Medicine taking method and device for medicine warehouse, electronic equipment and storage medium

Abstract

The invention discloses a medicine taking method and device for a medicine warehouse, electronic equipment and a storage medium, the medicine taking method comprises the following steps: receiving medicine taking information, the medicine taking information comprising row numbers and column numbers of a plurality of target medicine storage positions in a target medicine basket; a target medicine basket is obtained from the first medicine storage frame or the second medicine storage frame and conveyed to a medicine taking area, a mechanical arm is controlled to stretch into the position above the medicine taking area, a camera is controlled to shoot the target medicine basket, and a target picture is obtained; when the target medicine basket is obtained from the first medicine storage frame, medicine storage positions of M rows and N columns are recognized from the target picture, and each medicine storage position is processed as follows: X = M + 1-the row number of the medicine storage position, Y = N + 1-the column number of the medicine storage position, the row number of the medicine storage position is modified to be X, and the column number of the medicine storage position is modified to be Y; and then, based on the line number and the column number of each target medicine storage position, a manipulator is controlled to grab the medicine on the target medicine storage position. The manipulator can accurately take medicine from the medicine basket.

Description

Technical Field

[0001] The present invention relates to the field of medical imaging technology, and in particular to a medicine taking method, device, electronic equipment and storage medium used in a medicine warehouse. Background Art

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

[0003] The general structure of the medicine store is as follows: the medicine store 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 basket areas in the horizontal direction, each medicine basket area can store medicine baskets. Figure 1 As shown by the arrows in the figure, in some medicine warehouses, medicine devices are added from the outside of the first and second medicine storage racks to the first and second medicine storage racks, and the first row of the medicine baskets in the first medicine storage rack is located on the right side of the Mth row, and the first row of the medicine baskets in the second medicine storage rack is located on the left side of the Mth row. It can be understood that when the medicine basket conveying device takes the medicine basket from the first medicine storage rack and puts it into the medicine taking area, the first row of the medicine basket is located on the right side of the Mth row; when the medicine basket conveying device takes the medicine basket from the second medicine storage rack and puts it into the medicine taking area, the first row of the medicine basket is located on the left side of the Mth row; this is very inconvenient for the robot to take medicine from the medicine basket, 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 drug taking method, device, electronic equipment and storage medium for a drug library.

[0005] To achieve the above-mentioned purpose, the technical solution of the present invention is implemented as follows: a method for taking medicines in a medicine warehouse, wherein the medicine 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 basket areas in the horizontal direction, each medicine basket area can store a medicine basket, and the medicine basket is provided with M rows and N columns of medicine storage positions, and each medicine storage position can store one medicine; the medicine warehouse is also provided with a medicine taking area, a manipulator, and a medicine basket conveying device located between the first and second medicine storage racks, the medicine basket conveying device can obtain a medicine basket on any medicine basket area and convey it to the medicine taking area, the manipulator is provided with a camera, and the manipulator can grab medicines from the medicine basket on the medicine taking area, wherein M and N are both natural numbers; the direction in which the Mth row of the medicine basket in the first medicine storage rack points to the 1st row is the first extension direction, and the Mth row of the medicine basket in the second medicine storage rack points to the Mth row of the medicine basket in the second medicine storage rack. The direction from the row to the first row is the second extension direction, and the angle between the first and second extension directions is 180°; the following steps are included: receiving drug retrieval information, the drug retrieval information includes: the row number and column number of several target drug storage positions in the target drug basket; obtaining the target drug basket from the first drug storage rack or the second drug storage rack, and conveying it to the drug retrieval area, controlling the manipulator to extend above the drug retrieval area, controlling the camera to shoot the target drug basket and obtain a target image; when the target drug basket is obtained from the first drug storage rack, identifying the drug storage positions of M rows and N columns from the target image, and performing the following processing on each drug storage position: X=M+1-the row number of the drug storage position, Y=N+1-the column number of the drug storage position, the row number of the drug storage position is modified to X, and the column number of the drug storage position is modified to Y; after the processing of each drug storage position is completed, based on the row number and column number of each target drug storage position, the manipulator is controlled to grab the medicine on the target drug 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 clamp; the “controlling the manipulator to grab the medicine at the target medicine storage position” specifically includes: controlling the clamp in the manipulator to grab the medicine at the target medicine storage position.

