An automated dispensing method and apparatus
By using the image acquisition device of the light source device in the self-service medicine dispensing machine to perform template verification, the problem of traditional self-service medicine dispensing machines being unable to automatically dispense medicine and the poor clarity caused by blocked light sources is solved, and automatic medicine dispensing with high accuracy and high efficiency is achieved.
Patent Information
- Application Number
- CN202510150325.6
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- Filing Date
- 2025-02-11
- Publication Date
- 2025-10-24
- Estimated Expiration
- 2045-02-11
Smart Images
Figure CN119929379B_ABST
Abstract
Description
TECHNICAL FIELD
[0001] The present application relates to the technical field of medicine dispensing machines, in particular to an automatic medicine dispensing method and device. BACKGROUND
[0002] Traditional self-service medicine dispensing machines cannot issue medicine dispensing instructions according to the medicine in the medicine tank, thus cannot realize automatic medicine dispensing technology, and cannot solve the problem of dispensing errors caused by human errors in medicine placement in the medicine tank when adding medicine. Moreover, for self-service medicine dispensing machines provided with a camera, the LED light source is usually arranged on the elevator, and when dispensing a large prescription, if there are too many medicines on the elevator, the LED light source will be blocked by the medicines, so that the image captured by the camera in the self-service medicine dispensing machine is not clear enough, which may cause medicine recognition errors and thus abnormal dispensing. Therefore, there is a great room for improvement for the existing self-service medicine dispensing machines. SUMMARY
[0003] The present application provides an automatic medicine dispensing method and device, which realizes automatic medicine dispensing and improves the accuracy of automatic medicine dispensing by improving the accuracy of medicine template checking.
[0004] To solve the above technical problems, the present application provides an automatic medicine dispensing method, comprising:
[0005] receiving a medicine dispensing signal, and determining a plurality of medicine dispensing medicines and a dispensing order by analyzing the medicine dispensing signal;
[0006] obtaining the medicine tank positions and medicine templates of the plurality of medicine dispensing medicines;
[0007] checking the plurality of medicine dispensing medicines in sequence based on the medicine tank positions and medicine templates of the plurality of medicine dispensing medicines according to the dispensing order by using an image acquisition device provided with a light source device, to obtain checking results of the plurality of medicine dispensing medicines;
[0008] performing corresponding medicine dispensing operations on the plurality of medicine dispensing medicines based on the checking results of the plurality of medicine dispensing medicines.
[0009] When the medicine dispensing signal is received, the analysis of the medicine dispensing signal can obtain a plurality of medicine dispensing medicines and a dispensing order, the image acquisition device is used to check the plurality of medicine dispensing medicines in sequence according to the dispensing order, and the corresponding medicine dispensing operations are performed on the plurality of medicine dispensing medicines based on the checking results of the plurality of medicine dispensing medicines. The template checking of the plurality of medicine dispensing medicines before dispensing can timely detect whether the medicine dispensing medicines are correct, thereby improving the accuracy of automatic medicine dispensing. The image acquisition device provided with a light source device is used for template checking, which can ensure that the image acquisition device works under sufficient light source, improve the image acquisition clarity of the image acquisition device, thereby improving the accuracy of template checking and further improving the accuracy of automatic medicine dispensing.
[0010] Further, the drug slot positions and the drug templates of the several dispensing drugs are acquired, specifically:
[0011] The drug slot positions and the drug templates of the several dispensing drugs in the dispensing machine are acquired in a preset drug information database;
[0012] The construction process of the preset drug information database is specifically:
[0013] Turning on the light source device arranged on the image acquisition device;
[0014] Acquiring preset layer height positions corresponding to the several layer drug slot positions in the standard state dispensing machine, and controlling the image acquisition device to move to the preset layer height positions corresponding to the several layer drug slot positions in a preset vertical direction in turn;
[0015] Each time the image acquisition device moves to a preset layer height position, the image acquisition device is controlled to move horizontally in a preset horizontal direction to scan the several drug slot positions of the current layer;
[0016] After all the drug slot positions in the standard state dispensing machine are scanned, the drug information and the drug templates corresponding to each drug slot position are identified;
[0017] According to the several drug slot positions and the drug information and the drug templates corresponding to each drug slot position, several pieces of association information are generated;
[0018] The preset drug information database is constructed according to the several pieces of association information.
[0019] Further, according to the dispensing sequence, based on the drug slot positions and the drug templates of the several dispensing drugs, the image acquisition device provided with the light source device is used to sequentially perform template checking on the several dispensing drugs to obtain checking results of the several dispensing drugs, specifically:
[0020] According to the dispensing sequence, the image acquisition device provided with the light source device is used to sequentially perform template checking on the several dispensing drugs;
[0021] The template checking operation includes:
[0022] According to the drug slot position of the dispensing drug, the image acquisition device is controlled to move in the dispensing machine, and the light source device arranged on the image acquisition device is turned on;
[0023] When the image acquisition device moves to the drug slot position, the image acquisition device is controlled to acquire a drug image;
[0024] Based on the drug template, the drug image is checked by template to obtain a checking result.
[0025] The present application is when the medicine is checked by the template, the light source device is set in the image acquisition device, according to the medicine tank position of the medicine, the light source device moves with the image acquisition device in the dispensing machine, when the image acquisition device moves to the medicine tank position, the light source device can illuminate the medicine in the medicine tank position, at this time, the image acquisition device is controlled to collect the medicine image under the condition that the light source device is lit, clear medicine image can be obtained under sufficient light source, the medicine image collected is checked by the medicine template, and the checking result corresponding to the medicine is obtained, which provides the basis for subsequent dispensing operation.
