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

Abstract

The application discloses a medicine taking method and device for a medicine cabinet, electronic equipment and storage medium. The medicine taking method comprises the following steps: receiving medicine taking information, the medicine taking information comprising: the row number and column number of a plurality of target storage positions in a target medicine basket; obtaining the target medicine basket from a first medicine storage rack or a second medicine storage rack and conveying it to a medicine taking area; controlling a mechanical arm to extend above the medicine taking area; controlling a camera to take a picture of the target medicine basket and obtaining a target picture; when the target medicine basket is obtained from the first medicine storage rack, identifying M rows and N columns of storage positions from the target picture, and performing the following processing on each storage position: X = M + 1 - the row number of the storage position, Y = N + 1 - the column number of the storage position, modifying the row number of the storage position to X, and modifying the column number of the storage position to Y; then, based on the row number and column number of each target storage position, controlling the mechanical arm to grasp the medicine on the target storage position. The mechanical arm can correctly take medicine from the medicine basket.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of medical imaging technology, and in particular to a medicine taking method and device for a medicine cabinet, an electronic device and a storage medium. BACKGROUND

[0002] With the advancement of technology, intelligent pharmacies are increasingly applied in hospitals. In an intelligent pharmacy, a medicine cabinet is usually provided, which can store medicine baskets, and the medicine baskets can store medicines.

[0003] The general structure of the medicine cabinet is that the medicine cabinet is provided with two symmetrically arranged first and second medicine storage racks. The first and second medicine storage racks are each 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 a medicine basket. Figure 1 As shown by the arrows in FIG. 1, in some medicine cabinets, a medicine taking device is added to the first and second medicine storage racks from the outside of the first and second medicine storage racks. The first row of medicine baskets in the first medicine storage rack is located to the right of the Mth row, and the first row of medicine baskets in the second medicine storage rack is located to the left of the Mth row. It can be understood that when the medicine basket conveying device takes out the medicine basket from the first medicine storage rack and places it in the medicine taking area, the first row of the medicine basket is located to the right of the Mth row. When the medicine basket conveying device takes out the medicine basket from the second medicine storage rack and places it in the medicine taking area, the first row of the medicine basket is located to the left of the Mth row. This is very inconvenient for the robot to take medicine from the medicine basket, and even errors can occur. SUMMARY

[0004] Therefore, the main purpose of the present application is to provide a medicine taking method and device for a medicine cabinet, an electronic device and a storage medium.

[0005] In order to achieve the above object, the technical scheme of the present application is as follows: a medicine taking method for a medicine store, the medicine store is provided with two symmetrically arranged first and second medicine storage racks, the first and second medicine storage racks are each 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 basket areas in the horizontal direction, each medicine basket area is capable of storing a medicine basket, the medicine basket is provided with M rows and N columns of medicine storage positions, and each medicine storage position is capable of storing one medicine; the medicine store is further provided with a medicine taking area, a mechanical hand and a medicine basket conveying device located between the first and second medicine storage racks, the medicine basket conveying device is capable of obtaining a medicine basket on any medicine basket area and conveying it to the medicine taking area, the mechanical hand is provided with a camera, and the mechanical hand is capable of grabbing a medicine 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 medicine baskets in the first medicine storage rack points to the 1st row is a first extension direction, the direction in which the Mth row of medicine baskets in the second medicine storage rack points to the 1st row is a second extension direction, and the included angle between the first and second extension directions is 180°; the method comprises the following steps: receiving medicine taking information, the medicine taking information comprising the row numbers and column numbers of a plurality of target medicine storage positions in a target medicine basket; obtaining the target medicine basket from the first or second medicine storage rack and conveying it to the medicine taking area, controlling the mechanical hand to extend above the medicine taking area, controlling the camera to take the target medicine basket and obtaining a target picture; when the target medicine basket is obtained from the first medicine storage rack, identifying M rows and N columns of medicine storage positions from the target picture, and performing 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, controlling the mechanical hand to grab the medicine on 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 application, the medicine is a solvent, a needle or a box medicine.

[0007] As an improvement of the embodiment of the present application, the "receiving medicine taking information" specifically comprises: receiving medicine taking information from a HIS system.

[0008] As an improvement of the embodiment of the present application, the mechanical hand is provided with a clamping jaw; and the "controlling the mechanical hand to grab the medicine on the target medicine storage position" specifically comprises: controlling the clamping jaw in the mechanical hand to clamp the medicine on the target medicine storage position.

