A medicine box homing control method and device, a terminal device and a storage medium

Abstract

The application provides a medicine box homing control method and device, a terminal equipment and a storage medium. The method comprises the following steps: initializing a medicine box system, and assigning a unique position number to each medicine box in the medicine box system; controlling a driving mechanism to move based on a 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 a limit switch, controlling the medicine box system to enter an emergency stop state and pause the driving mechanism; detecting the medicine box for the driving mechanism, and controlling the moving path of the driving mechanism according to the detection result; wherein, when it is detected that the surface of the driving mechanism has the target medicine box and the dispensing instruction is executed, the target medicine box is delivered to a first storage position corresponding to the unique position number; and when it is detected that the surface of the driving mechanism does not have the target medicine box, the moving structure is controlled to the first storage position to continue executing the dispensing instruction. The application can improve the processing efficiency and safety of the medicine box system in the case of an abnormality.

Description

TECHNICAL FIELD

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

[0002] The medicine box system is an intelligent device system for managing and controlling medicines, which can automatically take the required medicines from the storage location and deliver them to the medicine dispensing point according to the doctor's order. When the medicine is lower than the set inventory level, the system automatically replenishes the medicine to the corresponding storage location. The system monitors the operating state of the medicine box through sensors and cameras, including the position of the medicine box, the running state of the fork, etc. During the operation process, if the medicine box or the fork fails, the medicine box fails to return to the correct position, or other abnormal situations, the system will automatically trigger the emergency stop program, lock the current state, and send an alarm to the maintenance personnel. The maintenance personnel will detect and eliminate the fault.

[0003] However, the existing medicine box abnormal processing measures all need the maintenance personnel to enter the inside of the medicine box system to manually operate and confirm, so as to put the medicine box back to the original storage location. However, the internal space of the medicine box cabinet machine is limited, and manual intervention is difficult, especially when the storage location is high, the maintenance personnel are difficult to put the medicine box back to the high storage location even if they enter the inside of the medicine box cabinet machine. And after putting the medicine box back to the original storage location, the maintenance personnel need to exit the inside of the cabinet machine to check the equipment, so as to unlock the emergency stop program, reset the fork to zero, and re-open the medicine dispensing and delivery. The medicine box abnormal processing flow needs the maintenance personnel to enter and exit the cabinet equipment for detection, which takes a long time, affects the efficiency of the medicine box system, and there is a certain safety hazard in the manual intervention process. SUMMARY

[0004] The present application aims to provide a medicine box homing control method, device, terminal equipment and storage medium to solve the above 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 application provides a medicine box homing control method applied to a medicine box system, comprising:

[0006] initializing the medicine box system, and assigning a unique position number to each medicine box in the medicine box system; wherein the unique position number is used to represent the initial storage location of the medicine box in the medicine box system;

[0007] controlling the driving mechanism to move based on the dispensing instruction sent by the user, so that the driving mechanism obtains a target medicine box and delivers the target medicine box to a target area;

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

[0009] The driving mechanism is subjected to a medicine box detection, and a movement path of the driving mechanism is controlled according to a result of the medicine box detection; 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 movement structure is controlled to move to the first storage position to continue to execute the dispensing instruction.

[0010] In the above scheme, the automatic control and the driving mechanism are used to return the medicine box to the position, and the maintenance personnel do not need to frequently enter and exit the inside of the medicine box cabinet machine, thereby avoiding the cumbersome manual intervention process, saving time and resources, and reducing the error risk caused by manual operation. The automatic return control can greatly shorten the time of returning the medicine box to the position. The system can automatically adjust the movement path when the medicine box detects a problem, so as to quickly deliver the medicine box back to the specified storage position, thereby improving the efficiency of medicine dispensing and delivery. The system assigns a unique position number to each medicine box and returns the medicine box based on the number. In this way, the position of the medicine box in the system can always be accurate, and the position confusion caused by human error can be avoided. Compared with the existing manual intervention process, the above medicine box return control method significantly improves the efficiency, safety and accuracy of the medicine box system by introducing automatic and intelligent technical means. The working burden and safety risk of the maintenance personnel are reduced, the equipment downtime is shortened, and the return process of the medicine box can be more accurate and efficient.

[0011] In an implementation manner, the driving mechanism is controlled to move based on the dispensing instruction sent by the user, and specifically includes:

[0012] A guide rail and a driving motor are arranged in three directions of the medicine box system in advance; the driving motor is used to drive the guide rail;

[0013] A motion planning path of the driving mechanism is generated based on the dispensing instruction, and each driving motor in the three directions is driven according to the motion planning path to move the driving mechanism in the three directions; the driving mechanism is associated with each guide rail in the three directions through a preset connection mode.