[0026] Further, according to the medicine tank position, the image acquisition device is controlled to move in the dispensing machine, specifically:
[0027] The dispensing medicine tank height position and the dispensing medicine tank horizontal position are obtained by analyzing the medicine tank position;
[0028] According to the dispensing medicine tank height position, the image acquisition device is controlled to move vertically in the dispensing machine by the lifting machine; wherein the image acquisition device is fixed on the lifting machine;
[0029] When the image acquisition device moves to the dispensing medicine tank height position, the image acquisition device is controlled to move horizontally at the dispensing medicine tank height position according to the dispensing medicine tank horizontal position by the drag chain; wherein the image acquisition device is fixed on the drag chain, and the drag chain is movably arranged on the lifting machine.
[0030] The image acquisition device of the present application is fixed on the drag chain, and the drag chain is movably arranged on the lifting machine, after the dispensing medicine tank height position and the dispensing medicine tank horizontal position are obtained by analyzing the medicine tank position, the image acquisition device can be moved up and down by controlling the lifting machine to move up and down. When the image acquisition device moves to the dispensing medicine tank height position, the drag chain movably arranged on the lifting machine is controlled to move left and right, which can drive the image acquisition device fixed on the drag chain to move left and right, so that the image acquisition device moves to the dispensing medicine tank horizontal position. The present application can make the image acquisition device move to the accurate medicine tank position by controlling the movement of the lifting machine and the drag chain, so as to collect the medicine image of the medicine tank position and improve the accuracy of the collected medicine image.
[0031] Further, when the image acquisition device moves to the medicine tank position, the image acquisition device is controlled to collect the medicine image, specifically:
[0032] When the image acquisition device moves horizontally to the dispensing medicine tank horizontal position at the dispensing medicine tank height position, it is determined that the image acquisition device has moved to the medicine tank position, and the image acquisition device is controlled to collect the medicine image.
[0033] Further, the drug product image is template checked based on the drug product template, and a checking result is obtained, specifically:
[0034] The drug product template and the drug product image are similarity calculated, and a template similarity is obtained;
[0035] When the template similarity is greater than or equal to a preset similarity threshold, it is determined that the checking result is checking success;
[0036] When the template similarity is less than the preset similarity threshold, it is determined that the checking result is checking failure.
[0037] Further, based on the checking result of each dispensing drug, a corresponding dispensing operation is performed on each dispensing drug, specifically:
[0038] When the checking result of the dispensing drug is checking success, the dispensing drug is pushed onto the elevator;
[0039] When the checking result of the dispensing drug is checking failure, a dispensing abnormal signal is sent.
[0040] According to the checking result of each dispensing drug, the corresponding dispensing operation is performed on each dispensing drug, when the checking result of the dispensing drug is checking success, the dispensing drug is pushed onto the elevator, the efficiency of automatic dispensing is improved; when the checking result of the dispensing drug is checking failure, a dispensing abnormal signal is sent, which avoids sending wrong drugs, and can effectively reduce the error rate of automatic dispensing.
[0041] Further, after the checking result of the dispensing drug is checking failure, it further comprises:
[0042] According to the dispensing sequence, it is judged whether the dispensing drug with the checking result of checking failure is the first dispensing drug;
[0043] If the dispensing drug with the checking result of checking failure is not the first dispensing drug, it is determined that there is a dispensing drug on the elevator;
[0044] The dispensing drug on the elevator is recycled through a recycling valve.
[0045] After detecting the drug with checking failure, it is judged according to the dispensing sequence whether the drug with checking failure is the first dispensing drug, if not, it means that there is a dispensing drug with checking success before the dispensing drug is checked, and at this time, the dispensing drug with checking success exists on the elevator, at this time, the dispensing drug on the elevator is recycled by using the recycling valve, so as to prevent the dispensing drug with checking success from being lost, so as to re-dispense subsequently, and improve the accuracy of subsequent automatic dispensing.
[0046] Further, after the corresponding dispensing operation of each of the dispensing drugs is performed based on the checking result of each of the dispensing drugs, the method further comprises:
[0047] controlling the image acquisition device to move to a preset starting position, in particular:
[0048] controlling the drag chain to drive the image acquisition device to move to a preset horizontal position;
[0049] controlling the lifting machine to drive the image acquisition device to move to a preset vertical position when the image acquisition device moves to the preset horizontal position;
[0050] determining that the image acquisition device moves to the preset starting position when the image acquisition device moves vertically to the preset vertical position at the preset horizontal position.
[0051] The present application controls the movement of the drag chain and the lifting machine to drive the movement of the image acquisition device after the corresponding dispensing operation of each dispensing drug is completed, so that the image acquisition device moves to the preset starting position, thereby improving the convenience of the subsequent dispensing machine drug replenishment operation.
[0052] Correspondingly, the present application provides an automatic dispensing device, comprising: a signal receiving module, an information acquisition module, a template checking module and a dispensing module;
[0053] The signal receiving module is used to receive a dispensing signal, and to determine a plurality of dispensing drugs and a dispensing order by analyzing the dispensing signal;
[0054] The information acquisition module is used to acquire the tank position and the drug template of the plurality of dispensing drugs;
[0055] The template checking module is used to sequentially check the template of each of the dispensing drugs based on the tank position and the drug template of each of the dispensing drugs by using an image acquisition device provided with a light source device according to the dispensing order, to obtain a checking result of each of the dispensing drugs;
[0056] The dispensing module is used to perform a corresponding dispensing operation of each of the dispensing drugs based on the checking result of each of the dispensing drugs. BRIEF DESCRIPTION OF DRAWINGS
[0057] Figure 1 A flowchart of an embodiment of the automatic dispensing method provided by the present application;
[0058] Figure 2 A structural diagram of the lifting machine provided by the present application;
[0059] Figure 3 A structural diagram of the recovery valve provided by the present application;
[0060] Figure 4 A schematic flow chart of another embodiment of the automatic medicine dispensing method provided by the present invention;
[0061] Figure 5 A schematic structural diagram of an embodiment of the automatic medicine dispensing device provided by the present invention;
[0062] Among them, 1. Hoist; 2. Medicine trough position; 3. Recovery valve; 4. Telescopic rod. DETAILED DESCRIPTION
[0063] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention without making any creative efforts shall fall within the scope of protection of the present invention.
