Intelligent dispensing and conveying system

Abstract

The invention discloses an intelligent medicine dispensing and conveying system, and particularly relates to the field of medicine dispensing and conveying, and the intelligent medicine dispensing and conveying system comprises a priority acquisition module, a solvent batch conveying module, a solvent matching and conveying module, a label printing and detecting module, a medicament conveying module, an information checking and displaying module, a solvent bag overturning and adjusting module and a system reset evaluation module; according to the priority acquisition module, the upper computer receives and preprocesses the dispensing demand information, defines core parameters and analyzes dispensing priority coefficients of patients; the solvent assembling and conveying module is used for assembling a solvent according to the dispensing priority by the buffer bin, analyzing the assembling efficiency and conveying an assembling unit to the label printing module; the storage basket is conveyed to an unloading platform, an information reading module reads the NFC information, an information checking comprehensive index is obtained, and the information checking comprehensive index is visually displayed through a displayer; according to the invention, accurate scheduling of the dispensing requirements of the patient is realized, and the pertinence of the dispensing service and the overall process efficiency are improved.

Description

Technical Field

[0001] This invention relates to the field of drug delivery technology, and more specifically, to an intelligent drug delivery system. Background Technology

[0002] In the field of medical drug dispensing, to meet the needs of large-scale and standardized drug dispensing, intelligent drug delivery systems are gradually being adopted to replace traditional manual drug dispensing methods. These systems typically include core components such as solvent compartments, drug compartments, conveying mechanisms, mechanical gripping components, and information recording modules. They can automatically grasp, deliver, associate information, and perform preliminary verification of infusion bags (such as saline bags and glucose bags) and various medications (such as vials and ampoules). They are widely used in hospital pharmacies, centralized drug dispensing centers, and other similar settings.

[0003] Compared to manual dispensing, existing intelligent medication delivery systems offer advantages such as faster dispensing speed, lower risk of human contamination, and standardized operating procedures, effectively alleviating the pressure on manual dispensing. However, several shortcomings remain in practical applications: First, the dispensing logic of the solvent compartment is unreasonable. For dispensing needs involving multiple solvent specifications and drug combinations, repeated handling of material baskets or multiple dispensing operations are common, leading to low dispensing efficiency. Simultaneously, the positioning accuracy of the drug compartment conveying mechanism is insufficient, easily resulting in drug misalignment, collision damage, and other issues during transfer, affecting dispensing safety. Second, information storage and verification rely on a single module, prone to information delays and reading errors. Furthermore, the verification process lacks quantitative evaluation, increasing the risk of dispensing errors. Additionally, the adjustment of the solvent bag's front and back relies on a simple mechanical structure, resulting in low efficiency and poor accuracy, easily leading to incomplete bag turning or damage to the solvent bag. Third, patient medication priorities are not considered, making it difficult to meet the medication needs of emergency patients, and the lack of a reasonable caching mechanism causes process delays.

[0004] Therefore, in order to address the problems of low dispensing efficiency, insufficient delivery accuracy, poor information verification reliability, and lack of priority scheduling in existing technologies, an intelligent dispensing and delivery system is needed. This system can optimize the dispensing logic of the solvent compartment, design a precise drug delivery mechanism, build a quantitative information verification system, introduce a priority scheduling mechanism, and improve the bag-turning control algorithm. By combining multi-module collaboration and complex parameter calculation, the system can achieve intelligent, precise, and efficient dispensing and delivery throughout the entire process, thus solving the pain points of existing technologies. Summary of the Invention

[0005] In order to overcome the above-mentioned defects of the prior art, the present invention provides an intelligent drug delivery system, which solves the problems mentioned in the background art through the following solution.

[0006] To achieve the above objectives, the present invention provides the following technical solution: an intelligent drug dispensing and delivery system, comprising: Priority acquisition module: The host computer receives and preprocesses medication dispensing request information, defines core parameters, and analyzes the patient's medication dispensing priority coefficient; The solvent batch delivery module: Based on the drug dispensing requirements and priority coefficients, the solvent bin assesses the dispensing batch and the delivery volume of each batch, grabs solvent bags in batches, delivers them to the buffer bin, and writes NFC information; Solvent mixing and delivery module: The buffer compartment mixes solvents according to the drug mixing priority, analyzes the mixing efficiency, and delivers the mixing units to the label printing module; Label printing inspection module: The label printing module prints and affixes the dispensing labels, while the visual inspection module captures images of the solvent bags, analyzes the inspection pass index, and determines whether the product is qualified. Medicine delivery module: The medicine compartment obtains positioning time and pushing force through the XY axis transfer mechanism, grabs medicine and delivers it to the storage basket and updates NFC information; Information verification and display module: When the storage basket is transported to the unloading platform, the information reading module reads the NFC information, obtains the comprehensive information verification index, and displays it visually on the monitor; Solvent bag turning adjustment module: The visual detection module determines the front and back of the solvent bag. If it is the front, the turning angular velocity and angle are calculated, and the turning mechanism is used to adjust it to the back. System Reset Evaluation Module: After the medication is dispensed, all mechanisms of the system are reset, the overall medication dispensing efficiency is analyzed, and the host computer stores the medication dispensing data and efficiency information.