[0009] The embodiment of the present invention also provides a drug taking device for a drug warehouse, wherein the drug warehouse 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 medicine basket areas in the horizontal direction, each medicine basket area can store a medicine basket, and the medicine basket is provided with M rows and N columns of drug storage positions, and each drug storage position can store one drug; the drug warehouse is also provided with a drug taking area, a manipulator, and a medicine basket conveying device located between the first and second drug storage racks, the medicine basket conveying device can obtain a medicine basket on any medicine basket area and convey it to the drug taking area, the manipulator is provided with a camera, and the manipulator can grab drugs from the medicine basket on the drug taking area, wherein M and N are both natural numbers; the direction in which the Mth row of the medicine baskets in the first drug storage rack points to the 1st row is the first extension direction, and the direction in which the Mth row of the medicine baskets in the second drug storage rack points to the 1st row is the second extension direction. direction, the angle between the first and second extension directions is 180°; it includes the following modules: an information acquisition module, which is used to receive drug retrieval information, and the drug retrieval information includes: the row number and column number of several target drug storage positions in the target drug basket; a processing module, which is used to obtain the target drug basket from the first drug storage rack or the second drug storage rack, and transport it to the drug retrieval area, control the manipulator to extend above the drug retrieval area, control the camera to shoot the target drug basket and obtain a target image; when the target drug basket is obtained from the first drug storage rack, identify the drug storage positions of M rows and N columns from the target image, and perform the following processing on each drug storage position: X=M+1-the row number of the drug storage position, Y=N+1-the column number of the drug storage position, the row number of the drug storage position is modified to X, and the column number of the drug storage position is modified to Y; after the processing of each drug storage position is completed, based on the row number and column number of each target drug storage position, control the manipulator to grab the medicine on the target drug storage position.

[0010] As an improvement of the embodiment of the present invention, the medicine is a solvent, an injection or a boxed medicine.

[0011] 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.

[0012] As an improvement to an embodiment of the present invention, a suction cup is provided on the manipulator; and the processing module is further used to control the grippers in the manipulator to grip the medicine at the target medicine storage position.

[0013] An embodiment of the present invention further provides an electronic device, which includes a memory and a processor, wherein the memory stores a computer program, and when the processor executes the computer program, the steps in the above-mentioned method for taking medicine from a medicine warehouse are implemented.

[0014] An embodiment of the present invention further provides a storage medium, on which a computer program is stored. When the computer program is executed by a processor, the steps of the above-mentioned method for taking medicine from a medicine warehouse are implemented.

[0015] The drug taking method, device, electronic device and storage medium provided by the embodiment of the present invention have the following advantages: The embodiment of the present invention discloses a drug taking method, device, electronic device and storage medium for a drug storage, and the drug taking method includes the following steps: The embodiment of the present invention discloses a drug taking method, device, electronic device and storage medium for a drug storage, 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 basket; obtaining the target drug basket from the first drug storage rack or the second drug storage rack; , and transport it to the medicine taking area, control the manipulator to extend above the medicine taking area, control the camera to shoot the target medicine basket and obtain the target image; when the target medicine basket is obtained from the first medicine storage rack, identify the medicine storage positions of M rows and N columns from the target image, and perform the following processing on each medicine storage position: X = M + 1-the row number of the medicine storage position, Y = N + 1-the column number of the medicine storage position, the row number of the medicine storage position is modified to X, and the column number of the medicine storage position is modified to Y; then, based on the row number and column number of each target medicine storage position, control the manipulator to grab the medicine on the target medicine storage position. The manipulator can correctly take medicine from the medicine basket. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a structural diagram of the medicine library in an embodiment of the present invention;

[0017] Figure 2 It is a schematic diagram of the flow of the method for taking medicine from a medicine warehouse in an embodiment of the present invention. DETAILED DESCRIPTION

[0018] 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.

[0019] 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.

[0020] 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.

[0021] Embodiment 1 of the present invention provides a method for taking medicine from a medicine store, such as Figure 1As shown, the medicine warehouse is provided with two symmetrically arranged first medicine storage racks and second medicine storage racks, and the first and second medicine storage racks are divided into several horizontal rows along the up and down directions, and the horizontal rows extend along the horizontal direction and are divided into several medicine basket areas in the horizontal direction, and each medicine basket area can store medicine baskets, and the medicine baskets are provided with M rows and N columns of medicine storage positions, and each medicine storage position can store one medicine; the medicine warehouse is also provided with a medicine retrieval area, a manipulator, and a medicine basket conveying device located between the first and second medicine storage racks, and the medicine basket conveying device can obtain the medicine basket on any medicine basket area and convey it to the medicine retrieval area, and a camera is provided in the manipulator, and the manipulator can grab the medicine from the medicine basket on the medicine retrieval area, wherein M and N are both natural numbers; the direction in which the Mth row of the medicine baskets in the first medicine storage rack points to the 1st row is the first extension direction, and the direction in which the Mth row of the medicine baskets in the second medicine storage rack points to the 1st row is the second extension direction, and the angle between the first and second extension directions is 180°. Here, the medicine basket conveying device includes: a horizontal slide rail and a vertical slide rail arranged between the first and second medicine storage racks, the extension direction of the horizontal slide rail is the extension direction of the horizontal row, and extends along one end of the horizontal row to the other end, and the vertical slide rail can slide along the horizontal slide rail; a medicine basket grabbing unit is arranged in the vertical slide rail, and the medicine basket grabbing unit can slide along the vertical slide rail, and the medicine basket grabbing unit can grab any medicine basket, and then, with the cooperation of the horizontal slide rail and the vertical slide rail, the medicine basket grabbing unit can put the grabbed medicine basket into the medicine picking area.

