Method and device for taking medicine from medicine storage box, electronic equipment and storage medium

Abstract

The invention discloses a method and device for taking medicine from a medicine storage box, electronic equipment and a storage medium. The method comprises the steps that medicine taking information is the number of medicine taken away from the medicine storage box; and in each grabbing process, the first manipulator grabs the medicines according to the sequence that the line numbers are increased progressively and the column numbers are increased progressively, and the second manipulator grabs the medicines according to the sequence that the line numbers are decreased progressively and the column numbers are decreased progressively. According to the method, the medicine grabbing efficiency can be greatly improved.

Description

Technical Field

[0001] The present invention relates to the technical field of medicine storage, and in particular to a method, a device, an electronic device and a storage medium for taking medicine from a medicine storage box. Background Art

[0002] In the pharmacy of the hospital, there is usually a medicine cabinet, in which medicines are generally stored in medicine boxes, such as Figure 1 As shown, the medicine storage box is usually divided into M rows and N columns of storage positions, and each storage position can store a medicine; Figure 2 As shown, the manipulator is provided with Num grippers 11 arranged in a row, each gripper 11 can grasp a medicine, and the Num grippers 11 of the manipulator can simultaneously aim at Num storage locations in the same row, and can grab a medicine from each of the aimed storage locations (if there are medicines stored in the storage locations).

[0003] In practice, when using a robot to quickly grab medicines from a medicine storage box, it becomes a problem that needs to be solved urgently. Summary of the invention

[0004] In view of this, the main purpose of the present invention is to provide a method, device, electronic device and storage medium for taking medicine from a medicine storage box.

[0005] To achieve the above object, the technical solution of the present invention is implemented as follows: A method for a medicine-taking device to take medicine from a medicine storage box, where the medicine storage box is divided into storage positions arranged in M rows and N columns, and each storage position can hold one medicine. In the direction from one end of the M rows to the other end, the row numbers of the M rows are sequentially numbered from 1 to M; in the direction from one end of the N columns to the other end, the column numbers of the N columns are sequentially numbered from 1 to N; two manipulators are provided in the medicine-taking device, and Num1 grippers arranged in a row are provided in the manipulators, and each gripper can grasp one medicine; in the same row, the distance between adjacent storage positions in the columns is equal to the distance between adjacent grippers; where M, N, and Num1 are all natural numbers, and Num1 < N; the method includes the following steps: Receive medicine-taking information, where the medicine-taking information is that the number of medicines taken from the medicine storage box is Num2; Continuously perform the following operations: When there is no medicine stored in any of the storage positions in all rows, stop the execution of this operation and stop the execution of subsequent operations; Select the first target row with the smallest row number, where there is at least one first candidate storage position in the first target row that stores medicine; Obtain the first target storage position with the smallest column number from all the first candidate storage positions, where the row number of the first target row is L1 and the column number of the first target storage position is C1; Len1 = min(N - C1 + 1, Num1, Num2), subtract the value of Len1 from the value of Num2, and the function min() outputs the minimum value among all input values; Select the second target row with the largest row number, where there is at least one second candidate storage position in the second target row that stores medicine; Obtain the second target storage position with the largest column number from all the second candidate storage positions, where the row number of the second target row is L2 and the column number of the second target storage position is C2; When L1 = L2 and C1 + Len1 - 1 ≥ C2, Len2 = 0, otherwise, Len2 = min(C2, Num1, Num2), when L1 = L2 and C1 + Len1 - 1 ≥ C2 - Len2 + 1, subtract the value of C1 + Len1 - C2 + Len2 - 1 from the value of Len2, and subtract the value of Len2 from the value of Num2; Control one manipulator to take the medicines from the storage positions with column numbers from C1 to C1 + Len1 - 1 in row L1, and control the other manipulator to take the medicines from the storage positions with column numbers from C2 - Len2 + 1 to C2 in row L2; When Num2 = 0, stop the execution of this operation and stop the execution of subsequent operations.

[0006] As an improvement of an embodiment of the present invention, the "receiving medicine-taking information" specifically includes: Receiving medicine-taking information from the HIS system.

