box homing control method, including steps 101 to 104, each of which is as follows:

[0062] Step 101: Initialize a medicine box system and assign a unique location code to each medicine box in the medicine box system; wherein the unique location code is used to characterize an initial storage position of the medicine box in the medicine box system.

[0063] In the embodiment of the present invention, a unique position number is assigned to each medicine box placed in the medicine box system for the first time, and the storage position of each medicine box in the medicine box system is marked by the unique position number. When taking and placing medicine, the storage position of the medicine box is recorded by the unique position number to control the movement of the driving mechanism, so as to put the medicine box back to its correct storage position. The form of the unique position number can be customized according to the placement rules of different medicine box systems, and is not limited here.

[0064] Step 102: Based on the dispensing instruction sent by the user, the driving mechanism is controlled to move so that the driving mechanism acquires the target medicine box and delivers the target medicine box to the target area.

[0065] In the embodiment of the present invention, when a medicine replenishment / dispensing instruction is received from a user to the medicine box system, the driving mechanism is controlled to move according to the received instruction information, so that the driving mechanism can correctly obtain the target medicine box and deliver it to the correct target area. The dispensing instruction includes the type and quantity of medicine. Preferably, when the dispensing instruction is received, the monitoring equipment such as the camera in the medicine box system is also turned on synchronously to monitor the implementation process of the dispensing instruction.

[0066] In one embodiment, the controlling the movement of the driving mechanism based on the medication dispensing instruction sent by the user specifically includes:

[0067] Guide rails and drive motors are pre-arranged in the three-dimensional directions of the medicine box system; wherein the drive motor is used to drive the guide rails; a motion planning path for the drive mechanism is generated based on the medication dispensing instruction, and the drive motor in each three-dimensional direction is driven according to the motion planning path to enable the drive mechanism to move in the three-dimensional direction; wherein the drive mechanism is associated with the guide rails in each three-dimensional direction through a preset connection method.

[0068] See also Figure 2 , Figure 2 The schematic diagram of the structure of a medicine box system provided in one embodiment of the present invention. In the embodiment of the present invention, servo motors are respectively arranged in the X-axis, Y-axis and Z-axis directions of the medicine box system. The servo motor of the X-axis is responsible for the left and right movement of the starting mechanism in the horizontal plane. The servo motor transmits power to the guide rail of the X-axis by a belt, chain or gear system, thereby realizing the movement in the left and right direction through the X-axis guide rail. The servo motor of the Y-axis is responsible for the forward and backward movement of the driving mechanism in the horizontal plane. The servo motor is connected to the X-axis guide rail system in a similar manner (such as a chain or a slide rail) to control the movement of the driving mechanism in the forward and backward direction. Preferably, the Y-axis servo motor is usually installed on the X-axis guide rail. The servo motor of the Z-axis is responsible for the lifting and lowering movement of the driving mechanism. The lifting system driven by the servo motor (such as a screw, chain or hydraulic cylinder) controls the up and down movement of the driving mechanism through a vertical guide rail or a lifting platform. The Z-axis servo motor is usually connected to a lifting platform or a linear guide system to control the vertical position of the driving mechanism.

[0069] In an embodiment of the present invention, the driving mechanism is usually installed on the guide rail of the X-axis, and the horizontal movement is achieved by a slider or bracket driven by the X-axis servo motor. The driving mechanism is connected to the guide rail of the X-axis through a fixed mounting bracket. The forward and backward movement of the driving mechanism is controlled by the servo motor of the Y-axis, and the installation of the driving mechanism usually includes a slider or a mobile platform, which is installed on the X-axis guide rail to ensure that the driving mechanism can move in the forward and backward direction. The lifting and lowering of the driving mechanism is achieved by a lifting system driven by the servo motor of the Z-axis. The driving mechanism is usually installed on a lifting platform of the Z-axis, and the lifting platform is driven by the Z-axis servo motor to achieve the up and down movement of the fork.

