Medicine transportation device and control method thereof

Abstract

The invention provides a medicine transporting device and a control method thereof, and belongs to the technical field of robotics.The medicine transporting device comprises a vehicle body, the vehicle body comprises a chassis, a frame arranged on the chassis and a stair climbing mechanism arranged on the chassis, a medicine box is arranged on the frame, and a balance mechanism is arranged between the frame and the medicine box; the balance mechanism comprises a balance rod and a balance plate, the balance plate is arranged on the balance rod and can only rotate in the Y-axis direction relative to the frame, a balance groove is formed in the bottom of the middle of the balance plate in the same direction as the balance rod, and a connecting frame is arranged at the bottom of the balance plate and located below the balance rod. The two ends of the connecting frame are connected to the edge of the balance plate, a swing rod is downwards arranged in the middle of the connecting frame, a conical balancing weight is arranged at the tail end of the swing rod, and the swing rod is arranged in the Y-axis direction in a swinging mode. By the adoption of the scheme, the medicine conveying device can ensure that the medicine box is kept horizontal in the process of automatically going up and down stairs.

Description

Technical Field

[0001] The present invention relates to the field of robot technology, and in particular to a medicine transport device and a control method thereof. Background Art

[0002] In the medical process, on the one hand, hospitalized patients usually need to pick up medicine every day. Due to the large number of departments, manual delivery consumes a lot of manpower every day. On the other hand, doctors will regularly visit hospitalized patients. During the visit, doctors usually only carry some simple equipment with them. If they face some emergencies, such as: the patient is in a bad condition and urgently needs medication or replacement of some medicines, at the same time, the doctor needs to monitor the patient's physical condition or perform some physical therapy, and cannot go to pick up medicine, and the accompanying nurse needs to help the doctor. Therefore, there is a problem of difficulty in picking up medicine in the actual medical process, and a drug transportation device is urgently needed to replace manual medication and safely deliver it to the corresponding location.

[0003] However, when the current intelligent medicine delivery robot is climbing stairs to deliver medicine, the medicine box usually tilts along with the frame, and the safety and stability of the medicine during transportation cannot be guaranteed. In summary, based on the current difficulty in taking medicine in the medical process, it is of great significance to propose a medicine transportation device that can automatically go up and down stairs and ensure that the medicine box always remains horizontal during the climbing process. Summary of the invention

[0004] The purpose of the present invention is to provide a medicine transport device to solve the problem of difficulty in taking medicine during the current medical process, to enable the medicine transport device to automatically go up and down stairs, and to ensure that the medicine box always remains level, thereby ensuring the safety of the medicine and reducing the burden on medical staff.

[0005] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: comprising a vehicle body, the vehicle body comprising a vehicle chassis, a frame arranged on the vehicle chassis and a stair climbing mechanism arranged on the vehicle chassis, a medicine box being arranged on the frame, a balancing mechanism being arranged between the frame and the medicine box, the balancing mechanism comprising: a balancing rod and a balancing board, the balancing rod being arranged along the X-axis direction, the balancing board being arranged on the balancing rod, and being rotatable only in the Y-axis direction (the Y-axis refers to the tilt direction of the medicine transport device when climbing stairs) relative to the vehicle frame, a balancing groove being arranged at the bottom in the middle of the balancing board in the same direction as the balancing rod, the cross section of the balancing rod being an equilateral triangle, the cross section of the balancing groove being an isosceles triangle of 120°-150°, a connecting frame being arranged at the bottom of the balancing board, and the connecting frame being located below the balancing rod, the two ends of the connecting frame being connected to the edges of the balancing board, a swing rod being arranged downwardly in the middle thereof, a conical counterweight being arranged at the end of the swing rod, and the swing rod being swung along the Y-axis direction.

[0006] The present invention is further configured as follows: an upper arc groove is provided at the bottom of the balance pole, a lower arc groove is provided on the connecting frame corresponding to the upper arc groove, and a limiting wheel is provided between the upper arc groove and the lower arc groove.

[0007] The present invention is further configured as follows: a limiting structure is arranged below the edges at both ends of the balance plate, the limiting structure comprises: a limiting support plate, a limiting movable part and a limiting spring, the limiting support plate is fixedly connected to the inner wall of the frame, a movable hole is arranged on the limiting support plate, the limiting movable part is slidably arranged in the movable hole along the Z-axis direction, the limiting movable part comprises an upper abutting part located above the movable hole, a rod part and a lower limiting part located below the movable hole, the limiting spring is sleeved on the rod part and is located between the upper abutting part and the limiting support plate, and the upper abutting part is spaced a certain distance from the lower end surface of the balance plate.

