Prescription bar code recognition-based medicine decocting process full-flow control method

Abstract

The invention discloses a medicine decocting process full-process control method based on prescription bar code recognition, which comprises the following steps: S1, scanning a prescription bar code, requesting a warehouse management system (WMS) to obtain prescription information and verifying the integrity by a warehouse control system (WCS), the prescription information comprising medicinal material types, quantity and medicine decocting parameters; s2, after prescription information is obtained, an empty medicine barrel is placed on a conveying line, when the medicine barrel reaches a binding station, a medicine barrel bar code is automatically scanned, a WCS binds the medicine barrel bar code and a prescription bar code and synchronizes the medicine barrel bar code and the prescription bar code to a WMS, and the unique corresponding relation between the medicine barrel and the prescription is established; through deep integration of a prescription bar code recognition technology and an intelligent control system, the systematic problems of inaccurate metering, inappropriate water adding, out-of-control decoction, unstable quality and incapability of tracing in a traditional medicine decocting process are fundamentally solved.

Description

TECHNICAL FIELD

[0001] The application is a whole-process control method of decoction technology based on prescription barcode recognition, belonging to the technical field of decoction technology. BACKGROUND

[0002] As a key link of clinical application of traditional Chinese medicine, the process control precision of traditional Chinese medicine decoction is directly related to the exertion of drug efficacy and clinical efficacy. At present, the traditional decoction process mainly relies on manual operation and experience judgment, resulting in systematic quality hidden dangers in the decoction process.

[0003] Specifically, due to the lack of effective prescription information recognition and transmission mechanism, the pharmacy staff needs to repeatedly check the paper prescription, which not only causes the high error rate of 8-12% in the measurement of medicinal material types and quantity, but also leads to the inaccurate calculation of subsequent water addition amount; the inaccurate water addition amount further causes insufficient or excessive dilution of medicinal materials, so that the dissolution rate of effective components of medicinal materials fluctuates in the range of ±25%; The extensive management of manual monitoring of decoction time and temperature also causes the temperature control deviation in the decoction process to exceed ±10℃, and the time error to be ±15 minutes, which seriously affects the quality stability of medicinal liquid; More seriously, due to the lack of data correlation and whole-process traceability between processes, when the finished medicinal liquid has quality problems, the problem link cannot be accurately located, resulting in the lack of scientific basis for quality improvement, forming a vicious cycle of inaccurate measurement, improper water addition, decoction out of control, unstable quality, and inability to trace. This series of interrelated and step-by-step amplified process control problems not only reduce the reliability of the clinical efficacy of traditional Chinese medicine, but also hinder the standardization and modernization process of traditional Chinese medicine decoction process, and an intelligent whole-process control method based on prescription barcode recognition is urgently needed. SUMMARY

[0004] In view of the deficiencies in the prior art, the application aims to provide a whole-process control method of decoction technology based on prescription barcode recognition to solve the problems of the prior art.

[0005] In order to achieve the above-mentioned purpose, the application is realized by the following technical scheme: A whole-process control method of decoction technology based on prescription barcode recognition, comprising the following steps: S1. Scanning the prescription barcode, requesting the warehouse management system (WMS) to obtain the prescription information and verifying the integrity by the warehouse control system (WCS), wherein the prescription information includes medicinal material types, quantity and decoction parameters; S2. After obtaining the prescription information, placing an empty medicine barrel to the conveying line, automatically scanning the medicine barrel barcode when the medicine barrel reaches the binding station, binding the medicine barrel barcode with the prescription barcode by the WCS and synchronizing to the WMS, establishing a unique correspondence between the medicine barrel and the prescription; S3. After the binding is completed, the WCS calculates the accurate water adding amount according to the prescription parameters and issues instructions to the automatic water adding system to control the water adding process, at the same time simulating manual squeezing processing of the medicine bag, after the water adding is completed, the squeezing tool is automatically cleaned, and the water adding amount data is fed back to the WCS and uploaded to the WMS; S4. After the water adding is completed, the WCS starts to record the medicine soaking time, the medicine barrel runs along the conveying line to the code reading station to automatically scan the barcode, the WCS requests the decoction machine distribution information from the WMS, and according to the distribution result, the conveying line is dispatched to convey the medicine barrel to the specified roadway; S5. After the medicine barrel arrives at the roadway, the WCS dispatches the shuttle vehicle to carry the medicine barrel to the specified storage location, and after the task is completed, the shuttle vehicle reports to the WCS to update the storage location state; S6. The WCS statistically analyzes the medicine soaking time, and when the medicine soaking time meets the requirement or special requirements of one party with multiple barrels, the WCS controls the PLC to light up the corresponding storage location prompt light, prompts the worker to use the PAD to perform unbinding operation, after the unbinding information is confirmed, the WCS instructs the PLC to extinguish the prompt light, and at the same time, the system starts to monitor the whole decoction process; S7. After the unbinding is completed, the worker puts the dregs into the warehouse location for delivery and triggers the delivery request, the WCS dispatches the shuttle vehicle to convey the dregs barrel to the roadway, and then the conveying line conveys the dregs to the dregs processing area; S8. After the worker cleans the dregs, the worker puts the medicine barrel into the conveying line, and the system automatically starts the cleaning program, and the cleaned medicine barrel is returned to the prescription binding station by the conveying line; S9. The worker puts the finished product liquid tank into the delivery location and triggers the request, the WCS dispatches the shuttle vehicle to convey the tank to the roadway, and then the conveying line conveys the finished product to the delivery area for temporary storage; S10. After the finished product liquid is packed, the worker puts the empty tank into the conveying line, the control unit conveys the empty tank to each roadway according to the buffer status of each roadway, and the WCS dispatches the shuttle vehicle to carry the empty tank to the specified storage location; S11. The system records key process parameters throughout the whole process, automatically generates a decoction report containing water adding amount, decoction time and abnormal conditions, and realizes prescription whole-process quality traceability and data analysis.

[0006] As a further improvement, in step S3, specifically: The WCS calculates the accurate water adding amount according to the prescription parameters, and issues water adding instructions and parameters to the automatic water adding system, the automatic water adding system performs water adding operation, at the same time controls the squeezing mechanism to simulate manual squeezing processing of the medicine bag, after the water adding is completed, the automatic water adding system automatically starts the squeezing tool cleaning program, the automatic water adding system feeds back the actual water adding amount data to the WCS, and the WCS uploads the water adding amount data to the WMS system for recording and verification.

[0007] As a further improvement, in step S6, specifically: The WCS continuously monitors the decoction process in the goods location, judges whether the decoction time or special requirements of one party and multiple barrels are met, and when the conditions are met, the WCS sends a point light prompt lamp instruction to the PLC, the PLC controls the corresponding goods location to keep the prompt lamp constant or flashing, prompts manual operation, manual uses the PAD to scan the medicine barrel barcode to perform unbinding operation, the WMS receives the unbinding information and confirms, and then issues to the WCS, and the WCS receives the confirmation information, and then sends a turn-off prompt lamp instruction to the PLC.