[0070] In an embodiment of the present invention, a control program is written to implement various operations of the drive mechanism, including lifting, moving, stopping, etc. The program may run on a PLC, an industrial computer, or an embedded controller. Preferably, when the motion planning path of the drive mechanism is generated based on the dispensing instruction, the path from the starting position to the target position of the drive mechanism can be calculated by an interpolation algorithm. Furthermore, the actual position of the motor shaft can be obtained through an encoder, and the feedback signal is sent back to the control system to adjust the movement of the motor in real time, and then the PID control algorithm is used to adjust the movement of the servo motor to ensure the precise movement of the fork. The PID controller adjusts the speed and position of the motor to reduce errors.

[0071] Step 103: When it is detected that the driving mechanism triggers the limit switch, the medicine box system is controlled to enter an emergency stop state and the driving mechanism is paused.

[0072] In one embodiment, the medicine box return control method also includes: installing the limit switch at a first preset position of the drive mechanism; wherein the first preset position includes: a left edge, a right edge and a lower bottom surface of the drive mechanism; performing position detection on the drive mechanism based on the limit switch, and when the drive mechanism moves to a preset extreme position, determining that the drive mechanism triggers the limit switch.

[0073] See also Figure 3 , Figure 3 The schematic diagram of the structure of a driving mechanism provided in one embodiment of the present invention. A conventional fork is used as an example of the driving mechanism. Generally speaking, a fork is a key component for carrying and moving items such as pallets and medicine boxes. The structure of the fork includes a fork body (fork arm), a fork foot, a positioning pin, a limit device, a clamping device, a lifting mechanism, a control system, a driving system and a protective device. In the embodiment of the present invention, a limit switch, also known as a limit sensor, is respectively provided on the left and right sides of the fork. The limit switch prevents the fork from exceeding a preset limit position in the horizontal plane, and triggers a signal when the fork reaches the preset limit position, ensuring that the fork does not collide with the boundary of the system or other equipment, and preventing damage to the equipment in the medicine box system due to excessive movement of the fork. Further, a limit switch, also known as a middle limit switch, is provided at the middle position of the bottom of the fork, through which the position information of the fork in the vertical direction can be provided to detect whether the fork has reached the limit position of its vertical stroke (i.e., the highest point or the lowest point). When the fork is raised or lowered to the set limit position, the limit switch will be triggered to prevent the fork from moving further and exceeding the working range. It should be noted that according to the operation requirements, storage and inventory management, system design, classification and storage of medicines, and the efficiency of the workflow, when executing the dispensing instruction, the drive mechanism will also be used to obtain the pallet to achieve this. Figure 2The driving mechanism is used to obtain the state of the tray for explanation.

[0074] Step 104: Perform a medicine box detection on the driving mechanism, and control the moving path of the driving mechanism according to the medicine box detection result; wherein, when it is detected that the target medicine box exists on the surface of the driving mechanism and the execution of the dispensing instruction is completed, the driving mechanism is controlled to deliver the target medicine box to the first storage position corresponding to the unique position number; when it is detected that the target medicine box does not exist on the surface of the driving mechanism, the moving structure is controlled to move to the first storage position to continue executing the dispensing instruction.

[0075] In one embodiment, the medicine box detection on the driving mechanism specifically includes: installing detection sensors at several preset azimuth angles on the surface of the driving mechanism; performing medicine box detection on the driving mechanism based on the detection sensors, and when the detection sensor detects an occlusion signal, it is determined that the target medicine box exists on the surface of the driving mechanism and a first prompt signal is sent.