[0007] As an improvement of an embodiment of the present invention, the "controlling a manipulator to take away medicines from the storage positions with column numbers C1 to C1+Len1-1 in row L1, and controlling another manipulator to take away medicines from the storage positions with column numbers C2-Len2+1 to C2 in row L2" specifically includes: controlling Len1 grippers in one manipulator to align with the storage positions with column numbers C1 to C1+Len1-1 in row L1 and grab the medicines, and controlling Len2 grippers in another manipulator to align with the storage positions with column numbers C2-Len2+1 to C2 in row L2 and grab the medicines.

[0008] As an improvement of the embodiment of the present invention, the medicine is a solvent.

[0009] An embodiment of the present invention further provides a device for a medicine dispensing device to pick up medicines from a medicine storage box. The medicine storage box is divided into storage positions arranged in M rows and N columns. Each storage position can hold one medicine. In the direction from one end of the M rows to the other end, the row numbers of the M rows are sequentially 1 to M; in the direction from one end of the N columns to the other end, the column numbers of the N columns are sequentially 1 to N. There are two manipulators provided in the medicine dispensing device, and there are Num1 grippers arranged in a row in the manipulator. The gripper can grasp one medicine. In the same row, the distance between adjacent storage positions in adjacent columns is equal to the distance between adjacent grippers. Wherein, M, N, and Num1 are all natural numbers, and Num1 < N. The device includes the following modules: an information receiving module, configured to receive medicine picking information, where the medicine picking information is that the number of medicines taken from the medicine storage box is Num2; a processing module, configured to continuously perform the following operations: when there is no medicine stored in all the storage positions in all rows, stop the execution of this operation and stop the execution of subsequent operations; select the first target row with the smallest row number, where there is at least one first candidate storage position in the first target row that stores medicine; obtain the first target storage position with the smallest column number from all the first candidate storage positions. The row number of the first target row is L1, and the column number of the first target storage position is C1; Len1 = min(N - C1 + 1, Num1, Num2), subtract the value of Len1 from the value of Num2, and the function min() outputs the minimum value among all input values; select the second target row with the largest row number, where there is at least one second candidate storage position in the second target row that stores medicine; obtain the second target storage position with the largest column number from all the second candidate storage positions. The row number of the second target row is L2, and the column number of the second target storage position is C2; when L1 = L2 and C1 + Len1 - 1 ≥ C2, Len2 = 0, otherwise, Len2 = min(C2, Num1, Num2). When L1 = L2 and C1 + Len1 - 1 ≥ C2 - Len2 + 1, subtract the value of C1 + Len1 - C2 + Len2 - 1 from the value of Len2, and subtract the value of Len2 from the value of Num2; control one manipulator to pick up the medicines in the storage positions with column numbers from C1 to C1 + Len1 - 1 in row L1, and control the other manipulator to pick up the medicines in the storage positions with column numbers from C2 - Len2 + 1 to C2 in row L2; when Num2 = 0, stop the execution of this operation and stop the execution of subsequent operations.

[0010] As an improvement of an embodiment of the present invention, the information receiving module is further configured to: receive medicine picking information from the HIS system.

[0011] As an improvement of an embodiment of the present invention, the processing module is also used to: control the Len1 grippers in one robot to align with the storage locations with column numbers C1 to C1+Len1-1 in the L1 row and grab the medicines, and control the Len2 grippers in another robot to align with the storage locations with column numbers C2-Len2+1 to C2 in the L2 row and grab the medicines.

[0012] As an improvement of the embodiment of the present invention, the medicine is a solvent.

[0013] An embodiment of the present invention further provides an electronic device, comprising 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 a medicine dispensing device to dispensing medicine from a medicine storage box are implemented.

[0014] An embodiment of the present invention further provides a storage medium having a computer program stored thereon. When the computer program is executed by a processor, the steps of the above-mentioned method for a medicine dispensing device to dispensing medicine from a medicine storage box are implemented.

[0015] The method, device, electronic device and storage medium for taking medicine from a medicine storage box provided by the embodiment of the present invention have the following advantages: The embodiment of the present invention discloses a method, device, electronic device and storage medium for taking medicine from a medicine storage box, the method comprising: the medicine taking information is the number of medicines taken from the medicine storage box; in each grabbing process, the first manipulator grabs the medicines in the order of increasing row number and increasing column number, and the second manipulator grabs the medicines in the order of decreasing row number and decreasing column number. The method can greatly improve the efficiency of grabbing medicines. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 A structural diagram of a medicine storage box provided by an embodiment of the present invention;

[0017] Figure 2 A structural diagram of a manipulator provided by an embodiment of the present invention;

[0018] Figure 3 A schematic flow chart of a method for taking medicine from a medicine storage box provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0019] 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.

