A multi-station medicine picking method and system

Abstract

The application provides a multi-station medicine picking method and system, which comprises the following steps: obtaining a dispensing requirement; controlling a medicine picking device to pick medicine on a medicine picking station in a picking state based on the dispensing requirement, so that a medicine identification device identifies the medicine and feeds back a medicine picking success signal; meanwhile, controlling a medicine carrying device to carry the medicine from a medicine storage device to an idle medicine picking station, so that the idle medicine picking station enters the picking state and waits for the medicine picking device to pick the medicine. The multi-station medicine picking method can carry medicine on other medicine picking stations synchronously in the process of medicine picking, so that the medicine picking device does not need to wait during the process of medicine picking, and the medicine picking, identification, inventory checking and carrying can be carried out synchronously through the multi-station setting, which significantly improves the medicine dispensing efficiency and enhances the user experience.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of medicine sorting, in particular to a multi-station medicine sorting method and system. BACKGROUND

[0002] Intelligent pharmacy is an intelligent medical service system based on advanced technology, which can provide people with convenient, efficient and safe medicine purchase and health management services. It can accelerate the upgrading of the pharmaceutical industry and retail terminals from traditional business models to innovative industrial models through innovative technologies such as the Internet, big data, artificial intelligence, etc.

[0003] However, the existing intelligent pharmacy equipment needs to repeatedly perform the following processes: medicine carrying, waiting for medicine sorting, waiting for medicine identification and waiting for inventory counting, when sorting and dispensing medicines, because different specifications of medicines are stored in different positions, which greatly affects the efficiency of dispensing medicines and the user experience is not good. And only one prescription can be dispensed at a time, which obviously has the problem of insufficient efficiency in actual application. SUMMARY

[0004] The present application aims to provide a multi-station medicine sorting method and system to solve the above technical problems. Through the setting of multiple stations, inventory counting and carrying can be performed simultaneously during medicine sorting and identification, significantly improving the efficiency of medicine dispensing and enhancing user experience.

[0005] In order to solve the above technical problems, the present application provides a multi-station medicine sorting method, comprising the following steps:

[0006] Obtaining medicine dispensing requirements;

[0007] Based on the medicine dispensing requirements, the medicine sorting device is controlled to sort the medicines on the medicine sorting station in the sorting state, so that the medicine identification device identifies the medicines and feeds back a medicine sorting success signal;

[0008] At the same time, based on the medicine dispensing requirements, the medicine carrying device is controlled to carry the medicines from the medicine storage device to any idle medicine sorting station, so that the idle medicine sorting station enters the sorting state and waits for the medicine sorting device to sort.

[0009] The multi-station medicine sorting method provided by the above scheme can simultaneously carry medicines in other medicine sorting stations during medicine sorting to ensure that the medicine sorting device does not need to wait during medicine sorting. That is, through the setting of multiple stations, medicine sorting, identification and carrying can be performed simultaneously, significantly improving the efficiency of medicine dispensing and enhancing user experience.

[0010] It should be noted that for one dispensing demand, through the cooperation of the medicine carrying device, the medicine sorting device and the medicine identification device, the whole medicine sorting process presents a cycle process of medicine carrying, medicine sorting, medicine identification and medicine storage, and then the dispensing operation for the dispensing demand is completed.

[0011] Further, the dispensing demand has several, for the same medicine of different dispensing demands, the medicine sorting device is controlled based on the dispensing demand to sort the medicine on the medicine sorting station in the sorting state, so that the medicine identification device identifies the medicine and feeds back the medicine sorting success signal, which includes:

[0012] Based on the dispensing demand, the medicine sorting device is controlled to sort the medicine on the medicine sorting station in the sorting state multiple times, so that the medicine identification device identifies the multiple sorted medicines respectively and feeds back the corresponding sorting success signal;

[0013] Based on the sorting success signal, the medicine sorting device is controlled to transfer the medicine to the corresponding dispensing slide in turn.

[0014] The above scheme can respond to multiple dispensing demands at the same time. Since there may be the same medicine demand in different dispensing demands, the medicine sorting device can sort a certain medicine on the medicine sorting station multiple times, so that multiple medicines can be sorted at one time and dispensed through the corresponding dispensing slide, improving the dispensing efficiency and avoiding the repeated medicine carrying process for sorting the same medicine.

[0015] It should be noted that under different dispensing demands, there may be individual medicines with special requirements. For these independently existing medicines, only one medicine sorting needs to be performed. This sorting method can greatly improve the dispensing efficiency for the same medicine in multiple dispensing demands.

