A method, system, medium, and terminal for dispensing a medicine box based on a power medicine slot

Abstract

The application discloses a medicine box distribution method and system based on a power medicine tank, a medium and a terminal, and comprises the following steps: traversing each medicine box category to be distributed in a received prescription sheet; if any power medicine tank corresponding to the current traversed category receives a medicine distribution instruction signal, detecting the first number of the medicine boxes built in the medicine tank in real time; if the first number is not less than the to-be-distributed number corresponding to the current traversed category, driving the push plate module of the medicine tank to positively push until the total number of the medicine boxes falling from the medicine tank is equal to the to-be-distributed number, then controlling the push plate module to stop moving, and completing the distribution of the medicine box of the current traversed category; wherein the medicine tank comprises two adjusting side plates arranged on both sides of the inside of the medicine tank and a brush arranged on the adjusting side plate, the distance between the two adjusting side plates is adjustable and is not less than the width of the medicine box built in the medicine tank. By using the application, the problem that the medicine boxes in the power medicine tank are prone to falling and causing difficulty in medicine box distribution during the medicine box distribution process can be prevented.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of medicine management, in particular to a medicine box dispensing method, system, medium and terminal based on a powered medicine slot. BACKGROUND

[0002] Automatic pharmacies are increasingly widely used in medical institutions, and their efficient, accurate and labor-saving characteristics have been increasingly recognized. Traditional manual dispensing methods have many limitations, such as slow dispensing speed, easy mistakes, and high labor intensity, and automatic pharmacies significantly improve these problems through automation technology. The core of the automatic pharmacy is its efficient medicine box storage and dispensing system, in which the powered medicine slot plays a crucial role. The powered medicine slot is responsible for storing medicines and dispensing medicine boxes as needed, and its performance directly affects the efficiency and accuracy of the entire automatic pharmacy system.

[0003] However, the powered medicine slots currently on the market have some technical challenges and limitations, mainly including the following aspects: (1) During the medicine pushing or medicine slot moving process, the medicine boxes are prone to tipping or mispositioning, which not only may cause damage to the medicine boxes, but also may cause dispensing errors, affecting patient medication safety; (2) The design of some automatic pharmacies is not optimized in terms of space utilization, resulting in limited storage capacity, which cannot meet the high-capacity needs of large medical institutions. SUMMARY

[0004] The embodiments of the present application provide a medicine box dispensing method, system, medium and terminal based on a powered medicine slot, which responds to received prescription sheets in real time to dispense medicine boxes, and uses the adjusting side plates with brushes on both sides of the powered medicine slot to prevent the medicine boxes in the powered medicine slot from tipping and causing dispensing difficulties, thereby ensuring the accuracy of medicine box dispensing.

[0005] To solve the above technical problems, the embodiments of the present application provide a medicine box dispensing method based on a powered medicine slot, comprising:

[0006] Based on the received prescription sheet, one or more medicine box types to be dispensed and the corresponding number of each medicine box type to be dispensed are obtained;

[0007] Each medicine box type in the prescription sheet is traversed, and if any powered medicine slot corresponding to the current traversed type receives a dispensing instruction signal, the first number of medicine boxes placed in the current powered medicine slot is detected in real time; wherein the current powered medicine slot includes a fixed side plate arranged on the bottom slide of the current powered medicine slot, two adjusting side plates arranged on both sides of the inside of the current powered medicine slot, and brushes arranged on the adjusting side plates, the distance between the two adjusting side plates is adjustable and not less than the width of the medicine boxes placed in the current powered medicine slot;

[0008] If the first number is not less than the to-be-dispensed number corresponding to the current traversal category, the push plate module of the current power medicine tank is driven to push forward, so that each medicine box placed in the current power medicine tank moves along the fixed side plate and towards the medicine outlet of the current power medicine tank in sequence, until the total number of medicine boxes dropped from the current power medicine tank is equal to the to-be-dispensed number corresponding to the current traversal category, and the movement of the push plate module of the current power medicine tank is controlled to stop, so as to complete the dispensing of the medicine boxes of the current traversal category.

[0009] In the embodiment of the present application, based on the received prescription, one or more to-be-dispensed medicine box categories and the to-be-dispensed number corresponding to each medicine box category are obtained, and then each medicine box category in the prescription is traversed. If any one of the power medicine tanks corresponding to the current traversal category receives a medicine dispensing instruction signal, the first number of medicine boxes placed in the current power medicine tank is detected in real time. If the first number is not less than the to-be-dispensed number corresponding to the current traversal category, the push plate module of the current power medicine tank is driven to push forward, so that each medicine box placed in the current power medicine tank moves along the fixed side plate and towards the medicine outlet of the current power medicine tank in sequence, thereby falling along the medicine outlet of the current power medicine tank in sequence, until the total number of medicine boxes dropped from the current power medicine tank is equal to the to-be-dispensed number corresponding to the current traversal category, and the movement of the push plate module of the current power medicine tank is controlled to stop, so as to complete the dispensing of the medicine boxes of the current traversal category. Thus, the total number of medicine boxes dropped from the current power medicine tank meets the demand of the prescription for the medicine boxes of the current traversal category, avoiding dispensing too few or too many medicine boxes. Through the above means, the medicine boxes can be quickly and accurately dispensed according to the prescription, reducing the leakage and error of medicine box dispensing, avoiding medicine waste caused by dispensing errors, and independently managing each medicine box category, which helps to track inventory and medicine box usage, and improves the fine management level of medicine boxes. In addition, the two sides of the interior of the power medicine tank are respectively provided with adjusting side plates with brushes. The brushes arranged on the two sides of the interior of the current power medicine tank can provide resistance to the medicine boxes placed in the current power medicine tank, so as to avoid the medicine boxes placed in the current power medicine tank from falling, accidentally falling or other abnormalities when the push plate module is driven or the current power medicine tank is moved, thereby ensuring the accuracy of medicine box dispensing, and the distance between the two adjusting side plates is adjustable, which can adaptively adjust the distance between the two adjusting side plates according to the width of the medicine boxes placed in the current power medicine tank, further preventing the medicine boxes placed in the current power medicine tank from falling, and maximizing the use of space.

[0010] As a preferred solution, if any one of the power medicine tanks corresponding to the current traversal category receives a medicine dispensing instruction signal, the first number of medicine boxes placed in the current power medicine tank is detected in real time, specifically as follows:

[0011] If any one of the power medicine tanks corresponding to the current traversal category receives a medicine dispensing instruction signal, the mechanical arm is controlled to hook the current power medicine tank and move the current power medicine tank from the original position to the target medicine dispensing position; wherein the target medicine dispensing position is located above the flow line.

[0012] The first number of medicine boxes placed in the current power medicine tank is detected in real time by using a laser sensor arranged on the mechanical arm.