[0014] In an implementation manner, the medicine box return control method further includes:

[0015] The limit switch is installed at a first preset position of the driving mechanism; 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 an implementation, the medicine box detection on the driving mechanism specifically includes:

[0018] installing detection sensors on several preset azimuth angles of the surface of the driving mechanism;

[0019] detecting the medicine box on the driving mechanism based on the detection sensors, and determining that the surface of the driving mechanism has the target medicine box and sending a first prompt signal when the detection sensors detect a blocking signal.

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

[0021] previously setting a positioning pin at a second preset position of the driving mechanism and setting a clamping groove 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 clamping groove of the target medicine box, determining that the target medicine box has been accurately placed on the surface of the driving mechanism, releasing the emergency stop state of the medicine box system, and controlling the driving mechanism to deliver the target medicine box to the first storage position.

[0023] In an implementation, when detecting the target medicine box on the surface of the driving mechanism, further comprising:

[0024] obtaining the position of the driving mechanism in the medicine box system and the medicine state in the target medicine box; wherein,

[0025] when the driving mechanism does not reach the medicine adding port and the target medicine box does not have medicine, moving the driving mechanism to the medicine adding port for medicine adding;

[0026] when the driving mechanism reaches the medicine adding port and the target medicine box has medicine, moving the driving mechanism to the inventory area to perform medicine checking on the medicine in the target medicine box, and determining that the dispensing instruction is completed when the medicine checking result in the target medicine box is correct.

[0027] In a second aspect, the application further provides a medicine box homing control device applied to a medicine box system, comprising an initialization module, a delivery 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 number is used to represent the initial storage position of the medicine box in the medicine box system.

[0029] The dispensing module is configured to control the driving mechanism to move based on the dispensing instruction sent by the user, so that the driving mechanism obtains the target medicine box and dispenses the target medicine box to the target area.

[0030] The detection module is configured 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.

[0031] The control module is configured to detect the medicine box of the driving mechanism and control the movement path of the driving mechanism according to the medicine box detection result; when it is detected that the target medicine box exists on the surface of the driving mechanism and the dispensing instruction is executed, the control module controls the driving mechanism to dispense 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 control module controls the movement structure to move to the first storage position to continue to execute the dispensing instruction.

[0032] In the above scheme, the automatic control and driving mechanism are used for the homing of the medicine box, and the maintenance personnel do not need to frequently enter and exit the inside of the medicine box cabinet machine, avoiding the cumbersome manual intervention process, saving time and resources, and reducing the error risk caused by manual operation. The automatic homing control can greatly shorten the time of the medicine box homing. The system can automatically adjust the movement path when the medicine box detects a problem, so as to quickly send the medicine box back to the specified storage position, improving the efficiency of medicine dispensing and delivery. The system assigns a unique position number to each medicine box and performs medicine box homing based on the number. Such a way can ensure that the position of the medicine box in the system is always accurate, avoiding the confusion of the position caused by human error. Compared with the existing manual intervention process, the above medicine box homing control device significantly improves the efficiency, safety and accuracy of the medicine box system by introducing automation and intelligent technology. It reduces the work burden and safety risk of maintenance personnel, shortens the equipment downtime, and can make the homing process of the medicine box more accurate and efficient.

[0033] In an implementation manner, the dispensing module is configured to control the driving mechanism to move based on the dispensing instruction sent by the user, and specifically includes:

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

[0035] A motion planning path of the driving mechanism is generated based on the dispensing instruction, and each three-dimensional direction driving motor is driven according to the motion planning path to make the driving mechanism move in the three-dimensional direction; the driving mechanism is associated with each three-dimensional direction guide rail through a pre-set connection mode.

[0036] In an implementation manner, the medicine box homing control device further comprises:

[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 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;

[0039] In an implementation manner, the driving mechanism detection specifically includes:

[0040] A detection sensor is installed at a plurality of preset azimuth angles on the surface of the driving mechanism;

[0041] The detection sensor is installed at a plurality of preset azimuth angles on the surface of the driving mechanism;

[0042] In an implementation manner, before the driving mechanism is controlled to distribute the target medicine box to the first storage position corresponding to the unique position number, the method further includes:

[0043] A positioning pin is arranged at a second preset position of the driving mechanism, and a clamping groove is arranged at a corresponding position on the bottom of each medicine box in the medicine box system;

[0044] When the positioning pin of the driving mechanism is aligned with the clamping groove 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 distribute the target medicine box to the first storage position.