[0016] Further, the multi-station medicine sorting method further includes: controlling the medicine carrying device to carry the medicine on the idle medicine sorting station to the medicine storage device; the idle medicine sorting station is determined by converting the medicine sorting station in any sorting state when the medicine sorting is completed.

[0017] Further, in the control of the medicine carrying device to carry the medicine on the idle medicine sorting station to the medicine storage device, it includes: controlling the inventory counting device to count the medicine, so that the inventory counting device feeds back the real-time medicine quantity; based on the real-time medicine quantity, update the medicine storage quantity in the medicine storage device.

[0018] In the above scheme, by setting the inventory counting device, the remaining medicine after sorting can be conveniently counted during the carrying process, and the update of the medicine storage quantity in the medicine storage device is facilitated. When the medicine storage quantity is insufficient, timely replenishment can be performed.

[0019] Further, the obtaining the dispensing demand comprises: obtaining the medicine variety and the medicine quantity required in the prescription; and obtaining the dispensing demand based on the medicine variety and the medicine quantity.

[0020] In the above scheme, the pharmacy can be identified by an external device such as a code reader, so as to obtain the medicine variety and the medicine quantity required in the prescription; and then the dispensing demand can be obtained based on the medicine variety and the medicine quantity, and the corresponding instructions are generated to control the medicine conveying device, the medicine picking device and the medicine identification device to perform corresponding operations, so as to realize the dispensing of medicines.

[0021] Further, in the process of controlling the medicine picking device to pick the medicine on the medicine picking station in the picking state based on the dispensing demand, so that the medicine identification device identifies the medicine and feeds back a medicine picking success signal, if the medicine identification device identifies the medicine and feeds back a medicine picking failure signal, the medicine picking device is controlled to convey the medicine corresponding to the medicine picking failure signal to the recycling slide.

[0022] In the above scheme, the medicine identification device can identify abnormal medicines such as damaged barcodes and wrong medicine models, and automatically convey the abnormal medicines to the recycling slide for recycling, which is convenient for subsequent processing. This method can avoid the occurrence of medicine placement errors or defective medicines, and can improve user experience.

[0023] The present application also provides a multi-station medicine picking system, comprising a control device, a medicine picking device, a medicine conveying device, a medicine storage device, a medicine identification device and a plurality of medicine picking stations; the plurality of medicine picking stations comprise idle medicine picking stations and medicine picking stations in a picking state; wherein: the control device is used to obtain the dispensing demand and control the medicine picking device to pick the medicine on the medicine picking station in the picking state based on the dispensing demand, so that the medicine identification device identifies the medicine and feeds back a medicine picking success signal; at the same time, the control device is also used to control the medicine conveying device to convey the medicine from the medicine storage device to any idle medicine picking station, so as to make the idle medicine picking station enter the picking state, and wait for the medicine picking device to pick.

[0024] In the above scheme, the medicine picking system provided by the present application can convey medicines in other medicine picking stations synchronously in the process of medicine picking under the control of the control device, so as to ensure that the medicine picking device does not need to wait during the process of medicine picking, i.e. the medicine picking, identification and conveying can be performed synchronously through the multi-station setting, which significantly improves the dispensing efficiency of medicines and improves user experience.

[0025] Further, the multi-station medicine picking system further comprises a plurality of medicine dispensing slides, one medicine dispensing slide corresponding to one medicine dispensing demand; the control device is further configured to control the medicine picking device to pick the medicine on the medicine picking station in the picking state for multiple times based on the medicine dispensing demand, so that the medicine identification device identifies the medicine picked for multiple times respectively and feeds back corresponding picking success signals; based on the picking success signals, the control device controls the medicine picking device to transfer the medicine to the corresponding medicine dispensing slide in sequence.

[0026] Further, the multi-station medicine picking system further comprises an inventory checking device; the control device is further configured to control the medicine carrying device to carry the medicine on the idle medicine picking station to the medicine storage device; the idle medicine picking station is determined by conversion of the medicine picking station in any picking state when the medicine picking is completed; in the process that the control device controls the medicine carrying device to carry the medicine on the idle medicine picking station to the medicine storage device, the control device controls the inventory checking device to check the medicine, so that the inventory checking device feeds back the real-time medicine quantity and updates the medicine storage quantity in the medicine storage device based on the real-time medicine quantity.

[0027] Further, the medicine picking device adopts an electrically-powered gripper.

