Medicine taking method and device for consumable library

Abstract

The invention discloses a medicine taking method and device for a consumable library, and the method comprises the following steps: receiving medicine taking information which comprises the line numbers and column numbers of a plurality of target medicine storage positions in a target medicine storage box; the manipulator is controlled to stretch to the position above the target medicine storage box, the camera is controlled to shoot the target medicine storage box, and a target picture is obtained; when the target medicine storage box is located on the second medicine storage frame, the target picture is rotated by 180 degrees; identifying M rows and N columns of medicine storage positions from the target picture; and based on the row number and the column number of each target medicine storage position, controlling the manipulator to grab the medicines on the target medicine storage positions. The manipulator can be used for correctly taking medicines from the medicine storage box.

Description

Technical Field

[0001] The present invention relates to the field of medical imaging technology, and in particular to a medicine taking method and a device for a consumables warehouse. Background Art

[0002] With the advancement of technology, smart pharmacies are increasingly being used in hospitals. In smart pharmacies, a consumables warehouse is usually provided, which can store medicine boxes, and medicines can be stored in the medicine boxes.

[0003] The general structure of the consumables warehouse is as follows: the consumables warehouse is provided with two symmetrically arranged first medicine storage racks and second medicine storage racks, the first and second medicine storage racks are divided into a plurality of rows along the vertical direction, the rows extend along the horizontal direction, and are divided into a plurality of medicine storage areas in the horizontal direction, each medicine storage area can store medicine boxes. Figure 1 As shown, a medicine adding device is provided between the first and second medicine storage racks. When adding medicine, the robot receives the medicine box, and then places the medicine box in a medicine storage area. It can be understood that when the robot places the medicine box on the first medicine storage rack, the first row is closest to the robot, and when the robot places the medicine box on the second medicine storage rack, the first row is farthest from the robot, which is very inconvenient for the robot to take medicine from the medicine box, and may even cause errors. Summary of the invention

[0004] In view of this, the main purpose of the present invention is to provide a medicine taking method and device for a consumables warehouse.

[0005] To achieve the above-mentioned purpose, the technical solution of the present invention is implemented as follows: a method for taking medicines for a consumables warehouse, wherein the consumables warehouse is provided with two symmetrically arranged first medicine storage racks and second medicine storage racks, the first and second medicine storage racks are divided into a plurality of horizontal rows along the up and down directions, the horizontal rows extend along the horizontal direction, and are divided into a plurality of medicine storage areas in the horizontal direction, each medicine storage area can store a medicine storage box, the medicine storage box is provided with M rows and N columns of medicine storage positions, and each medicine storage position can store one medicine; a manipulator is provided between the first and second medicine storage racks, a camera is provided in the manipulator, the manipulator can extend to the top of any medicine storage box and grab medicines from the medicine storage box, wherein M and N are both natural numbers; the medicine storage box in the first medicine storage rack has the medicine storage box in the middle of the medicine storage box, and the medicine storage box in the middle of the medicine storage box ... in the middle of the medicine storage box in the middle of the medicine storage box in the middle of the medicine storage box in the middle of the medicine storage box in the middle of the medicine storage box in the middle of the medicine storage box in the middle of the medicine storage box in the middle of the medicine storage box in the middle of the medicine storage box in the middle of the medicine storage box in the middle of the medicine storage box in the middle of the medicine storage box in the middle of the medicine storage box in the middle of the medicine storage box in the middle of the medicine storage box in the middle of the medicine storage box in the middle of the medicine The direction from row 1 to row M is the first extension direction, the direction from row 1 to row M in the medicine storage box in the second medicine storage rack is the second extension direction, and the angle between the first and second extension directions is 180°; the following steps are included: receiving medicine taking information, the medicine taking information includes: the row number and column number of several target medicine storage positions in the target medicine storage box; controlling the manipulator to extend above the target medicine storage box, controlling the camera to shoot the target medicine storage box and obtain a target image; when the target medicine storage box is located on the second medicine storage rack, rotating the target image by 180°; identifying the medicine storage positions of M rows and N columns from the target image; and controlling the manipulator to grab the medicine at the target medicine storage position based on the row number and column number of each target medicine storage position.

[0006] As an improvement of the embodiment of the present invention, the medicine is a solvent, an injection or a boxed medicine.

[0007] As an improvement of the embodiment of the present invention, the “receiving medication collection information” specifically includes: receiving medication collection information from the HIS system.