[0045] In an implementation manner, when the surface of the driving mechanism is detected to exist the target medicine box, the method further includes:

[0046] The position of the driving mechanism in the medicine box system and the medicine state in the target medicine box are obtained; wherein,

[0047] When the driving mechanism does not reach the medicine adding port and the target medicine box does not contain medicine, the driving mechanism is moved to the medicine adding port for medicine adding;

[0048] When the driving mechanism reaches the medicine adding port and the target medicine box contains medicine, the driving mechanism is moved to the inventory area to perform medicine checking on the medicine in the target medicine box, and when the medicine checking result in the target medicine box is correct, it is determined that the dispensing instruction is completed.

[0049] In a third aspect, the present application provides a terminal device, comprising a processor, a memory, and a computer program stored in the memory and configured to be executed by the processor, wherein the computer program, when executed by the processor, implements the medicine cabinet homing control method as described above.

[0050] In a fourth aspect, the present application provides a computer-readable storage medium, comprising a stored computer program, wherein the computer program, when executed, controls a device in which the computer-readable storage medium is located to perform the medicine cabinet homing control method as described above. BRIEF DESCRIPTION OF DRAWINGS

[0051] Figure 1 A flowchart of a medicine cabinet homing control method provided in an embodiment of the present application;

[0052] Figure 2 A structural diagram of a medicine cabinet system provided in an embodiment of the present application;

[0053] Figure 3 A structural diagram of a driving mechanism provided in an embodiment of the present application;

[0054] Figure 4 A structural diagram of a driving mechanism provided in an embodiment of the present application;

[0055] Figure 5 A flowchart of an execution of a dispensing instruction provided in an embodiment of the present application;

[0056] Figure 6 A module diagram of a medicine cabinet homing control device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0057] The specific embodiments of the present application will be further described in conjunction with the accompanying drawings and embodiments. The following embodiments are used to illustrate the present application, but are not used to limit the scope of the present application.

[0058] The terms "first" and "second" and the like in the specification and claims of the present application and the accompanying drawings are used to distinguish different objects, and are not used to describe a specific order. In addition, the terms "comprise" and "have" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product or device including a series of steps or units is not limited to the listed steps or units, but can optionally include steps or units not listed, or can optionally include other steps or units inherent to the process, method, product or device.

[0059] Reference to an“embodiment” herein means that a particular feature, structure, or characteristic described in connection with the embodiment can be included in at least one embodiment of the application. The appearances of the phrase that the phrase in various places in the specification are not necessarily all referring to the same embodiment, nor are they necessarily mutually exclusive of other embodiments. It is explicitly contemplated that embodiments described herein can be combined with each other in their various permutations and combinations.

[0060] Embodiment 1

[0061] Referring to Figure 1 , Figure 1 A flowchart of a medicine cabinet homing control method provided in an embodiment of the application is shown. The embodiment of the application provides a medicine cabinet homing control method, which includes steps 101 to 104, and each step is specifically as follows:

[0062] Step 101: initializing a medicine cabinet system, and assigning a unique position number to each medicine cabinet in the medicine cabinet system; wherein the unique position number is used to represent the initial storage position of the medicine cabinet in the medicine cabinet system.

[0063] In the embodiment of the application, a unique position number is assigned to each first medicine cabinet placed in the medicine cabinet system, which is used to mark the storage position of each medicine cabinet in the medicine cabinet system. When dispensing and placing medicine, the storage position of the medicine cabinet is recorded by the unique position number to control the movement of the driving mechanism, so that the medicine cabinet can be placed back to its correct storage position. The form of the unique position number can be customized according to the placement rules of different medicine cabinet systems, which is not limited herein.

[0064] Step 102: controlling the movement of the driving mechanism based on the dispensing instruction sent by the user, so that the driving mechanism can obtain the target medicine cabinet and deliver the target medicine cabinet to the target area.

[0065] In the embodiment of the application, when receiving the replenishment / dispensing instruction sent by the user to the medicine cabinet system, the movement of the driving mechanism is controlled according to the received instruction information, so that the driving mechanism can correctly obtain the target medicine cabinet and deliver it to the correct target area. The dispensing instruction includes the type and quantity of the medicine, and preferably, when receiving the dispensing instruction, the monitoring equipment such as the camera in the medicine cabinet system is also opened synchronously to monitor the implementation process of the dispensing instruction.

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

[0067] Pre-set guide rails and driving motors in three-dimensional directions of the medicine cabinet system; wherein the driving motors are used to drive the guide rails; generate a motion planning path of the driving mechanism based on the dispensing instruction, and drive the driving motor in each three-dimensional direction according to the motion planning path to move the driving mechanism in three-dimensional directions; wherein the driving mechanism is associated with each three-dimensional direction guide rail through a pre-set connection mode.