[0028] The above scheme adopts an electrically-powered gripper as the medicine picking device, which does not need a gas pump, various types of valve groups, and a gas pipe and other pneumatic devices, and has a simple overall structure. While simplifying the structure, the electrically-powered gripper can avoid the irritating pneumatic noise caused by the pneumatic gripper, and improve the adaptability and user experience of the system. BRIEF DESCRIPTION OF DRAWINGS

[0029] Figure 1 A multi-station medicine picking method flowchart is provided for an embodiment of the present application;

[0030] Figure 2 A multi-station medicine picking system module connection diagram is provided for an embodiment of the present application;

[0031] Figure 3 A double-station medicine picking system perspective diagram is provided for an embodiment of the present application;

[0032] Figure 4 A double-station medicine picking system front view is provided for an embodiment of the present application;

[0033] Figure 5 A double-station medicine picking system right view is provided for an embodiment of the present application;

[0034] Figure 6 A double-station medicine picking system top view is provided for an embodiment of the present application;

[0035] Wherein: 1, control device; 2, medicine sorting device; 3, medicine conveying device; 31, mechanical arm; 32, fork; 4, inventory checking device; 5, medicine identification device; 6, medicine storage device; 7, medicine sorting station; 8, pharmacy support; 9, recycling box; 10, medicine outlet box; 11, medicine outlet. DETAILED DESCRIPTION

[0036] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.

[0037] Please refer to Figure 1 The present embodiment provides a multi-station medicine sorting method, comprising the following steps:

[0038] Obtaining medicine dispensing demand;

[0039] Based on the medicine dispensing demand, the medicine sorting device is controlled to sort the medicine on the medicine sorting station in the sorting state, so that the medicine identification device identifies the medicine and feeds back a medicine sorting success signal;

[0040] Meanwhile, based on the medicine dispensing demand, the medicine conveying device is controlled to convey the medicine from the medicine storage device to any idle medicine sorting station, so that the idle medicine sorting station enters the sorting state, and waits for the medicine sorting device to sort.

[0041] The multi-station medicine sorting method provided by the present embodiment can convey medicine in other medicine sorting stations synchronously during the medicine sorting process, so as to ensure that the medicine sorting device does not need to wait during the medicine sorting process, i.e. through the multi-station setting, the medicine sorting, identification and conveying can be performed synchronously, which significantly improves the medicine dispensing efficiency and enhances the user experience.

[0042] It should be noted that for one medicine dispensing demand, through the cooperation of the medicine conveying device, the medicine sorting device and the medicine identification device, the entire medicine sorting process presents a cycle process of medicine conveying, medicine sorting, medicine identification and medicine storage, and then the medicine dispensing operation for the medicine dispensing demand is completed.

[0043] Further, the medicine dispensing demand has several, and for the same medicine of different medicine dispensing demands, the medicine sorting device is controlled based on the medicine dispensing demand to sort the medicine on the medicine sorting station in the sorting state, so that the medicine identification device identifies the medicine and feeds back a medicine sorting success signal, comprising:

[0044] The medicine dispensing device controls the medicine picking device to pick the medicine on the medicine picking station in multiple times based on the medicine dispensing demand, so that the medicine recognition device recognizes the medicine picked in multiple times and feeds back corresponding picking success signals;

[0045] Based on the picking success signals, the medicine dispensing device is controlled to transfer the medicine to corresponding medicine dispensing slides in sequence.

[0046] The embodiment can respond to multiple medicine dispensing demands simultaneously. Since the same medicine demand may exist in different medicine dispensing demands, the medicine picking device can pick multiple medicines in one time and dispense the medicines through corresponding medicine dispensing slides by picking a certain medicine on the medicine picking station in multiple times, thereby improving the medicine dispensing efficiency and avoiding the repeated medicine carrying process for picking the same medicine.

[0047] It should be noted that individual medicines may be special demands under different medicine dispensing demands. For these independently existing medicines, only one medicine picking needs to be performed. The picking method can greatly improve the medicine dispensing efficiency for the same medicines in multiple medicine dispensing demands.

[0048] Further, the multi-station medicine picking method further comprises: controlling the medicine carrying device to carry the medicine on the idle medicine picking station to the medicine storage device; the idle medicine picking station is determined by converting the medicine picking station in any picking state when the medicine picking is completed.

[0049] Further, the control of the medicine carrying device to carry the medicine on the idle medicine picking station to the medicine storage device comprises: controlling the inventory counting device to count the medicine, so that the inventory counting device feeds back the real-time medicine quantity; and updating the medicine storage quantity in the medicine storage device based on the real-time medicine quantity.