[0008] As an improvement of an embodiment of the present invention, the manipulator is provided with a suction cup; the “controlling the manipulator to grab the medicine at the target medicine storage position” specifically includes: controlling the manipulator to suck the medicine at the target medicine storage position.

[0009] As an improvement of an embodiment of the present invention, an exit and a conveyor belt are provided in the consumables library, and one end of the conveyor belt is connected to the exit; the "controlling the robot to grab the medicines on the target medicine storage position" specifically includes: controlling the robot to grab the medicines on the target medicine storage position, and placing the grabbed medicines on the conveyor belt, and controlling the conveyor belt to transport the medicines on it to the exit.

[0010] The embodiment of the present invention further provides a drug taking device for a consumable material library, wherein the consumable material library is provided with two symmetrically arranged first drug storage racks and second drug storage racks, the first and second drug storage racks are divided into a plurality of horizontal rows in the up-down direction, the horizontal rows extend in the horizontal direction, and are divided into a plurality of drug storage areas in the horizontal direction, each drug storage area can store a drug storage box, the drug storage box is provided with M rows and N columns of drug storage positions, each drug storage position can store one drug; a manipulator is provided between the first and second drug storage racks, a camera is provided in the manipulator, the manipulator can extend above any drug storage box and grab drugs from the drug storage box, wherein M and N are both natural numbers; the direction from the first row to the Mth row in the drug storage boxes in the first drug storage rack is the first extension The second medicine storage rack comprises the following modules: an information acquisition module, for receiving medicine taking information, wherein the medicine taking information comprises: the row number and column number of several target medicine storage positions in the target medicine storage box; a processing module, for controlling the manipulator to extend above the target medicine storage box, controlling the camera to photograph the target medicine storage box and obtaining a target image; when the target medicine storage box is located on the second medicine storage rack, rotating the target image by 180°; identifying the medicine storage positions of M rows and N columns from the target image; and controlling the manipulator to grab the medicine at the target medicine storage position based on the row number and column number of each target medicine storage position.

[0011] As an improvement of the embodiment of the present invention, the medicine is a solvent, an injection or a boxed medicine.

[0012] As an improvement of the embodiment of the present invention, the information acquisition module is further used to: receive medication collection information from the HIS system.

[0013] As an improvement of the embodiment of the present invention, the manipulator is provided with a suction cup; the processing module is further used to control the manipulator to suck the medicine at the target medicine storage position.

[0014] As an improvement of an embodiment of the present invention, an outlet and a conveyor belt are provided in the consumables library, and one end of the conveyor belt is connected to the outlet; the processing module is also used to: control the robot to grab the medicines at the target medicine storage position, and place the grabbed medicines on the conveyor belt, and control the conveyor belt to transport the medicines on it to the outlet.

[0015] The drug taking method and device for a consumables warehouse provided by the embodiment of the present invention have the following advantages: The embodiment of the present invention discloses a drug taking method and device for a consumables warehouse, and the drug taking method includes the following steps: receiving drug taking information, the drug taking information includes: the row number and column number of several target drug storage positions in the target drug storage box; controlling the manipulator to extend above the target drug storage box, controlling the camera to shoot the target drug storage box and obtain the target image; when the target drug storage box is located on the second drug storage rack, rotating the target image by 180°; identifying the drug storage positions of M rows and N columns from the target image; based on the row number and column number of each target drug storage position, controlling the manipulator to grab the drugs at the target drug storage position. The manipulator can correctly take drugs from the drug storage box. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 This is a first structural diagram of a consumables library in an embodiment of the present invention;

[0017] Figure 2 This is a second structural diagram of the consumables library in an embodiment of the present invention;

[0018] Figure 3 A structural diagram for describing the positional relationship between the manipulator, the horizontal slide rail and the vertical slide rail;

[0019] Figure 4 It is a schematic diagram of the flow of the drug dispensing method used in the consumables warehouse in an embodiment of the present invention. DETAILED DESCRIPTION

[0020] The present invention will be described in detail below in conjunction with the embodiments shown in the accompanying drawings. However, the embodiments do not limit the present invention, and any structural, methodological, or functional changes made by a person skilled in the art based on the embodiments are all within the protection scope of the present invention.