[0008] As a further improvement, in step S7, specifically: The manual puts the medicine barrel containing the dregs into the specified outbound location, clicks the outbound button, triggers the dregs outbound request, the WCS receives the outbound request, dispatches the shuttle car to the specified dregs location, the shuttle car carries the dregs barrel from the location to the lane, the shuttle car reports the work completion information to the WCS, and requests the conveying line to receive the dregs, and after the conveying line receives the dregs barrel, it is transported to the dregs processing area.

[0009] As a further improvement, in step S7, the WCS dispatches the shuttle car, specifically: The lifting mechanism lifts the one-way extension mechanism from the lower position of the conveying frame to the upper position, cooperates with the first drive assembly through the control module to control the one-level extension frame to extend to the target position, cooperates with the second drive assembly through the control module to control the two-level extension frame to further extend to the target position, cooperates with the third drive assembly through the control module to control the group of supporting rods close to the one-level extension frame to rotate inward, and pushes the material box to the storage area, or controls the group of supporting rods away from the one-level extension frame to rotate inward, and pushes the material box to the working platform.

[0010] As a further improvement, in step S7, the WCS dispatches the shuttle car, which further includes: When the shuttle car passes through the curve, the control module controls the magnetic control assembly to lower the magnetic field, liquefies the inside of the soft magnetic particles, and improves the elasticity of the wheel sleeve; When the shuttle car passes through the straight line, the control module controls the magnetic control assembly to increase the magnetic field, solidifies the inside of the soft magnetic particles, and improves the hardness of the wheel sleeve; When the shuttle car detects that it is about to enter the curve, the control module controls the magnetic control assembly to lower the magnetic field strength to zero magnetic field or extremely low magnetic field according to the preset curve position information; the soft magnetic particles liquefy inside in the low magnetic field environment, increase the elasticity of the wheel sleeve, and adapt to the turning requirements of the curve; when the shuttle car detects that it enters the straight line, the control module controls the magnetic control assembly to increase the magnetic field strength to 0.1T-0.5T; the soft magnetic particles solidify inside in the higher magnetic field environment, improve the hardness of the wheel sleeve, and ensure the stability of the straight line driving.

[0011] As a further improvement, the control module cooperates with the third driving assembly to control a group of support rods near the first extension frame to rotate inward, specifically including: the control module controls the fourth driving assembly to drive the support rods to rotate toward the side of the hopper, so that the buffer strip abuts against the outer side of the hopper. When the buffer strip abuts against the hopper to form a recess, the control module controls the fourth driving assembly to drive the supporting sensing assembly to extend and insert into the bottom of the hopper; during the movement of the hopper pushed by the support rods, the supporting sensing assembly monitors whether the hopper deviates from the center line; when the hopper is detected to deviate, the control module cooperates with the center line correction assembly to control the sub-rod in the deviation direction of the hopper to deflect outward, guiding the hopper to return to the center line.

[0012] As a further improvement, the control module controls the fourth driving assembly to drive the supporting sensing assembly to extend, specifically including: by extruding the cavity in the buffer strip, gas is input into the air cavity, the rotating disc is driven to rotate by pushing the partition piece, when the first pressure sensor detects the contact signal of the hopper, the second pressure sensor monitors the contact state of the bottom of the hopper, and after confirming the contact state of the bottom of the hopper, the support piece is guided to insert into the bottom of the hopper through the blade.

[0013] As a further improvement, the control module cooperates with the center line correction assembly to control the electric guide rod to drive the constraint block to extend and retract, adjust the activity amplitude of the sub-rod, and guide the hopper to return to the center line by pushing the corresponding sub-rod to deflect outward.

[0014] The beneficial effects of the present application are: The present application solves the systematic problems of inaccurate measurement, improper water addition, out-of-control boiling, unstable quality and untraceable in the traditional decoction process by deep integration of prescription barcode identification technology and intelligent control system.

[0015] Specifically, the present scheme adopts a prescription barcode as a full-process data carrier, and establishes a data connection with the WMS system by scanning the prescription barcode from step S1, realizes accurate acquisition of medicinal material types, quantity and decoction parameters, and effectively solves the problem of prescription information transmission distortion; in step S3, the system dynamically calculates the water addition amount based on the prescription parameters and controls the extrusion frequency, automatically adjusts the water addition and extrusion parameters according to the characteristics of medicinal materials, ensures that the medicinal materials are fully soaked and the effective components are maximized, and realizes accurate control of the decoction temperature in stages in step S5, automatically selects the temperature rising curve and boiling time according to the type of the main medicinal material in the prescription, and strictly controls the temperature fluctuation within ±2℃, which significantly improves the stability of the decoction process; in step S6, an innovative bubble medicine time intelligent monitoring system is introduced, which dynamically adjusts the bubble medicine completion judgment standard according to the water absorption characteristics of medicinal materials, and solves the defect of strong subjectivity in traditional bubble medicine time judgment; finally, in step S11, the key parameters such as water addition amount, decoction time and temperature are associated with the prescription barcode to form a complete correlation chain, and the quality problem is accurately traced and the process is optimized.

[0016] In implementation, the operator only needs to scan the prescription barcode to start the process in step S1, and perform necessary medicine barrel and material box placement operations in steps S2, S7, S8, S9, S10, etc., and the remaining steps are automatically completed by the system. Specifically, the system first establishes a unique binding relationship between the prescription and the medicine barrel, then automatically completes the water addition, decoction machine distribution, storage, decoction monitoring, and unbinding prompt, and finally realizes the full-process closed-loop control of medicine residue treatment, medicine barrel cleaning and recycling, and product storage. This design greatly reduces the intensity of manual operation, converts the key steps in the traditional decoction process that rely on experience judgment into quantifiable and controllable standardized processes, improves the stability of decoction quality by more than 40%, increases the dissolution rate of effective components by 15-20%, and reduces the manual error rate to less than 1%.

[0017] Compared with the prior art, the present application has three core advantages: Firstly, the prescription barcode is used as a full-process data link to realize accurate association of prescription information and each process, and solve the problem of prescription information transmission discontinuity in traditional methods; Secondly, a dynamic parameter regulation mechanism based on the characteristics of medicinal materials is established, which breaks through the technical bottleneck of fixed system parameters that cannot adapt to the needs of different medicinal materials; Thirdly, a complete quality traceability system is established, which changes the traditional post-inspection into process control combined with full-process traceability, and provides reliable technical support for the standardization and modernization of traditional Chinese medicine decoction process. The consistency and reliability of decoction quality are improved. BRIEF DESCRIPTION OF DRAWINGS

[0018] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required to be used in the embodiments will be briefly introduced as follows. It should be understood that the following drawings only show some of the embodiments of the present application, and therefore should not be regarded as a limitation on the scope, and other related drawings can also be obtained by those of ordinary skill in the art without creative labor on the basis of these drawings.

[0019] Figure 1 is a side view structural schematic diagram of a prescription barcode recognition-based decoction process whole-process control method of the present application.

[0020] Figure 2 is a side view structural schematic diagram of a shuttle machine for decoction process of the present application.

[0021] Figure 3 is a first-level and second-level extension frame extension state schematic diagram of a shuttle machine for decoction process of the present application.

[0022] Figure 4 is Figure 3 is an enlarged structural schematic diagram of A in

[0023] Figure 5 is Figure 3 is a constraint block adjustment state schematic diagram of A in

[0024] Figure 6 is an internal structure schematic diagram of a shuttle machine for decoction process of the present application.

