Method, device, electronic device and storage medium for taking medicine from a medicine cartridge

Abstract

The application discloses a medicine taking method and device from a medicine storage box, electronic equipment and a storage medium. The method comprises the following steps: the taking information is the quantity of medicines taken from the medicine storage box; in the process of each time of grabbing, a first mechanical hand grabs medicines in the order of increasing row number and increasing column number, and a second mechanical hand grabs medicines in the order of decreasing row number and decreasing column number. The method can greatly improve the efficiency of grabbing medicines.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of medicine storage, and particularly relates to a method and device for taking medicine from a medicine storage box, an electronic device and a storage medium. BACKGROUND

[0002] In a hospital pharmacy, a medicine cabinet is usually provided, and a medicine storage box is generally used to store medicines in the medicine cabinet. Figure 1 As shown in FIG. 1, the medicine storage box is usually divided into M rows and N columns of storage positions, and each storage position can store one medicine. Figure 2 As shown in FIG. 2, a mechanical hand is provided with Num gripping hands 11 arranged in a row, each gripping hand 11 can grasp one medicine, the Num gripping hands 11 of the mechanical hand can simultaneously aim at Num storage positions in the same row, and can grasp one medicine from each aimed storage position (if the storage position stores a medicine).

[0003] In practice, it is a problem to be solved to quickly grasp the medicines in the medicine storage box by using the mechanical hand. SUMMARY

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

[0005] To achieve the above object, the technical scheme of the present application is as follows: a method for taking medicine from a medicine storage box by a medicine taking device, the medicine storage box is divided into M rows and N columns of storage positions, each storage position can store one medicine, from one end of the M rows to the other end, the row numbers are 1 to M in sequence; from one end of the N columns to the other end, the column numbers are 1 to N in sequence; two mechanical hands are arranged in the medicine taking device, each mechanical hand is arranged with Num1 grippers in a row, each gripper can hold one medicine; in the same row, the distance between the storage positions of adjacent columns is equal to the distance between adjacent grippers; wherein M, N and Num1 are natural numbers, and Num1 < N; the method comprises the following steps: receiving medicine taking information, the medicine taking information is the number of medicines taken from the medicine storage box, which is Num2; continuously performing the following operations: when all the storage positions in all the rows do not store medicines, stopping the execution of this operation and the execution of subsequent operations; selecting a first target row with the smallest row number, there is at least one first candidate storage position in the first target row that stores medicines; obtaining a 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, the column number of the first target storage position is C1; Len1 = min(N-C1+1, Num1, Num2), subtracting Len1 from Num2, the function min() outputs the minimum value of all input values; selecting a second target row with the largest row number, there is at least one second candidate storage position in the second target row that stores medicines; obtaining a 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, 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, subtracting C1+Len1-C2+Len2-1 from Len2, subtracting Len2 from Num2; controlling one mechanical hand to take the medicines in the storage positions with column numbers from C1 to C1+Len1-1 in the L1 row, and controlling the other mechanical hand to take the medicines in the storage positions with column numbers from C2-Len2+1 to C2 in the L2 row; when Num2 = 0, stopping the execution of this operation and the execution of subsequent operations.

[0006] As an improvement of the embodiment of the present application, the "receiving medicine taking information" specifically comprises: receiving the medicine taking information from the HIS system.

[0007] As a refinement of the embodiment of the application, the "controlling one of the robots to take out the medicine in the storage positions with column numbers C1 to C1+Len1-1 in the L1 row, and controlling the other robot to take out the medicine in the storage positions with column numbers C2-Len2+1 to C2 in the L2 row" specifically includes: controlling Len1 grippers in one of the robots to align with and grasp the medicine in the storage positions with column numbers C1 to C1+Len1-1 in the L1 row, and controlling Len2 grippers in the other robot to align with and grasp the medicine in the storage positions with column numbers C2-Len2+1 to C2 in the L2 row.

[0008] As a refinement of the embodiment of the application, the medicine is a solvent.