[0076] See also Figure 3 and Figure 4 , Figure 3 is a schematic structural diagram of a driving mechanism provided in one embodiment of the present invention, Figure 4 The physical structure diagram of a driving mechanism provided in one embodiment of the present invention. In the embodiment of the present invention, 5 detection sensors, also called presence sensors, are installed at the bottom of the driving mechanism, that is, the fork. Preferably, a photoelectric detection sensor is used as a presence sensor in the embodiment of the present invention. Specifically, the preset azimuth angles include the front left side (90 degrees left), the front right side (90 degrees right), the bottom middle, the rear left side (180 degrees left) and the rear right side (180 degrees right). 90 degrees at the left side of the bottom: the sensor on the left side is usually installed on the front left part of the fork to detect to the left; the middle of the bottom: the sensor in the middle is usually installed in the central position of the bottom of the fork for detection in the central area; 180 degrees at the left side of the bottom: the sensor on the rear left side is usually installed on the rear left part of the fork to detect to the rear left; 180 degrees at the right side of the bottom: the sensor on the rear right side is usually installed on the rear right part of the fork to detect to the rear right. This arrangement can provide comprehensive detection of the bottom of the fork in all directions, ensuring that the fork can accurately perceive the surrounding environment during operation, thereby improving the safety and accuracy of the operation. Furthermore, in an embodiment of the present invention, an LED light is also provided on the detection sensor. When an obstruction signal is detected, it is determined that there is a medicine box on the fork. At this time, a corresponding signal is fed back to the medicine box system and a yellow light is turned on as a prompt signal. If there is no obstruction, that is, when there is no medicine box, a green light is turned on. Preferably, a buzzer or the like can be set to send a sound signal as a prompt.

[0077] In one embodiment, before controlling the driving mechanism to deliver the target medicine box to the first storage position corresponding to the unique position number, it also includes: pre-setting a positioning pin at a second preset position of the driving mechanism and setting a slot at a corresponding position on the bottom of each medicine box in the medicine box system; when the positioning pin of the driving mechanism is aligned with the slot of the target medicine box, it is determined that the target medicine box has been accurately placed on the surface of the driving mechanism, the emergency stop state of the medicine box system is released and the driving mechanism is controlled to deliver the target medicine box to the first storage position.

[0078] In the embodiment of the present invention, two positioning pins are arranged on the middle line of the surface of the fork arm of the cargo fork (i.e., the driving mechanism), and the two positioning pins are respectively close to the two ends of the fork arm, and corresponding card slots are arranged at the matching position of the medicine box / tray. When the positioning pins on the driving mechanism are aligned with the card slots on the medicine box, it is determined that the medicine box has been accurately placed on the surface of the driving mechanism at this time, and the emergency stop state of the medicine box system at this time can be released by pressing the emergency stop button or sending a corresponding command, and the driving mechanism can be re-controlled to continue to deliver the target medicine box placed on the surface of the driving mechanism.

[0079] In one embodiment, when it is detected that the target medicine box exists on the surface of the driving mechanism, it also includes: obtaining the position of the driving mechanism in the medicine box system and the status of the medicines in the target medicine box; wherein, when the driving mechanism has not reached the medicine adding port and there are no medicines in the target medicine box, the driving mechanism is moved to the medicine adding port to add medicines; when the driving mechanism reaches the medicine adding port and there are medicines in the target medicine box, the driving mechanism is moved to the inventory area to proofread the medicines in the target medicine box, and when the proofreading result of the medicines in the target medicine box is correct, it is determined that the dispensing instruction is completed.

[0080] See also Figure 5 , Figure 5A flow chart of executing a dispensing instruction provided in one embodiment of the present invention. When executing the dispensing instruction, since the drive mechanism may trigger the limit switch at any link, it is necessary to determine whether the dispensing instruction is currently completed after the emergency stop mode is contacted, so as to determine whether to directly deliver the target medicine box to the initial storage position, that is, the first storage position. Specifically, when receiving the dispensing instruction, the medicine box system will generate a corresponding motion planning path according to the first storage position of the target medicine box, and then control the drive mechanism to obtain the target medicine box and deliver the target medicine box to the corresponding target area. The limit switch may be triggered when taking the medicine box. If the limit switch is triggered at this time, the dispensing instruction will continue to be executed after the emergency stop state is released, and the drive mechanism will continue to obtain the target medicine box. If it is determined that the drive mechanism has the target medicine box after the emergency stop state is contacted, the current position of the drive mechanism and the status of the medicine in the medicine box are obtained. If the drive mechanism reaches / does not reach the medicine adding port, and there is no medicine in the medicine box, it is determined that the drive mechanism has successfully obtained the target medicine box at this time, and the limit switch is triggered during the medicine adding process, and the medicine box needs to be moved to the medicine adding port for medicine adding. Similarly, the moving path of the driving mechanism is further controlled according to the position of the driving mechanism and the status of the medicines in the target medicine box. After the medicine addition is completed, the target medicine box is further moved to the inventory area to check whether the number of medicines in the medicine box is correct. If the number of medicines in the target medicine box in the current driving mechanism after passing through the inventory area is correct, it is determined that the dispensing instruction is completed at this time, and the target medicine box is returned to the corresponding first storage position. After the target medicine box is returned, the current dispensing instruction is terminated, and the driving mechanism is reset to return to the initial position.