[0008] The present invention is further configured as follows: it also includes a shock-absorbing structure, the shock-absorbing structure includes a mounting groove arranged at the bottom of the frame and a first shock-absorbing plate arranged on the chassis, a first shock-absorbing body is arranged between the first shock-absorbing plate and the mounting groove, the first shock-absorbing body is made of rubber, and a plurality of elastic support structures are embedded therein, the elastic support structure is composed of two symmetrical and mutually intertwined elastic support plates, the elastic support plates are made of metal material, and shock absorption in the Z-axis direction is achieved; a second shock-absorbing block is arranged around the first shock-absorbing plate and between the mounting groove, the second shock-absorbing block is formed by connecting a first steel plate, a second shock-absorbing body and a second steel plate in sequence from left to right, and the second shock-absorbing body is made of rubber material, and shock absorption in the X-axis and Y-axis directions is achieved.

[0009] The present invention is further configured as follows: a fixed structure is provided in the inner cavity of the medicine box, and the fixed structure includes a first fixed plate and a second fixed plate spaced apart in an upper and lower manner, the first fixed plate is provided with a first through hole, the first through hole is provided with a first tension net, the second fixed plate is provided with a second through hole, the second through hole is provided with a second tension net, the first tension net and the second tension net both include a plurality of elastic ropes, a medicine clamping frame is formed between the plurality of elastic ropes, the first tension net is inclined relative to the second tension net, and the inclination angle a is 20°-30°.

[0010] The present invention is further configured as follows: a first camera is arranged on both sides of the medicine box, the first camera is used to monitor the road condition in real time, a medicine taking structure is arranged on the frame, the medicine taking structure is arranged in front of the medicine box, the medicine taking structure includes a rotating rod and a clamping structure, and a second camera is arranged at the center position of the clamping structure.

[0011] Another object of the present invention is to provide a control method for a drug transport device, so as to realize automatic and accurate drug retrieval, calculate the optimal route for drug delivery, and save manpower and time.

[0012] To achieve the above object, the present invention provides the following technical solution: a control method for a drug transport device, the control method comprising:

[0013] S1. Establish a spatial rectangular coordinate system;

[0014] S2, mark all room coordinate points;

[0015] S3, calculate the optimal route and save it;

[0016] S4, establishing a rectangular coordinate system in the medicine storage box;

[0017] S5. Take medicine according to the instructions of the operation panel;

[0018] S6. Deliver the drugs to the destination.

[0019] As a preferred technical solution of the present invention, the method for marking all room coordinate points is:

[0020] S21, manually control the drug transport device to go through all rooms;

[0021] S22, the drug transport device stays for 3S-5S after arriving in the room;

[0022] S23. The room is automatically marked upon arrival at the stay time.

[0023] As a preferred technical solution of the present invention, the method for calculating and saving the optimal route is:

[0024] S31, calculating the distance from the current room to the destination room;

[0025] S32, judging the peak period of passenger flow according to monitoring;

[0026] S33, calculating the peak period congestion time;

[0027] S34, time required for comparing alternative paths;

[0028] S35. Select the optimal path according to the comparison result.

[0029] As a preferred technical solution of the present invention, the method for calculating the peak congestion time is:

[0030] S331, calling monitoring according to the selected path;

[0031] S332, judging whether there is congestion according to monitoring;

[0032] S333, call the monitoring of the three people who have left;

[0033] S334. Calculate the average time required per person;

[0034] S335. Calculate the congestion time according to the current number of people.

[0035] As a preferred technical solution of the present invention, the method of establishing a rectangular coordinate system in the medicine storage box is:

[0036] S41, setting the coordinate origin according to the initial position of the camera;

[0037] S42, marking coordinate points according to the drug placement position;

[0038] S43, storing the drug coordinate information.