[0021] The following description and accompanying drawings fully illustrate the specific embodiments of this article so that those skilled in the art can practice them. Parts and features of some embodiments may be included in or replace parts and features of other embodiments. The scope of the embodiments of this article includes the entire scope of the claims, as well as all available equivalents of the claims. Herein, the terms "first", "second", etc. are only used to distinguish one element from another, without requiring or implying any actual relationship or order between these elements. In fact, the first element can also be called the second element, and vice versa. Moreover, the terms "include", "comprise" or any other variant thereof are intended to cover non-exclusive inclusion, so that the structure, device or equipment including a series of elements includes not only those elements, but also other elements that are not explicitly listed, or also include elements inherent to such structure, device or equipment. In the absence of more restrictions, the elements defined by the sentence "including one..." do not exclude the existence of other identical elements in the structure, device or equipment including the elements. Each embodiment is described in a progressive manner herein, and each embodiment focuses on the differences from other embodiments, and the same and similar parts between the embodiments can be referred to each other.

[0022] The terms "longitudinal", "lateral", "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc. in this document indicate the orientation or position relationship based on the orientation or position relationship shown in the drawings, and are only for the convenience of describing this document and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operate in a specific orientation, and therefore cannot be understood as a limitation on the present invention. In the description of this document, unless otherwise specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a mechanical connection or an electrical connection, it can also be the internal communication of two elements, it can be a direct connection, or it can be indirectly connected through an intermediate medium. For ordinary technicians in this field, the specific meanings of the above terms can be understood according to specific circumstances.

[0023] Embodiment 1 of the present invention provides a method for taking medicine from a consumables warehouse, such as Figure 2 and Figure 3As shown, the consumables library is provided with two symmetrically arranged first medicine storage racks 11 and second medicine storage racks 12. Both the first and second medicine storage racks are divided into a number of horizontal rows along the up-down direction. The horizontal rows extend in the horizontal direction and are divided into a number of medicine storage areas 13 in the horizontal direction. Each medicine storage area 13 can store medicine boxes. The medicine boxes are provided with M rows and N columns of medicine storage positions, and each medicine storage position can store one medicine. A manipulator 2 is provided between the first and second medicine storage racks. The manipulator 2 is provided with a camera. The manipulator 2 can extend above any medicine storage box and grab medicines from the medicine storage box, wherein M and N are both natural numbers. The direction from the first row of the medicine boxes in the first medicine storage rack to the Mth row is the first extension direction, and the direction from the first row of the medicine boxes in the second medicine storage rack to the Mth row is the second extension direction. The angle between the first and second extension directions is 180°. Here, as Figure 2 As shown, a horizontal slide rail 21 and a vertical slide rail 22 are provided between the first and second medicine storage racks. The horizontal slide rail 21 extends in the same direction as the horizontal row and extends from one end of the horizontal row to the other end. The vertical slide rail 22 can slide along the horizontal slide rail 21, and the manipulator 2 can slide along the vertical slide rail 22, and the manipulator can penetrate above any medicine storage box.

[0024] like Figure 4 As shown, the following steps are included:

[0025] Step 401: receiving medicine retrieval information, the medicine retrieval information including: row numbers and column numbers of a plurality of target medicine storage locations in a target medicine storage box;

[0026] Step 402: Control the manipulator 2 to extend above the target medicine storage box, control the camera to photograph the target medicine storage box and obtain a target image; when the target medicine storage box is located on the second medicine storage rack, rotate the target image by 180°; identify the medicine storage positions of M rows and N columns from the target image; based on the row number and column number of each target medicine storage position, control the manipulator 2 to grab the medicine on the target medicine storage position

[0027] Here, since the angle between the first and second extension directions is 180°, when the target medicine storage box is located on the second medicine storage rack, the target image is rotated 180° so that the first rows of medicine storage boxes on the first and second medicine storage racks are close to the robot 2.

[0028] In this embodiment, the medicine is a solvent, an injection or a boxed medicine.

[0029] In this embodiment, the “receiving medication collection information” specifically includes: receiving medication collection information from an HIS (Hospital Information System) system.

[0030] In this embodiment, the manipulator 2 is provided with a suction cup; and the “controlling the manipulator 2 to grab the medicine at the target medicine storage position” specifically includes: controlling the manipulator 2 to suck the medicine at the target medicine storage position.

[0031] In this embodiment, an outlet and a conveyor belt 3 are provided in the consumables warehouse, and one end of the conveyor belt 3 is connected to the outlet; the "controlling the manipulator 2 to grab the medicines at the target medicine storage position" specifically includes: controlling the manipulator 2 to grab the medicines at the target medicine storage position, and placing the grabbed medicines on the conveyor belt 3, and controlling the conveyor belt 3 to transport the medicines thereon to the outlet.