[0050] In the embodiment, the inventory counting device is arranged to conveniently count the medicine left after picking in the carrying process, so that the medicine storage quantity in the medicine storage device can be updated conveniently, and the medicine can be replenished in time when the medicine storage quantity is insufficient.

[0051] Further, the obtaining of the medicine dispensing demand comprises: obtaining the medicine types and the medicine quantity required in the prescription; and obtaining the medicine dispensing demand based on the medicine types and the medicine quantity.

[0052] In the embodiment, the pharmacy can be recognized by an external device such as a code reader, so that the medicine types and the medicine quantity required in the prescription can be obtained; and then the medicine dispensing demand can be obtained based on the medicine types and the medicine quantity, and the corresponding instructions are generated to control the medicine carrying device, the medicine picking device and the medicine recognition device to perform corresponding operations, thereby realizing the medicine dispensing.

[0053] Further, in the process that the medicine dispensing demand-based medicine picking device picks the medicine on the medicine picking station of the picking state, the medicine recognition device recognizes the medicine and feeds back a medicine picking success signal, if the medicine recognition device recognizes the medicine and feeds back a medicine picking failure signal, the medicine picking device carries the medicine corresponding to the medicine picking failure signal to the recovery slide.

[0054] In the embodiment, the medicine recognition device can recognize abnormal medicine such as damaged bar code and wrong medicine model, and automatically carries the abnormal medicine to the recovery slide for recovery, which is convenient for subsequent processing. The method can avoid the situation of wrong medicine placement or defective medicine, and can improve user experience.

[0055] Please refer to Figure 2 The embodiment further provides a multi-station medicine picking system, which comprises a control device 1, a medicine picking device 2, a medicine carrying device 3, a medicine storage device, a medicine recognition device 5 and a plurality of medicine picking stations; the plurality of medicine picking stations comprise idle medicine picking stations and medicine picking stations in a picking state; wherein: the control device 1 is used to acquire a medicine dispensing demand and control the medicine picking device 2 to pick the medicine on the medicine picking station in the picking state based on the medicine dispensing demand, so that the medicine recognition device 5 recognizes the medicine and feeds back a medicine picking success signal; at the same time, the control device 1 is also used to control the medicine carrying device 3 to carry the medicine from the medicine storage device to any idle medicine picking station, so that the idle medicine picking station enters the picking state, and waits for the medicine picking device 2 to pick.

[0056] The medicine picking system provided by the embodiment can carry the medicine in other medicine picking stations synchronously in the process of medicine picking under the control of the control device 1, so that the medicine picking device 2 does not need to wait during the process of medicine picking, that is, the medicine picking, recognition and carrying can be carried out synchronously through the multi-station setting, which significantly improves the medicine dispensing efficiency and improves user experience.

[0057] Further, the multi-station medicine picking system further comprises a plurality of medicine dispensing slides, one medicine dispensing slide corresponding to one medicine dispensing demand; the control device 1 is also used to control the medicine picking device 2 to pick the medicine on the medicine picking station in the picking state multiple times based on the medicine dispensing demand, so that the medicine recognition device 5 recognizes the medicine picked multiple times respectively and feeds back corresponding medicine picking success signals; based on the medicine picking success signals, the control device 1 controls the medicine picking device 2 to transfer the medicine to the corresponding medicine dispensing slide in sequence.

[0058] Further, the multi-station medicine picking system further comprises an inventory checking device 4; the control device 1 is further configured to control the medicine carrying device 3 to carry the medicine on the idle medicine picking station to the medicine storage device; the idle medicine picking station is determined by the conversion of the medicine picking station in any picking state when the medicine picking is completed; in the process that the control device 1 controls the medicine carrying device 3 to carry the medicine on the idle medicine picking station to the medicine storage device, the control device 1 is configured to control the inventory checking device 4 to check the medicine, so that the inventory checking device 4 feeds back the real-time medicine quantity and updates the medicine storage quantity in the medicine storage device based on the real-time medicine quantity.

[0059] Further, the medicine picking device 2 adopts an electric clamping jaw.

[0060] The embodiment adopts an electric clamping jaw as the medicine picking device 2, which does not need a gas pump, various valve groups, gas pipes and other pneumatic devices, and has a simple overall structure. While simplifying the structure, the embodiment can avoid the irritating pneumatic noise caused by the pneumatic clamping jaw, and improve the adaptability and user experience of the system.