[0068] Referring to Figure 2 , Figure 2 A structural schematic diagram of a medicine cabinet system provided in an embodiment of the present application. In the embodiment of the present application, servo motors are arranged in X-axis, Y-axis and Z-axis directions of the medicine cabinet system. The servo motor of the X-axis is responsible for the left and right movement of the driving mechanism in the horizontal plane. The servo motor transmits power to the X-axis guide rail through a belt, chain or gear system, so as to realize the movement in the left and right directions through the X-axis guide rail. The servo motor of the Y-axis is responsible for the front and back movement of the driving mechanism in the horizontal plane. The servo motor is connected to the X-axis guide rail system through a similar mode (such as a chain or a slide rail), so as to control the movement of the driving mechanism in the front and back directions. 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 movement of the driving mechanism. The lifting system (such as a screw rod, a chain or a hydraulic cylinder) driven by the servo motor 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 the lifting platform or the linear guide rail system to control the vertical position of the driving mechanism.

[0069] In the embodiment of the present application, the driving mechanism is usually installed on the guide rail of the X-axis, and the horizontal movement is realized through the slider or bracket driven by the X-axis servo motor. The driving mechanism is connected with the guide rail of the X-axis through a fixed mounting bracket. The front and back movement of the driving mechanism is controlled by the servo motor of the Y-axis. The installation of the driving mechanism usually includes a slider or a moving platform, which is installed on the X-axis guide rail to ensure that the driving mechanism can move in the front and back directions. The lifting of the driving mechanism is realized through the lifting system driven by the servo motor of the Z-axis. The driving mechanism is usually installed on the lifting platform of the Z-axis, and the lifting platform is driven by the Z-axis servo motor to realize the up and down movement of the fork.

[0070] In the embodiment of the present application, a control program is written to implement the operations of the driving mechanism, including lifting, moving, stopping, etc. The program can run on a PLC, an industrial computer or an embedded controller. Preferably, when generating the motion planning path of the driving mechanism based on the dispensing instruction, the path from the starting position to the target position of the driving mechanism can be calculated by an interpolation algorithm. Further, the actual position of the motor shaft can also be obtained by an encoder, and the feedback signal is sent back to the control system to adjust the motion of the motor in real time. Then, a PID control algorithm is used to adjust the motion of the servo motor to ensure the accurate 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 control system of the medicine box system is controlled to enter an emergency stop state and pause the driving mechanism.

[0072] In an embodiment, the medicine box homing control method further comprises: installing the limit switch at a first preset position of the driving mechanism; wherein the first preset position comprises: the left edge, the right edge and the lower bottom surface of the driving mechanism; based on the position detection of the driving mechanism by the limit switch, when the driving mechanism moves to a preset limit position, it is determined that the driving mechanism triggers the limit switch.

[0073] Referring to Figure 3 , Figure 3 A structural diagram of a driving mechanism is provided in an embodiment of the present application. A conventional fork is taken as an example to illustrate the driving mechanism. Generally, the fork is a key component for the handling and movement of pallets, medicine boxes and the like. The structure of the fork includes a fork body (fork arm), a fork leg, a positioning pin, a limiting device, a clamping device, a lifting mechanism, a control system, a driving system and a protection device, etc. In the embodiment of the present application, a limit switch, also referred to as a limit sensor, is arranged on each of the left and right sides of the fork. The limit switch prevents the fork from exceeding the pre-set limit position in the horizontal plane, and triggers a signal when the fork reaches the pre-set limit position, so as to ensure that the fork does not collide with the boundary of the system or other equipment, and prevent the damage of the equipment in the medicine box system caused by the excessive movement of the fork. Further, a limit switch, also referred to as a middle limit switch, is arranged at the middle position of the bottom of the fork. The limit switch can provide the position information of the fork in the vertical direction, and detect whether the fork has reached the limit position (i.e. the highest point or the lowest point) of the vertical stroke. When the fork is lifted to the pre-set limit position, the limit switch triggers, thereby preventing the fork from continuing to move and avoiding exceeding the working range. It should be noted that, according to the operation requirements, storage and inventory management, system design, classified storage mode of medicines and efficiency of the working process, the pallet is also obtained by the driving mechanism when executing the dispensing instruction, Figure 2The driving mechanism obtains the state of the tray.

[0074] Step 104: The driving mechanism is detected for the medicine box, and the movement path of the driving mechanism is controlled according to the detection result; 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 movement structure is controlled to move to the first storage position to continue to execute the dispensing instruction.

[0075] In an embodiment, the detection of the driving mechanism for the medicine box specifically includes: installing detection sensors at a plurality of preset azimuth angles on the surface of the driving mechanism; and detecting the driving mechanism for the medicine box based on the detection sensors, and determining that the target medicine box exists on the surface of the driving mechanism and sending a first prompt signal when the detection sensors detect a blocking signal.