[0064] The flowcharts shown in the accompanying drawings are for illustrative purposes only and do not necessarily include all contents and operations / steps, nor must they be executed in the order described. For example, some operations / steps may be decomposed, combined, or partially merged, so the actual execution order may vary depending on the actual situation.
[0065] The following embodiments of the present invention are described in detail with reference to the accompanying drawings. In the absence of conflict, the following embodiments and features in the embodiments may be combined with each other.
[0066] Example 1
[0067] like Figure 1 FIG. 1 is a flow chart of an embodiment of an automatic medicine dispensing method provided by the present invention. The method includes steps 101 to 104, and each step is specifically as follows:
[0068] Step 101: receiving a medicine dispensing signal, and determining a number of medicines to be dispensed and a dispensing order by analyzing the medicine dispensing signal.
[0069] Step 102: Obtain the positions of the medicine slots and medicine templates of a plurality of the dispensing medicines.
[0070] Step 103: Based on the medicine slot position and medicine template of each medicine to be dispensed, an image acquisition device equipped with a light source device is used to perform template verification on each medicine to be dispensed in turn in accordance with the medicine dispensing order to obtain verification results for each medicine to be dispensed.
[0071] Step 104: performing corresponding dispensing operations on each of the dispensing drugs based on the verification results of each of the dispensing drugs.
[0072] In the embodiment of the present application, when the dispensing signal is received, the dispensing signal is parsed to obtain a plurality of dispensing drugs to be dispensed and a dispensing sequence corresponding to each dispensing drug. The tank positions and drug templates of the plurality of dispensing drugs are obtained, and in the dispensing sequence, each dispensing drug is sequentially template-matched based on the tank position and the drug template of each dispensing drug, so that the corresponding dispensing operation is performed on each dispensing drug based on the matching result of the template matching of each dispensing drug. Wherein, the template matching of each dispensing drug is to control the image acquisition device to move to the tank position of each dispensing drug, and to obtain the corresponding drug image, and then to template-match the obtained drug image based on the drug template of each dispensing drug, and to perform subsequent dispensing operation according to the matching result. The present application first performs template matching on each dispensing drug before dispensing, which can timely detect whether the dispensing drug is correct, and provides dispensing basis for subsequent dispensing operation, thereby avoiding the situation that the dispensing drug is dispensed incorrectly due to the wrong drug in the tank, and improving the accuracy of automatic dispensing.
[0073] In the embodiment of the present application, the image acquisition device provided with the light source device is used for template matching, and when the dispensing signal is received, the light source device on the image acquisition device is turned on. When the image acquisition device moves to the tank position, the image acquisition device can perform image acquisition under sufficient light source, so as to improve the definition of the acquired image, thereby improving the accuracy of template matching, and further improving the accuracy of automatic dispensing.
[0074] In summary, the embodiment of the present application provides an automatic dispensing method, which comprises: receiving a dispensing signal, determining a plurality of dispensing drugs and a dispensing sequence by analyzing the dispensing signal; obtaining the tank positions and drug templates of the plurality of dispensing drugs; in the dispensing sequence, using the image acquisition device provided with the light source device to sequentially template-match each dispensing drug based on the tank position and the drug template of each dispensing drug, to obtain the matching result of each dispensing drug; and performing corresponding dispensing operation on each dispensing drug based on the matching result of each dispensing drug. The present application realizes automatic dispensing, and uses the image acquisition device provided with the light source device for template matching, which can ensure that the image acquisition device acquires the drug image under sufficient light source, effectively improves the definition of the drug image, thereby improves the accuracy of drug template matching, and further improves the accuracy of automatic dispensing.
[0075] Embodiment 2
[0076] As shown in Figure 1 Fig. 1 is a flowchart of an embodiment of the automatic dispensing method provided by the present application, which comprises steps 101 to 104, and each step is specifically as follows:
[0077] Step 101: receiving a dispensing signal, and determining a plurality of dispensing drugs and a dispensing sequence by analyzing the dispensing signal.
[0078] In the embodiment of the present application, when the dispensing signal is received, the dispensing signal is parsed to obtain a plurality of dispensing drugs to be dispensed and a dispensing sequence corresponding to each dispensing drug.
[0079] Step 102: Obtain the tank positions of the dispensing drugs and the drug templates.
[0080] Further, in the embodiment of the present application, the tank positions of the dispensing drugs and the drug templates are obtained, specifically:
[0081] Obtain the tank positions of the dispensing drugs and the drug templates in the dispensing machine in the preset drug information database;
[0082] The construction process of the preset drug information database is specifically:
[0083] Turn on the light source device arranged on the image acquisition device;
[0084] Obtain the preset layer height positions corresponding to the tank positions of several layers in the standard state dispensing machine, and control the image acquisition device to move to the preset layer height positions corresponding to each layer tank position along the preset vertical direction in turn;
[0085] Each time the image acquisition device moves to the preset layer height position, control the image acquisition device to move horizontally to the preset horizontal direction to scan the tank positions of the current layer;
[0086] When all the tank positions in the standard state dispensing machine are scanned, identify the drug information and drug templates corresponding to each tank position;
[0087] Generate a plurality of association information according to each tank position and the drug information and drug templates corresponding to each tank position;
[0088] Construct the preset drug information database according to the plurality of association information.