[0025] Figure 7 is Figure 5 is an enlarged structural schematic diagram of B in

[0026] Figure 8 is a top view internal structure schematic diagram of a turntable of the present application.

[0027] Figure 9 is Figure 2 is an enlarged structural schematic diagram of C in

[0028] Figure 10 is Figure 9 is a side view structural schematic diagram of a clamping assembly connection in

[0029] Figure 11 is a bottom view structural schematic diagram of a shuttle machine for medicine preparation of the present application.

[0030] Figure 12 is Figure 11 is a top view structural schematic diagram of D in

[0031] Figure 13 is an internal structure schematic diagram of a side drive wheel of the present application.

[0032] Figure 14 is a schematic diagram of the internal structure of a soft magnetic particle.

[0033] Figure 15 is a schematic diagram of the three-dimensional structure of a positioning disc.

[0034] Figure 16 is a schematic diagram of the connection of a shuttle machine module for decoction process.

[0035] 1, shuttle vehicle; 2, conveying frame; 21, vehicle frame; 22, lower station; 23, upper station; 3, working platform; 4, control module; 31, first extension frame; 32, second extension frame; 33, material box; 321, support rod; 322, buffer strip; 3211, main rod; 3212, auxiliary rod; 11, first rack; 111, first motor; 112, rotating shaft; 113, first gear; 114, first tension pulley; 115, second tension pulley; 116, double-sided toothed connecting belt; 12, second rack; 121, second motor; 122, second gear; 13, third motor; 131, electric guide rod; 132, restraint block; 14, chamber; 141, torsional spring; 142, rotating disc; 143, cavity; 144, partition piece; 145, cavity; 146, support piece; 147, first pressure sensor; 148, second pressure sensor; 3213, through hole; 3214, protrusion; 3215, upward protruding portion; 3216, limiting portion; 34, third gear; 341, fourth gear; 342, toothed belt; 343, conveying belt; 35, vertical rod; 351, horizontal rod; 352, boom; 353, fourth motor; 36, toothed plate; 361, fixed portion; 362, locking piece; 363, main tooth; 364, self-repairing piece; 365, conical protruding portion; 366, groove; 37, lateral drive wheel; 371, guide rail; 38, rotating shaft; 381, hub; 382, wheel sleeve; 3821, inner cavity; 3822, soft magnetic particle; 3823, magnetorheological fluid; 3824, rubber sleeve; 39, fifth motor; 391, positioning disc; 392, electromagnet ring; 393, magnetic control module; 394, inner ring; 395, partition piece; 1421, cover piece; 1422, ball. DETAILED DESCRIPTION

[0036] In order to make the purposes, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by a person of ordinary skill in the art without creative labor fall within the protection scope of the present application. Therefore, the following detailed description of the embodiments of the present application provided in the drawings is not intended to limit the scope of the claimed present application, but only represents selected embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by a person of ordinary skill in the art without creative labor fall within the protection scope of the present application.

[0037] In the description of the present application, the terms first, second are only for the purpose of description, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined with the first and the second can explicitly or implicitly include one or more of the features. In the description of the present application, the meaning of multiple is two or more, unless otherwise specifically limited.

[0038] Referring to Figures 1-16 As shown in the figure, a prescription barcode recognition-based decoction process whole-process control method, the steps include: S1. Scanning the prescription barcode, requesting the warehouse management system WMS to obtain the prescription information and verify the integrity by the warehouse control system WCS, the prescription information including medicinal material types, quantity and decoction parameters; S2. After obtaining the prescription information, placing an empty medicine barrel to the conveying line, automatically scanning the medicine barrel barcode when the medicine barrel reaches the binding station, binding the medicine barrel barcode with the prescription barcode by the WCS and synchronizing to the WMS, establishing a unique correspondence between the medicine barrel and the prescription; S3. After the binding is completed, the WCS calculates the accurate water adding amount according to the prescription parameters and issues instructions to the automatic water adding system, controls the water adding process and at the same time simulates manual squeezing treatment of the medicine package, after the water adding is completed, automatically cleaning the squeezing tool and feeding the water adding amount data to the WCS and uploading to the WMS; S4. After the water adding is completed, the WCS starts to record the medicine soaking time, the medicine barrel runs along the conveying line to the code reading station to automatically scan the barcode, the WCS requests the decoction machine distribution information to the WMS, and according to the distribution result, schedules the conveying line to convey the medicine barrel to the specified lane; S5. After the medicine barrel reaches the lane, the WCS schedules the shuttle vehicle to carry the medicine barrel to the specified storage location, and the shuttle vehicle reports the WCS to update the storage location state after the task is completed; S6. WCS analyzes the soaking time, and when the soaking time meets the requirements or special requirements of one formula with multiple barrels, the corresponding location indicator light is turned on by the PLC to prompt the worker to use the PAD to perform the unbinding operation. After the unbinding information is confirmed, the WCS instructs the PLC to turn off the indicator light, and the system starts timing and monitoring the whole decoction process. S7. After the unbinding is completed, the worker puts the dregs into the warehouse location and triggers the delivery request, and the WCS dispatches the shuttle vehicle to transport the dregs barrel to the roadway, and then the dregs are transported to the dregs processing area by the conveying line. S8. After the worker cleans the dregs, the worker puts the barrel into the conveying line, and the system automatically starts the cleaning program. The cleaned barrel is returned to the prescription binding station by the conveying line. S9. The worker puts the finished product into the delivery location and triggers the request, and the WCS dispatches the shuttle vehicle to transport the material box to the roadway, and then the finished product is transported to the delivery area by the conveying line. S10. After the finished product is packed, the worker puts the empty material box into the conveying line, and the control unit transports the empty material box to each roadway according to the buffer status of each roadway. The WCS dispatches the shuttle vehicle to transport the empty material box to the designated location. S11. The system records key process parameters throughout the whole process, automatically generates a decoction report containing water addition, decoction time and abnormal conditions, and realizes quality traceability and data analysis of the whole process.

[0039] By deeply integrating the prescription barcode recognition technology and the intelligent control system, the systematic problems of inaccurate measurement, improper water addition, out-of-control decoction, unstable quality and traceability in the traditional decoction process are fundamentally solved.

[0040] Specifically, the prescription barcode is used as the data carrier throughout the whole process. From S1, the data connection with the WMS system is established by scanning the prescription barcode to realize accurate acquisition of the medicinal material type, quantity and decoction parameters, and effectively solve the problem of distorted prescription information transmission. In S3, the system dynamically calculates the water addition and controls the extrusion frequency based on the prescription parameters, automatically adjusts the water addition and extrusion parameters according to the characteristics of medicinal materials to ensure that the medicinal materials are fully soaked and the effective components are maximized. In S5, the decoction temperature is controlled in stages to automatically select the temperature rising curve and boiling time according to the type of the main medicinal material in the prescription, so that the temperature fluctuation is strictly controlled within ±2℃, which significantly improves the stability of the decoction process. In S6, the soaking time intelligent monitoring system is innovatively introduced to dynamically adjust the soaking completion judgment standard according to the water absorption characteristics of medicinal materials, solving the defect of strong subjectivity in traditional soaking time judgment. Finally, in S11, the key parameters such as water addition, decoction time and temperature are associated with the prescription barcode through the whole process data recording and abnormal analysis mechanism to realize accurate traceability and process optimization of quality problems.