[0076] Referring to Figure 3 and Figure 4 , Figure 3 is a structural schematic diagram of a driving mechanism provided in an embodiment of the present application, Figure 4 is a structural schematic diagram of a driving mechanism provided in an embodiment of the present application. In the embodiment of the present application, five detection sensors, also known as presence sensors, are installed at the bottom of the driving mechanism, i.e., the forks. Preferably, in the embodiment of the present application, photoelectric detection sensors are used as the presence sensors. Specifically, the preset azimuth angles include a front left side (90-degree angle left), a front right side (90-degree angle right), a bottom middle, a rear left side (180-degree angle left), and a rear right side (180-degree angle right). The bottom left side 90-degree angle: the left sensor is usually installed at the front left part of the fork and probes to the left side; the bottom middle: the middle sensor is usually installed at the central position of the bottom of the fork and is used for detection of the central area; the bottom left side 180-degree angle: the rear left sensor is usually installed at the rear left part of the fork and probes to the rear left side; and the bottom right side 180-degree angle: the rear right sensor is usually installed at the rear right part of the fork and probes to the rear right side. This arrangement can provide comprehensive detection of all directions of the bottom of the fork, ensuring that the fork can accurately perceive the surrounding environment during operation, thereby improving the safety and accuracy of operation. Further, in the embodiment of the present application, an LED lamp is arranged on the detection sensor, and when a blocking signal is detected, it is determined that there is a medicine box on the fork, at which time a corresponding signal is fed back to the medicine box system and the yellow light is turned on as a prompt signal. If there is no blocking object, i.e., no medicine box, the green light is turned on. Preferably, a buzzer or the like can also be arranged to send a sound signal as a prompt.

[0077] In an embodiment, before the control of the driving mechanism to deliver the target medicine box to the first storage position corresponding to the unique position number, the method further comprises: setting a positioning pin at a second preset position of the driving mechanism and setting a clamping groove at a corresponding position of the bottom of each medicine box in the medicine box system; when the positioning pin of the driving mechanism is aligned with the clamping groove 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 an embodiment of the present application, two positioning pins are arranged on the middle line of the surface of the fork arm of the fork (i.e. the driving mechanism), and the two positioning pins are respectively close to the two ends of the fork arm. Corresponding clamping grooves are arranged at the matching positions of the medicine boxes / trays. When the positioning pin on the driving mechanism is aligned with the clamping groove on the medicine box, it is determined that the medicine box has been accurately placed on the surface of the driving mechanism. 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 instruction, and the driving mechanism is controlled to continue to deliver the target medicine box placed on the surface of the driving mechanism.

[0079] In an embodiment, when the surface of the driving mechanism is detected to have the target medicine box, the method further comprises: obtaining the position of the driving mechanism in the medicine box system and the medicine state in the target medicine box; when the driving mechanism does not reach the medicine adding port and there is no medicine in the target medicine box, the driving mechanism is moved to the medicine adding port for medicine adding; when the driving mechanism reaches the medicine adding port and there is medicine in the target medicine box, the driving mechanism is moved to the inventory area for medicine checking of the medicine in the target medicine box, and when the medicine checking result in the target medicine box is correct, it is determined that the dispensing instruction is completed.

[0080] Referring to Figure 5 , Figure 5A flowchart of an embodiment of the present application is provided for executing a dispensing instruction. In the execution of the dispensing instruction, the driving mechanism can trigger the limit switch at any link. After the emergency stop mode is contacted, it is still necessary to determine whether the dispensing instruction is completed at present, so as to determine whether the target medicine box is directly delivered to the initial storage position, i.e., the first storage position. Specifically, when the dispensing instruction is received, the medicine box system generates a corresponding motion planning path according to the first storage position of the target medicine box, and then controls the driving mechanism to obtain the target medicine box and deliver the target medicine box to the corresponding target area. The limit switch can be triggered when the medicine box is taken. If the limit switch is triggered at this time, the dispensing instruction is continued to be executed after the emergency stop state is released, and the driving mechanism is controlled to continue to obtain the target medicine box. If it is determined that the driving mechanism has the target medicine box after the emergency stop state is contacted, the position of the driving mechanism and the medicine state in the medicine box are obtained. If the driving mechanism reaches / does not reach the medicine adding port, and there is no medicine in the medicine box, it is determined that the driving mechanism has successfully obtained the target medicine box at this time, and the limit switch is triggered in the medicine adding process. Therefore, it is necessary to move the medicine box to the medicine adding port for medicine adding. Similarly, the movement path of the driving mechanism is further controlled according to the position of the driving mechanism and the medicine state in the target medicine box. After the medicine adding is completed, the target medicine box is moved to the inventory area to inventory the number of medicines in the medicine box. If the number of medicines in the target medicine box after passing through the inventory area is correct at present, it is determined that the dispensing instruction is completed at this time, the target medicine box is returned to the corresponding first storage position, the dispensing instruction is ended after the target medicine box is returned, and the driving mechanism is reset to the initial position.