[0039] Compared with the prior art, the present invention can achieve the following beneficial effects:

[0040] 1. The medicine transport device of the present invention is flexible in movement and can automatically go up and down stairs. It is also provided with a balancing mechanism and a shock-absorbing structure, which not only reduces the shaking and bumping of the medicine box during the climbing process, but also ensures that the medicine box always remains in a horizontal state during the climbing process;

[0041] 2. The medicine box of the present invention is provided with a fixing structure capable of fixing medicines of different shapes, thereby ensuring that the medicines do not fall over or collide when going up and down stairs, thus avoiding damage to the medicines and ensuring the safety of transporting the medicines;

[0042] 3. The device in the present invention can mark the location of rooms, pharmacies, etc., realize accurate medicine collection, and can calculate the optimal path according to the congestion time, saving time for medicine collection and delivery and improving work efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] Figure 1 It is an overall stereogram of a drug transport device;

[0044] Figure 2 It is a cross-sectional view of the shock absorbing structure of a drug transport device;

[0045] Figure 3 It is a three-dimensional diagram of the balancing mechanism of a drug transport device;

[0046] Figure 4 is a cross-sectional view of a balancing mechanism of a drug transport device;

[0047] Figure 5 yes Figure 4 A magnified view of middle;

[0048] Figure 6 is a cross-sectional view of the upper part of a frame of a drug transport device;

[0049] Figure 7 is a schematic cross-sectional view of a first fixing plate of a drug transport device;

[0050] Figure 8 is a top view of a fixed structure of a drug transport device;

[0051] Fig. 9 is a three-dimensional diagram of a first motion structure of a drug transport device;

[0052] Fig.10 is a control method schematic diagram of a control method;

[0053] Fig.11 The present invention is a schematic diagram of a method for marking all room coordinate points of a drug transport device control method;

[0054] Fig.12 A schematic diagram of a method for calculating and saving an optimal route for a drug transport device control method;

[0055] Fig.13 A schematic diagram of a method for calculating peak-period congestion time in a control method for a drug transport device;

[0056] Fig.14 The present invention is a schematic diagram of a method for establishing a rectangular coordinate system in a medicine storage box in a control method for a medicine transport device. DETAILED DESCRIPTION

[0057] In order to make the technical means, creative features, purpose and efficacy of the present invention easy to understand, the present invention is further described below in conjunction with specific embodiments, but the following embodiments are only preferred embodiments of the present invention, not all. Based on the embodiments in the implementation mode, other embodiments obtained by those skilled in the art without creative work all belong to the protection scope of the present invention. The experimental methods in the following embodiments, unless otherwise specified, are conventional methods, and the materials, reagents, etc. used in the following embodiments, unless otherwise specified, can all be obtained from commercial channels.

[0058] Embodiment one:

[0059] Combination Figure 1-Figure 9 As shown, a drug transport device specifically includes a vehicle body 1, a shock absorbing structure 2, a balancing mechanism 31, a medicine box 4, a medicine taking structure 5, and a first motion structure 6. The vehicle body includes a vehicle chassis, a frame arranged on the vehicle chassis, and a climbing mechanism arranged on the vehicle chassis. The climbing mechanism includes a chain, a gear, a three-star wheel, etc., which is a prior art. The specific structural setting can refer to the patent (CN201921760692.4), which will not be repeated here.

[0060] The shock absorbing structure 2 includes a mounting groove 21 arranged at the bottom of the frame and a first shock absorbing plate 22 arranged on the chassis of the vehicle. A first shock absorbing body 221 is arranged between the first shock absorbing plate 22 and the mounting groove 21. The first shock absorbing body 221 is made of rubber and has a plurality of elastic support structures 2211 embedded therein. The elastic support structure 2211 is composed of two symmetrical and mutually intertwined elastic support plates. The elastic support plates are made of metal material to achieve shock absorption in the Z-axis direction. A second shock absorbing block 23 is arranged around the first shock absorbing plate 22 and between the mounting groove 21. The second shock absorbing block 23 is formed by connecting a first steel plate 231, a second shock absorbing body 232 and a second steel plate 233 in sequence from left to right. The second shock absorbing body 232 is made of rubber material to achieve shock absorption in the X-axis and Y-axis directions.