[0041] In implementation, the operator only needs to scan the prescription barcode at S1 to start the process, and perform necessary drug barrel and material box placement operations at S2, S7, S8, S9, S10, etc. The remaining steps are automatically completed by the system. Specifically, the system first establishes a unique binding relationship between the prescription and the drug barrel, then automatically completes the water adding, decoction machine distribution, warehousing, decoction monitoring, and unbinding prompting processes, and finally realizes the whole-process closed-loop control of drug residue treatment, drug barrel cleaning and recycling, and product warehousing. This design greatly reduces the intensity of manual operation, converts the key steps in the traditional decoction process that rely on experience into quantifiable and controllable standardized processes, improves the decoction quality stability by more than 40%, increases the effective component dissolution rate by 15-20%, and reduces the manual error rate to less than 1%.

[0042] Compared with the prior art, the present application has three core advantages: Firstly, the prescription barcode is used as a whole-process data link to realize the accurate association of prescription information with each process, solving the prescription information transmission gap problem in traditional methods. Secondly, a dynamic parameter regulation mechanism based on the characteristics of medicinal materials is established, breaking through the technical bottleneck of fixed system parameters that cannot adapt to the needs of different medicinal materials. Thirdly, a complete quality traceability system is constructed, which changes the traditional post-inspection into process control combined with whole-process traceability, providing reliable technical support for the standardization and modernization of traditional Chinese medicine decoction process, and improving the consistency and reliability of decoction quality.

[0043] Among them, WCS is the core control center of the decoction process automation system, responsible for real-time scheduling and coordination of the operation of each hardware device. In the present scheme, WCS receives prescription information and task instructions from WMS, directly controls the operation of conveying lines, shuttles and other logistics equipment, and manages the circulation of drug barrels between processes. Specifically, WCS performs key control functions such as prescription information verification, drug barrel binding, water adding instruction issuing, decoction machine distribution, shuttle scheduling, etc., while monitoring the operation status of each device and feeding back information. The characteristic of WCS is strong real-time and fast response, which can handle millisecond-level device control instructions to ensure the continuity and accuracy of the decoction process.

[0044] WMS is the upper management information system of decoction process, responsible for the management of prescription information, inventory status and process parameters. In this scheme, WMS stores complete prescription data (including medicinal material types, quantity, decoction parameters, etc.), allocates decoction resources according to the state of decoction machine and process requirements, manages the inventory information of medicine barrels and material boxes, and generates a full-process traceability report. WMS and WCS form a management-execution hierarchical relationship, WMS provides decision basis and process parameters, and WCS is responsible for specific execution. The characteristics of WMS are strong data processing capacity, high information integration degree, and it can realize the quality traceability and data analysis of the whole process of prescription, and provide support for process optimization.

[0045] PLC is a basic control device in the field of industrial automation, used to realize precise control of physical devices. In this scheme, PLC receives control instructions from WCS, and directly drives hardware devices such as goods location prompt light, extrusion mechanism, cleaning equipment, etc. For example, when WCS judges that the medicine barrel meets the condition of soaking medicine, it sends instructions to PLC, and PLC controls the prompt light of the corresponding goods location to light up or flash, prompting manual operation. The characteristics of PLC are high reliability and strong anti-interference ability, which can adapt to the changes of temperature and humidity in the decoction environment, and ensure the stable operation of key control links.

[0046] The shuttle vehicle is an automatic handling equipment in the decoction area, responsible for transporting medicine barrels or material boxes from the roadway entrance to the designated goods location, or from the goods location to the roadway entrance, realizing the precise positioning of medicine barrels in the vertical direction.

[0047] The roadway is the passageway between the shelves in the decoction area, and is the special track for the operation of the shuttle vehicle. Each roadway corresponds to a group of decoction machine positions, ensuring that the medicine barrels can be accurately delivered to the designated decoction position.

[0048] The goods location is a specific storage unit on the shelf, and each goods location corresponds to a decoction position. The system controls the decoction process through the goods location state, realizing independent control of the decoction process of each medicine barrel.

[0049] The code reading position is a specific position on the conveying line, equipped with a barcode scanning device, which automatically identifies the barcode information when the medicine barrel passes by, triggering WCS to request corresponding instructions from WMS, which is a key node to realize the association between prescription and medicine barrel.

[0050] WMS provides decision support as the brain, WCS coordinates the operation of each link as the nerve center, PLC controls the action of specific equipment as the executive end, and the shuttle vehicle and other hardware devices complete physical operation as the limbs, forming a complete, efficient and traceable intelligent decoction system, which fundamentally solves the technical problems of information discontinuity, process out of control and unstable quality in traditional decoction process.

[0051] In step S1, specifically: S11: Scan the prescription barcode by the scanning device, and transmit the barcode information to the warehouse control system WCS; S12: The WCS sends a prescription information request to the warehouse management system WMS, and obtains complete prescription parameters including medicinal material types, quantity, decoction time, and water addition amount; S13: The WCS verifies the validity and integrity of the prescription information, and confirms that the prescription parameters meet the requirements of the decoction process; In step S11, specifically: S111: The system collects and records key process parameters in real time during the decoction process, including water addition amount, decoction time, temperature, etc.; S112: After the decoction process is completed, the system automatically generates a decoction report containing water addition amount, decoction time, and abnormal conditions; S113: The decoction report is stored in association with the prescription barcode, realizing whole-process quality traceability; S114: The system statistically analyzes the decoction data to provide data support for process optimization.

[0052] In the prescription information verification link, the system sets a multiple parameter verification mechanism: the total weight of medicinal materials should be controlled within the range of 50-500 grams, and the system automatically prompts if the total amount of medicinal materials is abnormal; The number of single medicinal materials should not exceed 20, and if it exceeds 20, the system marks it as a compound over-limit; The conventional decoction time is set according to the properties of medicinal materials into three categories: 15-25 minutes for relieving the exterior, 20-30 minutes for clearing heat, and 40-60 minutes for nourishing, and special prescriptions can be extended to 90 minutes but need double confirmation of the system; The water addition amount is calculated as 5-10 times the total weight of medicinal materials, and for medicinal materials containing volatile components, it is automatically adjusted to 4-6 times.

[0053] When the prescription contains mineral medicinal materials, the system automatically adjusts the verification range of the total weight of medicinal materials to 100-600 grams; When the prescription contains flower leaf medicinal materials, the system automatically adjusts the water addition amount calculation multiple to 6-12 times to avoid loss of effective components; The system sets a prescription abnormality grading mechanism, a first-level abnormality (such as a total amount of medicinal materials exceeding the normal range by more than 20%) automatically terminates the process, and a second-level abnormality (such as the number of single medicinal materials exceeding 15) prompts manual review, ensuring the scientificity and safety of the decoction process.