[0089] In the embodiment of the present application, the medicine tank position and the medicine template of each dispensing medicine can be obtained in the preset medicine information database. The preset medicine information database is constructed according to the medicine information and the medicine tank position in the standard state dispensing machine. Specifically, because the standard state dispensing machine is provided with multiple layers of medicine tank positions, a plurality of preset layer height positions are set according to the height positions of each layer in the standard state dispensing machine. The preset vertical direction can be set as vertical upward or vertical downward. When the image acquisition device is used to scan the medicine tank position in the standard state dispensing machine, the light source device provided on the image acquisition device is first turned on, and then the image acquisition device (such as a camera) is controlled to move along the preset vertical direction. Each time the image acquisition device moves to a preset layer height position, it is controlled to move horizontally along the preset horizontal direction after moving to the preset layer, and the image acquisition device is controlled to scan the multiple medicine tank positions of the current layer. The preset horizontal direction can be set as horizontal left or horizontal right. After the multiple medicine tank positions of the current layer are scanned, the image acquisition device is moved to the next preset layer height position along the preset vertical direction, and is moved horizontally along the preset horizontal direction to scan the multiple medicine tank positions of the next layer, until all the medicine tank positions in the standard state dispensing machine are scanned. The scanning content of the image acquisition device is recognized, and the medicine information and the medicine template corresponding to each medicine tank position are obtained. The medicine tank position and the corresponding medicine information and medicine template are associated to generate a plurality of association information, and the generated association information is used to construct the preset medicine information database.
[0090] As an example of the embodiment of the present application, the preset vertical direction can be set as vertical upward, the preset horizontal direction can be set as horizontal right, the image acquisition device can be fixed on a drag chain, the drag chain can be movably arranged on the lifting machine, the vertical upward movement of the image acquisition device can be controlled by controlling the up and down movement of the lifting machine, and the horizontal right movement of the image acquisition device can be controlled by controlling the left and right movement of the drag chain. Therefore, the image acquisition device is controlled to move vertically upward from the starting position to the height positions of different layers in sequence, and to scan all the medicine tank positions of the layer from left to right.
[0091] Optionally, a medicine tank lamp can be arranged at each medicine tank position in the standard state dispensing machine. When each medicine tank position in the standard state dispensing machine is scanned, all the medicine tank lamps in the standard state dispensing machine are turned on. When the image acquisition device is used for scanning, the medicine tank lamps will appear to flash, and the image acquisition device will record the position of each medicine tank according to the light sources.
[0092] Step 103: according to the dispensing sequence, based on the medicine tank position and the medicine template of each dispensing medicine, the image acquisition device provided with the light source device is used to sequentially perform template checking on each dispensing medicine to obtain the checking result of each dispensing medicine.
[0093] Further, in the embodiment of the present application, according to the dispensing sequence, based on the medicine tank position of each dispensing medicine and the medicine template, the image acquisition device provided with the light source device is used to sequentially perform template checking on each dispensing medicine, and the checking result of each dispensing medicine is obtained, specifically as follows:
[0094] According to the dispensing sequence, the image acquisition device provided with the light source device is used to sequentially perform template checking operation on each dispensing medicine;
[0095] The template checking operation includes:
[0096] According to the medicine tank position of the dispensing medicine, the image acquisition device is controlled to move in the dispensing machine, and the light source device provided on the image acquisition device is turned on;
[0097] When the image acquisition device moves to the medicine tank position, the image acquisition device is controlled to acquire a medicine image;
[0098] The medicine image is checked based on the medicine template, and a checking result is obtained.
[0099] In the embodiment of the present application, when each dispensing medicine is checked by the template, the light source device provided on the image acquisition device is turned on. The light source device can use LED lamp which has the advantages of low power consumption, long service life and high brightness. The light source device is provided on the image acquisition device. When the image acquisition device moves to the medicine tank position corresponding to the dispensing medicine, the light source device can indicate the medicine tank position which needs to be taken out in a bright and clear way, so that the image acquisition device can obtain a clear medicine image under sufficient light, thereby effectively avoiding the situation that the medicine blocks the light source device and affects the medicine template checking and recognition.
[0100] In the embodiment of the present application, after the medicine image is acquired, the acquired medicine template can be used to check the acquired medicine image, and the checking result of the corresponding dispensing medicine can be obtained, thereby providing a dispensing basis for subsequent dispensing operation.
[0101] Further, in the embodiment of the present application, according to the medicine tank position, the image acquisition device is controlled to move in the dispensing machine, specifically as follows:
[0102] The dispensing medicine tank height position and the dispensing medicine tank horizontal position are obtained by analyzing the medicine tank position;
[0103] According to the dispensing medicine tank height position, the image acquisition device is controlled to move vertically in the dispensing machine by the lifting machine; wherein the image acquisition device is fixed on the lifting machine;
[0104] When the image acquisition device moves to the dispensing slot height position, the image acquisition device is controlled to move horizontally at the dispensing slot height position according to the dispensing slot horizontal position, wherein the image acquisition device is fixed on the tow chain, and the tow chain is movably arranged on the lifting machine.
[0105] In the embodiment of the present application, the image acquisition device is fixed on the tow chain, and the tow chain is movably arranged on the lifting machine. The image acquisition device moves up and down with the movement of the lifting machine and moves left and right with the movement of the tow chain, so as to capture image information and accurately position the medicine.
[0106] In the embodiment of the present application, the dispensing slot height position and the dispensing slot horizontal position are obtained by analyzing the dispensing slot position. The lifting machine is controlled to move up and down based on the dispensing slot height position to drive the image acquisition device to move up and down. When the image acquisition device moves to the dispensing slot height position, the tow chain movably arranged on the lifting machine is controlled to move left and right based on the dispensing slot horizontal position to drive the image acquisition device fixed on the tow chain to move left and right, so that the image acquisition device moves to the dispensing slot horizontal position. By controlling the movement of the lifting machine and the tow chain, the image acquisition device can move to the accurate dispensing slot position to capture the medicine image of the dispensing slot position, thereby improving the accuracy of the captured medicine image.