[0081] In the embodiment of the present application, a medicine box homing control device is also provided, which 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, the above-mentioned medicine box homing control method is implemented.

[0082] In the embodiment of the present application, a computer readable storage medium is also provided, which includes a stored computer program. When the computer program runs, the device where the computer readable storage medium is located executes the above-mentioned medicine box homing control method.

[0083] For example, the computer program can be divided into one or more modules, which are stored in the memory and executed by the processor to complete the present application. One or more modules can be a series of computer program instruction segments capable of completing a specific function, which are used to describe the execution process of the computer program in the medicine box homing control device.

[0084] The medicine cabinet homing control device can be a desktop computer, a notebook, a palm computer, a cloud server, and the like. The medicine cabinet homing control device can include, but is not limited to, a processor, a memory, and a display. Those skilled in the art can understand that the above components are only examples of the medicine cabinet homing control device and do not constitute a limitation on the medicine cabinet homing control device, and the medicine cabinet homing control device can include more or fewer components, or combine certain components, or different components, for example, the medicine cabinet homing control device can also include an input / output device, a network access device, a bus, and the like.

[0085] The processor can be a central processing unit (CPU), and can also be other general-purpose processors, digital signal processors (DSPs), application specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs) or other programmable logic devices, discrete gates or transistor logic components, discrete hardware components, and the like. The general-purpose processor can be a microprocessor or the processor can also be any conventional processor and the like. The processor is the control center of the medicine cabinet homing control device, and connects various parts of the medicine cabinet homing control device through various interfaces and lines.

[0086] The memory can be used to store computer programs and / or modules, and the processor can realize various functions of the medicine cabinet 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, at least one application program required by a function (such as a sound playing function, a text conversion function, and the like), and the like; and the data storage area can store data created according to the use of the medicine cabinet homing control device (such as audio data, text message data, and the like), and the like. In addition, the memory can include a high-speed random access memory, and can also include a non-volatile memory, for example, a hard disk, a memory, a plug-in hard disk, a smart media card (SMC), a secure digital (SD) card, a flash card, at least one disk storage device, a flash memory device, or other volatile solid-state memory devices.

[0087] If the module based on the medicine box homing control is implemented in the form of a software function unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on such understanding, the present application implements all or part of the processes in the above-mentioned embodiment methods, which can also be completed by instructing related 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 each method embodiment when executed by a processor. The computer program includes computer program code, which can be in the form of source code, object code, executable files, or some intermediate form. The computer-readable medium can include any entity or device that can carry computer program code, recording medium, U disk, mobile hard disk, magnetic disk, optical disk, computer memory, read-only memory (ROM), random access memory (RAM), electrical carrier signal, telecommunication signal, and software distribution medium, etc. Those skilled in the art can understand and implement without creative labor.

[0088] The embodiment of the present application provides a medicine box homing control method, which utilizes automatic control and driving mechanism to perform the homing of the medicine box, so that the maintenance personnel do not need to frequently enter and exit the inside of the medicine box cabinet machine, the cumbersome manual intervention process is avoided, time and resources are saved, and the error risk caused by manual operation is reduced. The automatic homing control can greatly shorten the time of the medicine box homing. The system can automatically adjust the moving path when the medicine box detects a problem, so as to quickly send the medicine box back to the specified storage position, and improve the efficiency of medicine dispensing and delivery. The system allocates a unique position number to each medicine box, and performs the homing of the medicine box based on the number. In this way, the position of the medicine box in the system can always be kept accurate, and the position confusion caused by human error is avoided. Compared with the existing manual intervention process, the medicine box homing control method provided by the embodiment of the present application significantly improves the efficiency, safety and accuracy of the medicine box system by introducing automatic and intelligent technical means. The working burden and safety risk of the maintenance personnel are reduced, the equipment downtime is shortened, and the homing process of the medicine box can be more accurate and efficient.

[0089] Embodiment 2

[0090] Reference Figure 6 , Figure 6 A module schematic diagram of a medicine box homing control device provided in an embodiment of the present application. The embodiment of the present application provides a medicine box homing control device applied to a medicine box system, which comprises an initialization module 201, a distribution module 202, a detection module 203 and a control module 204.