[0054] In step S11, the system sets the data collection frequency: temperature parameters are recorded every 30 seconds, pressure parameters are recorded every 1 minute, and other parameters are recorded every 2 minutes; Abnormality determination threshold setting: when the water quantity deviation exceeds ±5%, the decoction time deviation exceeds ±10%, the temperature deviation exceeds ±5℃, and the pressure deviation exceeds ±0.1 MPa, the system automatically marks as abnormal and generates an abnormality report; All parameter records should be stored in association with the prescription barcode, medicine barrel barcode, operator information, and time stamp, with a storage period of not less than 5 years, meeting the requirements of drug traceability; The system generates process parameter analysis reports regularly, and automatically triggers maintenance reminders for equipment that has the same abnormality for three consecutive times.

[0055] Temperature parameters are recorded every 15 seconds in critical stages (such as 10 minutes before and after boiling), and every 30 seconds in other stages; The system is set to analyze abnormality correlation, and when the water quantity deviation exceeds ±5%, it automatically analyzes parameters such as decoction time and temperature to determine whether subsequent processes need to be adjusted; The system automatically proposes parameter adjustments for process links that have the same abnormality for five consecutive times, such as extending the decoction time of certain types of medicinal materials by 5-10 minutes; All parameter records are associated with the prescription barcode, medicine barrel barcode, operator information, and time stamp to form a complete association chain, meeting the traceability requirements of the Good Manufacturing Practice (GMP).

[0056] In step S2, specifically: S21: The WCS generates an empty medicine barrel demand based on the prescription information and issues it to the conveying system; S22: The empty medicine barrel is placed on the conveying line by a person, starting the decoction process; S23: The medicine barrel runs along the conveying line to the binding station, automatically scans the medicine barrel barcode, and transmits it to the WCS; S24: The WCS uniquely binds the medicine barrel barcode with the prescription barcode, establishing a corresponding relationship; S25: The binding information is synchronized to the WMS system for recording, providing a data basis for subsequent processes; In step S3, specifically: S31: The WCS calculates the precise water quantity based on the prescription parameters and issues the water addition instruction and parameters to the automatic water addition system; S32: The automatic water addition system performs the water addition operation and simultaneously controls the squeezing mechanism to perform simulated manual squeezing of the medicine package; S33: After the water addition is completed, the automatic water addition system automatically starts the squeezing tool cleaning program; S34: The automatic water addition system feeds back the actual water addition quantity data to the WCS; S35: The WCS uploads the water addition quantity data to the WMS system for recording and verification; The automatic water adding system sets precise water amount control parameters: the water adding amount error is controlled within ±2%, and when the water adding amount required by the prescription is less than 500ml, the system automatically increases the tolerance range by ±10ml; The operation parameters of the extrusion mechanism are dynamically adjusted according to the characteristics of medicinal materials. For rhizome medicinal materials, the extrusion frequency is set to 6-8 times per minute, and each extrusion lasts for 4-5 seconds. For flower leaf medicinal materials, the extrusion frequency is adjusted to 4-6 times per minute, and each extrusion lasts for 3-4 seconds. The system sets the extrusion pressure threshold to 0.2-0.5MPa, and automatically stops extrusion and alarms when the threshold is exceeded.

[0057] In step S4, specifically: S41: After the medicine bucket is filled with water, it runs along the conveying line to the code reading station and automatically scans the medicine bucket barcode; S42: The WCS sends a decoction machine allocation request to the WMS and provides the medicine bucket barcode information; S43: The WMS allocates appropriate decoction machines according to the prescription requirements and idle state of the decoction machines; S44: The WCS receives the decoction machine allocation information and obtains the location of the decoction machine in the aisle; S45: The WCS dispatches the conveying line to transport the medicine bucket to the designated aisle opening, preparing for storage; In step S5, specifically: S51: After the medicine bucket arrives at the designated aisle opening, the WCS sends a storage task instruction to the shuttle vehicle; S52: After receiving the instruction, the shuttle vehicle carries the medicine bucket from the aisle opening to the WMS designated decoction position; S53: After the task is completed, the shuttle vehicle reports the work completion information to the WCS; S54: The WCS automatically updates the location state according to the reported information and records the medicine bucket storage time; S55: The WCS starts the decoction timer and begins to monitor the temperature and time parameters during the entire decoction process; The temperature parameters during the decoction process are controlled in stages: the initial heating stage temperature rise rate is controlled at 2-3℃ / min to avoid rapid evaporation of medicinal material active ingredients; When the temperature reaches 80℃, the system automatically reduces the heating power, slowing the temperature rise rate to 1-2℃ / min; after boiling, it is maintained at 95-100℃, with a temperature fluctuation range of not more than ±3℃; Different decoction times are set for different types of medicinal materials: 20-25 minutes for resolving drugs, 25-35 minutes for heat-clearing drugs, and 40-60 minutes for tonifying drugs. The system automatically selects the decoction time range according to the main medicinal material type in the prescription; the temperature sensor sampling frequency is set to once every 15 seconds to ensure the accuracy of temperature control.

[0058] In step S6, specifically: S61: WCS continuously monitors the decoction process in the goods location, and judges whether the decoction time or the special requirements of one party and multiple barrels are met; S62: When the conditions are met, WCS sends a command to light the prompt light to PLC; S63: PLC controls the prompt light of the corresponding goods location to be always on or flashing, prompting manual operation; S64: Manual operation uses PAD to scan the medicine barrel barcode for unbinding operation; S65: WMS receives the unbinding information and confirms it, and then issues it to WCS; S66: After receiving the confirmation information, WCS sends a command to extinguish the prompt light to PLC; The decoction time parameter is finely set according to the characteristics of medicinal materials: the decoction time of conventional medicinal materials is set to 30-45 minutes, the decoction time of relieving surface medicinal materials is set to 20-30 minutes, and the decoction time of mineral medicinal materials is set to 60-90 minutes; The system sets a decoction time monitoring threshold value, when the decoction time reaches 80% of the set value, the prompt light starts to flash to remind, and when it reaches 100%, it becomes always on; For special prescriptions of one party and multiple barrels, the system automatically calculates the decoction time difference between barrels to ensure that the decoction time difference between barrels does not exceed 5 minutes; the decoction time is recorded to the second, and the system automatically records the decoction start time and the current decoction time.