[0061] The balancing mechanism 31 is located between the frame and the medicine box 4, and the balancing mechanism 31 includes: a balancing rod 311 and a balancing plate 312. The balancing rod 311 is arranged along the X-axis direction, and the balancing plate 312 is arranged on the balancing rod 311, and it can only rotate in the Y-axis direction relative to the frame. A balancing groove 314 is arranged at the bottom of the middle of the balancing plate 312 in the same direction as the balancing rod 311. The cross section of the balancing rod 311 is an equilateral triangle, and the cross section of the balancing groove 314 is an isosceles triangle of 120°. A connecting frame 313 is arranged at the bottom of the balancing plate 312, and the connecting frame 313 is located below the balancing rod 311. Both ends of the connecting frame 313 are connected to the edges of the balancing plate 312, and a swing rod 316 is arranged downward in the middle, and a conical counterweight block 317 is arranged at the end of the swing rod 316. The swing rod 316 is swingably arranged along the Y-axis direction. An upper arc groove 318 is also provided at the bottom of the balance rod 311, and a lower arc groove 319 is provided on the connecting frame 313 corresponding to the upper arc groove 318. A limiting wheel 315 is provided between the upper arc groove 318 and the lower arc groove 319 to prevent the connecting frame 313 from rotating too much and causing a large shaking of the medicine box 4. A limiting structure 32 is set below the edges of both ends of the balance plate 312, and the limiting structure 32 includes: a limiting support plate 321, a limiting movable part and a limiting spring 326. The limiting support plate 321 is fixedly connected to the inner wall of the frame, and a movable hole 322 is set on the limiting support plate 321. The limiting movable part is slidably set in the movable hole 322 along the Z-axis direction. The limiting movable part includes an upper abutting portion 323, a rod portion 324 and a lower limiting portion 325 located below the movable hole 322 above the movable hole 322. The limiting spring 326 is sleeved on the rod portion 324 and is located between the upper abutting portion 323 and the limiting support plate 321. The upper abutting portion 323 is spaced a certain distance from the lower end surface of the balance plate 312. The limiting structure effectively avoids excessive displacement of the balance plate 312 on the Z-axis and reduces the bumping of medicines during transportation.

[0062] The inner cavity of the medicine box 4 is provided with a fixed structure 42, which includes a first fixed plate 421 and a second fixed plate 422 arranged at intervals from top to bottom. The first fixed plate 421 is provided with a first through hole, and the first through hole is provided with a first tension net. The second fixed plate 422 is provided with a second through hole, and the second through hole is provided with a second tension net. The first tension net and the second tension net both include a plurality of elastic ropes 423, and a medicine clamping frame is formed between the plurality of elastic ropes 423. The first tension net is tilted relative to the second tension net, and the tilt angle a is 20°. The first camera 41 is provided on both sides of the medicine box 4 for real-time monitoring of road conditions to determine whether there are obstacles, steps and other information ahead. The frame is provided with a medicine taking structure 5, which is arranged in front of the medicine box 4. The medicine taking structure 5 includes a rotating rod 51 and a clamping structure 52. A second camera is provided at the center of the clamping structure, and the second camera is used to cooperate with the clamping structure 52 to identify the medicine required for grabbing. Among them, the camera adopts a CCD visual device.

[0063] The first motion structure 6 includes a telescopic rod 61, which is an electric telescopic rod. One end of the telescopic rod 61 is fixedly mounted on the edge of the frame, and the other end of the telescopic rod 61 is equipped with a connecting shaft 62 through a mounting block 64. The connecting shaft 62 can rotate freely on the mounting block 64, and the end of the connecting shaft 62 away from the mounting block 64 is equipped with a handrail 63 for cooperating with the stair railing. The handrail 63 is an arc-shaped structure as a whole and a friction layer is wrapped on the circumferential surface. The friction layer is preferably made of rubber or silicone. When encountering an emergency situation and needing to stop climbing stairs to avoid pedestrians, the handrail 63 can be used to grasp the stair railing to ensure that the drug transport device is safely stopped on the stairs. The connecting shaft 62 can make the handrail 63 better adapt to the inclination angle of the stair railing.

[0064] Embodiment 2:

[0065] Based on the drug transport device of embodiment 1, combined with Figure 10-Figure 14 As shown, the present invention provides a control method for a drug transport device, the control method comprising:

[0066] S1. Establish a spatial rectangular coordinate system;

[0067] Establish a spatial model and generate multiple spatial coordinate points.

[0068] S2, mark all room coordinate points;

[0069] S21, manually control the drug transport device to go through all rooms;

[0070] The drug transport device is manually moved to all rooms by remote control or pushing.

[0071] S22, the drug transport device stays for 3S-5S after arriving in the room;

[0072] S23. The room is automatically marked upon arrival at the stay time.