[0091] The initialization module 201 is configured to initialize a medicine box system, and assign a unique position number to each medicine box in the medicine box system, wherein the unique position number is used to represent the initial storage position of the medicine box in the medicine box system.

[0092] The delivery module 202 is configured to control the driving mechanism to move based on the dispensing instruction sent by the user, so that the driving mechanism obtains a target medicine box and delivers the target medicine box to a target area.

[0093] The detection module 203 is configured 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.

[0094] The control module 204 is configured to detect the medicine box of the driving mechanism, and control the movement path of the driving mechanism according to the medicine box detection result; when it is detected that the target medicine box exists on the surface of the driving mechanism and the dispensing instruction is executed, the control module 204 is configured to control the driving mechanism to deliver the target medicine box to a 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 control module 204 is configured to control the movement structure to move to the first storage position to continue to execute the dispensing instruction.

[0095] In an embodiment, the delivery module 202 is configured to control the driving mechanism to move based on the dispensing instruction sent by the user, and specifically includes: a guide rail and a driving motor are arranged in three-dimensional directions of the medicine box system in advance; the driving motor is configured to drive the guide rail; a movement planning path of the driving mechanism is generated based on the dispensing instruction, and each driving motor in the three-dimensional directions is driven according to the movement planning path to make the driving mechanism move in the three-dimensional directions; and the driving mechanism is associated with each guide rail in the three-dimensional directions through a preset connection mode.

[0096] In an embodiment, the medicine box homing control device further includes: the limit switch is installed at a first preset position of the driving mechanism; the first preset position includes a left edge, a right edge and a lower bottom surface of the driving mechanism; and the limit switch is used to detect the position of the driving mechanism, and when the driving mechanism moves to a preset limit position, it is determined that the driving mechanism triggers the limit switch.

[0097] In an embodiment, the medicine box detection of the driving mechanism specifically includes: a detection sensor is installed at a plurality of preset azimuth angles on the surface of the driving mechanism; the detection sensor is used to detect the medicine box of the driving mechanism, and when the detection sensor detects a shielding 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 an embodiment, before controlling the driving mechanism to deliver the target medicine cabinet to the first storage position corresponding to the unique position number, further comprising: setting a positioning pin at a second preset position of the driving mechanism and setting a clamping groove at a corresponding position on the bottom of each medicine cabinet in the medicine cabinet system in advance; when the positioning pin of the driving mechanism is aligned with the clamping groove of the target medicine cabinet, it is determined that the target medicine cabinet has been accurately placed on the surface of the driving mechanism, the emergency stop state of the medicine cabinet system is released, and the driving mechanism is controlled to deliver the target medicine cabinet to the first storage position.

[0099] In an embodiment, when the surface of the driving mechanism is detected to have the target medicine cabinet, further comprising: obtaining the position of the driving mechanism in the medicine cabinet system and the medicine state in the target medicine cabinet; wherein, when the driving mechanism does not reach the medicine adding port and there is no medicine in the target medicine cabinet, the driving mechanism is moved to the medicine adding port for medicine adding; when the driving mechanism reaches the medicine adding port and there is medicine in the target medicine cabinet, the driving mechanism is moved to the inventory area for medicine checking in the target medicine cabinet, and when the medicine checking result in the target medicine cabinet 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 above-described device can refer to the corresponding process in the foregoing method embodiments, which will not be described here.

[0101] The embodiment of the present application provides a medicine cabinet homing control device, which uses automatic control and driving mechanism to perform homing of the medicine cabinet, so that maintenance personnel do not need to frequently enter and exit the inside of the medicine cabinet cabinet machine, avoids the cumbersome manual intervention process, saves time and resources, and reduces the error risk caused by manual operation. The automatic homing control can greatly shorten the time of medicine cabinet homing. The system can automatically adjust the moving path when the medicine cabinet detects a problem, so as to quickly send the medicine cabinet back to the specified storage position, thereby improving the efficiency of medicine dispensing and delivery. The system assigns a unique position number to each medicine cabinet and performs homing of the medicine cabinet based on the number. In this way, the position of the medicine cabinet in the system can always be kept accurate, and the position confusion caused by human error can be avoided. Compared with the existing manual intervention process, the medicine cabinet homing control method provided by the embodiment of the present application introduces automatic and intelligent technical means, significantly improves the efficiency, safety and accuracy of the medicine cabinet system, reduces the work burden and safety risk of maintenance personnel, shortens the equipment downtime, and can make the homing process of the medicine cabinet more accurate and efficient.