[0009] The embodiment of the present application also provides a device for taking medicine from a medicine storage box, the medicine storage box is divided into M rows and N columns of storage positions, the storage positions can store one medicine, from one end of the M rows to the other end, the numbers of the M rows are 1 to M in sequence; from one end of the N columns to the other end, the numbers of the N columns are 1 to N in sequence; two mechanical arms are arranged in the medicine taking equipment, the mechanical arms are provided with Num1 grippers arranged in a row, the grippers can hold one medicine; in the same row, the distance between the storage positions of adjacent columns is equal to the distance between adjacent grippers; wherein M, N and Num1 are natural numbers, and Num1 is less than N; the device comprises the following modules: an information receiving module, which is used to receive taking medicine information, the taking medicine information is the number of medicines taken from the medicine storage box, which is Num2; a processing module, which is used to continuously perform the following operations: when all the storage positions in all the rows do not store medicines, stop the execution of the operation and the execution of subsequent operations; select a first target row with the smallest row number, and there is at least one first candidate storage position in the first target row which stores medicines; obtain a 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 of all input values; select a second target row with the largest row number, and there is at least one second candidate storage position in the second target row which stores medicines; obtain a 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 is greater than C2, Len2 = 0, otherwise, Len2 = min (C2, Num1, Num2), when L1 = L2 and C1+Len1-1 is greater than 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 mechanical arm to take the medicines in the storage positions with column numbers from C1 to C1+Len1-1 in the L1 row, and control the other mechanical arm to take the medicines in the storage positions with column numbers from C2-Len2+1 to C2 in the L2 row; when Num2 = 0, stop the execution of the operation and the execution of subsequent operations.

[0010] As an improvement of the embodiment of the present application, the information receiving module is also used to receive the taking medicine information from a HIS system.

[0011] As a refinement of the embodiment of the present application, the processing module is further configured to control the L1 grippers in the first robot to align with the storage positions with column numbers C1 to C1+Len1-1 in the L1 row and to pick up the medicine, and to control the L2 grippers in the second robot to align with the storage positions with column numbers C2-Len2+1 to C2 in the L2 row and to pick up the medicine.

[0012] As a refinement of the embodiment of the present application, the medicine is a solvent.

[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 of the method for a medicine taking device to take medicine from a medicine storage box when executing the computer program.

[0014] The embodiment of the present application also provides a storage medium, which stores a computer program, and the computer program implements the steps of the method for a medicine taking device to take medicine from a medicine storage box when executed by a processor.

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

[0016] Figure 1 The structure diagram of the medicine storage box provided by the embodiment of the present application is shown in the following figure.

[0017] Figure 2 The structure diagram of the robot provided by the embodiment of the present application is shown in the following figure.

[0018] Figure 3 The flowchart of the method for taking medicine from a medicine storage box provided by the embodiment of the present application is shown in the following figure. DETAILED DESCRIPTION

[0019] The present application will be described in detail below with reference to the embodiments shown in the accompanying 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.

[0020] 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 the claims as well as all possible combinations of the technical features contained therein. In this text, the terms "first", "second", etc. are used merely to distinguish one element from another, without requiring or implying any actual relationship or order between such elements. Indeed, a first element can be termed a second element and vice versa. Furthermore, the terms "comprising", "containing", or any other similar term are intended to encompass non-exclusive inclusion, such that a structure, device, or apparatus that comprises a list of elements is not necessarily limited to those elements, but can include other elements not expressly listed, or also include elements that are inherent in such structure, device, or apparatus. Without more limitations, an element defined by the phrase "comprising a" does not exclude the presence of additional identical elements in the structure, device, or apparatus that includes the element. The various embodiments are described in a progressive manner, each emphasizing the differences with respect to the other embodiments, and the same or similar parts between the various embodiments are cross-referenced.

[0021] The terms "longitudinal", "transverse", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are used merely for the purpose of ease of description and simplification of description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be construed as limiting the present application. In the description herein, unless otherwise specified and limited, the terms "mounting", "connection", "connecting" should be interpreted broadly, for example, can be mechanical connection or electrical connection, can be internal connection 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.

[0022] Embodiment one of the present application provides a method for a medicine taking device to take medicine from a medicine storage box, the medicine storage box is divided into M rows and N columns of storage positions, each storage position can store one medicine, from one end of the M rows to the other end, the numbers of the M rows are 1 to M in turn; from one end of the N columns to the other end, the numbers of the N columns are 1 to N in turn; the medicine taking device is provided with two mechanical hands, the mechanical hand is provided with Num1 grippers 11 arranged in a row, the gripper 11 can hold one medicine; in the same row, the distance between the storage positions of adjacent columns is equal to the distance between adjacent grippers 11; wherein M, N and Num1 are natural numbers, and Num1 < N;