[0022] like Figure 2 As shown, the following steps are included:

[0023] Step 201: receiving medicine taking information, the medicine taking information including: row numbers and column numbers of a plurality of target medicine storage locations in a target medicine basket;

[0024] Step 202: Obtain a target medicine basket from the first medicine storage rack or the second medicine storage rack and transport it to the medicine dispensing area, control the manipulator to extend above the medicine dispensing area, control the camera to photograph the target medicine basket and obtain a target image; when the target medicine basket is obtained from the first medicine storage rack, identify the medicine storage positions of M rows and N columns from the target image, and perform the following processing on each medicine storage position: X=M+1-the row number of the medicine storage position, Y=N+1-the column number of the medicine storage position, the row number of the medicine storage position is modified to X, and the column number of the medicine storage position is modified to Y; after the processing of each medicine storage position is completed, based on the row number and column number of each target medicine storage position, control the manipulator to grab the medicine on the target medicine storage position.

[0025] Here, since the angle between the first and second extension directions is 180°, when the target medicine basket is located on the second medicine storage rack, the target image is rotated 180° so that the first rows of medicine baskets on the first and second medicine storage racks are close to the robot.

[0026] In this embodiment, the medicine is a solvent, an injection or a boxed medicine.

[0027] In this embodiment, the “receiving medication collection information” specifically includes: receiving medication collection information from an HIS (Hospital Information System) system.

[0028] In this embodiment, the manipulator is provided with a gripper; and the “controlling the manipulator to grab the medicine at the target medicine storage position” specifically includes: controlling the gripper in the manipulator to grab the medicine at the target medicine storage position.

[0029] Embodiment 2 of the present invention provides a drug taking device for a drug warehouse, wherein the drug warehouse 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 medicine basket areas in the horizontal direction, each medicine basket area can store a medicine basket, and the medicine basket is provided with M rows and N columns of drug storage positions, and each drug storage position can store one drug; the drug warehouse is also provided with a drug taking area, a manipulator, and a medicine basket conveying device located between the first and second drug storage racks, the medicine basket conveying device can obtain a medicine basket on any medicine basket area and convey it to the drug taking area, the manipulator is provided with a camera, and the manipulator can grab drugs from the medicine basket on the drug taking area, wherein M and N are both natural numbers; the direction in which the Mth row of the medicine baskets in the first drug storage rack points to the 1st row is the first extension direction, and the direction in which the Mth row of the medicine baskets in the second drug storage rack points to the 1st row is the second extension direction. direction, the angle between the first and second extension directions is 180°; it includes the following modules: an information acquisition module, which is used to receive drug retrieval information, and the drug retrieval information includes: the row number and column number of several target drug storage positions in the target drug basket; a processing module, which is used to obtain the target drug basket from the first drug storage rack or the second drug storage rack, and transport it to the drug retrieval area, control the manipulator to extend above the drug retrieval area, control the camera to shoot the target drug basket and obtain a target image; when the target drug basket is obtained from the first drug storage rack, identify the drug storage positions of M rows and N columns from the target image, and perform the following processing on each drug storage position: X=M+1-the row number of the drug storage position, Y=N+1-the column number of the drug storage position, the row number of the drug storage position is modified to X, and the column number of the drug storage position is modified to Y; after the processing of each drug storage position is completed, based on the row number and column number of each target drug storage position, control the manipulator to grab the medicine on the target drug storage position.

[0030] In this embodiment, the medicine is a solvent, an injection or a boxed medicine.

[0031] In this embodiment, the information acquisition module is also used to receive medication collection information from the HIS system.

[0032] In this embodiment, the manipulator is provided with a suction cup; the processing module is also used to control the grippers in the manipulator to grip the medicine at the target medicine storage position.

[0033] Embodiment 3 of the present invention provides an electronic device, which includes a memory and a processor, wherein the memory stores a computer program, and when the processor executes the computer program, the steps of the drug extraction method for a drug warehouse in embodiment 1 are implemented.