[0009] The embodiment of the present application also provides a medicine taking device for a medicine library, the medicine library is provided with two symmetrically arranged first and second medicine storage racks, the first and second medicine storage racks are each 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 is capable of storing a medicine basket, the medicine basket is provided with M rows and N columns of medicine storage positions, and each medicine storage position is capable of storing one medicine; the medicine library is also provided with a medicine taking area, a mechanical hand and a medicine basket conveying device located between the first and second medicine storage racks, the medicine basket conveying device is capable of obtaining a medicine basket on any medicine basket area and conveying the medicine basket to the medicine taking area, the mechanical hand is provided with a camera, and the mechanical hand is capable of grabbing a medicine 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 a first extension direction, the direction in which the Mth row of the medicine basket in the second medicine storage rack points to the 1st row is a second extension direction, and the included angle between the first and second extension directions is 180 degrees; and the device comprises the following modules: an information obtaining module, which is used for receiving medicine taking information, the medicine taking information comprising the row numbers and column numbers of a plurality of target medicine storage positions in a target medicine basket; and a processing module, which is used for obtaining the target medicine basket from the first or second medicine storage rack and conveying the target medicine basket to the medicine taking area, controlling the mechanical hand to extend above the medicine taking area, controlling the camera to take the target medicine basket and obtaining a target picture, identifying the M rows and N columns of medicine storage positions from the target picture when the target medicine basket is obtained from the first medicine storage rack, and performing 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, modifying the row number of the medicine storage position to X, and modifying the column number of the medicine storage position to Y; and after the processing of each medicine storage position is completed, controlling the mechanical hand to grab the medicine on the target medicine storage position based on the row number and column number of each target medicine storage position.

[0010] As an improvement of the embodiment of the present application, the medicine is a solvent, a needle or a box medicine.

[0011] As an improvement of the embodiment of the present application, the information obtaining module is also used for receiving the medicine taking information from a HIS system.

[0012] As an improvement of the embodiment of the present application, the mechanical hand is provided with a suction disc; and the processing module is also used for controlling a clamping jaw in the mechanical hand to clamp the medicine on the target medicine storage position.

[0013] The embodiment of the present application also provides an electronic device, which comprises a memory and a processor, the memory stores a computer program, and the processor implements the steps in the medicine taking method for the medicine library when executing the computer program.

[0014] The embodiment of the present application further provides a storage medium, wherein the storage medium stores a computer program, and the computer program is executed by a processor to realize the steps of the medicine taking method for the medicine library.

[0015] The medicine taking method, device, electronic equipment and storage medium for the medicine library have the following advantages: the embodiment of the present application discloses a medicine taking method, device, electronic equipment and storage medium for the medicine library, and the method comprises the following steps: receiving medicine taking information, wherein the medicine taking information comprises the row number and the column number of a plurality of target storage positions in a target medicine basket; obtaining the target medicine basket from the first medicine storage rack or the second medicine storage rack and conveying the target medicine basket to a medicine taking area; controlling a mechanical arm to extend above the medicine taking area; controlling a camera to capture the target medicine basket and obtaining a target picture; when the target medicine basket is obtained from the first medicine storage rack, identifying M rows and N columns of storage positions from the target picture, and performing the following processing on each storage position: X=M+1-row number of the storage position, Y=N+1-column number of the storage position, modifying the row number of the storage position to X, and modifying the column number of the storage position to Y; and then, based on the row number and the column number of each target storage position, controlling the mechanical arm to grasp the medicine on the target storage position. The mechanical arm can correctly take the medicine from the medicine basket. BRIEF DESCRIPTION OF DRAWINGS

[0016] Figure 1 FIG. 1 is a structural diagram of a medicine library in the embodiment of the present application;

[0017] Figure 2 FIG. 2 is a flowchart of the medicine taking method for the medicine library in the embodiment of the present application. DETAILED DESCRIPTION

[0018] The present application will be described in detail below with reference to the embodiments shown in the drawings. However, the embodiments do not limit the present application, and the changes in structure, method or function made by those skilled in the art based on the embodiments are included in the protection scope of the present application.