[0023] In Figure 1 each small square is a storage position, and one medicine can be stored in one storage position, which can be a boxed medicine or a needle injection, etc. As Figure 2 shown, the mechanical hand is provided with driving devices 12 and grippers 11, the driving devices 12 can drive each gripper 11 to grab one medicine, and can also control each gripper to drop one medicine. As Figure 1 shown, in the same row, the distance between the storage positions of adjacent columns is D2 (i.e. the distance between the center points of the storage positions of adjacent columns is D2). As Figure 2 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 mechanical hand can simultaneously align with Num storage positions in the same row, and can grab one medicine from each aligned storage position (if the storage position stores a medicine). The medicine can be a boxed medicine, a needle injection, a plate medicine or a solvent, etc. The gripper 11 can be a clamping jaw, so as to grab a needle injection, etc. The gripper 11 can be a suction nozzle, so as to suck a boxed medicine, a plate medicine or a solvent, etc.

[0024] As Figure 3 shown, the method comprises the following steps:

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

[0026] Step 302: continuously perform the following operations: when all the storage positions in all the rows do not store the medicine, stop the execution of this operation and the execution of the subsequent operation; select a first target row with the smallest row number, and there is at least one first candidate storage position in the first target row which stores the medicine; obtain a 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 Num2 by Len1, and the function min() outputs the minimum value of all input values; select a second target row with the largest row number, and there is at least one second candidate storage position in the second target row which stores the medicine; obtain a 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 Num2 by Len2; control one robot to take the medicine in the storage positions with column numbers from C1 to C1+Len1-1 in the L1 row, and control another robot to take the medicine in the storage positions with column numbers from C2-Len2+1 to C2 in the L2 row; when Num2 = 0, stop the execution of this operation and the execution of the subsequent operation. For the convenience of description, “one robot” is represented by a first robot, and “another robot” is represented by a second robot.

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

[0028] Step “when all the storage positions in all the rows do not store the medicine, stop the execution of this operation and the execution of the subsequent operation”, when all the storage positions in all the rows in the medicine storage box do not store the medicine, there is no medicine that can be grabbed on the medicine storage box, so it is necessary to stop the execution of this operation and the execution of the subsequent operation.

[0029] In the operation, the first robot grabs the medicine in the order of increasing row number and increasing column number, and the second robot grabs the medicine 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 candidate storage position in the first target row that stores medicines; obtain the first target storage position with the smallest column number from all 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 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 medicines 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 robot can grab at most Num1, and needs to take away Num2 medicines. Therefore, Len1 = min(N-C1+1, Num1, Num2), and can grab at most Len1 medicines, and subtract Len1 from the value of Num2.

[0031] Step "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 with drugs stored in it; obtain the second target storage location with the largest column number from all the 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 descending row number and descending 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 grabbed 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, so Len2=min(C2,Num1,Num2), and can grab at most Len2 drugs.

[0032] When L1=L2, and C1+Len1-1≥C2-Len2+1, the value of Len2 is reduced by C1+Len1-C2+Len2-1, and the value of Num2 is reduced by Len2.

[0033] Therefore, the method can quickly pick up the medicine from the medicine storage box.

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

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

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

[0037] Embodiment two of the present application provides a device for a medicine taking equipment to take medicine from a medicine storage box, the medicine storage box is divided into M rows and N columns of storage positions, the storage position can store one medicine, from one end of M rows to the other end, the row numbers of M rows are 1 to M in turn; from one end of N columns to the other end, the column numbers of N columns are 1 to N in turn; the medicine taking equipment is provided with two manipulators, the manipulator is provided with Num1 grippers 11 arranged in a row, the gripper 11 can hold one medicine; in the same row, the distance between the storage positions of adjacent columns is equal to the distance between adjacent grippers 11; wherein M, N and Num1 are natural numbers, and Num1<N; comprising the following modules:

[0038] The information receiving module is configured to receive the dispensing information, wherein the dispensing information is the number of the medicine taken out from the medicine storage box, and the number is Num2.