[0081] In an embodiment of the present invention, a medicine box return control device is also provided, including a processor, a memory, and a computer program stored in the memory and configured to be executed by the processor. When the processor executes the computer program, the above-mentioned medicine box return control method is implemented.

[0082] In an embodiment of the present invention, a computer-readable storage medium is also provided, and the computer-readable storage medium includes a stored computer program, wherein when the computer program is running, the device where the computer-readable storage medium is located is controlled to execute the above-mentioned medicine box repositioning control method.

[0083] Exemplarily, the computer program can be divided into one or more modules, one or more modules are stored in the memory and executed by the processor to complete the present invention. One or more modules can be a series of computer program instruction segments that can complete specific functions, and the instruction segments are used to describe the execution process of the computer program in the medicine box homing control device.

[0084] The medicine box homing control device can be a computing device such as a desktop computer, a notebook, a PDA, and a cloud server. The medicine box homing control device may include, but is not limited to, a processor, a memory, and a display. Those skilled in the art will understand that the above components are merely examples of the medicine box homing control device and do not constitute a limitation on the medicine box homing control device. It may include more or fewer components than the components, or a combination of certain components, or different components. For example, the medicine box homing control device may also include input and output devices, network access devices, buses, etc.

[0085] The processor may be a central processing unit (CPU), other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor may be a microprocessor or any conventional processor, etc. The processor is the control center of the medicine box homing control device, and uses various interfaces and lines to connect the various parts of the entire medicine box homing control device.

[0086] The memory can be used to store computer programs and / or modules. The processor realizes various functions of the medicine box homing control device by running or executing the computer programs and / or modules stored in the memory and calling the data stored in the memory. The memory can mainly include a program storage area and a data storage area, wherein the program storage area can store an operating system, an application required for at least one function (such as a sound playback function, a text conversion function, etc.), etc.; the data storage area can store data created according to the use of the mobile phone (such as audio data, text message data, etc.), etc. In addition, the memory can include a high-speed random access memory, and can also include a non-volatile memory, such as a hard disk, a memory, a plug-in hard disk, a smart memory card (Smart Media Card, SMC), a secure digital (Secure Digital, SD) card, a flash card (FlashCard), at least one disk storage device, a flash memory device, or other volatile solid-state storage devices.

[0087] Among them, if the module based on the medicine box homing control 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 such an understanding, the present invention implements all or part of the processes in the above-mentioned embodiment method, and can also be completed by instructing the relevant hardware through a computer program. The computer program can be stored in a computer-readable storage medium, and the computer program can implement the steps of the above-mentioned various method embodiments when executed by the processor. Among them, the computer program includes computer program code, and the computer program code can be in source code form, object code form, executable file or some intermediate form. Computer-readable media may include: any entity or device capable of carrying computer program code, recording medium, U disk, mobile hard disk, disk, optical disk, computer memory, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), electric carrier signal, telecommunication signal and software distribution medium, etc. Ordinary technicians in this field can understand and implement it without paying creative labor.