[0107] As an example of the embodiment of the present application, refer to Figure 2 is a structural schematic diagram of the lifting machine provided by the present application. The lifting machine 1 is movably arranged in the medicine dispensing machine. The tow chain is movably arranged on the lifting machine 1, and the image acquisition device is fixed on the tow chain. After the lifting machine 1 receives the driving signal for moving up and down, the image acquisition device is driven to move up and down. After the tow chain on the lifting machine 1 receives the driving signal for moving left and right, the image acquisition device is driven to move left and right, so that the image acquisition device moves to the dispensing slot position 2 to capture the medicine image on the dispensing slot position 2, thereby accurately positioning the medicine.
[0108] Further, in the embodiment of the present application, when the image acquisition device moves to the dispensing slot position, the image acquisition device is controlled to capture the medicine image, specifically:
[0109] When the image acquisition device moves horizontally at the dispensing slot height position to the dispensing slot horizontal position, it is determined that the image acquisition device has moved to the dispensing slot position, and the image acquisition device is controlled to capture the medicine image.
[0110] Further, in the embodiment of the present application, the medicine image is template-matched based on the medicine template to obtain a matching result, specifically:
[0111] The similarity calculation is performed on the medicine template and the medicine image to obtain a template similarity;
[0112] When the template similarity is greater than or equal to a preset similarity threshold, it is determined that the verification result is successful verification;
[0113] When the template similarity is less than the preset similarity threshold, it is determined that the verification result is failed verification.
[0114] In the embodiment of the present application, after the medicine image is collected, the template verification is performed according to the corresponding medicine template. The method of template verification can be to calculate the similarity of the medicine template and the medicine image, to judge whether the similarity between the image feature points of the medicine template and the medicine image is greater than or equal to a preset similarity threshold. When the template similarity is greater than or equal to the preset similarity threshold, it is determined that the verification is successful; when the template similarity is less than the preset similarity threshold, it is determined that the verification is failed.
[0115] Step 104: performing corresponding dispensing operations on each of the dispensing medicines based on the verification result of each of the dispensing medicines.
[0116] Further, in the embodiment of the present application, based on the verification result of each of the dispensing medicines, corresponding dispensing operations are performed on each of the dispensing medicines, specifically:
[0117] When the verification result of the dispensing medicine is successful verification, the dispensing medicine is pushed onto the elevator;
[0118] When the verification result of the dispensing medicine is failed verification, an abnormal dispensing signal is sent out.
[0119] In the embodiment of the present application, the verification result of the dispensing medicine is used as the basis for dispensing, and corresponding dispensing operations are performed. When the verification result of the dispensing medicine is successful verification, the dispensing medicine is pushed onto the elevator, improving the efficiency of automatic dispensing. When the verification result of the dispensing medicine is failed verification, an abnormal dispensing signal is sent out directly, avoiding the dispensing of incorrect medicines, and effectively reducing the error rate of automatic dispensing.
[0120] Further, in the embodiment of the present application, after the verification result of the dispensing medicine is failed verification, it further includes:
[0121] According to the dispensing sequence, it is judged whether the dispensing medicine with the verification result of failed verification is the first dispensing medicine;
[0122] If the dispensing medicine with the verification result of failed verification is not the first dispensing medicine, it is determined that there is a dispensing medicine on the elevator;
[0123] The dispensing medicine on the elevator is recycled through a recycling valve.
[0124] In the embodiment of the present application, after detecting the medicine with failed verification, it is determined whether the medicine with failed verification is the first medicine to be dispensed according to the dispensing sequence. If yes, it is proved that there is no medicine with successful verification before the medicine to be dispensed, and at this time, there is no medicine with successful verification on the elevator, so the recovery valve can not be started. When the medicine with failed verification is not the first medicine to be dispensed, it is proved that there is medicine with successful verification before the medicine to be dispensed, and at this time, there is medicine with successful verification on the elevator, so the recovery valve is started to recover the medicine to be dispensed on the elevator. Since the medicine with failed verification appears, the dispensing fails this time, and the medicine with successful verification before needs to be recovered to re-dispense and improve the accuracy of subsequent automatic dispensing and prevent the loss of medicine.
[0125] As an example of the embodiment of the present application, refer to Figure 3 is a structural schematic diagram of the recovery valve provided by the present application. The recovery valve 3 is opened by the telescopic rod 4. When the medicine with failed verification is not the first medicine to be dispensed, the recovery valve 3 is opened by controlling the telescopic rod 4 to make the medicine fall from the elevator 1 to the recovery valve 3 through the telescopic rod 4, complete the recovery of the medicine, and after the recovery of the medicine is completed, the recovery valve 3 is also closed by controlling the telescopic rod 4.
[0126] Further, in the embodiment of the present application, after the corresponding dispensing operation of each medicine to be dispensed is performed based on the verification result of each medicine to be dispensed, the method further comprises:
[0127] controlling the image acquisition device to move to a preset starting position, specifically:
[0128] controlling the drag chain to drive the image acquisition device to move to a preset horizontal position;
[0129] when the image acquisition device moves to the preset horizontal position, controlling the elevator to drive the image acquisition device to move to a preset vertical position;
[0130] when the image acquisition device vertically moves to the preset vertical position at the preset horizontal position, it is determined that the image acquisition device moves to the preset starting position.