[0032] Embodiment 2 of the present invention provides a drug taking device for a consumable material warehouse, wherein the consumable material warehouse is provided with two symmetrically arranged first drug storage racks 11 and second drug storage racks 12, the first and second drug storage racks are divided into a plurality of horizontal rows along the up and down directions, the horizontal rows extend along the horizontal direction, and are divided into a plurality of drug storage areas 13 in the horizontal direction, each drug storage area 13 can store a drug storage box, the drug storage box is provided with M rows and N columns of drug storage positions, and each drug storage position can store one drug; a manipulator 2 is provided between the first and second drug storage racks, the manipulator 2 is provided with a camera, the manipulator 2 can extend to the top of any drug storage box, and grab drugs from the drug storage box, wherein M and N are both natural numbers; the first row of the drug storage boxes in the first drug storage rack points in the direction of the Mth row The first medicine storage box is a medicine storage box in a second medicine storage rack, and the direction from the first row to the Mth row is a medicine storage box in a second medicine storage rack. The angle between the first and second extension directions is 180°. The following modules are included: an information acquisition module for receiving medicine retrieval information, wherein the medicine retrieval information includes: the row number and column number of several target medicine storage positions in the target medicine storage box; a processing module for controlling the manipulator 2 to extend above the target medicine storage box, controlling the camera to photograph the target medicine storage box and obtain a target image; when the target medicine storage box is located on the second medicine storage rack, rotating the target image by 180°; identifying the medicine storage positions of M rows and N columns from the target image; and controlling the manipulator 2 to grab the medicine at the target medicine storage position based on the row number and column number of each target medicine storage position.

[0033] In this embodiment, the medicine is a solvent, an injection or a boxed medicine.

[0034] In this embodiment, the information acquisition module is also used to receive medication collection information from the HIS system.

[0035] In this embodiment, the manipulator 2 is provided with a suction cup; the processing module is also used to control the manipulator 2 to suck the medicine at the target medicine storage position.

[0036] In this embodiment, the consumables library is provided with an outlet and a conveyor belt 3, and one end of the conveyor belt 3 is connected to the outlet;

[0037] The processing module is also used to: control the manipulator 2 to grab the medicine at the target medicine storage position, and put the grabbed medicine onto the conveyor belt 3, and control the conveyor belt 3 to transport the medicine thereon to the outlet.

[0038] It should be noted that although the above describes the various steps in a specific order, it does not mean that the various steps must be executed in the above specific order. In fact, some of these steps can be executed concurrently or even in a different order as long as the required functions can be achieved.

[0039] The present invention may be a system, a method and / or a computer program product. The computer program product may include a readable storage medium carrying computer readable program instructions for causing a processor to implement various aspects of the present invention.

[0040] The readable storage medium can be a tangible device that holds and stores the instructions used by the instruction execution device. The readable storage medium can include, for example, but is not limited to, an electrical storage device, a magnetic storage device, an optical storage device, an electromagnetic storage device, a semiconductor storage device, or any suitable combination thereof. More specific examples (non-exhaustive list) of readable storage media include: a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), a static random access memory (SRAM), a portable compact disk read-only memory (CD-ROM), a digital versatile disk (DVD), a memory stick, a floppy disk, a mechanical encoding device, for example, a punch card or a protruding structure in a groove on which instructions are stored, and any suitable combination thereof.

[0041] The embodiments of the present invention have been described above, and the above description is exemplary, not exhaustive, and is not limited to the disclosed embodiments. Many modifications and variations will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the described embodiments. The selection of terms used herein is intended to best explain the principles of the embodiments, practical applications, or technical improvements in the market, or to enable other persons of ordinary skill in the art to understand the embodiments disclosed herein.