[0061] In order to further illustrate the technical points of the present application and highlight its technical effects, the embodiment provides a double-station medicine picking system as shown in Figures 3-6 The system unifies the medicine picking device 2, the medicine carrying device 3, the inventory checking device 4, the medicine identification device 5, the medicine storage device 6, two medicine picking stations 7, the recycling box 9 and the medicine outlet box 10 on the pharmacy support 8, and can cyclically execute the above-mentioned medicine picking method under the control of the control device 1, thereby improving the integrity and flexibility of the medicine picking system, reducing the space occupied by the system, and facilitating the actual use of the medicine picking system. Among them:

[0062] It should be noted that the medicine can be stored by a tray, the tray is provided with a socket, and the medicine carrying device 3 can include a mechanical arm 31 and a fork 32. The control device 1 controls the movement of the mechanical arm 31, so that the mechanical arm 31 rotates and inserts the fork 32 into the socket of the tray when the mechanical arm 31 moves to a preset position, thereby achieving the carrying of the medicine. The medicine picking device 2 can be a four-axis electric clamping jaw, and the medicine storage device 6 can be a medicine shelf storage.

[0063] For details, please refer to Figure 3, four-axis electric clamping jaws are placed in the left area of the pharmacy support 8, and the medicine shelf storage is placed in the right area of the pharmacy support 8, which is divided into front and rear medicine shelf storage. The mechanical arm 31 and the fork 32 are installed between the front and rear medicine shelf storage. When the prescription contains multiple categories or multiple specifications of medicines, a cycle of medicine handling, sorting, category identification and inventory checking is formed between the mechanical arm 31, the fork 32, the two medicine sorting stations 7, the medicine identification device 5, the electric clamping jaw and the inventory checking device 4, realizing the continuous circulation of storing, handling, sorting, medicine identification and inventory checking of medicines. Not only greatly speeds up the dispensing speed and efficiency, improves the accuracy of dispensing categories, but also improves the accuracy of pharmacy inventory and the efficiency of inventory checking. The specific execution process of the system can be:

[0064] 1) The required medicine category and quantity of the prescription are identified by the code reader and other external devices to obtain the dispensing demand;

[0065] 2) The device 1 controls the identification of the required medicine quantity and the storage position of the medicine on the medicine shelf based on the dispensing demand;

[0066] 3) The mechanical arm 31 transports the medicine tray to the first medicine sorting station 7, and the inventory checking device 4 above the sorting station can be a checking camera for inventory rechecking and inventory verification; then the four-axis electric clamping jaw clamps the required medicine, and completes the clamping-lifting-moving to the medicine outlet 11 position-circumferential rotation. At the same time, the identification camera of the medicine identification device 5 installed on the left side of the medicine sorting station 7 performs image identification on the medicine to determine whether it is normal. Normal medicines are sent to the medicine box 10 through the front medicine outlet 11, and abnormal medicine bottles are sent to the recycling box 9 through the rear medicine outlet 11. Among them:

[0067] When the medicine clamping of the first medicine sorting station 7 is completed, the four-axis electric clamping jaw moves to the second medicine sorting station 7 and selects the next medicine. At this time, the space above the first medicine sorting station 7 is completely empty, and the top checking camera starts image recognition and checks the latest inventory quantity.

[0068] While the four-axis electric clamping jaw clamps the medicine of the first medicine sorting station 7, the mechanical arm 31 and the fork 32 transport the next medicine tray and place it in the second medicine sorting station 7. After the first medicine sorting station 7 completes the medicine taking and checks the latest inventory, the mechanical arm 31 and the fork 32 take away the medicine tray of the first medicine sorting station 7 and return it to the original medicine shelf storage.

[0069] In the embodiment, the mechanical arm 31 and the four-axis electric clamping jaw work independently, reducing mutual waiting, improving the efficiency of the mechanical arm 31 in taking and returning the medicine tray, and improving the efficiency of the four-axis electric clamping jaw in picking medicine; in combination with the cooperative work of the identification camera and the inventory camera, the picking efficiency of medicine is greatly improved.

[0070] It should be noted that the medicine identification device 5 can be an image recognition device such as a camera, which captures the image of the medicine being picked and performs image recognition, and sends a picking success signal to the control device 1 when it is determined to be a normal medicine, so that the control device 1 controls the medicine picking device 2 to transfer the medicine through the medicine outlet 11 and the medicine delivery chute to the medicine outlet box 10. When the entire medicine delivery requirement is delivered, the user can directly obtain the corresponding medicine from the medicine outlet box 10. If the medicine identification device 5 determines that the medicine is abnormal, it sends a picking failure signal to the control device 1, so that the control device 1 controls the medicine picking device 2 to transfer the medicine through the medicine outlet 11 and the recycling chute to the recycling box 9. The medicine outlet 11 of the recycling chute and the medicine delivery chute is independently provided.