[0020] 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.

[0021] 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.

[0022] Embodiment 1 of the present invention provides a method for a drug dispensing device to dispensing drugs from a drug storage box, wherein the drug storage box is divided into M rows and N columns of storage locations, wherein one drug can be stored in the storage location, and the M rows are numbered from 1 to M in a direction from one end of the M rows to the other end; and the N columns are numbered from 1 to N in a direction from one end of the N columns to the other end; the drug dispensing device is provided with two manipulators, wherein the manipulators are provided with Num1 grippers 11 arranged in a row, and the grippers 11 can grasp one drug; in the same row, the distance between the storage locations of adjacent columns is equal to the distance between adjacent grippers 11; wherein M, N and Num1 are all natural numbers, and Num1 <N;

[0023] exist Figure 1 In the diagram, each small square is a storage location, and a medicine can be stored in a storage location, which can be a boxed medicine or an injection. Figure 2 As shown, the manipulator is provided with a driving device 12 and a gripper 11. The driving device 12 can drive each gripper 11 to grab a medicine, and can also control each gripper to put down a medicine. Figure 1 As shown, in the same row, the distance between the storage locations of adjacent columns is D2 (that is, the distance between the center points of the storage locations of adjacent columns is D2). Figure 2 As shown, the distance between adjacent grippers 11 is D1 (i.e., the distance between the center lines of adjacent grippers 11 is D1), D1=D2, i.e., the Num grippers 11 of the manipulator can simultaneously align with the Num storage positions in the same row, and can grab a medicine from each aligned storage position (if there is a medicine stored in the storage position). The medicine can be a boxed medicine, an injection, a plate medicine, or a solvent, etc., and the gripper 11 can be a clamping claw so as to grab an injection, etc., and the gripper 11 can be a suction nozzle so as to suck the boxed medicine, the plate medicine, or the solvent, etc.

[0024] like Figure 3 As shown, the following steps are included:

[0025] Step 301: receiving medicine taking information, wherein the medicine taking information is that the number of medicines taken from the medicine storage box is Num2;

[0026] Step 302: Continue to perform the following operations: when no drugs are stored in the storage locations in all rows, stop the execution of this operation and the execution of subsequent operations; select the first target row with the smallest row number, and there is at least one first storage location to be selected in the first target row storing drugs; obtain the first target storage location with the smallest column number from all first storage locations to be selected, the row number of the first target row is L1, and the column number of the first target storage location is C1; Len1=min(N-C1+1,Num1,Num2), subtract Len1 from the value of Num2, and the function min() outputs the minimum value of all input values; select the second target row with the largest row number, and there is at least one second storage location to be selected in the second target row storing drugs; obtain the first storage location with the smallest column number from all second storage locations to be selected. The second target storage position is larger, the row number of the second target row is L2, and the column number of the second target storage position is C2; when L1=L2 and C1+Len1-1≥C2, Len2=0, otherwise, Len2=min(C2,Num1,Num2); when L1=L2 and C1+Len1-1≥C2-Len2+1, subtract C1+Len1-C2+Len2-1 from the value of Len2, and subtract Len2 from the value of Num2; control one robot to take away the drugs in the storage positions with column numbers from C1 to C1+Len1-1 from row L1, and control another robot to take away the drugs in the storage positions with column numbers from C2-Len2+1 to C2 from row L2; when Num2=0, stop executing this operation and stop executing subsequent operations. For ease of explanation, “one robot” is represented by the first robot, and “another robot” is represented by the second robot.

[0027] Here, when the operation is performed, the following steps are performed:

[0028] The step "When there are no medicines stored in the storage locations in all rows, stop the execution of this operation and stop the execution of subsequent operations" means that when there are no medicines in all the storage locations in all rows of the medicine storage box, there are no medicines left on the medicine storage box to be taken away, so it is necessary to stop the execution of this operation and stop the execution of subsequent operations.

[0029] During operation, the first manipulator grabs the medicines in the order of increasing row number and increasing column number, and the second manipulator grabs the medicines in the order of decreasing row number and decreasing column number.