[0088] The embodiment of the present invention provides a medicine box homing control method, which uses automatic control and drive mechanism to return the medicine box. Maintenance personnel do not need to frequently enter and exit the medicine box cabinet, avoiding cumbersome manual intervention process, saving time and resources, and reducing the risk of errors caused by manual operation. Automated homing control can greatly shorten the time for the medicine box to be returned. The system can automatically adjust the moving path when the medicine box detects a problem, so as to quickly return the medicine box to the designated storage location, thereby improving the efficiency of drug distribution and delivery. The system assigns a unique position number to each medicine box and returns the medicine box based on this number. This method can ensure that the position of the medicine box in the system is always accurate, avoiding position confusion caused by human error. Compared with the existing manual intervention process, the medicine box homing control method provided by the embodiment of the present invention significantly improves the efficiency, safety and accuracy of the medicine box system by introducing automated and intelligent technical means. It reduces the workload and safety risks of maintenance personnel, shortens the equipment downtime, and can make the homing process of the medicine box more accurate and efficient.

[0089] Example 2

[0090] See also Figure 6 , Figure 6 The module diagram of a medicine box homing control device provided in an embodiment of the present invention. The present invention provides a medicine box homing control device, which is applied to a medicine box system, including: an initialization module 201, a distribution module 202, a detection module 203 and a control module 204;

[0091] The initialization module 201 is used to initialize the medicine box system and assign a unique position number to each medicine box in the medicine box system; wherein the unique position code is used to characterize the initial storage position of the medicine box in the medicine box system;

[0092] The delivery module 202 is used to control the movement of the driving mechanism based on the dispensing instruction sent by the user, so that the driving mechanism obtains the target medicine box and delivers the target medicine box to the target area;

[0093] The detection module 203 is used to control the medicine box system to enter an emergency stop state and pause the driving mechanism when it is detected that the driving mechanism triggers the limit switch;

[0094] The control module 204 is used to perform a medicine box detection on the driving mechanism, and control the moving path of the driving mechanism according to the medicine box detection result; wherein, when it is detected that the target medicine box exists on the surface of the driving mechanism and the execution of the dispensing instruction is completed, the driving mechanism is controlled to deliver the target medicine box to the first storage position corresponding to the unique position number; when it is detected that the target medicine box does not exist on the surface of the driving mechanism, the moving structure is controlled to move to the first storage position to continue executing the dispensing instruction.

[0095] In one embodiment, the distribution module 202 is used to control the movement of the driving mechanism based on the dispensing instructions sent by the user, specifically including: pre-setting guide rails and drive motors in the three-dimensional direction of the medicine box system; wherein the drive motor is used to drive the guide rails; generating a motion planning path for the driving mechanism based on the dispensing instructions, and driving the drive motor in each three-dimensional direction according to the motion planning path to move the driving mechanism in the three-dimensional direction; wherein the driving mechanism is associated with the guide rails in each three-dimensional direction through a preset connection method.

[0096] In one embodiment, the medicine box return control device also includes: installing the limit switch at a first preset position of the driving mechanism; wherein the first preset position includes: a left edge, a right edge and a lower bottom surface of the driving mechanism; performing position detection on the driving mechanism based on the limit switch, and when the driving mechanism moves to a preset extreme position, it is determined that the driving mechanism triggers the limit switch.

[0097] In one embodiment, the medicine box detection on the driving mechanism specifically includes: installing detection sensors at several preset azimuth angles on the surface of the driving mechanism; performing medicine box detection on the driving mechanism based on the detection sensors, and when the detection sensor detects an occlusion signal, it is determined that the target medicine box exists on the surface of the driving mechanism and a first prompt signal is sent.

[0098] In one embodiment, before controlling the driving mechanism to deliver the target medicine box to the first storage position corresponding to the unique position number, it also includes: pre-setting a positioning pin at a second preset position of the driving mechanism and setting a slot at a corresponding position on the bottom of each medicine box in the medicine box system; when the positioning pin of the driving mechanism is aligned with the slot of the target medicine box, it is determined that the target medicine box has been accurately placed on the surface of the driving mechanism, the emergency stop state of the medicine box system is released and the driving mechanism is controlled to deliver the target medicine box to the first storage position.