[0059] In step S7, specifically: S71: Manual operation places the medicine residue-containing medicine barrel into the designated outbound goods location; S72: Manual operation clicks the outbound button to trigger the medicine residue outbound request; S73: After receiving the outbound request, WCS dispatches a shuttle car to the designated medicine residue goods location; S74: The shuttle car moves the medicine residue barrel from the goods location to the lane; S75: The shuttle car reports the job completion information to WCS and requests the conveying line to receive the medicine residue; S76: After receiving the medicine residue barrel, the conveying line transports it to the medicine residue processing area; In step S8, specifically: S81: After manual operation finishes cleaning the medicine residue, the empty medicine barrel is placed into the cleaning area conveying line; S82: The system automatically starts the medicine barrel cleaning program to thoroughly clean the inner wall of the medicine barrel; S83: After cleaning, the medicine barrel is automatically returned by the conveying line; S84: The conveying line transports the cleaned medicine barrel to the prescription binding station, preparing for the next round of decoction process; In step S9, specifically: S91: Manually place the material box containing the finished product liquid in the finished product delivery location; S92: Manually click the delivery button to trigger the finished product delivery request; S93: After the WCS receives the delivery request, dispatch the shuttle car to the specified finished product storage location; S94: The shuttle car transports the finished product material box from the storage location to the lane; S95: The shuttle car reports the job completion information to the WCS and requests the conveying line to receive the finished product material box; S96: After the conveying line receives the finished product material box, it is transported to the delivery area for temporary storage; In step S10, specifically: S101: Manually place the empty material box that has been used for turnover on the conveying line; S102: The conveying line transports the empty material box to the specified lane; S103: After the WCS receives the empty material box storage information, send the storage task instruction to the shuttle car; S104: After receiving the instruction, the shuttle car transports the empty material box from the lane to the specified storage location; S105: The shuttle car reports the job completion information to the WCS, and the WCS automatically updates the empty material box inventory status; A shuttle machine applied to a decoction process full-process control method, comprising, A vehicle frame 21, a one-way extension mechanism arranged on the vehicle frame 21, and a lifting mechanism arranged on the vehicle frame 21, wherein the lifting mechanism is used to lift the one-way extension mechanism from the lower station 22 of the conveying frame 2 to the upper station 23; The one-way extension mechanism comprises a working platform 3 arranged on the vehicle frame 21, a first extension frame 31 slidingly installed on the working platform 3, and a first driving assembly arranged above the first extension frame 31; A second extension frame 32 slidingly installed inside the first extension frame 31, and a second driving assembly arranged between the first extension frame 31 and the second extension frame 32; Two groups of support rods 321 rotatably installed on the inner side of the second extension frame 32, and a third driving assembly driving the two support rods 321 of the same group to rotate towards the inner side; The working platform 3 is provided with a material box 33; A control module 4, which is electrically connected with the first driving assembly, the second driving assembly, and the third driving assembly; The control module 4 cooperates with the first driving assembly to control the extension / retraction of the first extension frame 31, cooperates with the second driving assembly to control the extension / retraction of the second extension frame 32, and cooperates with the third driving assembly to control a group of the supporting rods 321 close to the first extension frame 31 to rotate and extend when the material box 33 is transported to the storage area, so as to push the material box 33 to the storage area, and controls a group of the supporting rods 321 away from the first extension frame 31 to rotate and extend when the material box 33 is transported to the working platform 3, so as to push the material box 33 to the working platform 3. The supporting rod 321 is provided with a buffer strip 322 on both sides, a bearing sensing assembly is rotatably installed below the supporting rod 321, and a fourth driving assembly for driving the bearing sensing assembly to rotate is arranged in the buffer strip 322. The control module 4 is electrically connected with the bearing sensing assembly and the fourth driving assembly, and when the material box 33 is transported, the control module 4 controls the fourth driving assembly to drive the supporting rod 321 to rotate towards one side of the material box 33 and abut against the outer side of the material box 33, so that the buffer strip 322 and the material box 33 form a recess, and the fourth driving assembly controls the bearing sensing assembly to extend and insert into the bottom of the material box 33. The supporting rod 321 includes a main rod 3211 connected with the third driving assembly and a secondary rod 3212 rotatably installed at the end of the main rod 3211, and a center line correction assembly is arranged at the connection area of the main rod 3211 and the secondary rod 3212. The center line correction assembly is electrically connected with the control module 4, the bearing sensing assembly monitors the deviation of the material box 33 from the center line when the material box 33 is pushed to move by the supporting rod 321, and the secondary rod 3212 deviating from the direction of the material box 33 is controlled to deflect outward by cooperating with the center line correction assembly, so as to guide the material box 33 to return to the center line.

[0060] The first driving assembly includes a first rack 11 fixedly installed above the first extension frame 31, a first motor 111 installed on the frame 21, a rotating shaft 112 rotatably installed at the output end of the first motor 111, a first gear 113 fixedly installed on the rotating shaft 112, a first tensioning wheel 114 and a second tensioning wheel 115 rotatably installed on the frame 21, a double-sided toothed connecting belt 116 meshing and connecting the first gear 113 and the first tensioning wheel 114, the double-sided toothed connecting belt 116 meshes with the second tensioning wheel 115 above, and the double-sided toothed connecting belt 116 meshes and cooperates with the first rack 11, and the first motor 111 is electrically connected with the control module 4. The second driving assembly comprises a second rack 12 fixedly installed on the outer side of the second extension frame 32, a second motor 121 installed on the side of the first extension frame 31, and a second gear 122 rotatably installed on the output end of the second motor 121, wherein the second motor 121 is electrically connected with the control module 4, and the second gear 122 is in meshing cooperation with the second rack 12. The third driving assembly comprises a third motor 13 connected with the main rod 3211, wherein the third motor 13 is electrically connected with the control module 4, and the rotation of the main rod 3211 is controlled by cooperation between the control module 4 and the third motor 13.

[0061] The middle line correction assembly comprises an electric guide rod 131 fixedly installed on the main rod 3211 and a constraint block 132 slidingly installed above the main rod 3211, wherein the electric guide rod 131 is fixedly connected with the constraint block 132, the electric guide rod 131 is electrically connected with the control module 4, the constraint block 132 is driven to extend / contract by the electric guide rod 131 controlled by the control module 4, the activity amplitude of the auxiliary rod 3212 is controlled, the corresponding auxiliary rod 3212 is deflected towards the outer side by the material box 33, and the material box 33 is guided to return to the middle line by the deflected auxiliary rod 3212.

[0062] The fourth driving assembly comprises a chamber 14 arranged inside the buffer strip 322, a rotating disc 142 rotatably installed below the support rod 321 by a torsional spring 141, a supporting sensing assembly connected below the rotating disc 142, an open slot arranged above the rotating disc 142, a cover sheet 1421 rotatably arranged above the rotating disc 142, a semi-closed cavity 143 formed by cooperation between the cover sheet 1421 and the rotating disc 142, a plurality of cavities 145 separated by a separation sheet 144 arranged inside the rotating disc 142, and the cavities 145 are in communication with the chamber 14 through the cover sheet 1421 arranged above the cavities 145, wherein gas is input into the air cavity by extruding the chamber 14 inside the buffer strip 322, the supporting sensing assembly is extended and inserted into the bottom of the material box 33 by driving the rotating disc 142 to rotate by pushing the separation sheet 144. The fourth driving assembly further comprises a first pressure sensor 147 embeddedly installed inside the chamber 14, wherein the first pressure sensor 147 is electrically connected with the control module 4, and the contact signal of the material box 33 is fed back to the control module 4 by the first pressure sensor 147. The supporting induction assembly comprises a supporting sheet 146 fixedly arranged below the rotating disc 142, an upper portion of one end of the supporting sheet 146 is welded with an axis below the rotating disc 142, and an edge portion 1461 is arranged at an end of the supporting sheet 146 away from the rotating disc 142; the supporting sheet 146 is inserted into the bottom of the material box 33 through the edge portion 1461; A second pressure sensor 148 is embedded and arranged above the supporting sheet 146, the second pressure sensor 148 is electrically connected with the control module 4, and the second pressure sensor 148 feeds back a contact signal of the bottom of the material box 33 to the control module 4 through the control module 4.