[0071] In the embodiment, the system improves the accuracy of the medicine delivery category through the double recognition of the medicine category recognition of the medicine shelf storage and the image category recognition of the post-picking recognition camera; and improves the accuracy and efficiency of the pharmacy inventory through the double inventory of the medicine shelf storage inventory and the real-time inventory of the post-picking inventory camera through images.

[0072] The above describes the preferred embodiments of the present application. It should be noted that those skilled in the art can make some improvements and refinements without departing from the principles of the present application, and these improvements and refinements are also considered within the protection scope of the present application.

Claims

1. A multi-station pharmaceutical order picking method, characterized in that, The method comprises the following steps: acquiring dispensing requirements; controlling the medicine picking device to pick the medicine on the medicine picking station in the picking state based on the dispensing requirements, so that the medicine identification device identifies the medicine and feeds back a medicine picking success signal; the dispensing requirements are several, and for the same medicine of different dispensing requirements, the method comprises: controlling the medicine picking device to pick the medicine on the medicine picking station in the picking state multiple times based on the dispensing requirements, so that the medicine identification device identifies the medicine picked multiple times and feeds back the corresponding picking success signal; and based on the picking success signal, controlling the medicine picking device to transfer the medicine to the corresponding dispensing slide in turn; Meanwhile, based on the dispensing requirements, the medicine carrying device carries the medicine from the medicine storage device to any idle medicine picking station, so that the idle medicine picking station enters the picking state, and the medicine picking device picks the medicine. controlling the medicine carrying device to carry the medicine on the idle medicine picking station to the medicine storage device; the idle medicine picking station is determined by any medicine picking station in the picking state after the medicine picking is completed In the step of controlling the medicine carrying device to carry the medicine on the idle medicine picking station to the medicine storage device, the method comprises: controlling the inventory checking device to check the medicine, so that the inventory checking device feeds back the real-time medicine quantity; and based on the real-time medicine quantity, updating the medicine storage quantity in the medicine storage device. In the step of controlling the medicine picking device to pick the medicine on the medicine picking station in the picking state based on the dispensing requirements, so that the medicine identification device identifies the medicine and feeds back a medicine picking success signal, if the medicine identification device identifies the medicine and feeds back a medicine picking failure signal, the medicine picking device carries the medicine corresponding to the medicine picking failure signal to the recycling slide.

2. The multi-station pharmaceutical order picking method of claim 1, wherein, The method comprises the following steps: acquiring the medicine types and the medicine quantities required in the prescription; acquiring the dispensing requirements based on the medicine types and the medicine quantities.

3. A multi-station pharmaceutical order picking system, characterized in that, The method comprises the following steps: acquiring the medicine types and the medicine quantities required in the prescription; acquiring the dispensing requirements based on the medicine types and the medicine quantities. The method comprises the following steps: acquiring the medicine types and the medicine quantities required in the prescription; acquiring the dispensing requirements based on the medicine types and the medicine quantities. The method comprises the following steps: acquiring the medicine types and the medicine quantities required in the prescription; acquiring the dispensing requirements based on the medicine types and the medicine quantities.

4. The multi-station pharmaceutical order picking system of claim 3, wherein, The control device is further configured to control the medicine picking device to pick the medicine on the medicine picking station in the picking state for multiple times based on the medicine dispensing demand, so that the medicine identification device identifies the medicine picked for multiple times respectively and feeds back corresponding picking success signals; and based on the picking success signals, the control device controls the medicine picking device to transfer the medicine to the corresponding medicine dispensing slide one by one.

5. The multi-station pharmaceutical order picking system of claim 3, wherein, The control device is further configured to control the medicine carrying device to carry the medicine on the idle medicine picking station to the medicine storage device; the idle medicine picking station is determined by conversion of the medicine picking station in any picking state when the medicine picking is completed; and in the process of carrying the medicine on the idle medicine picking station to the medicine storage device by the medicine carrying device, the control device controls the inventory checking device to check the medicine, so that the inventory checking device feeds back a real-time medicine quantity and updates the medicine storage quantity in the medicine storage device based on the real-time medicine quantity.

6. The multi-station pharmaceutical order picking system of claim 3, wherein, The medicine picking device adopts an electrically-driven clamping jaw.

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