[0099] In one embodiment, when it is detected that the target medicine box exists on the surface of the driving mechanism, it also includes: obtaining the position of the driving mechanism in the medicine box system and the status of the medicines in the target medicine box; wherein, when the driving mechanism has not reached the medicine adding port and there are no medicines in the target medicine box, the driving mechanism is moved to the medicine adding port to add medicines; when the driving mechanism reaches the medicine adding port and there are medicines in the target medicine box, the driving mechanism is moved to the inventory area to proofread the medicines in the target medicine box, and when the proofreading result of the medicines in the target medicine box is correct, it is determined that the dispensing instruction is completed.

[0100] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working process of the device described above can refer to the corresponding process in the aforementioned method embodiment, and will not be repeated here.

[0101] The embodiment of the present invention provides a medicine box homing control device, which uses automatic control and drive mechanism to return the medicine box. Maintenance personnel do not need to frequently enter and exit the medicine box cabinet, avoiding cumbersome manual intervention process, saving time and resources, and reducing the risk of errors caused by manual operation. Automated homing control can greatly shorten the time for the medicine box to be returned. The system can automatically adjust the moving path when the medicine box detects a problem, so as to quickly return the medicine box to the designated storage location, thereby improving the efficiency of drug distribution and delivery. The system assigns a unique position number to each medicine box and returns the medicine box based on this number. This method can ensure that the position of the medicine box in the system is always accurate, avoiding position confusion caused by human error. Compared with the existing manual intervention process, the medicine box homing control method provided by the embodiment of the present invention significantly improves the efficiency, safety and accuracy of the medicine box system by introducing automated and intelligent technical means, reduces the workload and safety risks of maintenance personnel, shortens equipment downtime, and can make the homing process of the medicine box more accurate and efficient.

[0102] The above are only preferred embodiments of the present invention. It should be pointed out that, for ordinary technicians in this technical field, several improvements and substitutions can be made without departing from the technical principles of the present invention. These improvements and substitutions should also be regarded as the scope of protection of the present invention.

Claims

1. A medicine box homing control method, characterized in that: Applied to medicine cabinet systems, including: Initialize the medicine box system and assign a unique position code to each medicine box in the medicine box system; wherein the unique position code is used to characterize the initial storage position of the medicine box in the medicine box system; Controlling the movement of the driving mechanism based on the dispensing instruction sent by the user, so that the driving mechanism acquires the target medicine box and delivers the target medicine box to the target area; When it is detected that the driving mechanism triggers the limit switch, the medicine box system is controlled to enter an emergency stop state and the driving mechanism is paused; The driving mechanism is subjected to a medicine box detection, and a moving path of the driving mechanism is controlled according to the detection result; wherein, when it is detected that the target medicine box exists on the surface of the driving mechanism and the execution of the dispensing instruction is completed, the driving mechanism is controlled to deliver the target medicine box to the first storage position corresponding to the unique position number; when it is detected that the target medicine box does not exist on the surface of the driving mechanism, the moving structure is controlled to move to the first storage position to continue to execute the dispensing instruction.

2. A medicine box return control method as claimed in claim 1, characterized in that: The controlling the movement of the driving mechanism based on the dispensing instruction sent by the user specifically includes: A guide rail and a drive motor are pre-arranged in the three-dimensional direction of the medicine box system; wherein the drive motor is used to drive the guide rail; A motion planning path for the drive mechanism is generated based on the dispensing instruction, and a drive motor in each three-dimensional direction is driven according to the motion planning path to move the drive mechanism in the three-dimensional direction; wherein the drive mechanism is associated with a guide rail in each three-dimensional direction through a preset connection method.

3. A medicine box homing control method as claimed in claim 1, characterized in that: The medicine box homing control method also includes: The limit switch is installed at a first preset position of the driving mechanism; wherein the first preset position includes: a left edge, a right edge and a lower bottom surface of the driving mechanism; The position of the driving mechanism is detected based on the limit switch, and when the driving mechanism moves to a preset limit position, it is determined that the driving mechanism triggers the limit switch.