[0013] According to the preferred scheme of the embodiment of the present application, if any one of the power medicine tanks corresponding to the current traversal category receives a medicine dispensing instruction signal, the mechanical arm is controlled to hook the current power medicine tank and move the current power medicine tank from the original position to the target medicine dispensing position, so that the power medicine tank is located above the flow line, thereby ensuring that the medicine boxes falling from the current power medicine tank can directly enter the flow line, further simplifying the dispensing and flow process of medicines, and only relying on the mechanical arm with hooking capability to move the power medicine tank can adapt to medicine tanks of different sizes and types, without being limited to a single specification of medicine tank. In addition, the first number of medicine boxes placed in the current power medicine tank is detected in real time by using a laser sensor arranged on the mechanical arm, which can provide high-precision medicine box quantity feedback for the system, so that the system can dynamically respond according to the actual inventory of the current power medicine tank, ensuring the accuracy of medicine box dispensing.

[0014] As a preferred scheme, after the first number of medicine boxes placed in the current power medicine tank is detected in real time if any one of the power medicine tanks corresponding to the current traversal category receives a medicine dispensing instruction signal, the method further comprises:

[0015] If the first number is less than the to-be-distributed number corresponding to the current traversal category, the to-be-distributed number corresponding to the current traversal category is iteratively processed, and the push plate module of the current power medicine tank is driven to move forward each time the iterative processing is performed, so that each medicine box placed in the current power medicine tank moves along the fixed side plate and towards the medicine outlet of the current power medicine tank in turn, and the total number of medicine boxes falling from the current power medicine tank is counted in real time, and the current to-be-distributed number is subtracted from the total number of medicine boxes falling from the current power medicine tank, and the subtraction result is taken as a new to-be-distributed number. When it is detected that there is no medicine box in the current power medicine tank and the current to-be-distributed number is not equal to zero, the push plate module of the current power medicine tank is controlled to stop moving, and the mechanical arm is controlled to hook and drag the current power medicine tank to the original position, and then a medicine sending instruction signal is sent to any other power medicine tank corresponding to the current traversal category, so that another power medicine tank receiving the medicine sending instruction signal is taken as the current power medicine tank, and then the mechanical arm is controlled to hook and move the current power medicine tank to the target medicine outlet position. When the current to-be-distributed number is equal to zero, the iteration is ended, and the push plate module of the current power medicine tank is controlled to stop moving, so as to complete the medicine box distribution of the current traversal category.

[0016] As a preferred solution of the embodiment of the present application, when any one of the power medicine tanks corresponding to the current traversal category receives the medicine sending instruction signal, if the first number of the medicine boxes placed in the current power medicine tank is less than the to-be-distributed number corresponding to the current traversal category, that is, the number of the medicine boxes placed in the current power medicine tank does not meet the distribution requirement of the current traversal category, the to-be-distributed number corresponding to the current traversal category is iteratively processed, and each time the iterative processing is performed, a power medicine tank corresponding to the current traversal category is called to control the medicine boxes placed in the current power medicine tank to fall from the current power medicine tank, and the total number of the medicine boxes falling from the current power medicine tank is counted in real time. Based on the real-time counting result, the to-be-distributed number is updated in real time. If the number of the medicine boxes in the current power medicine tank is insufficient, the system will automatically call another power medicine tank corresponding to the current traversal category to perform the medicine box distribution without waiting for the current power medicine tank to complete the medicine replenishment, so as to avoid the interruption of the medicine box distribution task and ensure the continuity and efficiency of the medicine box distribution process corresponding to the prescription. When the current to-be-distributed number is equal to zero, the iteration is ended, and the push plate of the current power medicine tank is controlled to stop moving, so as to complete the medicine box distribution of the current traversal category.

[0017] As a preferred solution, when it is detected that there is no medicine box in the current power medicine tank and the current to-be-distributed number is not equal to zero, the push plate module of the current power medicine tank is controlled to stop moving, and the mechanical arm is controlled to hook and drag the current power medicine tank to the original position, and then a medicine sending instruction signal is sent to any other power medicine tank corresponding to the current traversal category, so that another power medicine tank receiving the medicine sending instruction signal is taken as the current power medicine tank, and then the mechanical arm is controlled to hook and move the current power medicine tank to the target medicine outlet position. When the current to-be-distributed number is equal to zero, the iteration is ended, and the push plate module of the current power medicine tank is controlled to stop moving, so as to complete the medicine box distribution of the current traversal category.

[0018] If the current number of to-be-dispensed is not equal to zero when the front limit switch arranged at the medicine outlet of the current power medicine tank is triggered, the motor of the current power medicine tank is controlled to stop rotating, so that the push plate module of the current power medicine tank stops moving.

[0019] Alternatively, the first number of medicine boxes placed in the current power medicine tank is detected in real time by using the laser sensor arranged on the mechanical arm. If the current number of to-be-dispensed is not equal to zero when the first number of medicine boxes placed in the current power medicine tank is detected to be equal to zero, the push plate module of the current power medicine tank is controlled to stop moving.

[0020] According to the preferred embodiment of the present application, the front limit switch arranged at the medicine outlet of the current power medicine tank or the laser sensor arranged on the mechanical arm is used to detect whether there is still a medicine box in the current power medicine tank. If the current number of to-be-dispensed is not equal to zero when it is detected that there is no medicine box in the current power medicine tank, the push plate module of the current power medicine tank is controlled to stop moving. In this way, the push plate module of the current power medicine tank can be prevented from moving excessively, so that the medicine boxes are not dispensed too much or the push plate module is left in an abnormal position, thereby preventing the dispensing process of the medicine boxes from being affected.

[0021] As a preferred solution, before the first number of medicine boxes placed in the current power medicine tank is detected in real time if the power medicine tank corresponding to the current iteration category receives the medicine dispensing instruction signal, the method further comprises:

[0022] The second number of medicine boxes placed in each power medicine tank corresponding to the current iteration category is detected in real time. Then, the second numbers of medicine boxes placed in all power medicine tanks corresponding to the current iteration category are added, and the addition result is taken as a third number. It is determined whether the third number is less than the number of to-be-dispensed corresponding to the current iteration category.

[0023] If yes, the medicine supplementing process is performed on all power medicine tanks corresponding to the current iteration category.

[0024] If no, the medicine dispensing instruction signal is sent to any one of the power medicine tanks corresponding to the current iteration category.

[0025] As a preferred solution of the embodiment of the present application, before the first number of the medicine boxes placed in the current power medicine tank is detected in real time, the second number of the medicine boxes placed in each power medicine tank corresponding to the current category is detected in real time, then the second numbers of the medicine boxes placed in all the power medicine tanks corresponding to the current category are added, the addition result is taken as a third number, and whether the third number is less than the to-be-distributed number corresponding to the current category is judged. If the third number is less than the to-be-distributed number corresponding to the current category, it indicates that the total number of the medicine boxes placed in all the power medicine tanks corresponding to the current category cannot meet the distribution requirement of the current category, and the medicine supplementing process needs to be performed on all the power medicine tanks corresponding to the current category, so that the inventory number corresponding to the current category can meet the distribution requirement, avoiding long interruption due to insufficient inventory during the medicine box distribution process, and further improving the efficiency of the medicine box distribution. If the third number is not less than the to-be-distributed number corresponding to the current category, it indicates that the total number of the medicine boxes placed in all the power medicine tanks corresponding to the current category meets the distribution requirement of the current category, and the medicine dispensing instruction signal can be sent to any power medicine tank corresponding to the current category to perform the medicine box distribution process.