Claims

1. A method for taking medicines from a consumables warehouse, wherein the consumables warehouse is provided with two symmetrically arranged first medicine storage racks (11) and second medicine storage racks (12), the first and second medicine storage racks are divided into a plurality of horizontal rows along the vertical direction, the horizontal rows extend along the horizontal direction, and are divided into a plurality of medicine storage areas (13) in the horizontal direction, each medicine storage area (13) can store a medicine storage box, the medicine storage box is provided with M rows and N columns of medicine storage positions, each medicine storage position can store a medicine; a manipulator (2) is provided between the first and second medicine storage racks, the manipulator (2) is provided with a camera, the manipulator (2) can extend above any medicine storage box and grab medicines from the medicine storage box, wherein, Both M and N are natural numbers; The direction from the first row of medicine boxes in the first medicine storage rack to the Mth row is the first extension direction, and the direction from the first row of medicine boxes in the second medicine storage rack to the Mth row is the second extension direction, and the angle between the first and second extension directions is 180°; the method comprises the following steps: receiving medicine retrieval information, the medicine retrieval information including: row numbers and column numbers of a plurality of target medicine storage locations in a target medicine storage box; The manipulator (2) is controlled to extend above the target medicine storage box, and the camera is controlled to photograph the target medicine storage box and obtain a target image; when the target medicine storage box is located on the second medicine storage rack, the target image is rotated 180°; the medicine storage positions of M rows and N columns are identified from the target image; and based on the row number and column number of each target medicine storage position, the manipulator (2) is controlled to grab the medicine at the target medicine storage position.

2. The drug dispensing method according to claim 1, characterized in that: The medicine is a solvent, an injection or a boxed medicine.

3. The drug dispensing method according to claim 1, characterized in that: The “receiving medication collection information” specifically includes: Receive medication collection information from the HIS system.

4. The drug dispensing method according to claim 1, characterized in that: The manipulator (2) is provided with a suction cup; The “controlling the manipulator (2) to grab the medicine at the target medicine storage position” specifically includes: controlling the manipulator (2) to absorb the medicine at the target medicine storage position.

5. The drug dispensing method according to claim 1, characterized in that: The consumables library is provided with an outlet and a conveyor belt (3), and one end of the conveyor belt (3) is connected to the outlet; The "controlling the manipulator (2) to grab the medicine at the target medicine storage position" specifically includes: controlling the manipulator (2) to grab the medicine at the target medicine storage position, placing the grabbed medicine on the conveyor belt (3), and controlling the conveyor belt (3) to transport the medicine on it to the outlet.

6. A drug taking device for a consumables warehouse, the consumables warehouse is provided with two symmetrically arranged first drug storage racks (11) and second drug storage racks (12), the first and second drug storage racks are divided into a plurality of horizontal rows along the up and down direction, the horizontal rows extend along the horizontal direction, and are divided into a plurality of drug storage areas (13) in the horizontal direction, each drug storage area (13) can store a drug storage box, the drug storage box is provided with M rows and N columns of drug storage positions, each drug storage position can store a drug; a manipulator (2) is provided between the first and second drug storage racks, the manipulator (2) is provided with a camera, the manipulator (2) can extend above any drug storage box and grab drugs from the drug storage box, wherein, Both M and N are natural numbers; The direction from the first row of medicine boxes in the first medicine storage rack to the Mth row is the first extension direction, and the direction from the first row of medicine boxes in the second medicine storage rack to the Mth row is the second extension direction, and the angle between the first and second extension directions is 180°; characterized in that it includes the following modules: An information acquisition module is used to receive medicine taking information, wherein the medicine taking information includes: row numbers and column numbers of a plurality of target medicine storage locations in a target medicine storage box; The processing module is used to control the manipulator (2) to extend above the target medicine storage box, control the camera to photograph the target medicine storage box and obtain a target image; when the target medicine storage box is located on the second medicine storage rack, rotate the target image by 180 degrees; identify the medicine storage positions of M rows and N columns from the target image; and control the manipulator (2) to grab the medicine at the target medicine storage position based on the row number and column number of each target medicine storage position.

7. The medicine dispensing device according to claim 6, characterized in that: The medicine is a solvent, an injection or a boxed medicine.

8. The medicine dispensing device according to claim 6, characterized in that: The information acquisition module is also used for: Receive medication collection information from the HIS system.

9. The medicine dispensing device according to claim 6, characterized in that: The manipulator (2) is provided with a suction cup; The processing module is also used to control the robot (2) to absorb the medicine at the target medicine storage position.

10. The medicine dispensing device according to claim 6, characterized in that: The consumables library is provided with an outlet and a conveyor belt (3), and one end of the conveyor belt (3) is connected to the outlet; The processing module is also used to control the robot (2) to grab the medicine at the target medicine storage position, place the grabbed medicine on the conveyor belt (3), and control the conveyor belt (3) to transport the medicine on it to the outlet.

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