[0030] The step "select the first target row with the smallest row number, and there is at least one first to-be-selected storage position in the first target row that stores drugs; obtain the first target storage position with the smallest column number from all the first to-be-selected storage positions, the row number of the first target row is L1, and the column number of the first target storage position is C1; Len1=min(N-C1+1,Num1,Num2), subtract Len1 from the value of Num2, and the function min() outputs the minimum value of all input values" first finds a first target storage position that stores drugs in the order of increasing row number and increasing column number. In the first target row, the number of the first target storage position and its subsequent storage positions (i.e., the storage positions with row number L1 and column number ≥ C1) is N-C1+1, but the manipulator can grab at most Num1, and needs to take away Num2 drugs. Therefore, Len1=min(N-C1+1,Num1,Num2), and at most Len1 drugs can be grabbed, and the value of Num2 is subtracted from Len1.

[0031] Step "select the second target row with the largest row number, in which at least one second storage location to be selected has drugs stored; obtain the second target storage location with the largest column number from all second storage locations to be selected, the row number of the second target row is L2, and the column number of the second target storage location is C2; when L1=L2 and C1+Len1-1≥C2, Len2=0, otherwise, Len2=min(C2,Num1,Num2)", first find a second target storage location with drugs stored in the order of decreasing row number and decreasing column number; since the first manipulator will grab the second target storage location with row number L 1, the column numbers are Len1 drugs from C1 to C1+Len1-1, that is, when L1=L2 and C1+Len1-1≥C2, it means that the drugs in the second target storage position will also be taken away by the first robot, so Len2=0; otherwise, in the second target row, the number of the second target storage position and its predecessor storage position (that is, the storage position with row number L1 and column number ≤C2) is C2, but the robot can grab at most Num1, and needs to take away Num2 drugs, therefore, Len2=min(C2,Num1,Num2), and at most Len2 drugs can be taken away.

[0032] Step "When L1 = L2 and C1 + Len1 - 1 ≥ C2 - Len2 + 1, subtract the value of C1 + Len1 - C2 + Len2 - 1 from Len2 and subtract Len2 from Num2". Since the first manipulator grabs Len1 drugs in the storage positions with row number L1 and column numbers from C1 to C1 + Len1 - 1, and the second manipulator grabs Len2 drugs in the storage positions with row number L2 and column numbers from C2 to C2 - Len2 + 1. When C1 + Len1 - 1 ≥ C2 - Len2 + 1, it means that a total of C1 + Len1 - 1 - (C2 - Len2 + 1) + 1 = C1 + Len1 - C2 + Len2 - 1 drugs in the column numbers from C2 - Len2 + 1 to C1 + Len1 - 1 are grabbed by the second manipulator. Therefore, subtract the value of C1 + Len1 - C2 + Len2 - 1 from Len2, and then subtract Len2 from Num2.

[0033] In summary, this method can quickly grab drugs from the medicine storage box.

[0034] In this embodiment, the "receiving medicine-taking information" specifically includes: receiving medicine-taking information from the HIS (Hospital Information System) system.

[0035] In this embodiment, the "controlling one manipulator to take the drugs in the storage positions with column numbers from C1 to C1 + Len1 - 1 in row L1 and controlling the other manipulator to take the drugs in the storage positions with column numbers from C2 - Len2 + 1 to C2 in row L2" specifically includes: controlling the Len1 grippers 11 in one manipulator to align with the storage positions with column numbers from C1 to C1 + Len1 - 1 in row L1 and grab the drugs, and controlling the Len2 grippers 11 in the other manipulator to align with the storage positions with column numbers from C2 - Len2 + 1 to C2 in row L2 and grab the drugs.

[0036] In this embodiment, the drug is a solvent.

[0037] Embodiment 2 of the present invention provides a device for a medicine-taking device to take medicine from a medicine storage box. The medicine storage box is divided into storage positions of M rows and N columns, and each storage position can store one drug. In the direction from one end to the other end of the M rows, the numbers of the M rows are sequentially 1 to M; in the direction from one end to the other end of the N columns, the numbers of the N columns are sequentially 1 to N; there are two manipulators provided in the medicine-taking device, and there are Num1 grippers 11 arranged in a row in the manipulator, and the gripper 11 can grasp one drug; in the same row, the distance between adjacent storage positions is equal to the distance between adjacent grippers 11; where M, N, and Num1 are all natural numbers, and Num1 < N; it includes the following modules:

[0038] An information receiving module, used for receiving medicine taking information, wherein the medicine taking information is that the number of medicines taken from the medicine storage box is Num2;

[0039] A processing module is used to continuously perform the following operations: when no drugs are stored in the storage locations in all rows, stop the execution of this operation and stop the execution of subsequent operations; select the first target row with the smallest row number, and there is at least one first storage location to be selected in the first target row storing drugs; obtain the first target storage location with the smallest column number from all the first storage locations to be selected, the row number of the first target row is L1, and the column number of the first target storage location is C1; Len1=min(N-C1+1,Num1,Num2), subtract Len1 from the value of Num2, and the function min() outputs the minimum value of all input values; select the second target row with the largest row number, and there is at least one second storage location to be selected in the second target row storing drugs; obtain the first storage location with the largest column number from all the second storage locations to be selected. The second target storage position is larger, the row number of the second target row is L2, and the column number of the second target storage position is C2; when L1=L2 and C1+Len1-1≥C2, Len2=0, otherwise, Len2=min(C2,Num1,Num2); when L1=L2 and C1+Len1-1≥C2-Len2+1, subtract C1+Len1-C2+Len2-1 from the value of Len2, and subtract Len2 from the value of Num2; control one robot to take away the drugs in the storage positions with column numbers from C1 to C1+Len1-1 from row L1, and control another robot to take away the drugs in the storage positions with column numbers from C2-Len2+1 to C2 from row L2; when Num2=0, stop executing this operation and stop executing subsequent operations.

[0040] In this embodiment, the information receiving module is also used to receive medication collection information from the HIS system.

[0041] In this embodiment, the processing module is also used to: control the Len1 grippers 11 in one robot to align with the storage locations with column numbers C1 to C1+Len1-1 in row L1 and grab the medicines, and control the Len2 grippers 11 in another robot to align with the storage locations with column numbers C2-Len2+1 to C2 in row L2 and grab the medicines.

[0042] In this embodiment, the drug is a solvent.

[0043] Embodiment 3 of the present invention provides an electronic device, comprising a memory and a processor, wherein the memory stores a computer program, and when the processor executes the computer program, the steps in the method for a medicine dispensing device to dispensing medicine from a medicine storage box in embodiment 1 are implemented.

[0044] A fourth embodiment of the present invention provides a storage medium having a computer program stored thereon. When the computer program is executed by a processor, the steps of the method for a medicine dispensing device to dispense medicine from a medicine storage box in the first embodiment are implemented.

[0045] 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.

[0046] 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.

[0047] 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.

[0048] 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 a medicine dispensing device to dispensing medicine from a medicine storage box, wherein the medicine storage box is divided into M rows and N columns of storage locations, wherein one medicine can be stored in each storage location, and the M rows are numbered from 1 to M in a direction from one end of the M rows to the other end; and the N columns are numbered from 1 to N in a direction from one end of the N columns to the other end; the medicine dispensing device is provided with two manipulators, wherein the manipulators are provided with Num1 grippers (11) arranged in a row, and the grippers (11) can grip one medicine; in the same row, the distance between storage locations in adjacent columns is equal to the distance between adjacent grippers (11); wherein, M, N, and Num1 are all natural numbers, and Num1 < N; it is characterized by including the following steps: Receive the medicine-taking information, where the medicine-taking information is that the number of medicines taken from the medicine storage box is Num2; Continuously perform the following operations: When there are no medicines stored in all the storage positions in all rows, stop the execution of this operation and stop the execution of subsequent operations; Select the first target row with the smallest row number, where there is at least one first candidate storage position in the first target row that stores medicines; Obtain the first target storage position with the smallest column number from all the first candidate storage positions. The row number of the first target row is L1, and the column number of the first target storage position is C1; Len1 = min(N - C1 + 1, Num1, Num2), subtract the value of Len1 from Num2, and the function min() outputs the minimum value among all input values; Select the second target row with the largest row number, where there is at least one second candidate storage position in the second target row that stores medicines; Obtain the second target storage position with the largest column number from all the second candidate storage positions. The row number of the second target row is L2, and the column number of the second target storage position is C2; When L1 = L2 and C1 + Len1 - 1 ≥ C2, Len2 = 0, otherwise, Len2 = min(C2, Num1, Num2). When L1 = L2 and C1 + Len1 - 1 ≥ C2 - Len2 + 1, subtract the value of C1 + Len1 - C2 + Len2 - 1 from Len2, and subtract the value of Len2 from Num2; Control a manipulator to take the medicines in the storage positions with column numbers from C1 to C1 + Len1 - 1 in row L1, and control another manipulator to take the medicines in the storage positions with column numbers from C2 - Len2 + 1 to C2 in row L2; When Num2 = 0, stop the execution of this operation and stop the execution of subsequent operations.