[0026] As a preferred solution, the medicine supplementing process performed on all the power medicine tanks corresponding to the current category is specifically:

[0027] sending a medicine supplementing instruction signal to all the power medicine tanks corresponding to the current category;

[0028] when the medicine supplementing instruction signal is received by any power medicine tank corresponding to the current category, the motor of the current power medicine tank is controlled to rotate, and the rotation of the motor of the current power medicine tank is used to drive the push plate module of the current power medicine tank to push backward, so that the push plate module of the current power medicine tank moves along the fixed side plate and away from the medicine outlet of the current power medicine tank until the push plate module of the current power medicine tank triggers a rear limit switch, then the motor of the current power medicine tank is controlled to stop rotating, so that the push plate module of the current power medicine tank stops moving, and a medicine supplementing reminding signal is sent; wherein the rear limit switch is arranged at one end of the current power medicine tank, and the medicine outlet of the current power medicine tank is arranged at the other end of the current power medicine tank;

[0029] After receiving the medicine supplement signal of any one power medicine tank, if the medicine supplement signal of the current power medicine tank is not received within a preset time, the motor of the current power medicine tank is controlled to rotate, and the rotation of the motor of the current power medicine tank is used to drive the push plate module of the current power medicine tank to push forward, so that each medicine box placed in the current power medicine tank moves along the fixed side plate and towards the medicine outlet of the current power medicine tank in turn until the arrival sensor senses the medicine box, and then the motor of the current power medicine tank is controlled to stop rotating, so that the push plate module of the current power medicine tank stops moving, and the medicine supplement process of the current power medicine tank is completed; wherein the distance between the arrival sensor and the medicine outlet of the current power medicine tank is greater than zero.

[0030] If it is detected in real time that the total number of medicine boxes placed in all power medicine tanks corresponding to the current traversal category is less than the number to be distributed corresponding to the current traversal category, i.e. the total number of medicine boxes placed in all power medicine tanks corresponding to the current traversal category cannot meet the distribution demand corresponding to the current traversal category, a medicine supplement instruction signal is sent to all power medicine tanks corresponding to the current traversal category, so that the power medicine tank receiving the medicine supplement instruction signal enters the medicine supplement process. When the power medicine tank enters the medicine supplement process, the motor of the current power medicine tank is controlled to rotate, and the rotation of the motor of the current power medicine tank is used to drive the push plate module of the current power medicine tank to push backward, so that the push plate module of the current power medicine tank moves along the fixed side plate and in the direction away from the medicine outlet of the current power medicine tank until the push plate of the current power medicine tank triggers the rear limit switch, and the rear limit switch and the medicine outlet are respectively arranged at two ends of the current power medicine tank, then the motor of the current power medicine tank is controlled to stop rotating, so that the push plate module of the current power medicine tank stops moving, sufficient medicine placing space is provided for the medicine supplement process of the current power medicine tank, and a medicine supplement reminder signal is sent to remind the system to automatically supplement medicine or remind the relevant management personnel to manually supplement medicine. In addition, after receiving the medicine supplement signal of any one power medicine tank, if the medicine supplement signal of the current power medicine tank is not received within a preset time, it indicates that the current power medicine tank has been supplemented at this time, and the current power medicine tank has not been supplemented for a long time. The motor of the current power medicine tank is controlled to rotate, and the rotation of the motor of the current power medicine tank is used to drive the push plate module of the current power medicine tank to push forward, so that each medicine box placed in the current power medicine tank moves along the fixed side plate and towards the medicine outlet of the current power medicine tank in turn until the arrival sensor senses the medicine box, and then the motor of the current power medicine tank is controlled to stop rotating, so that the push plate module of the current power medicine tank stops moving. Through the use of the arrival sensor, it is ensured that the medicine box can be accurately positioned, the situation that the medicine boxes are stacked or misaligned in the medicine tank is avoided, and the subsequent medicine box distribution operation is facilitated.

[0031] As a preferred solution, if the first number is not less than the to-be-dispensed number corresponding to the current traversal category, the pushing plate module of the current power medicine tank is driven to push forward, so that each medicine box placed in the current power medicine tank moves along the fixed side plate and towards the medicine outlet of the current power medicine tank in sequence, until the total number of medicine boxes dropped from the current power medicine tank is equal to the to-be-dispensed number corresponding to the current traversal category, the pushing plate module of the current power medicine tank is controlled to stop moving, to complete the dispensing of the medicine boxes of the current traversal category, specifically:

[0032] If the first number is not less than the to-be-dispensed number corresponding to the current traversal category, the motor of the current power medicine tank is controlled to rotate, and the pushing plate module of the current power medicine tank is driven to push forward by the rotation of the motor of the current power medicine tank, so that each medicine box placed in the current power medicine tank moves along the fixed side plate and towards the medicine outlet of the current power medicine tank in sequence.

[0033] During the process of driving the pushing plate module of the current power medicine tank to push forward, the counting sensor arranged at the medicine outlet of the current power medicine tank is used to count the total number of medicine boxes dropped from the current power medicine tank in real time, until the total number of medicine boxes dropped from the current power medicine tank is equal to the to-be-dispensed number corresponding to the current traversal category, the motor of the current power medicine tank is controlled to stop rotating, so that the pushing plate module of the current power medicine tank stops moving, to complete the dispensing of the medicine boxes of the current traversal category.

[0034] The preferred solution of the embodiment of the present application is implemented, when any one of the power medicine tanks corresponding to the current traversal category receives a medicine dispensing instruction signal, if the first number of the medicine boxes placed in the current power medicine tank is not less than the to-be-dispensed number corresponding to the current traversal category, the motor of the current power medicine tank is controlled to rotate, and the pushing plate module of the current power medicine tank is driven to push forward by the rotation of the motor of the current power medicine tank, so that each medicine box placed in the current power medicine tank moves along the fixed side plate and towards the medicine outlet of the current power medicine tank in sequence, and during the process of driving the pushing plate module of the current power medicine tank to push forward, the counting sensor arranged at the medicine outlet of the current power medicine tank is used to count the total number of medicine boxes dropped from the current power medicine tank in real time, until the total number of medicine boxes dropped from the current power medicine tank is equal to the to-be-dispensed number corresponding to the current traversal category, the motor of the current power medicine tank is controlled to stop rotating, so that the pushing plate module of the current power medicine tank stops moving, to ensure that the dispensing number of the medicine boxes corresponding to the current traversal category matches the to-be-dispensed number, and avoid the problems of less dispensing or more dispensing.

[0035] In order to solve the same technical problem, the embodiment of the present application also provides a medicine box dispensing system based on a power medicine tank, comprising:

[0036] The data acquisition module is configured to acquire one or more kinds of medicine boxes to be distributed and the corresponding number of the medicine boxes to be distributed based on the received prescription sheet.