[0034] A fourth embodiment of the present invention provides a storage medium, on which a computer program is stored. When the computer program is executed by a processor, the steps of the drug extraction method for a drug warehouse in the first embodiment are implemented.

[0035] 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.

[0036] 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.

[0037] 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.

[0038] 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 in a medicine warehouse, wherein the medicine 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-down direction, the horizontal rows extend along the horizontal direction, and are divided into a plurality of medicine basket areas in the horizontal direction, each medicine basket area can store a medicine basket, the medicine basket is provided with M rows and N columns of medicine storage positions, each medicine storage position can store a medicine; the medicine warehouse is also provided with a medicine taking area, a manipulator, and a medicine basket conveying device located between the first and second medicine storage racks, the medicine basket conveying device can obtain a medicine basket on any medicine basket area and convey it to the medicine taking area, the manipulator is provided with a camera, and the manipulator can grab medicines from the medicine basket on the medicine taking area, wherein, Both M and N are natural numbers; the direction from the Mth row of the medicine basket in the first medicine storage rack to the first row is the first extension direction, the direction from the Mth row of the medicine basket in the second medicine storage rack to the first row is the second extension direction, and the angle between the first and second extension directions is 180°; characterized in that 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 basket; A target medicine basket is obtained from the first medicine storage rack or the second medicine storage rack and transported to the medicine dispensing area, the manipulator is controlled to extend above the medicine dispensing area, and the camera is controlled to photograph the target medicine basket and obtain a target image; when the target medicine basket is obtained from the first medicine storage rack, the medicine storage positions of M rows and N columns are identified from the target image, and the following processing is performed on each medicine storage position: X=M+1-the row number of the medicine storage position, Y=N+1-the column number of the medicine storage position, the row number of the medicine storage position is modified to X, and the column number of the medicine storage position is modified to Y; after the processing of each medicine storage position is completed, based on the row number and column number of each target medicine storage position, the manipulator 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 is provided with a clamping claw; The “controlling the manipulator to grab the medicine at the target medicine storage position” specifically includes: controlling the gripper in the manipulator to grab the medicine at the target medicine storage position.

5. A drug taking device for a drug warehouse, the drug warehouse 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 along the up and down directions, the horizontal rows extend along the horizontal direction, and are divided into a plurality of medicine basket areas in the horizontal direction, each medicine basket area can store a medicine basket, the medicine basket is provided with M rows and N columns of drug storage positions, each drug storage position can store a drug; the drug warehouse is also provided with a drug taking area, a manipulator and a medicine basket conveying device located between the first and second drug storage racks, the medicine basket conveying device can obtain a medicine basket on any medicine basket area and convey it to the drug taking area, the manipulator is provided with a camera, the manipulator can grab drugs from the medicine basket on the drug taking area, wherein, M and N are both natural numbers; the direction from the Mth row of the medicine basket in the first medicine storage rack to the first row is the first extension direction, the direction from the Mth row of the medicine basket in the second medicine storage rack to the first 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 basket; The processing module is used to obtain a target medicine basket from the first medicine storage rack or the second medicine storage rack and transport it to the medicine dispensing area, control the manipulator to extend above the medicine dispensing area, control the camera to photograph the target medicine basket and obtain a target image; when the target medicine basket is obtained from the first medicine storage rack, identify the medicine storage positions of M rows and N columns from the target image, and perform the following processing on each medicine storage position: X=M+1-the row number of the medicine storage position, Y=N+1-the column number of the medicine storage position, the row number of the medicine storage position is modified to X, and the column number of the medicine storage position is modified to Y; after the processing of each medicine storage position is completed, based on the row number and column number of each target medicine storage position, control the manipulator to grab the medicine on the target medicine storage position.

6. The medicine dispensing device according to claim 5, characterized in that: The medicine is a solvent, an injection or a boxed medicine.

7. The medicine dispensing device according to claim 5, characterized in that: The information acquisition module is also used for: Receive medication collection information from the HIS system.

8. The medicine dispensing device according to claim 5, characterized in that: The manipulator is provided with a suction cup; The processing module is also used to control the gripper in the robot to grip the medicine at the target medicine storage position.

9. An electronic device, characterized in that: The electronic device comprises a memory and a processor, wherein the memory stores a computer program, and when the processor executes the computer program, the steps of the drug taking method for a drug depot as claimed in any one of claims 1 to 4 are implemented.

10. A storage medium, characterized in that: The storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the drug extraction method for a drug warehouse described in any one of claims 1 to 4 are implemented.

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