[0019] The following description and drawings are illustrative of the specific embodiments herein and are not intended to be limiting. Parts and features of some embodiments can be included or replaced by parts and features of other embodiments. The scope of the embodiments herein includes the whole area of possibilities of the claims and all available equivalents of the claims. In this document, the terms "first", "second", etc. are used to distinguish one element from another element without requiring or implying any actual relationship or order between the elements. Indeed, the first element can also be termed as the second element and, similarly, the second element can also be termed as the first element. Also, the terms "comprises", "comprising", or any other variations thereof, are intended to cover a non-exclusive inclusion, such that a structure, device, or apparatus that comprises a list of elements does not include only those elements but can also include other elements not expressly listed or inherent to such structure, device, or apparatus. An element proceeded by "comprises... a" does not, without more constraints, exclude the existence of additional identical elements in the structure, device, or apparatus that includes the element. Various embodiments are described with progression in this document. However, each of the embodiments can make their own contributions and each embodiment can be implemented independently of all other embodiments. The same or similar elements in the various embodiments are denoted by the same reference signs.

[0020] The terms "longitudinal", "lateral", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like in this document refer to the orientation or positional relationship shown in the drawings, and are merely used for the convenience of description and simplification of the description herein, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the present application. In the description herein, unless otherwise specified and limited, the terms "mount", "connect", "connection" should be interpreted broadly, for example, can be mechanical connection or electrical connection, can be internal communication of two elements, can be direct connection, or indirect connection through intermediate medium, and the specific meaning of the above terms can be understood by the person skilled in the art according to the specific circumstances.

[0021] Embodiment one of the present application provides a medicine taking method for a medicine cabinet, which comprises the steps of Figure 1As shown, the medicine cabinet is provided with two symmetrically arranged first and second medicine storage racks, the first and second medicine storage racks are each 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, and each medicine storage position can store one medicine; the medicine cabinet is also provided with a medicine taking area, a mechanical hand, 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 mechanical hand is provided with a camera, and the mechanical hand can grab a medicine 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 medicine baskets in the first medicine storage rack points to the 1st row is a first extension direction, the direction in which the Mth row of medicine baskets in the second medicine storage rack points to the 1st row is a second extension direction, and the included 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 the horizontal slide rail extends from 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, 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, under 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 taking area.

[0022] As shown, the method comprises the following steps: Figure 2

[0023] Step 201: receiving medicine taking information, the medicine taking information comprising: the row number and column number of a plurality of target medicine storage positions in a target medicine basket;

[0024] Step 202: obtaining the target medicine basket from the first or second medicine storage rack and conveying it to the medicine taking area, controlling the mechanical hand to extend above the medicine taking area, controlling the camera to take the target medicine basket and obtain a target picture; when the target medicine basket is obtained from the first medicine storage rack, identifying M rows and N columns of medicine storage positions from the target picture, and performing 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, controlling the mechanical hand to grab the medicine on the target medicine storage position based on the row number and column number of each target medicine storage position.

[0025] ​Here, since the included angle of the first and second extension directions is 180°, when the target medicine basket is located on the second medicine storage rack, the target picture is rotated by 180°, so that the first row of the medicine baskets in the first and second medicine storage racks are all close to the robot.

[0026] In this embodiment, the medicine is solvent, injection or box medicine.

[0027] In this embodiment, the "receiving the medicine taking information" specifically includes: receiving the medicine taking information from a HIS (Hospital Information System) system.

[0028] In this embodiment, the robot is provided with a clamping jaw; and the "controlling the robot to grab the medicine at the target medicine storage position" specifically includes: controlling the clamping jaw of the robot to grab the medicine at the target medicine storage position.

[0029] Embodiment two of the present application provides a medicine taking device for a medicine library, the medicine library is provided with two symmetrically arranged first and second medicine storage racks, the first and second medicine storage racks are each divided into a plurality of horizontal rows along the upward and downward 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 is capable of storing a medicine basket, the medicine basket is provided with M rows and N columns of medicine storage positions, and each medicine storage position is capable of storing a medicine; the medicine library is further provided with a medicine taking area, a robot and a medicine basket conveying device located between the first and second medicine storage racks, the medicine basket conveying device is capable of obtaining a medicine basket in any medicine basket area and conveying it to the medicine taking area, the robot is provided with a camera, and the robot is capable of grabbing a medicine from the medicine basket in 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, the direction in which the Mth row of the medicine basket in the second medicine storage rack points to the 1st row is the second extension direction, and the included angle of the first and second extension directions is 180°; and the device comprises the following modules: an information obtaining module, which is used for receiving medicine taking information, the medicine taking information including the row numbers and column numbers of a plurality of target medicine storage positions in a target medicine basket; a processing module, which is used for obtaining the target medicine basket from the first or second medicine storage rack and conveying it to the medicine taking area, controlling the robot to extend above the medicine taking area, controlling the camera to shoot the target medicine basket and obtaining a target picture; when the target medicine basket is obtained from the first medicine storage rack, identifying M rows and N columns of medicine storage positions from the target picture, and performing 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, modifying the row number of the medicine storage position to X, and modifying the column number of the medicine storage position to Y; and after the processing of each medicine storage position is completed, controlling the robot to grab the medicine at each target medicine storage position based on the row number and column number of each target medicine storage position.