[0037] The traversal detection module is configured to traverse each kind of medicine box in the prescription sheet, and detect the first number of the medicine boxes placed in the current power medicine groove in real time if any of the power medicine grooves corresponding to the current traversed kind receives the medicine dispensing instruction signal.

[0038] The medicine box dispensing module is configured to drive the push plate module of the current power medicine groove to move forward if the first number is not less than the number of the medicine boxes to be distributed corresponding to the current traversed kind, so that each of the medicine boxes placed in the current power medicine groove moves along the fixed side plate and towards the medicine outlet of the current power medicine groove in sequence until the total number of the medicine boxes dropped from the current power medicine groove is equal to the number of the medicine boxes to be distributed corresponding to the current traversed kind, and then control the push plate module of the current power medicine groove to stop moving to complete the dispensing of the medicine boxes of the current traversed kind.

[0039] To solve the same technical problem, the application further provides a computer readable storage medium comprising a stored computer program; wherein the computer readable storage medium controls the device where the computer readable storage medium is located to execute the power medicine groove based medicine box dispensing method when the computer program is running.

[0040] To solve the same technical problem, the application further provides a terminal comprising a processor, a memory and a computer program stored in the memory; wherein the computer program can be executed by the processor to realize the power medicine groove based medicine box dispensing method. BRIEF DESCRIPTION OF DRAWINGS

[0041] Figure 1 FIG. 1 is a flowchart of a power medicine groove based medicine box dispensing method provided by an embodiment of the application;

[0042] Figure 2 FIG. 2 is a structural diagram of a power medicine groove provided by the embodiment of the application;

[0043] Figure 3 FIG. 3 is a structural diagram of a power medicine groove based medicine box dispensing system provided by the embodiment of the application. DETAILED DESCRIPTION

[0044] With reference to the drawings of the embodiments of the present application, the technical solutions in the embodiments of the present application will be described clearly and completely. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments of the present application, all the other embodiments obtained by those skilled in the art without creative work fall within the scope of the present application.

[0045] Embodiment one:

[0046] Please refer to Figure 1 A medicine box dispensing method based on a power medicine tank is provided in the embodiments of the present application, and the method comprises steps S1 to S3, and each step is specifically as follows.

[0047] Step S1, based on the received prescription, one or more kinds of medicine boxes to be dispensed and the corresponding number of each kind of medicine box to be dispensed are obtained.

[0048] In this embodiment, the real-time response system receives the prescription dispensing signal, and based on the prescription dispensing signal, the corresponding prescription is obtained. The prescription includes but is not limited to the following information: one or more kinds of medicine boxes to be dispensed and the corresponding number of each kind of medicine box to be dispensed.

[0049] Step S2, each kind of medicine box in the prescription is traversed, and if any one of the power medicine tanks corresponding to the current traversed kind receives a dispensing instruction signal, the first number of the medicine boxes placed in the current power medicine tank is detected in real time.

[0050] In this embodiment, please refer to Figure 2 (a), the current power medicine tank comprises a fixed side plate 3-3 arranged on the bottom slide of the current power medicine tank, two adjusting side plates 3-1 arranged on both sides of the inside of the current power medicine tank, and a brush 3-2 arranged on the adjusting side plate 3-1, the distance between the two adjusting side plates 3-1 is adjustable and not less than the width of each medicine box placed in the current power medicine tank.

[0051] In this embodiment, please refer to Figure 2The power medicine tank includes: a motor module 1, a push plate module 2, a slide module 3 and a medicine checking support module 4. The motor module 1 is used to provide power; the push plate module 2 is used to push the medicine box to move; the slide module 3 is used to connect, guide and provide resistance to prevent the medicine box from falling; and the medicine checking support module 4 is used to count. The fixed side plate 3-3 is fixed on the bottom slide of the power medicine tank, the brush 3-2 can be fixed on the adjusting side plate 3-1, the adjusting side plate 3-1 has a U-shaped hole, so that the distance between the two adjusting side plates 3-1 installed on the fixed side plate 3-3 can be adjusted, the distance between the two adjusting side plates 3-1 of the slide can be adjusted according to the width of the medicine box, so that the brush 3-2 can be in contact with the medicine box to provide damping to prevent the medicine box from falling during the medicine pushing process, and the width size of the power medicine tank can also be reduced to maximize the use of space.

[0052] It should be noted that, please refer to Figure 2 The motor module 1 includes: a motor 1-1, a driving pulley 1-2, a motor support 1-3, a cover plate 1-4, a power taking spring 1-5 and a rear limit switch 1-6. The power taking spring 1-5 is used to take power from the external conductive strip, and such a plug structure can maintain the stability of power supply; the motor 1-1 is fixed on the motor support 1-3 by screws, the motor shaft is provided with the driving pulley 1-2, and the cover plate 1-4 is connected with the motor support 1-3 by buckling. Please refer to Figure 2 The push plate module 2 includes: a push plate 2-1, a push plate adjusting block 2-2, a push plate base 2-3 and a spring 2-4, and the push plate 2-1 is fixed on the push plate base 2-3. The push plate adjusting block 2-2 is designed to have a blind hole and a shaft designed on the push plate base 2-3 to form a rotary hinge connection, so that the push plate adjusting block 2-2 can rotate around the rotary shaft, one side of the push plate adjusting block 2-2 is designed as a toothed surface for matching with a synchronous belt, the synchronous belt is placed on the toothed surface of the push plate adjusting block 2-2 and the inner surface of the push plate fixing plate, there is a spring 2-4 between the push plate adjusting block 2-2 and the push plate fixing base 2-3, the spring force of the spring 2-4 makes the toothed surface of the push plate adjusting block 2-2 press the synchronous belt against the inner surface of the push plate fixing base 2-3, and when the synchronous belt moves, it drives the push plate 2-1 to move forward or reversely. In addition, since the push plate adjusting block 2-2 can rotate, when the push plate adjusting block 2-2 is rotated, the toothed surface of the push plate adjusting block 2-2 is out of contact with the synchronous belt, at this time, the push plate 2-1 can be manually pushed to move, so that the push plate module 2 has the function of manual and electric switching. Please refer to Figure 2The detection medicine support module 4 includes a detection medicine support 4-1, a position sensor 4-2, a counting sensor 4-3, a driven wheel fixing seat 4-4, a driven wheel 4-5, a detection medicine support cover plate 4-6, and a front limit switch 4-7. The driven wheel 4-5 is hingedly connected in the inner hole of the driven wheel fixing seat 4-4 through a rotating shaft, and the position of the driven wheel fixing seat 4-4 is adjusted by screw tensioning. The position sensor 4-2 is used to stop the motor rotation, the counting sensor 4-3 is used to record the number of medicine boxes dropped from the medicine tank, and the front limit switch 4-7 is used to stop the motor movement when there is no medicine box in the medicine tank.

[0053] In the embodiment, each medicine box category in the prescription list is traversed, all power medicine tanks corresponding to the current traversed category are screened from the pharmacy, and all power medicine tanks corresponding to the current traversed category are controlled to enter a working state. Each power medicine tank corresponding to the current traversed category is used to place a medicine box corresponding to the current traversed category. After all power medicine tanks corresponding to the current traversed category enter the working state, steps S01 to S03 are executed to first determine whether all power medicine tanks corresponding to the current traversed category are insufficient in stock, and if so, the power medicine tanks need to be replenished with medicine.