[0131] In the embodiment of the present application, after the corresponding dispensing operation is completed for each dispensing medicine, the movement of the image acquisition device is driven by controlling the movement of the drag chain and the elevator, so that the image acquisition device moves to the preset starting position. Whether the dispensing operation is successfully completed or the dispensing operation is abnormally ended due to the failure of the medicine template checking, the image acquisition device is driven back to the preset starting position by controlling the elevator and the drag chain, avoiding the difficult operation of the related personnel when adding medicine to the dispensing machine due to the stay of the elevator at a high level. Therefore, after the dispensing operation is completed, the image acquisition device is moved to the preset starting position, which can effectively improve the convenience of the subsequent dispensing machine medicine supplement operation.
[0132] As an example of the embodiment of the present application, refer to Figure 4 is a flowchart of another embodiment of the automatic dispensing method provided by the present application. When the dispensing signal is received, the prescription dispensing is started, the camera light is turned on and the recording is started, and after the light is turned on, the elevator is controlled to move to the specified layer. At this time, the camera moves to the specified layer, and then the camera is controlled to move in front of the specified medicine slot position, and the template checking and identification are performed and the photographing is performed. It is judged whether the template checking is successful. If the checking fails, the camera light is turned off, and the elevator is controlled to drive the camera to automatically return to the original position. At this time, the prescription dispensing abnormal signal is sent, and the dispensing is ended. If the checking is successful, it is determined that the first box of medicine is successfully dispensed. At this time, the camera moves to the front of the medicine slot position of the second box of medicine, and the template checking and identification are performed on the second box of medicine. In succession, the template checking is performed on all medicines that need to be dispensed. Among them, when the medicine template checking of the medicine other than the first box of medicine fails, the medicine that passes the checking is recovered and sent to the elevator, and the prescription dispensing abnormal signal is sent, and the dispensing is ended. When all the medicines that need to be dispensed pass the template checking, all the medicines of the prescription are sent to the elevator, the prescription dispensing is successful, and the dispensing is ended.
[0133] In summary, the embodiment of the present application provides an automatic dispensing method, which comprises: receiving a dispensing signal, determining a plurality of dispensing medicines and a dispensing order by analyzing the dispensing signal; obtaining the medicine slot positions and medicine templates of the plurality of dispensing medicines; according to the dispensing order, based on the medicine slot positions and medicine templates of each dispensing medicine, using an image acquisition device provided with a light source device to sequentially perform template checking on each dispensing medicine to obtain the checking result of each dispensing medicine; and performing corresponding dispensing operation on each dispensing medicine based on the checking result of each dispensing medicine. The present application realizes automatic dispensing, and uses an image acquisition device provided with a light source device to perform template checking, which can ensure that the image acquisition device acquires the image of the medicine under sufficient light, effectively improves the clarity of the image of the medicine, thereby improving the accuracy of the medicine template checking, and further improving the accuracy of the automatic dispensing.
[0134] Embodiment 3
[0135] Refer to Figure 5is a structural schematic view of an embodiment of the automatic dispensing device provided by the application, and the device comprises a signal receiving module 201, an information acquisition module 202, a template checking module 203 and a dispensing module 204;
[0136] The signal receiving module 201 is used for receiving a dispensing signal, and determining a plurality of dispensing drugs and a dispensing sequence by analyzing the dispensing signal;
[0137] The information acquisition module 202 is used for acquiring the tank position and the drug template of the plurality of dispensing drugs;
[0138] The template checking module 203 is used for sequentially checking the plurality of dispensing drugs according to the dispensing sequence, based on the tank position and the drug template of each dispensing drug, by using an image acquisition device provided with a light source device, to obtain a checking result of each dispensing drug;
[0139] The dispensing module 204 is used for performing corresponding dispensing operations on the plurality of dispensing drugs based on the checking result of each dispensing drug.
[0140] Further, in the embodiment of the application, the tank position and the drug template of the plurality of dispensing drugs are acquired, specifically as follows:
[0141] The tank position and the drug template of each dispensing drug in the dispensing machine are acquired in a preset drug information database;
[0142] The construction process of the preset drug information database is specifically as follows:
[0143] The light source device provided on the image acquisition device is turned on;
[0144] The preset layer height position corresponding to the plurality of tank positions in the standard state dispensing machine is acquired, and the image acquisition device is controlled to move to the preset layer height position corresponding to each tank position along a preset vertical direction;
[0145] Whenever the image acquisition device moves to the preset layer height position, the image acquisition device is controlled to move horizontally to a preset horizontal direction to scan the plurality of tank positions of the current layer;
[0146] When all the tank positions in the standard state dispensing machine are scanned, the drug information and the drug template corresponding to each tank position are identified;
[0147] According to each tank position and the drug information and the drug template corresponding to each tank position, a plurality of pieces of association information are generated;
[0148] The preset drug information database is constructed according to the plurality of pieces of association information.
[0149] Further, in the embodiment of the present application, according to the dispensing sequence, based on the medicine tank position of each dispensing medicine and the medicine template, the image acquisition device provided with the light source device is used to sequentially perform template checking on each dispensing medicine, and the checking result of each dispensing medicine is obtained, specifically:
[0150] According to the dispensing sequence, the image acquisition device provided with the light source device is used to sequentially perform template checking operation on each dispensing medicine;
[0151] The template checking operation includes:
[0152] According to the medicine tank position of the dispensing medicine, the image acquisition device is controlled to move in the dispensing machine, and the light source device provided on the image acquisition device is turned on;
[0153] When the image acquisition device moves to the medicine tank position, the image acquisition device is controlled to acquire a medicine image;
[0154] Based on the medicine template, the medicine image is template checked to obtain a checking result.