[0030] In this embodiment, the medicine is a solvent, a syringe or a medicine box.

[0031] In this embodiment, the information acquisition module is further configured to receive the medicine taking information from the HIS system.

[0032] In this embodiment, the mechanical hand is provided with a suction cup, and the processing module is further configured to control a gripper in the mechanical hand to pick up the medicine at the target medicine storage position.

[0033] Embodiment three of the present application provides an electronic device, comprising a memory and a processor, the memory stores a computer program, and the processor implements the steps in the medicine taking method for the medicine library in embodiment one when executing the computer program.

[0034] Embodiment four of the present application provides a storage medium, the storage medium stores a computer program, and the computer program is executed by a processor to implement the steps in the medicine taking method for the medicine library in embodiment one.

[0035] It should be noted that although the above describes the steps in a specific order, it does not mean that the steps must be executed in the above specific order, in fact, some of the steps can be executed concurrently, or even the order is changed, as long as the required function can be realized.

[0036] The present application can be a system, a method, and / or a computer program product. The computer program product can include a readable storage medium having stored thereon instructions which, when executed by a processor, implement the steps of the present application.

[0037] The readable storage medium can be a tangible device that can retain and store instructions for use by an instruction execution device. The readable storage medium can be, for example, but is not limited to, an electronic storage device, a magnetic storage device, an optical storage device, an electromagnetic storage device, a semiconductor storage device, or any suitable combination of the above. More specific examples (a non-exhaustive list) of the readable storage medium include a portable computer diskette, 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 disc read-only memory (CD-ROM), a digital versatile disk (DVD), a memory stick, a floppy disk, a mechanical encoding device, such as a punch card or a hole-in-pole structure having instructions stored thereon, and any suitable combination of the above.

[0038] Having described various embodiments of the application, it is to be understood that the above description is meant not to limit and not to encompass all of the possible embodiments covered by the claims. Many modifications and variations of this application can be apparent to those of ordinary skill in the art without departing from the spirit and scope of the described embodiments. It is intended that the scope of the application should only be limited by the appended claims.

Claims

1. A method for taking medicines from 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 in the vertical 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, 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, Both M and N are natural numbers; the direction in which the Mth row of medicine baskets in the first medicine storage rack points to the first row is a first extension direction, and the direction in which the Mth row of medicine baskets in the second medicine storage rack points to the first row is a second extension direction, and the angle between the first and second extension directions is 180°; the method is characterized in that it includes 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 retrieval area, the robot is controlled to extend above the medicine retrieval 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, the robot is controlled to grab the medicine on the target medicine storage position based on the row number and column number of each target medicine storage position.

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

3. The method for taking medicine according to claim 1, characterized in that: The "receiving medication collection information" specifically includes: Receive medication collection information from the HIS system.

4. The method for taking medicine according to claim 1, wherein: The manipulator is provided with a clamping claw; The “controlling the manipulator to grab the medicine at the target medicine storage location” specifically includes: controlling the gripper in the manipulator to grab the medicine at the target medicine storage location.

5. A medicine-taking device for 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 in the vertical 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 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, Both M and N are natural numbers; the direction in which the Mth row of medicine baskets in the first medicine storage rack points to the first row is a first extension direction, and the direction in which the Mth row of medicine baskets in the second medicine storage rack points to the first row is a second extension direction, and the angle between the first and second extension directions is 180°; it is characterized by comprising the following modules: An information acquisition module is configured 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 retrieval area, control the robot to extend above the medicine retrieval area, control the camera to shoot 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 robot 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 further 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 includes a memory and a processor, the memory stores a computer program, and when the processor executes the computer program, the steps of the drug extraction method for a drug library according to 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 the processor, the steps of the drug extraction method for a drug depot according to any one of claims 1 to 4 are implemented.

Images