[0054] As a preferred solution, in the process of traversing each medicine box category in the prescription list, before the step of “if any one of the power medicine tanks corresponding to the current traversed category receives a medicine dispensing instruction signal, then the first number of medicine boxes placed in the current power medicine tank is detected in real time”, steps S01 to S03 are further included, and each step is specifically as follows:

[0055] Step S01, the second number of medicine boxes placed in each power medicine tank corresponding to the current traversed category is detected in real time, then the second numbers of medicine boxes placed in all power medicine tanks corresponding to the current traversed category are added, the addition result is taken as a third number, and it is determined whether the third number is less than the to-be-dispensed number corresponding to the current traversed category; if so, step S02 is executed; if not, step S03 is executed.

[0056] Step S02, the power medicine tanks corresponding to the current traversed category are replenished with medicine.

[0057] As a preferred solution, step S02 includes steps S021 to S023, and each step is specifically as follows:

[0058] Step S021, a medicine replenishing instruction signal is sent to all power medicine tanks corresponding to the current traversed category.

[0059] Step S022, when the current power medicine tank receives the replenishment medicine instruction signal, the motor of the current power medicine tank is controlled to rotate, and the push plate module of the current power medicine tank is driven to move backward by the rotation of the motor of the current power medicine tank, so that the push plate module of the current power medicine tank moves along the fixed side plate and away from the medicine outlet of the current power medicine tank until the rear limit switch is triggered, then the motor of the current power medicine tank is controlled to stop rotating, so that the push plate module of the current power medicine tank stops moving, and a replenishment medicine reminder signal is sent.

[0060] The rear limit switch is arranged at one end of the current power medicine tank, and the medicine outlet of the current power medicine tank is arranged at the other end of the current power medicine tank.

[0061] It should be noted that after sending the replenishment medicine instruction signal to all power medicine tanks corresponding to the current traversal category, the power medicine tank corresponding to the current traversal category may not receive the replenishment medicine instruction signal. If the power medicine tank corresponding to the current traversal category does not receive the replenishment medicine instruction signal within a set time, the system sends a prompt signal of insufficient inventory through the current power medicine tank, so that the system returns to execute step S01.

[0062] Step S023, after receiving the replenishment medicine signal of any one power medicine tank, if the replenishment medicine signal of the current power medicine tank is not received within a predetermined time, the motor module of the current power medicine tank is powered on to control the motor of the current power medicine tank to rotate, and the push plate module of the current power medicine tank is driven to move forward by the rotation of the motor of the current power medicine tank, so that each medicine box placed in the current power medicine tank moves along the fixed side plate and towards the medicine outlet of the current power medicine tank in turn until the in-place sensor senses the existence of the medicine box, then the motor of the current power medicine tank is controlled to stop rotating, so that the push plate module of the current power medicine tank stops moving, and the replenishment medicine processing of the current power medicine tank is completed.

[0063] The distance between the in-place sensor and the medicine outlet of the current power medicine tank is greater than zero.

[0064] As an example, traverse each medicine box category in the prescription sheet, first detect the second number of the medicine boxes placed in each power medicine tank corresponding to the current traversed category in real time, then add the second number of all the medicine boxes placed in the power medicine tank corresponding to the current traversed category, and the addition result is 2 boxes, that is, the third number is 2 boxes, and the to-be-dispensed number corresponding to the current traversed category is 3 boxes, obviously, the third number is less than the to-be-dispensed number corresponding to the current traversed category, so the replenishment instruction signal is sent to all the power medicine tanks corresponding to the current traversed category, that is, the power medicine tank A, the power medicine tank B and the power medicine tank C. At this time, taking the power medicine tank B as an example, when the power medicine tank B receives the replenishment instruction signal, the motor of the power medicine tank B is controlled to rotate, and the rotation of the motor of the power medicine tank B is used to drive the push plate module of the power medicine tank B to push backward, so that the push plate module of the power medicine tank B moves along the fixed side plate and away from the medicine outlet of the power medicine tank B, until the push plate module of the power medicine tank B triggers the rear limit switch, then the motor of the power medicine tank B is controlled to stop rotating, so that the push plate module of the power medicine tank B stops moving, and a replenishment reminder signal is sent. Based on the replenishment reminder signal of the power medicine tank B, the system automatically replenishes the power medicine tank B, or the relevant management personnel manually replenishes the power medicine tank B, so as to receive the replenishment signal of the power medicine tank B. After receiving the replenishment signal of the power medicine tank B, if the replenishment signal of the power medicine tank B has not been received for a period of time, it indicates that the system or the relevant management personnel has not implemented the replenishment operation on the power medicine tank B for a period of time after one or more times of replenishment, so the motor module of the power medicine tank B is powered on, so as to use the rotation of the motor of the power medicine tank B to drive the push plate module of the power medicine tank B to push forward, so that each medicine box placed in the power medicine tank B moves along the fixed side plate and towards the medicine outlet of the power medicine tank B in turn, until the to-be-positioned sensor near the medicine outlet can sense the existence of the medicine box, indicating that the medicine boxes placed in the power medicine tank B have been as close to the medicine outlet of the power medicine tank B as possible, facilitating subsequent medicine box dispensing.

[0065] Step S03, sending a medicine dispensing instruction signal to any one power medicine tank corresponding to the current traversed category.

[0066] As a preferred solution, step S2 includes steps S21 to S22, and each step is specifically as follows:

[0067] Step S21, if any one power medicine tank corresponding to the current traversed category receives the medicine dispensing instruction signal, control the mechanical arm to hook the current power medicine tank and move the current power medicine tank from the original position to the target medicine dispensing position.

[0068] Wherein, the target medicine dispensing position is located above the flow line.

[0069] It should be noted that moving the current power medicine tank from the original position to above the flow line can make the medicine box falling from the current power medicine tank fall to the flow line, and then move to the medicine outlet of the pharmacy along the flow line.

[0070] In step S22, the first number of the medicine boxes placed in the current power medicine tank is detected in real time by using the laser sensor arranged on the mechanical arm.

[0071] In step S3, if the first number is not less than the to-be-distributed number corresponding to the current traversal category, the push plate module of the current power medicine tank is driven to push forward, so that each medicine box placed in the current power medicine tank moves along the fixed side plate and towards the medicine outlet of the current power medicine tank in sequence, until the total number of the medicine boxes falling from the current power medicine tank is equal to the to-be-distributed number corresponding to the current traversal category, and then the movement of the push plate module of the current power medicine tank is controlled to stop, so as to complete the distribution of the medicine boxes of the current traversal category.

[0072] As a preferred solution, step S3 includes steps S31 to S32, and each step is specifically as follows:

[0073] In step S31, if the first number is not less than the to-be-distributed number corresponding to the current traversal category, the motor of the current power medicine tank is controlled to rotate, and the rotation of the motor of the current power medicine tank is used to drive the push plate module of the current power medicine tank to push forward, so that each medicine box placed in the current power medicine tank moves along the fixed side plate and towards the medicine outlet of the current power medicine tank in sequence.