[0063] The lifting mechanism further comprises a group of supporting frames vertically arranged on the vehicle frame 21, a third gear 34 rotatably arranged above the supporting frame, a fourth gear 341 rotatably arranged on the vehicle frame 21, a toothed belt 342 connecting the third gear 34 and the fourth gear 341, and a fifth driving assembly driving the fourth gear 341 to rotate; A clamping assembly is arranged on the toothed belt 342, the toothed belt 342 and the working platform 3 arranged on the vehicle frame 21 are connected through the clamping assembly; the control module 4 is electrically connected with the fifth driving assembly, and the fifth driving assembly drives the toothed belt 342 to drive the working platform 3 to ascend / descend through the control module 4; The toothed belt 342 further comprises a conveying belt 343, a self-repairing tooth group arranged on the inner side of the conveying belt 343, and a mute assembly arranged on the outer side of the self-repairing tooth group; the mute assembly is engaged with the tooth portions of the first gear 113 and the second gear 122.

[0064] The supporting frame comprises a group of vertical rods 35 symmetrically arranged on the vehicle frame 21, a horizontal rod 351 arranged above the two vertical rods 35, a hanging rod 352 arranged below the horizontal rod 351, and the first gear 113 is rotatably arranged in the hanging rod 352; the fifth driving assembly comprises a fourth motor 353 fixedly arranged on the vehicle frame 21, and the fourth motor 353 is electrically connected with the control module 4; The clamping assembly comprises a toothed plate 36 engaged with the inner side of the toothed belt 342, a fixed portion 361 formed by extending the toothed plate 36 towards the side surface at both ends, and a group of locking sheets 362 arranged on the side surface of the working platform 3 and fixedly connected with the fixed portion 361 through the locking sheets 362.

[0065] The self-repairing tooth group comprises main teeth 363 integrally arranged with the conveying belt 343, and self-repairing sheets 364 embedded on the upper and lower outer side surfaces of the main teeth 363; the self-repairing sheets 364 are made of shape memory polymer material; the thickness of the self-repairing sheets 364 is 1-1.5 mm; The self-repairing sheet 364 is provided with a plurality of groups of conical protrusions 365 on both sides, and the main tooth 363 is provided with grooves 366 corresponding to the conical protrusions 365, the self-repairing sheet 364 is installed, and the conical protrusions 365 are inserted into the grooves 366; The mute assembly includes a mute sheet embedded and installed on the conical protrusions 365, and the mute sheet is made of nylon material. It also includes a plurality of groups of lateral drive wheels 37 installed below the shuttle vehicle 1, a sixth driving assembly for driving the lateral drive wheels 37; a guide rail 371 for laying and guiding the moving track of the shuttle vehicle 1, and the lateral drive wheels 37 are in contact with the guide rail 371 on the side; The lateral drive wheels 37 include a rotating shaft 38 connected with the sixth driving assembly, a hub 381 fixedly installed below the rotating shaft 38, and a wheel cover 382 covered and sealed on the outer side of the hub 381. A plurality of groups of inner cavities 3821 are provided inside the wheel cover 382, and soft magnetic particles 3822 are filled in the inner cavities 3821. A magnetic control assembly is provided below the shuttle vehicle 1, and the magnetic control assembly is located above the wheel cover 382; The control module 4 is electrically connected with the sixth driving assembly and the magnetic control assembly. When the shuttle vehicle 1 moves through a curve, the control module 4 controls the magnetic control assembly to reduce the magnetic field, so that the soft magnetic particles 3822 inside are liquefied, and the elasticity of the wheel cover 382 is improved; When the shuttle vehicle 1 moves through a straight line, the control module 4 controls the magnetic control assembly to increase the low magnetic field, so that the soft magnetic particles 3822 inside are semi-solidified, and the hardness of the wheel cover 382 is improved.

[0066] The sixth driving assembly is a fifth motor 39 fixedly installed inside the shuttle vehicle 1. The output end of the fifth motor 39 is provided with a positioning disc 391, and the magnetic control assembly is installed through the positioning disc 391; The magnetic control assembly includes an electromagnet ring 392 and a magnetic control module 393 for controlling the magnetic field strength of the electromagnet ring 392. The electromagnet ring 392 is fixedly installed on the positioning disc 391, and the electromagnet ring 392 is located directly above the wheel cover 382. The magnetic control module 393 is electrically connected with the control module 4; The wheel cover 382 includes an inner ring 394 fixedly connected with the hub 381 and a partition piece 395 separating the inner cavities 3821. The edge thickness of the partition piece 395 is greater than the middle thickness. The soft magnetic particles 3822 include an internally filled magnetorheological fluid 3823 and a rubber sleeve 3824 sealingly covering the magnetorheological fluid 3823. The particle diameter of the soft magnetic particles 3822 is 1-2 mm. The critical magnetic field strength for internal liquefaction of the soft magnetic particles 3822 is zero magnetic field or extremely low magnetic field, and the critical magnetic field strength for internal semi-solidification of the soft magnetic particles 3822 is 0.1T-0.5T.

[0067] It should be noted that the device structure and the drawings of the present application mainly describe the principles of the present application, and the setting of the power mechanism, power supply system and control system of the device is not fully described in the technical principle of the design principle, and the specific of the power mechanism, power supply system and control system can be clearly known by the skilled in the art on the premise of understanding the principles of the above application, the control mode of the application file is controlled by the controller, and the control circuit of the controller can be realized by simple programming of the skilled in the art; The standard parts used therein can be purchased from the market, and can be ordered according to the description and drawings. The specific connection mode of each part adopts the conventional screw, rivet, welding and other conventional means in the prior art. The mechanical parts and equipment adopt conventional models in the prior art, and the components known to the skilled in the art are known to the skilled in the art through technical manuals or conventional experimental methods.

[0068] The above only describes the preferred embodiments of the present application and is not intended to limit the present application. For those skilled in the art, the present application can have various modifications and changes. Any modification, equivalent replacement, improvement, etc. within the spirit and principles of the present application shall be included in the protection scope of the present application.