[0155] Further, in the embodiment of the present application, according to the medicine tank position, the image acquisition device is controlled to move in the dispensing machine, specifically:
[0156] The dispensing medicine tank height position and the dispensing medicine tank horizontal position are obtained by analyzing the medicine tank position;
[0157] According to the dispensing medicine tank height position, the image acquisition device is controlled to move vertically in the dispensing machine by the lifting machine; wherein the image acquisition device is fixed on the lifting machine;
[0158] When the image acquisition device moves to the dispensing medicine tank height position, according to the dispensing medicine tank horizontal position, the image acquisition device is controlled to move horizontally at the dispensing medicine tank height position by the drag chain; wherein the image acquisition device is fixed on the drag chain, and the drag chain is movably arranged on the lifting machine.
[0159] Further, in the embodiment of the present application, when the image acquisition device moves to the medicine tank position, the image acquisition device is controlled to acquire a medicine image, specifically:
[0160] When the image acquisition device moves horizontally at the dispensing medicine tank height position to the dispensing medicine tank horizontal position, it is determined that the image acquisition device has moved to the medicine tank position, and the image acquisition device is controlled to acquire a medicine image.
[0161] Further, in the embodiment of the present application, based on the medicine template, the medicine image is template checked to obtain a checking result, specifically:
[0162] performing similarity calculation on the medicine template and the medicine image to obtain a template similarity;
[0163] when the template similarity is greater than or equal to a preset similarity threshold, determining that the verification result is successful verification;
[0164] when the template similarity is less than the preset similarity threshold, determining that the verification result is failed verification.
[0165] Further, in the embodiment of the present application, based on the verification result of each medicine for dispensing, corresponding dispensing operation is performed on each medicine for dispensing, specifically:
[0166] when the verification result of the medicine for dispensing is successful verification, the medicine for dispensing is pushed onto the elevator;
[0167] when the verification result of the medicine for dispensing is failed verification, an abnormal dispensing signal is sent out.
[0168] Further, in the embodiment of the present application, after the verification result of the medicine for dispensing is failed verification, further comprising:
[0169] determining whether the medicine for dispensing with the verification result of failed verification is the first medicine for dispensing according to the dispensing sequence;
[0170] if the medicine for dispensing with the verification result of failed verification is not the first medicine for dispensing, it is determined that there is medicine for dispensing on the elevator;
[0171] the medicine for dispensing on the elevator is recycled through a recycling valve.
[0172] Further, in the embodiment of the present application, after the corresponding dispensing operation is performed on each medicine for dispensing based on the verification result of each medicine for dispensing, further comprising:
[0173] controlling the image acquisition device to move to a preset starting position, specifically:
[0174] controlling the drag chain to drive the image acquisition device to move to a preset horizontal position;
[0175] when the image acquisition device moves to the preset horizontal position, controlling the elevator to drive the image acquisition device to move to a preset vertical position;
[0176] when the image acquisition device moves vertically to the preset vertical position at the preset horizontal position, it is determined that the image acquisition device moves to the preset starting position.
[0177] In summary, the embodiment of the present application provides an automatic dispensing device, which is based on the organic combination between modules, receives a dispensing signal, determines a plurality of dispensing medicines and a dispensing sequence by analyzing the dispensing signal, acquires the tank positions and medicine templates of the plurality of dispensing medicines, sequentially carries out template checking on each dispensing medicine according to the dispensing sequence and based on the tank positions and medicine templates of each dispensing medicine by using an image acquisition device provided with a light source device, obtains the checking result of each dispensing medicine, and carries out corresponding dispensing operation on each dispensing medicine based on the checking result of each dispensing medicine. The present application realizes automatic dispensing, carries out template checking by using an image acquisition device provided with a light source device, can ensure that the image acquisition device acquires medicine images under sufficient light source, effectively improves the definition of medicine images, thereby improving the accuracy of medicine template checking, and further improves the accuracy of automatic dispensing.
[0178] The above specific embodiments further specifically describe the purposes, technical solutions and beneficial effects of the present application, and it should be understood that the above description is only for specific embodiments of the present application and is not used to limit the protection scope of the present application. It is particularly pointed out that any modification, equivalent replacement, improvement, etc. made by those skilled in the art within the spirit and principles of the present application shall be included in the protection scope of the present application.
Claims
1. An automated dispensing method, characterized by, The application relates to a dispensing method and device. The method comprises the following steps: receiving a dispensing signal, determining a plurality of dispensing medicines and a dispensing sequence by analyzing the dispensing signal; obtaining the tank positions and medicine templates of the plurality of dispensing medicines; according to the dispensing sequence, sequentially performing template checking on the plurality of dispensing medicines based on the tank positions and medicine templates of the plurality of dispensing medicines by using an image acquisition device provided with a light source device, and obtaining checking results of the plurality of dispensing medicines; performing corresponding dispensing operations on the plurality of dispensing medicines based on the checking results of the plurality of dispensing medicines; wherein the step of obtaining the tank positions and medicine templates of the plurality of dispensing medicines comprises the following steps: obtaining the tank positions and medicine templates of the plurality of dispensing medicines in a dispensing machine in a preset medicine information database; wherein the construction process of the preset medicine information database comprises the following steps: turning on the light source device provided on the image acquisition device; obtaining preset layer height positions corresponding to a plurality of tank positions in a standard state dispensing machine, and controlling the image acquisition device to move to the preset layer height positions corresponding to the plurality of tank positions along a preset vertical direction; each time the image acquisition device moves to a preset layer height position, controlling the image acquisition device to move horizontally to a preset horizontal direction to scan a plurality of tank positions in a current layer; after all the tank positions in the standard state dispensing machine are scanned, identifying the medicine information and medicine templates corresponding to the plurality of tank positions; generating a plurality of pieces of association information according to the plurality of tank positions and the medicine information and medicine templates corresponding to the plurality of tank positions; constructing a preset medicine information database according to the plurality of pieces of association information; the step of sequentially performing template checking on the plurality of dispensing medicines based on the tank positions and medicine templates of the plurality of dispensing medicines by using the image acquisition device provided with the light source device according to the dispensing sequence to obtain the checking results of the plurality of dispensing medicines comprises the following steps: sequentially performing template checking on the plurality of dispensing medicines by using the image acquisition device provided with the light source device according to the dispensing sequence; wherein the template checking operation comprises the following steps: controlling the image acquisition device to move in the dispensing machine according to the tank positions of the dispensing medicines, and turning on the light source device provided on the image acquisition device; controlling the image acquisition device to acquire a medicine image when the image acquisition device moves to the tank position; 2. The automated dispensing method of claim 1, wherein, performing template checking on the medicine image based on the medicine template to obtain a checking result. the step of controlling the image acquisition device to move in the dispensing machine according to the tank positions comprises the following steps: obtaining a dispensing tank height position and a dispensing tank horizontal position by analyzing the tank positions; controlling a lifting machine to vertically move the image acquisition device in the dispensing machine according to the dispensing tank height position; controlling a drag chain to horizontally move the image acquisition device at the dispensing tank height position according to the dispensing tank horizontal position when the image acquisition device moves to the dispensing tank height position; wherein the image acquisition device is fixed on the drag chain, and the drag chain is movably arranged on the lifting machine.