[0074] In step S32, during the process of driving the push plate module of the current power medicine tank to push forward, the total number of the medicine boxes falling from the current power medicine tank is counted in real time by using the counting sensor arranged at the medicine outlet of the current power medicine tank, until the total number of the medicine boxes falling from the current power medicine tank is equal to the to-be-distributed number corresponding to the current traversal category, and then the rotation of the motor of the current power medicine tank is controlled to stop, so as to make the push plate module of the current power medicine tank stop moving and complete the distribution of the medicine boxes of the current traversal category.

[0075] It should be noted that during the process of driving the push plate module of the current power medicine tank to push forward, when a medicine box falls from the current power medicine tank and passes through the sensing range of the counting sensor, the counting sensor counts “one box falling to the ground” and counts the total number of the medicine boxes falling from the current power medicine tank.

[0076] As a preferred solution, the medicine box distribution method based on the power medicine tank provided by the embodiment of the present application further includes step S4 after step S2, and step S4 is specifically as follows:

[0077] Step S4, if the first number is less than the to-be-distributed number corresponding to the current iteration category, the to-be-distributed number corresponding to the current iteration category is iteratively processed, and the push plate module of the current power medicine tank is driven to move forward each time the iteration processing is performed, so that each medicine box placed in the current power medicine tank moves in turn along the fixed side plate and towards the medicine outlet of the current power medicine tank, and the total number of medicine boxes falling from the current power medicine tank is counted in real time, while the to-be-distributed number corresponding to the current iteration category is reduced by the total number of medicine boxes falling from the current power medicine tank, and the result of the subtraction is taken as a new to-be-distributed number. When it is detected that there is no medicine box in the current power medicine tank, if the current to-be-distributed number is not equal to zero, the push plate module of the current power medicine tank is controlled to stop moving, the mechanical arm is controlled to hook and drag the current power medicine tank to the original position, and then a medicine sending instruction signal is sent to any other power medicine tank corresponding to the current iteration category, so that another power medicine tank receiving the medicine sending instruction signal is taken as the current power medicine tank. Then the mechanical arm is controlled to hook and move the current power medicine tank to the target medicine outlet position. When the current to-be-distributed number is equal to zero, the iteration is ended, and the push plate module of the current power medicine tank is controlled to stop moving, so as to complete the medicine box distribution of the current iteration category.

[0078] As a preferred solution, the process mentioned in step S4, "if the current to-be-distributed number is not equal to zero when it is detected that there is no medicine box in the current power medicine tank, the push plate module of the current power medicine tank is controlled to stop moving", can include step S41, or can also include step S42, and each step is specifically as follows:

[0079] Step S41, if the current to-be-distributed number is not equal to zero when the push plate module of the current power medicine tank triggers the front limit switch, it indicates that there is no medicine box in the current power medicine tank and the currently distributed medicine box does not meet the medicine box distribution demand corresponding to the previous iteration category, so the motor of the current power medicine tank is controlled to stop rotating, so that the push plate module of the current power medicine tank stops moving.

[0080] Among them, the front limit switch is arranged at the medicine outlet of the current power medicine tank.

[0081] Step S42, the first number of medicine boxes placed in the current power medicine tank is detected in real time by using the laser sensor arranged on the mechanical arm. If the current to-be-distributed number is not equal to zero when it is detected that the first number of medicine boxes placed in the current power medicine tank is equal to zero, it also indicates that there is no medicine box in the current power medicine tank and the currently distributed medicine box does not meet the medicine box distribution demand corresponding to the previous iteration category, so the push plate module of the current power medicine tank is controlled to stop moving.

[0082] Please refer to Figure 3A structural schematic diagram of a medicine box distribution system based on a power medicine tank is provided for an embodiment of the present application, and the system comprises a data acquisition module M1, a traversal detection module M2 and a medicine box distribution module M3, and each module is specifically as follows:

[0083] The data acquisition module M1 is configured to acquire one or more medicine box types to be distributed and the corresponding to-be-distributed number of each medicine box type based on a received prescription sheet.

[0084] The traversal detection module M2 is configured to traverse each medicine box type in the prescription sheet, and if any power medicine tank corresponding to the current traversed type receives a medicine dispensing instruction signal, the first number of medicine boxes placed in the current power medicine tank is detected in real time, wherein the current power medicine tank comprises a fixed side plate arranged on the bottom slide of the current power medicine tank, two adjusting side plates arranged on the inner side of the current power medicine tank, and a brush arranged on the adjusting side plate, the distance between the two adjusting side plates is adjustable and is not less than the width of the medicine boxes placed in the current power medicine tank.

[0085] The medicine box distribution module M3 is configured to drive the push plate module of the current power medicine tank to push forward if the first number is not less than the to-be-distributed number corresponding to the current traversed type, so that each medicine box placed in the current power medicine tank moves along the fixed side plate and towards the medicine outlet of the current power medicine tank in sequence, until the total number of medicine boxes dropped from the current power medicine tank is equal to the to-be-distributed number corresponding to the current traversed type, and then the push plate module of the current power medicine tank is controlled to stop moving, so as to complete the medicine box distribution of the current traversed type.

[0086] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working process of the above-described system can refer to the corresponding process in the foregoing method embodiment, which will not be described here.

[0087] The embodiment of the present application further provides a computer readable storage medium, which comprises a stored computer program; wherein when the computer program runs, the computer readable storage medium controls the device where the computer readable storage medium is located to execute the medicine box distribution method based on a power medicine tank described in embodiment one.

[0088] The embodiment of the present application further provides a terminal, which comprises a processor, a memory and a computer program stored in the memory; wherein the computer program can be executed by the processor to realize the medicine box distribution method based on a power medicine tank described in embodiment one.

[0089] Preferably, the computer program can be divided into one or more modules / units (such as computer programs, computer programs), one or more modules / units are stored in the memory and executed by the processor to complete the present application. One or more modules / units can be a series of computer program instructions capable of completing a specific function, which is used to describe the execution process of the computer program in the terminal.

[0090] The processor can be a central processing unit (CPU), and can also be other general-purpose processors, digital signal processors (DSP), application specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor can be a microprocessor, or the processor can also be any conventional processor. The processor is the control center of the terminal, and connects various parts of the terminal through various interfaces and lines.

[0091] The memory mainly includes a program storage area and a data storage area, wherein the program storage area can store an operating system, at least one application program required by a function, etc., and the data storage area can store related data, etc. In addition, the memory can be a high-speed random access memory, and can also be a non-volatile memory, such as a plug-in hard disk, a smart media card (SMC), a secure digital (SD) card, a flash card, etc., or the memory can also be other volatile solid-state storage devices.

[0092] It should be noted that the above terminal can include, but is not limited to, the processor and the memory. Those skilled in the art can understand that the above terminal is only an example and does not constitute a limitation on the terminal, and can include more or fewer components, or combine certain components, or different components.