Claims

1. A method for controlling the entire process of decoction preparation based on prescription barcode recognition, characterized in that, Includes the following steps: S1. Scan the prescription barcode. The warehouse control system (WCS) requests the prescription information from the warehouse management system (WMS) and verifies its integrity. The prescription information includes the type and quantity of medicinal materials and decoction parameters. S2. After obtaining the prescription information, the empty medicine barrel is placed on the conveyor line. When the medicine barrel arrives at the binding station, the medicine barrel barcode is automatically scanned. The WCS binds the medicine barrel barcode with the prescription barcode and synchronizes it to the WMS to establish a unique correspondence between the medicine barrel and the prescription. S3. After binding is completed, WCS calculates the precise amount of water to be added based on the prescription parameters and sends instructions to the automatic water adding system. It controls the water adding process and simulates manual squeezing of the medicine pack. After water is added, it automatically cleans the squeezing tool and feeds back the water adding data to WCS and uploads it to WMS. S4. After water is added, WCS starts recording the soaking time. The medicine barrel runs along the conveyor line to the barcode reading station for automatic barcode scanning. WCS requests the decoction machine allocation information from WMS and dispatches the conveyor line to transport the medicine barrel to the designated tunnel entrance according to the allocation result. S5. After the medicine barrel arrives at the entrance of the alley, the WCS dispatches a shuttle to move the medicine barrel to the designated storage location. After the task is completed, the shuttle reports to the WCS to update the storage location status. S6.WCS performs statistical analysis on the soaking time. When the soaking time or special requirements of multiple barrels per batch are met, the control PLC illuminates the corresponding storage location indicator light to prompt the operator to use the PAD to unbind the medicine. After the unbinding information is confirmed, the WCS instructs the PLC to turn off the indicator light, and the system starts timing to monitor the entire decoction process. S7. After unbinding, the manual person puts the dregs into the outbound storage location and triggers the outbound request. The WCS dispatch shuttle car transports the dregs bucket to the entrance of the alley, and then the conveyor line transports the dregs to the dregs processing area. S8. After manually cleaning the dregs, the medicine bucket is placed into the conveyor line. The system automatically starts the cleaning program. The cleaned medicine bucket is returned to the prescription binding station via the conveyor line. S9. The manual person places the finished drug liquid container into the outbound position and triggers a request. The WCS dispatches the shuttle car to transport the container to the entrance of the alley, and then the conveyor line transports the finished product to the shipping area for temporary storage. S10. After the finished drug liquid is packaged, the empty material box is manually placed into the conveyor line. The control unit transports the empty material box to each roadway entrance according to the buffer situation of each roadway. The WCS dispatch shuttle car moves the empty material box to the designated storage location. S11. The system records key process parameters throughout the entire process and automatically generates decoction reports that include water volume, decoction time, and abnormal situations, enabling full-process quality traceability and data analysis of prescriptions.

2. The shuttle control method for pharmaceutical preparation according to claim 1, characterized in that, In step S1, specifically: the prescription barcode is scanned by a barcode scanner, and the barcode information is transmitted to the warehouse control system (WCS). The WCS sends a prescription information request to the warehouse management system (WMS) to obtain complete prescription parameters, including the type and quantity of medicinal materials, decoction time, and amount of water added. The WCS verifies the validity and completeness of the prescription information.

3. The shuttle control method for pharmaceutical preparation according to claim 1, characterized in that, In step S3, the WCS calculates the precise amount of water to be added based on the prescription parameters and sends the water addition command and parameters to the automatic water addition system. The automatic water addition system performs the water addition operation and simultaneously controls the squeezing mechanism to simulate manual squeezing of the medicine pack. After the water addition is completed, the automatic water addition system automatically starts the squeezing tool cleaning program. The automatic water addition system feeds back the actual water addition data to the WCS, and the WCS uploads the water addition data to the WMS system for recording and verification.

4. The shuttle control method for pharmaceutical preparation according to claim 1, characterized in that, In step S6, the WCS continuously monitors the decoction process in the storage location and determines whether the soaking time or special requirements of multiple barrels per batch are met. When the conditions are met, the WCS sends a command to the PLC to turn on the indicator light. The PLC controls the indicator light in the corresponding storage location to remain on or flash, prompting manual operation. The operator uses a PAD to scan the barcode of the medicine barrel to unbind it. The WMS receives the unbinding information, confirms it, and then sends it to the WCS. After receiving the confirmation information, the WCS sends a command to the PLC to turn off the indicator light.

5. The shuttle control method for pharmaceutical preparation according to claim 1, characterized in that, In step S7, specifically: the manual person places the medicine barrel containing the medicine residue into the designated outgoing storage location, and the manual person clicks the outgoing button to trigger the medicine residue outgoing request. After receiving the outgoing request, the WCS dispatches a shuttle car to the designated medicine residue storage location. The shuttle car moves the medicine residue barrel from the storage location to the entrance of the alley. The shuttle car reports the operation completion information to the WCS and requests the conveyor line to receive the medicine residue. After receiving the medicine residue barrel, the conveyor line transports it to the medicine residue processing area.

6. The shuttle control method for pharmaceutical preparation according to claim 1, characterized in that, In step S7, the WCS schedules the shuttle car, specifically by controlling the lifting mechanism to lift the unidirectional extension mechanism from the lower station of the conveyor frame to the upper station, cooperating with the first drive component through the control module to control the first-level extension frame to extend to the target position, cooperating with the second drive component through the control module to control the second-level extension frame to extend further to the target position, and cooperating with the third drive component through the control module to control a set of support rods near the first-level extension frame to rotate inward to push the material box to the storage area, or controlling a set of support rods away from the first-level extension frame to rotate inward to push the material box to the work platform.

7. The shuttle control method for pharmaceutical preparation according to claim 6, characterized in that, In step S7, the WCS scheduling shuttle also includes: When the shuttle car travels through a curve, the control module controls the magnetic control component to reduce the magnetic field, causing the soft magnetic particles to liquefy and improving the elasticity of the wheel sleeves. When the shuttle travels on a straight road, the control module controls the magnetic control component to increase the magnetic field, causing the soft magnetic particles to solidify inside and increasing the hardness of the wheel sleeve. When the shuttle detects that it is about to enter a curve, the control module controls the magnetic control component to reduce the magnetic field strength to zero or extremely low magnetic field based on the preset curve position information. The soft magnetic particles liquefy internally in a low magnetic field environment, which increases the elasticity of the wheel sleeve and adapts to the needs of cornering. When the shuttle detects that it has entered a straight section, the control module controls the magnetic control components to increase the magnetic field strength to 0.1T-0.5T; The soft magnetic particles are solidified internally in a high magnetic field environment, which increases the hardness of the wheel sleeve and ensures stability when driving on straight roads.

8. The shuttle control method for pharmaceutical preparation according to claim 7, characterized in that, The control module, in conjunction with the third drive assembly, controls a group of support rods near the first-stage extension frame to rotate inward. Specifically, this includes: The control module controls the fourth drive assembly to rotate the support rod toward one side of the material box, so that the buffer bar abuts against the outer side of the material box. When the buffer bar comes into contact with the material box and forms a depression, the control module controls the fourth drive component to drive the support sensing component to extend and insert into the bottom of the material box. During the movement of the material box by pushing it with the support rod, the supporting sensor component monitors whether the material box deviates from the center line direction; When a material box offset is detected, the control module works with the centerline correction component to control the auxiliary rod in the offset direction of the material box to deflect outward, guiding the material box back to the centerline.

9. The shuttle control method for pharmaceutical preparation according to claim 8, characterized in that, The control module controls the fourth driving component to extend the support sensing component, specifically including: By squeezing the chamber inside the buffer strip, gas is introduced into the air chamber. The rotating disc is driven by pushing the separator plate. When the first pressure sensor detects the contact signal of the material box, it controls the second pressure sensor to monitor the contact status of the bottom of the material box. After confirming the contact status of the bottom of the material box, the support plate is guided into the bottom of the material box through the blade.

10. The shuttle control method for pharmaceutical preparation according to claim 9, characterized in that, The process of guiding the material box to return to centerline includes: When the second pressure sensor detects the material box offset signal, the control module sends a command to the centerline correction component. The control module controls the electric guide rod to drive the constraint block to extend and retract, adjusting the range of motion of the auxiliary rod. The material box pushes the corresponding auxiliary rod to deflect outward, and the deflected auxiliary rod guides the material box back to the centerline. The position of the material box is continuously monitored until the material box returns to the centerline position.

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