[0073] When arriving at the room and needing to be marked, the drug transport device will stop for three to five seconds (the time is set manually in advance). At this time, the judgment module determines whether marking is required based on the stop time. Setting the stop time can avoid misjudgment by the judgment module when the movement pauses. The coordinate point will be marked and automatically stored in the storage module after marking. (When marking in the drug storage room, the drug storage location needs to be marked. By changing the stop time or manually setting it, a special spatial coordinate point is generated at this time).

[0074] S3, calculate the optimal route and save it;

[0075] S31, calculating the distance from the current room to the destination room;

[0076] The distance from the current location to the destination is calculated based on the stored information, including the required walking distance on the plane and the height of the escalator.

[0077] S32, judging the peak period of passenger flow according to monitoring;

[0078] Call monitoring to determine whether there is road congestion on the required route.

[0079] S33, calculating the peak period congestion time;

[0080] S331, calling monitoring according to the selected path;

[0081] Call relevant monitoring on the required route;

[0082] S332, judging whether there is congestion according to monitoring;

[0083] Determine the current number of people on the required path based on the monitoring results, and determine whether the number of people is gathered or concentrated.

[0084] S333, call the monitoring of the three people who have left;

[0085] S334. Calculate the average time required per person;

[0086] If congestion exists, monitor the first 10 minutes to half an hour before calling to determine the time required for consultation or treatment for each person during that time period, and calculate the average time required for one person.

[0087] S335. Calculate the congestion time according to the current number of people.

[0088] Determine the current number of people on the road section, and calculate the congestion time based on the crowd density and the average time required per person. When calculating the crowd density, subtract five to eight people from the current number of people, because the road does not need to be completely empty during the movement of the drug transport device, only space for movement needs to be left.

[0089] S34, time required for comparing alternative paths;

[0090] When generating a travel route, there will be multiple alternative routes, and the required time calculated based on the first path is compared with the alternative routes.

[0091] S35. Select the optimal path according to the comparison result.

[0092] Compare the results and select the optimal path based on the time required.

[0093] S4, establishing a rectangular coordinate system in the medicine storage box;

[0094] S41, setting the coordinate origin according to the initial position of the camera;

[0095] S42, marking coordinate points according to the drug placement position;

[0096] S43, storing the drug coordinate information.

[0097] S5. Take medicine according to the instructions of the operation panel;

[0098] The required medicines are selected by manual input on the operation panel and the information is temporarily stored in the storage module. The medicine transport device arrives at the destination according to the medicine information and takes out the medicine according to the coordinate point of the rectangular coordinate system corresponding to the medicine.

[0099] S6. Deliver the drugs to the destination.

[0100] The above shows and describes the basic principles, main features and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited by the above embodiments. The above embodiments and descriptions are only preferred examples of the present invention and are not intended to limit the present invention. Without departing from the spirit and scope of the present invention, the present invention may have various changes and improvements, which fall within the scope of the present invention. The scope of protection of the present invention is defined by the attached claims and their equivalents.

Claims

1. A medicine transport device, comprising a vehicle body (1), the vehicle body (1) comprising a vehicle chassis, a vehicle frame arranged on the vehicle chassis and a stair climbing mechanism arranged on the vehicle chassis, a medicine box (4) being arranged on the vehicle frame, characterized in that: A balancing mechanism (31) is arranged between the vehicle frame and the medicine box (4), and the balancing mechanism (31) comprises: a balancing rod (311) and a balancing board (312), wherein the balancing rod (311) is arranged along the X-axis direction, and the balancing board (312) is arranged on the balancing rod (311) and can rotate only in the Y-axis direction relative to the vehicle frame, and a balancing groove (314) is arranged at the bottom of the middle of the balancing board (312) in the same direction as the balancing rod (311), and the cross section of the balancing rod (311) is an equilateral triangle. The cross section of the balancing groove (314) is an isosceles triangle with an angle of 120°-150°. A connecting frame (313) is provided at the bottom of the balancing plate (312), and the connecting frame (313) is located below the balancing rod (311). Both ends of the connecting frame (313) are connected to the edges of the balancing plate (312). A swing rod (316) is provided downwardly at the middle thereof, and a conical counterweight block (317) is provided at the end of the swing rod (316). The swing rod (316) is swingably provided along the Y-axis direction.

2. A drug transport device according to claim 1, characterized in that: An upper arc groove (318) is provided at the bottom of the balance rod (311), a lower arc groove (319) is provided on the connecting frame (313) corresponding to the upper arc groove (318), and a limiting wheel (315) is provided between the upper arc groove (318) and the lower arc groove (319).