[0093] Compared with the prior art, the embodiments of the present application have the following beneficial effects:

[0094] The application provides a medicine box dispensing method and system based on power medicine tanks, a terminal and a medium. Based on a received prescription, one or more types of medicine boxes to be dispensed and the number of each type of medicine box to be dispensed are obtained. Then, each type of medicine box in the prescription is traversed. If any power medicine tank corresponding to the current traversed type receives a dispensing instruction signal, the first number of medicine boxes placed in the current power medicine tank is detected in real time. If the first number is not less than the number of the current traversed type to be dispensed, the push plate of the current power medicine tank is driven to push forward, so that each medicine box placed in the current power medicine tank moves along the fixed side plate and towards the medicine outlet of the current power medicine tank, thereby falling along the medicine outlet of the current power medicine tank in sequence until the total number of medicine boxes falling from the current power medicine tank is equal to the number of the current traversed type to be dispensed. Then, the movement of the push plate of the current power medicine tank is stopped to complete the dispensing of the medicine box of the current traversed type, so that the total number of medicine boxes falling from the current power medicine tank meets the demand of the prescription for the medicine box of the current traversed type, avoiding dispensing too few or too many medicine boxes. Through the above means, the medicine box can be quickly and accurately dispensed according to the prescription, reducing the missing and wrong dispensing of medicine boxes, avoiding medicine waste caused by dispensing errors, and independently managing each type of medicine box, which helps to track inventory and medicine box usage and improves the fine management level of medicine boxes. In addition, adjusting side plates with brushes are arranged on both sides of the interior of the power medicine tank. The brushes arranged on both sides of the interior of the current power medicine tank can provide resistance to the medicine boxes placed in the current power medicine tank to avoid dispensing difficulties caused by the medicine boxes placed in the current power medicine tank falling, accidentally falling and other abnormalities when the push plate is driven or the current power medicine tank is moved, thereby ensuring the accuracy of medicine box dispensing. The distance between the two adjusting side plates is adjustable, and the distance between the two adjusting side plates can be adaptively adjusted according to the width of the medicine boxes placed in the current power medicine tank, which can further prevent the medicine boxes placed in the current power medicine tank from falling and maximize the use of space.

[0095] The above specific embodiments further illustrate the purpose, technical solutions and advantages of the application. It should be understood that the above description is only a specific embodiment of the application and is not intended to limit the protection scope of the application. Any modification, equivalent replacement, improvement, etc. made by those skilled in the art within the spirit and principles of the application should be included in the protection scope of the application.

Claims

1. A method of dispensing a medicine box based on a power medicine tank, characterized by, The application relates to a method for dispensing medicine boxes based on a prescription, and belongs to the field of medicine dispensing. Based on the received prescription, one or more medicine box types to be dispensed and the corresponding to-be-dispensed number of each medicine box type are obtained; If any one of the power medicine slots corresponding to the current iteration type receives a medicine dispensing instruction signal, the first number of the medicine boxes placed in the current power medicine slot is detected in real time, specifically: if any one of the power medicine slots corresponding to the current iteration type receives a medicine dispensing instruction signal, the mechanical arm is controlled to hook the current power medicine slot and move the current power medicine slot from the original position to the target medicine dispensing position; wherein the target medicine dispensing position is located above the flow line; the first number of the medicine boxes placed in the current power medicine slot is detected in real time by using the laser sensor arranged on the mechanical arm; wherein the current power medicine slot comprises a fixed side plate arranged on the bottom slide of the current power medicine slot, two adjusting side plates arranged on the two sides of the interior of the current power medicine slot, and a brush arranged on the adjusting side plate, the distance between the two adjusting side plates is adjustable and is not less than the width of the medicine boxes placed in the current power medicine slot; Before the first number of the medicine boxes placed in the current power medicine slot is detected in real time, the second number of the medicine boxes placed in each power medicine slot corresponding to the current iteration type is detected in real time, then the second numbers of the medicine boxes placed in all the power medicine slots corresponding to the current iteration type are added, the addition result is taken as the third number, and whether the third number is less than the to-be-dispensed number corresponding to the current iteration type is judged; if yes, the medicine supplementing treatment is performed on all the power medicine slots corresponding to the current iteration type; if no, the medicine dispensing instruction signal is sent to any one of the power medicine slots corresponding to the current iteration type; If the first number is not less than the to-be-dispensed number corresponding to the current iteration type, the push plate module of the current power medicine slot is driven to push forward, so that each medicine box placed in the current power medicine slot moves along the fixed side plate and towards the medicine outlet of the current power medicine slot in sequence, until the total number of the medicine boxes dropped from the current power medicine slot is equal to the to-be-dispensed number corresponding to the current iteration type, then the movement of the push plate module of the current power medicine slot is stopped, so that the medicine box dispensing of the current iteration type is completed.

2. A method of dispensing a cartridge based on power tank as claimed in claim 1, wherein, After the first number of the medicine boxes placed in the current power medicine slot is detected in real time if any one of the power medicine slots corresponding to the current iteration type receives a medicine dispensing instruction signal, the following steps are further included: if the first number is less than the to-be-dispensed number corresponding to the current traversal category, the to-be-dispensed number corresponding to the current traversal category is iteratively processed, the push plate module of the current power medicine tank is driven to move forward each time the iterative processing is performed, so that each medicine box placed in the current power medicine tank moves along the fixed side plate and towards the medicine outlet of the current power medicine tank in turn, and the total number of medicine boxes falling from the current power medicine tank is counted in real time, while the current to-be-dispensed number is subtracted from the total number of medicine boxes falling from the current power medicine tank, and the subtraction result is taken as a new to-be-dispensed number, and if the current to-be-dispensed number is not equal to zero when it is detected that there is no medicine box in the current power medicine tank, the push plate module of the current power medicine tank is controlled to stop moving, the mechanical arm is controlled to hook and drag the current power medicine tank to the original position, and then a medicine dispensing instruction signal is sent to any other power medicine tank corresponding to the current traversal category, so that another power medicine tank receiving the medicine dispensing instruction signal is taken as the current power medicine tank, and then the mechanical arm is controlled to hook and move the current power medicine tank to the target medicine dispensing position, until the current to-be-dispensed number is equal to zero, the iterative processing is ended, and the push plate module of the current power medicine tank is controlled to stop moving, so as to complete the dispensing of the medicine boxes of the current traversal category.