4. A medicine box return control method as claimed in claim 1, characterized in that: The performing medicine box detection on the driving mechanism specifically includes: Installing detection sensors at a plurality of preset azimuth angles on the surface of the driving mechanism; The driving mechanism is subjected to a medicine box detection based on the detection sensor, and when the detection sensor detects an occlusion signal, it is determined that the target medicine box exists on the surface of the driving mechanism and a first prompt signal is sent.

5. A medicine box return control method as claimed in claim 1, characterized in that: Before controlling the driving mechanism to deliver the target medicine box to the first storage position corresponding to the unique position number, the method further includes: A positioning pin is pre-arranged at a second preset position of the driving mechanism and a card slot is pre-arranged at a corresponding position at the bottom of each medicine box in the medicine box system; When the positioning pin of the driving mechanism is aligned with the slot of the target medicine box, it is determined that the target medicine box has been accurately placed on the surface of the driving mechanism, the emergency stop state of the medicine box system is released and the driving mechanism is controlled to deliver the target medicine box to the first storage position.

6. A medicine box return control method as claimed in claim 1, characterized in that: When detecting that the target medicine box exists on the surface of the driving mechanism, the method further comprises: Obtaining the position of the driving mechanism in the medicine box system and the status of the medicines in the target medicine box; wherein, When the driving mechanism has not reached the drug adding port and there is no drug in the target medicine box, the driving mechanism is moved to the drug adding port to add the drug; When the driving mechanism reaches the drug adding port and there are drugs in the target medicine box, the driving mechanism is moved to the inventory area to perform drug proofreading on the drugs in the target medicine box. When the proofreading result of the drugs in the target medicine box is correct, it is determined that the dispensing instruction is completed.

7. A medicine box return control device, characterized in that: Applied to medicine box system, including: initialization module, distribution module, detection module and control module; The initialization module is used to initialize the medicine box system and assign a unique position number to each medicine box in the medicine box system; wherein the unique position code is used to characterize the initial storage position of the medicine box in the medicine box system; The delivery module is used to control the movement of the driving mechanism based on the dispensing instruction sent by the user, so that the driving mechanism obtains the target medicine box and delivers the target medicine box to the target area; The detection module is used to control the medicine box system to enter an emergency stop state and pause the driving mechanism when it is detected that the driving mechanism triggers a limit switch; The control module is used to perform a medicine box detection on the driving mechanism and control the moving path of the driving mechanism according to the medicine box detection result; wherein, when it is detected that the target medicine box exists on the surface of the driving mechanism and the dispensing instruction is executed, the driving mechanism is controlled to deliver the target medicine box to the first storage position corresponding to the unique position number; when it is detected that the target medicine box does not exist on the surface of the driving mechanism, the moving structure is controlled to move to the first storage position to continue executing the dispensing instruction.

8. A medicine box return control device as claimed in claim 7, characterized in that: The delivery module is used to control the movement of the driving mechanism based on the dispensing instruction sent by the user, and specifically includes: A guide rail and a drive motor are pre-arranged in the three-dimensional direction of the medicine box system; wherein the drive motor is used to drive the guide rail; A motion planning path for the drive mechanism is generated based on the dispensing instruction, and a drive motor in each three-dimensional direction is driven according to the motion planning path to move the drive mechanism in the three-dimensional direction; wherein the drive mechanism is associated with a guide rail in each three-dimensional direction through a preset connection method.

9. A terminal device, characterized in that: It includes a processor, a memory, and a computer program stored in the memory and configured to be executed by the processor. When the processor executes the computer program, it implements the medicine box homing control method as described in any one of claims 1 to 6.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium includes a stored computer program, wherein when the computer program is running, the device where the computer-readable storage medium is located is controlled to execute the medicine box repositioning control method as described in any one of claims 1 to 6.

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