3. A drug transport device according to claim 1, characterized in that: A limiting structure (32) is arranged below the edges of both ends of the balance plate (312), the limiting structure (32) comprising: a limiting support plate (321), a limiting movable part and a limiting spring (326), the limiting support plate (321) is fixedly connected to the inner wall of the frame, a movable hole (322) is arranged on the limiting support plate (321), the limiting movable part is slidably arranged in the movable hole (322) along the Z-axis direction, the limiting movable part comprises an upper abutting portion (323) located above the movable hole (322), a rod portion (324) and a lower limiting portion (325) located below the movable hole (322), the limiting spring (326) is sleeved on the rod portion (324) and located between the upper abutting portion (323) and the limiting support plate (321), and the upper abutting portion (323) is spaced a certain distance from the lower end surface of the balance plate (312).

4. A drug transport device according to claim 1, characterized in that: The vehicle also comprises a shock absorbing structure (2), wherein the shock absorbing structure (2) comprises a mounting groove (21) arranged at the bottom of the vehicle frame and a first shock absorbing plate (22) arranged on the vehicle chassis, wherein a first shock absorbing body (221) is arranged between the first shock absorbing plate (22) and the mounting groove (21), wherein the first shock absorbing body (221) is made of rubber and has a plurality of elastic support structures (2211) embedded therein, wherein the elastic support structure (2211) is composed of two symmetrical and mutually intertwined elastic support plates, wherein the elastic support plates are made of metal material, and shock absorption in the Z-axis direction is achieved; A second shock absorbing block (23) is arranged around the first shock absorbing plate (22) and between the mounting groove (21); the second shock absorbing block (23) is formed by connecting a first steel plate (231), a second shock absorbing body (232) and a second steel plate (233) in sequence from left to right; the second shock absorbing body (232) is made of rubber material to achieve shock absorption in the X-axis and Y-axis directions.

5. A drug transport device according to claim 1, characterized in that: The inner cavity of the medicine box (4) is provided with a fixing structure (42), and the fixing structure includes a first fixing plate (421) and a second fixing plate (422) which are spaced apart from each other. The first fixing plate (421) is provided with a first through hole, and the first through hole is provided with a first tension net. The second fixing plate (422) is provided with a second through hole, and the second through hole is provided with a second tension net. The first tension net and the second tension net both include a plurality of elastic ropes (423), and a medicine clamping frame is formed between the plurality of elastic ropes (423). The first tension net is inclined relative to the second tension net, and the inclination angle a is 20°-30°.

6. A drug transport device according to claim 1, characterized in that: First cameras (41) are arranged on both sides of the medicine box (4), and the first cameras (41) are used to monitor the road conditions in real time; a medicine taking structure (5) is arranged on the frame, and the medicine taking structure (5) is arranged in front of the medicine box (4), and the medicine taking structure (5) includes a rotating rod (51) and a clamping structure (52), and a second camera is arranged at the center of the clamping structure (52).

7. A control method for a drug transport device according to any one of claims 1 to 6, characterized in that: The control method comprises: S1. Establish a spatial rectangular coordinate system; S2, mark all room coordinate points; S3, calculate the optimal route and save it; S4, establishing a rectangular coordinate system in the medicine storage box; S5. Take medicine according to the instructions; S6. Deliver the drugs to the destination.

8. A drug transport device control method according to claim 7, characterized in that: The method for marking all room coordinate points is: S21, manually control the drug transport device to go through all rooms; S22, the drug transport device stays for 3S-5S after arriving in the room; S23. The room is automatically marked upon arrival at the stay time.

9. A drug transport device control method according to claim 8, characterized in that: The method for calculating and saving the optimal route is: S31, calculating the distance from the current room to the destination room; S32, judging the peak period of passenger flow according to monitoring; S33, calculating the peak period congestion time; S34, time required for comparing alternative paths; S35. Select the optimal path according to the comparison result.

10. A drug transport device control method according to claim 9, characterized in that: The method for calculating the peak congestion time is: S331, calling monitoring according to the selected path; S332, judging whether there is congestion according to monitoring; S333, call the monitoring of the three people who have left; S334. Calculate the average time required per person; S335, calculating the congestion time according to the current number of people; The method for establishing a rectangular coordinate system in the medicine storage box is: S41, setting the coordinate origin according to the initial position of the camera; S42, marking coordinate points according to the drug placement position; S43, storing the drug coordinate information.

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