3. A method of dispensing a cartridge based on power tank as claimed in claim 2, wherein, If the first number is less than the to-be-dispensed number corresponding to the current traversal category, the to-be-dispensed number corresponding to the current traversal category is iteratively processed, the push plate module of the current power medicine tank is driven to move forward each time the iterative processing is performed, so that each medicine box placed in the current power medicine tank moves along the fixed side plate and towards the medicine outlet of the current power medicine tank in turn, and the total number of medicine boxes falling from the current power medicine tank is counted in real time, while the current to-be-dispensed number is subtracted from the total number of medicine boxes falling from the current power medicine tank, and the subtraction result is taken as a new to-be-dispensed number, and if the current to-be-dispensed number is not equal to zero when it is detected that there is no medicine box in the current power medicine tank, the push plate module of the current power medicine tank is controlled to stop moving, the mechanical arm is controlled to hook and drag the current power medicine tank to the original position, and then a medicine dispensing instruction signal is sent to any other power medicine tank corresponding to the current traversal category, so that another power medicine tank receiving the medicine dispensing instruction signal is taken as the current power medicine tank, and then the mechanical arm is controlled to hook and move the current power medicine tank to the target medicine dispensing position, until the current to-be-dispensed number is equal to zero, the iterative processing is ended, and the push plate module of the current power medicine tank is controlled to stop moving, so as to complete the dispensing of the medicine boxes of the current traversal category. If the first number is less than the to-be-dispensed number corresponding to the current traversal category, the to-be-dispensed number corresponding to the current traversal category is iteratively processed, the push plate module of the current power medicine tank is driven to move forward each time the iterative processing is performed, so that each medicine box placed in the current power medicine tank moves along the fixed side plate and towards the medicine outlet of the current power medicine tank in turn, and the total number of medicine boxes falling from the current power medicine tank is counted in real time, while the current to-be-dispensed number is subtracted from the total number of medicine boxes falling from the current power medicine tank, and the subtraction result is taken as a new to-be-dispensed number, and if the current to-be-dispensed number is not equal to zero when it is detected that there is no medicine box in the current power medicine tank, the push plate module of the current power medicine tank is controlled to stop moving, the mechanical arm is controlled to hook and drag the current power medicine tank to the original position, and then a medicine dispensing instruction signal is sent to any other power medicine tank corresponding to the current traversal category, so that another power medicine tank receiving the medicine dispensing instruction signal is taken as the current power medicine tank, and then the mechanical arm is controlled to hook and move the current power medicine tank to the target medicine dispensing position, until the current to-be-dispensed number is equal to zero, the iterative processing is ended, and the push plate module of the current power medicine tank is controlled to stop moving, so as to complete the dispensing of the medicine boxes of the current traversal category. ​ 4. A method of dispensing a cartridge based on power tank as claimed in claim 1, wherein, ​ ​ ​ After receiving the medicine supplement signal of any one power medicine tank, if the medicine supplement signal of the current power medicine tank is not received within the preset time, the motor of the current power medicine tank is controlled to rotate, and the rotation of the motor of the current power medicine tank is used to drive the push plate module of the current power medicine tank to move forward, so that each medicine box placed in the current power medicine tank moves along the fixed side plate and towards the medicine outlet of the current power medicine tank in sequence until the in-place sensor senses the medicine box, and then the motor of the current power medicine tank is controlled to stop rotating, so that the push plate module of the current power medicine tank stops moving, and the medicine supplement process of the current power medicine tank is completed; wherein the distance between the in-place sensor and the medicine outlet of the current power medicine tank is greater than zero.

5. A method of dispensing a cartridge based on power tank as claimed in claim 1, wherein, If the first number is not less than the to-be-distributed number corresponding to the current iteration category, the push plate module of the current power medicine tank is driven to move forward, so that each medicine box placed in the current power medicine tank moves along the fixed side plate and towards the medicine outlet of the current power medicine tank in sequence until the total number of medicine boxes falling from the current power medicine tank is equal to the to-be-distributed number corresponding to the current iteration category, and then the push plate module of the current power medicine tank is controlled to stop moving to complete the distribution of the medicine boxes of the current iteration category, specifically: If the first number is not less than the to-be-distributed number corresponding to the current iteration category, the motor of the current power medicine tank is controlled to rotate, and the rotation of the motor of the current power medicine tank is used to drive the push plate module of the current power medicine tank to move forward; During the process of driving the push plate module of the current power medicine tank to move forward, the counting sensor arranged at the medicine outlet of the current power medicine tank is used to count the total number of medicine boxes falling from the current power medicine tank in real time, and when the total number of medicine boxes falling from the current power medicine tank is equal to the to-be-distributed number corresponding to the current iteration category, the motor of the current power medicine tank is controlled to stop rotating, so that the push plate module of the current power medicine tank stops moving, and the distribution of the medicine boxes of the current iteration category is completed.

6. A power pod based medicine box dispensing system suitable for a power pod based medicine box dispensing method, characterized in that, Comprise: A data acquisition module is configured to acquire one or more to-be-distributed medicine box categories and a to-be-distributed number corresponding to each medicine box category based on a received prescription. The detection module is used to traverse each medicine box category in the prescription list, and if any one of the dynamic medicine slots corresponding to the current traversed category receives a medicine dispensing instruction signal, the first number of the medicine boxes placed in the current dynamic medicine slot is detected in real time. Specifically, if any one of the dynamic medicine slots corresponding to the current traversed category receives a medicine dispensing instruction signal, the mechanical arm is controlled to hook the current dynamic medicine slot and move the current dynamic medicine slot from the original position to the target medicine dispensing position. The target medicine dispensing position is located above the flow line. The first number of the medicine boxes placed in the current dynamic medicine slot is detected in real time by using the laser sensor arranged on the mechanical arm. The current dynamic medicine slot includes the fixed side plate arranged on the bottom slide of the current dynamic medicine slot, the two adjusting side plates arranged on the inner side of the current dynamic medicine slot, and the brush arranged on the adjusting side plates. The distance between the two adjusting side plates is adjustable and is not less than the width of the medicine boxes placed in the current dynamic medicine slot. Before the first number of the medicine boxes placed in the current dynamic medicine slot is detected in real time, the second number of the medicine boxes placed in each dynamic medicine slot corresponding to the current traversed category is detected in real time, and then the second numbers of the medicine boxes placed in all the dynamic medicine slots corresponding to the current traversed category are added, the addition result is taken as the third number, and whether the third number is less than the to-be-dispensed number corresponding to the current traversed category is judged. If yes, the all dynamic medicine slots corresponding to the current traversed category are subjected to medicine supplementing treatment. If no, the medicine dispensing instruction signal is sent to any one of the dynamic medicine slots corresponding to the current traversed category. The medicine box dispensing module is used to drive the push plate module of the current dynamic medicine slot to push forward if the first number is not less than the to-be-dispensed number corresponding to the current traversed category, so that each medicine box placed in the current dynamic medicine slot moves along the fixed side plate and towards the medicine outlet of the current dynamic medicine slot in turn until the total number of the medicine boxes dropped from the current dynamic medicine slot is equal to the to-be-dispensed number corresponding to the current traversed category, and then the push plate module of the current dynamic medicine slot is controlled to stop moving to complete the medicine box dispensing of the current traversed category.

7. A computer readable storage medium characterized in that, The computer readable storage medium includes a stored computer program; wherein the computer program controls the device where the computer readable storage medium is located to execute the dynamic medicine slot based medicine box dispensing method of any one of claims 1 to 5 when the computer program runs.

8. A terminal, characterized by comprising: The computer readable storage medium includes a stored computer program; wherein the computer program controls the device where the computer readable storage medium is located to execute the dynamic medicine slot based medicine box dispensing method of any one of claims 1 to 5 when the computer program runs.

Images