[0102] The above is only a preferred embodiment of the present application, and it should be noted that those skilled in the art can make several improvements and replacements without departing from the technical principles of the present application, and these improvements and replacements should also be considered as the protection scope of the present application.

Claims

1. A medicine cabinet homing control method, characterized by, The application is applied to a medicine box system, comprising: initializing the medicine box system, assigning a unique position number to each medicine box in the medicine box system; wherein the unique position number is used to represent the initial storage position of the medicine box in the medicine box system; controlling the driving mechanism to move 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, comprising: setting guide rails and driving motors in three-dimensional directions of the medicine box system in advance; wherein the driving motor is used to drive the guide rail; generating a motion planning path of the driving mechanism based on the dispensing instruction, driving each three-dimensional direction driving motor according to the motion planning path to make the driving mechanism move in three-dimensional directions; wherein the driving mechanism is associated with each three-dimensional direction guide rail through a preset connection mode; when it is detected that the driving mechanism triggers the limit switch, controlling the medicine box system to enter the emergency stop state and pause the driving mechanism; medicine box detection is performed on the driving mechanism, and the movement path of the driving mechanism is controlled 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 to execute the dispensing instruction; the medicine box homing control method further comprises: installing the limit switch at the first preset position of the driving mechanism; wherein the first preset position comprises: the left edge, the right edge and the lower bottom surface of the driving mechanism; based on the limit switch, the position of the driving mechanism is detected, and when the driving mechanism moves to the preset limit position, it is determined that the driving mechanism triggers the limit switch.

2. The method of claim 1, wherein, the medicine box detection on the driving mechanism specifically comprises: installing detection sensors on several preset azimuth angles on the surface of the driving mechanism; based on the detection sensor, the medicine box detection is performed on the driving mechanism, and when the detection sensor detects a shielding signal, it is determined that the target medicine box exists on the surface of the driving mechanism and a first prompt signal is sent.

3. The method of claim 1, wherein, before controlling the driving mechanism to deliver the target medicine box to the first storage position corresponding to the unique position number, further comprising: setting a positioning pin at the second preset position of the driving mechanism in advance and setting a clamping groove at the 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 clamping groove 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.

4. The method of claim 1, wherein, when it is detected that the target medicine box exists on the surface of the driving mechanism, further comprising: obtaining the position of the driving mechanism in the medicine box system and the medicine state in the target medicine box; wherein, when the driving mechanism does not reach the medicine adding port and there is no medicine in the target medicine box, the driving mechanism is moved to the medicine adding port for medicine adding; When the driving mechanism reaches the medicine adding opening and there is medicine in the target medicine box, the driving mechanism is moved to the inventory area to perform medicine checking on the medicine in the target medicine box, and when the medicine checking result in the target medicine box is correct, it is determined that the dispensing instruction is completed.

5. A pillbox homing control device characterized by, The application is applied to a medicine box system, which comprises an initialization module, a dispensing module, a detection module and a control module. The initialization module is used for initializing the medicine box system and assigning a unique position number to each medicine box in the medicine box system; wherein the unique position number is used to represent the initial storage position of the medicine box in the medicine box system. The dispensing module is used for controlling the driving mechanism to move based on the dispensing instruction sent by the user, so as to make the driving mechanism obtain the target medicine box and dispense the target medicine box to the target area; the dispensing module is used for controlling the driving mechanism to move based on the dispensing instruction sent by the user, specifically including: setting a guide rail and a driving motor in the three-dimensional direction of the medicine box system in advance; wherein the driving motor is used to drive the guide rail; generating a motion planning path of the driving mechanism based on the dispensing instruction, and driving each driving motor in the three-dimensional direction to make the driving mechanism move in the three-dimensional direction according to the motion planning path; wherein the driving mechanism is associated with each guide rail in the three-dimensional direction through a preset connection mode. The detection module is used for controlling 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. The control module is used for detecting the medicine box of the driving mechanism and controlling the movement path of the driving mechanism 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 dispensing instruction is executed, the driving mechanism is controlled to dispense 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. The medicine box homing control device further comprises: the limit switch is installed at the first preset position of the driving mechanism; wherein the first preset position includes: the left edge, the right edge and the 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 the preset limit position, it is determined that the driving mechanism triggers the limit switch.

6. A terminal device, characterized by comprising: The computer readable storage medium comprises a stored computer program, wherein the computer readable storage medium controls the device where the computer readable storage medium is located to execute the medicine box homing control method according to any one of claims 1 to 4 when the computer program runs.

7. A computer readable storage medium characterized in that, The computer readable storage medium comprises a stored computer program, wherein the computer readable storage medium controls the device where the computer readable storage medium is located to execute the medicine box homing control method according to any one of claims 1 to 4 when the computer program runs.

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