[0039] The processing module is configured to continuously perform the following operations: when all the storage positions in all the rows do not store the medicine, stop the execution of the operation and the execution of the subsequent operation; select a first target row with the smallest row number, wherein at least one first candidate storage position in the first target row stores the medicine; obtain a first target storage position with the smallest column number from all the first candidate storage positions, wherein the row number of the first target row is L1, the column number of the first target storage position is C1, Len1=min(N-C1+1,Num1,Num2), the value of Num2 is reduced by Len1, and the function min() outputs the minimum value of all the input values; select a second target row with the largest row number, wherein at least one second candidate storage position in the second target row stores the medicine; obtain a second target storage position with the largest column number from all the second candidate storage positions, wherein the row number of the second target row is L2, 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, the value of Len2 is reduced by C1+Len1-C2+Len2-1, the value of Num2 is reduced by Len2, control a robot to take the medicine from the storage positions with column numbers from C1 to C1+Len1-1 in the L1 row, and control another robot to take the medicine from the storage positions with column numbers from C2-Len2+1 to C2 in the L2 row; and when Num2=0, stop the execution of the operation and the execution of the subsequent operation.

[0040] In this embodiment, the information receiving module is further configured to receive the dispensing information from the HIS system.

[0041] In this embodiment, the processing module is further configured to control Len1 grippers 11 in one robot to align with the storage positions with column numbers from C1 to C1+Len1-1 in the L1 row and to grasp the medicine, and control Len2 grippers 11 in another robot to align with the storage positions with column numbers from C2-Len2+1 to C2 in the L2 row and to grasp the medicine.

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

[0043] Embodiment three of the present application 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 method for the dispensing device to take medicine from the medicine storage box in embodiment one when executing the computer program.

[0044] Embodiment four of the present application provides a storage medium, and the storage medium has a computer program stored thereon, and the computer program is executed by a processor to implement the steps of the method for the medicine taking device to take medicine from the medicine storage box in embodiment one.

[0045] It should be noted that although the above describes each step in a specific order, it does not mean that each step must be performed in the above specific order, in fact, some of the steps can be performed concurrently, or even in a changed order, as long as the required function can be achieved.

[0046] 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 that, when executed by a processor, implement the steps of the present application.

[0047] The computer readable program instructions can be loaded onto a computer, other programmable data processing apparatus, or other device to cause a series of operational steps to be performed on the computer, other programmable apparatus or other device to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide processes for implementing the functions / acts specified in the flowchart and / or block diagram block or blocks.

[0048] The above has described the embodiments of the present application, the above description is exemplary, not exhaustive, and is not limited to the disclosed embodiments. Many modifications and changes are obvious to those skilled in the art without departing from the scope and spirit of the described embodiments. The choice of terms used herein is intended to best explain the principles of the embodiments, practical application, or technical improvement in the market, or to enable other ordinary skilled in the art to understand the embodiments disclosed herein.

Claims

1. A method for a medicine dispensing device to dispense medicine from a medicine storage box, wherein the medicine storage box is divided into M rows and N columns of storage locations, each of which can store one medicine. From one end of the M rows to the other end, the M rows are numbered from 1 to M; from one end of the N columns to the other end, the N columns are numbered from 1 to N; the medicine dispensing device is provided with two manipulators, each manipulator is provided with Num1 grippers (11) arranged in a row, each gripper (11) being able to grasp 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 a row, stop the execution of this operation and the 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 the 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 from the storage positions with column numbers from C1 to C1 + Len1 - 1 in row L1, and control another 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 the 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 from the storage positions with column numbers from C1 to C1 + Len1 - 1 in row L1, and control another manipulator to take the medicines from 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, each of which can store one medicine. From one end of the M rows to the other end, the M rows are numbered from 1 to M; from one end of the N columns to the other end, the N columns are numbered from 1 to N; the medicine taking device is provided with two manipulators, each manipulator is provided with Num1 grippers (11) arranged in a row, each gripper (11) can grasp 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, configured to receive 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 medicine is 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 to-be-selected storage location in the first target row that stores medicine; obtain the first target storage location with the smallest column number from all first to-be-selected storage locations, 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 to-be-selected storage location in the second target row that stores medicine; obtain the first target storage location with the smallest column number from all second to-be-selected storage locations. The second target storage position is large, 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 medicines in the storage positions with column numbers C1 to C1+Len1-1 from row L1, and control another robot to take away the medicines in the storage positions with column numbers 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 to: 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 the storage positions with column numbers C1 to C1+Len1-1 in row L1 and grab the medicines, and control Len2 grippers (11) in another robot to align with the storage positions with column numbers C2-Len2+1 to C2 in row L2 and grab the 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 includes a memory and a processor, the memory stores a computer program, and when the processor executes the computer program, the steps of the method for a medicine dispensing device to dispense 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 a medicine dispensing device to dispense medicine from a medicine storage box according to any one of claims 1 to 4 are implemented.

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