3. The automated dispensing method of claim 2, wherein, The image acquisition device is controlled to collect a medicine image when the image acquisition device moves to the medicine slot position. When the image acquisition device moves horizontally from the medicine dispensing slot height position to the medicine dispensing slot horizontal position, it is determined that the image acquisition device has moved to the medicine slot position, and the image acquisition device is controlled to collect a medicine image.
4. The automated dispensing method of claim 3, wherein, The medicine image is template-matched based on the medicine template to obtain a matching result, specifically as follows: The similarity of the medicine template and the medicine image is calculated to obtain a template similarity. When the template similarity is greater than or equal to a preset similarity threshold, it is determined that the matching result is a matching success. When the template similarity is less than the preset similarity threshold, it is determined that the matching result is a matching failure.
5. The automated dispensing method of claim 4, wherein, Based on the matching result of each medicine dispensing medicine, corresponding medicine dispensing operations are performed on each medicine dispensing medicine, specifically as follows: When the matching result of a medicine dispensing medicine is a matching success, the medicine dispensing medicine is pushed onto the elevator. When the matching result of a medicine dispensing medicine is a matching failure, a medicine dispensing abnormal signal is sent out.
6. The automated dispensing method of claim 5, wherein, After the matching result of the medicine dispensing medicine is a matching failure, the following steps are further included: According to the dispensing order, it is determined whether the medicine dispensing medicine with a matching failure is the first medicine dispensing medicine. If the medicine dispensing medicine with a matching failure is not the first medicine dispensing medicine, it is determined that there is a medicine dispensing medicine on the elevator. The medicine dispensing medicine on the elevator is recycled through a recycling valve.
7. The automated dispensing method of claim 5, wherein, After the corresponding medicine dispensing operations are performed on each medicine dispensing medicine based on the matching result, the following steps are further included: The image acquisition device is controlled to move to a preset starting position, specifically as follows: The image acquisition device is controlled to move to a preset horizontal position by the drag chain. When the image acquisition device moves to the preset horizontal position, the image acquisition device is controlled to move to a preset vertical position by the elevator. When the image acquisition device moves vertically from the preset horizontal position to the preset vertical position, it is determined that the image acquisition device has moved to the preset starting position.
8. An automated dispensing apparatus, characterized by, It includes: A signal receiving module, an information obtaining module, a template matching module, and a medicine dispensing module. The signal receiving module is used to receive a medicine dispensing signal and determine a plurality of medicine dispensing medicines and a dispensing order by analyzing the medicine dispensing signal. The information obtaining module is used to obtain the medicine slot positions and medicine templates of the plurality of medicine dispensing medicines. The template matching module is used to sequentially match each medicine dispensing medicine based on its medicine slot position and medicine template according to the dispensing order, using an image acquisition device provided with a light source device, to obtain the matching result of each medicine dispensing medicine. The medicine dispensing module is used to perform corresponding medicine dispensing operations on each medicine dispensing medicine based on its matching result. The medicine slot positions and medicine templates of the plurality of medicine dispensing medicines are obtained in a preset medicine information database. The construction process of the preset medicine information database is as follows: The light source device provided in the image acquisition device is turned on. Obtaining a preset layer height position corresponding to each layer medicine tank position in the standard state dispensing machine, and controlling the image acquisition device to move to the preset layer height position corresponding to each layer medicine tank position along a preset vertical direction; Controlling the image acquisition device to move horizontally to a preset horizontal direction to scan the current layer medicine tank position when the image acquisition device moves to the preset layer height position; Identifying the medicine information and medicine template corresponding to each medicine tank position after scanning all the medicine tank positions in the standard state dispensing machine; Generating a plurality of association information according to each medicine tank position and the medicine information and medicine template corresponding to each medicine tank position; Constructing a preset medicine information database according to the plurality of association information; According to the dispensing sequence, based on the medicine tank position and the medicine template of each dispensing medicine, the image acquisition device provided with a light source device is used to sequentially perform template checking on each dispensing medicine to obtain the checking result of each dispensing medicine, specifically: According to the dispensing sequence, the image acquisition device provided with a light source device is used to sequentially perform template checking operation on each dispensing medicine; The template checking operation includes: According to the medicine tank position of the dispensing medicine, the image acquisition device is controlled to move in the dispensing machine, and the light source device provided on the image acquisition device is turned on; When the image acquisition device moves to the medicine tank position, the image acquisition device acquires a medicine image; Based on the medicine template, the medicine image is checked to obtain a checking result.
Citation Information
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