2. The method for taking medicine from a medicine storage box by a medicine taking device according to claim 1, characterized in that: The "receiving the medicine-taking information" specifically includes: Receive the medicine-taking information from the HIS system.

3. The method for taking medicine from a medicine storage box by a medicine taking device according to claim 1, characterized in that: The "controlling a manipulator to take the medicines in the storage positions with column numbers from C1 to C1 + Len1 - 1 in row L1, and controlling another manipulator to take the medicines in the storage positions with column numbers from C2 - Len2 + 1 to C2 in row L2" specifically includes: Control Len1 grippers (11) in a manipulator to align with the storage positions with column numbers from C1 to C1 + Len1 - 1 in row L1 and grab the medicines, and control Len2 grippers (11) in another manipulator to align with the storage positions with column numbers from C2 - Len2 + 1 to C2 in row L2 and grab the medicines.

4. The method for taking medicines from a medicine storage box by a medicine-taking device according to claim 1, characterized in that The medicine is a solvent.

5. A device for taking medicine from a medicine box by a medicine taking device, wherein the medicine box is divided into M rows and N columns of storage locations, wherein one medicine can be stored in each storage location, and the M rows are numbered from 1 to M in a direction from one end of the M rows to the other end; and the N columns are numbered from 1 to N in a direction from one end of the N columns to the other end; the medicine taking device is provided with two manipulators, wherein the manipulators are provided with Num1 grippers (11) arranged in a row, and the grippers (11) can grip one medicine; in the same row, the distance between storage locations in adjacent columns is equal to the distance between adjacent grippers (11); wherein, M, N, and Num1 are all natural numbers, and Num1 < N; it is characterized by including the following modules: An information receiving module for receiving the medicine-taking information, where the medicine-taking information is that the number of medicines taken from the medicine storage box is Num2; A processing module is used to continuously perform the following operations: when no drugs are stored in the storage locations in all rows, stop the execution of this operation and stop the execution of subsequent operations; select the first target row with the smallest row number, and there is at least one first storage location to be selected in the first target row storing drugs; obtain the first target storage location with the smallest column number from all the first storage locations to be selected, the row number of the first target row is L1, and the column number of the first target storage location is C1; Len1=min(N-C1+1,Num1,Num2), subtract Len1 from the value of Num2, and the function min() outputs the minimum value of all input values; select the second target row with the largest row number, and there is at least one second storage location to be selected in the second target row storing drugs; obtain the first storage location with the largest column number from all the second storage locations to be selected. The second target storage position is larger, the row number of the second target row is L2, and the column number of the second target storage position is C2; when L1=L2 and C1+Len1-1≥C2, Len2=0, otherwise, Len2=min(C2,Num1,Num2); when L1=L2 and C1+Len1-1≥C2-Len2+1, subtract C1+Len1-C2+Len2-1 from the value of Len2, and subtract Len2 from the value of Num2; control one robot to take away the drugs in the storage positions with column numbers from C1 to C1+Len1-1 from row L1, and control another robot to take away the drugs in the storage positions with column numbers from C2-Len2+1 to C2 from row L2; when Num2=0, stop executing this operation and stop executing subsequent operations.

6. The device for taking medicine from a medicine storage box according to claim 5, characterized in that: The information receiving module is further used for: Receive medication collection information from the HIS system.

7. The device for taking medicine from a medicine storage box according to claim 5, characterized in that: The processing module is also used to: control Len1 grippers (11) in one robot to align with storage locations with column numbers C1 to C1+Len1-1 in row L1 and grab medicines, and control Len2 grippers (11) in another robot to align with storage locations with column numbers C2-Len2+1 to C2 in row L2 and grab medicines.

8. The device for taking medicine from a medicine storage box according to claim 5, characterized in that: The drug is a solvent.

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 in the method for a medicine dispensing device to dispensing medicine from a medicine storage box 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 method for taking medicine from a medicine storage box by a medicine taking device according to any one of claims 1 to 4 are implemented.

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