[0007] Preferably, the medication dispensing demand information includes the number of patients. A unique identifier for each patient The type and quantity of medication to be dispensed, wherein the type of medication to be dispensed includes the type of solvent. and drug type The quantity of the medicine to be dispensed includes the amount of solvent required. and drug demand ,in For solvent specification number, Corresponding salt water, Corresponding glucose; The drug specification number; the core parameters include the patient's urgency level. Drug preparation complexity and initial waiting time The range of values ​​is Furthermore, the higher the value, the greater the urgency and the more complex the medication preparation. Values A value of 1 corresponds to a single solvent and a single reagent; a value of 2 corresponds to a single solvent and multiple reagents; and a value of 3 corresponds to multiple solvents and multiple reagents. The drug preparation priority coefficient... This is used to achieve the coupling and quantification of urgency and medication complexity, providing a basis for subsequent medication scheduling.

[0008] Preferably, the batch of medication dispensed , This is the cache utilization coefficient. The maximum capacity of the cache repository and The value is greater than the maximum value among the total solvent requirements for each specification; if the obtained value is greater than the maximum value among the total solvent requirements for each specification; If the value is 0, then let The value is 1 to ensure that the shipment is delivered in at least one batch; the shipment quantity per batch Calculated using a piecewise formula The batch number is a range of values. ,when Less than At that time, the amount of each batch transported Through formula Calculate, when equal At that time, the amount of each batch transported Through formula calculate, The total demand for solvents of various specifications and The solvent bag gripping is performed by... The controller directs the mechanical gripping components to execute the dispensing process according to the determined batch number of medications. With each batch of delivery volume Grab the solvent bag and convey it to the buffer compartment; after conveying is complete... The writing module writes the solvent information into the built-in storage basket. Chip and solvent information includes solvent specifications. ,batch ,quantity and corresponding patient identifier set .

[0009] Preferably, the assembly efficiency , The density of the solvent. This refers to the transport distance from the buffer compartment to the label printing module. The conveying speed of the conveying mechanism; the assembly unit To meet the total solvent requirements of a single patient, i.e. If a patient does not require a certain type of solvent, the required quantity of that type of solvent is set to 0; the assembly unit is then transported to the label printing module according to the dispensing priority coefficient. Execute in descending order of size, by The controller controls the conveyor mechanism to assemble the units. The medications are sequentially fed to the label printing module to ensure that emergency patients receive their medications first.

[0010] Preferably, the medication label includes a patient identifier. The solvent specifications, quantity, and dispensing time are read by the label printing module. The solvent information from the chip is then printed and pasted onto the solvent bag; the visual inspection module acquires an image of the solvent bag and extracts the label printing clarity. Integrity of solvent bag Two parameters, The range of values ​​is Furthermore, it is calculated through the contrast of image grayscale values. The range of values ​​is And the solvent bag is undamaged The value is The greater the damage to the solvent bag The smaller the value of the index, the better the pass rate. Preset qualified threshold , The range of values ​​is ;like Greater than or equal to Then the solvent bag proceeds to the next process; if Less than ,but The controller directs the mechanical gripping component to return the solvent bag to the solvent chamber for re-gripping and printing.

[0011] Preferably, the positioning time , The coordinates are the storage locations for each specification of medicine. These are the initial position coordinates of the transfer station. The moving speed of the transfer mechanism; the pushing force , For the quality of the medicine, To accelerate the push, The friction coefficient of the pushing surface is given by g, and g is the acceleration due to gravity. The grasped medicine is transported to the storage basket and the NFC information is updated. The controller controls the transfer mechanism in Move to the target drug storage location within the given time, and press The calculated pushing force propels the medicine into the transfer mechanism, which then moves above the corresponding storage basket and delivers the medicine into it; once the medicine is delivered, The write module updates chip information and supplements drug specifications. Drug demand And data such as delivery time.

[0012] Preferably, the storage basket is conveyed to the unloading platform: the storage basket is conveyed to the unloading platform by a conveying mechanism, and the conveying action is performed by... The controller ensures that the conveying speed of the conveying mechanism is consistent with the conveying speed of the conveying mechanism in the solvent mixing and conveying module; the information reading module is built into the unloading platform. The chip information reading module is used to read the chip information inside the storage basket. The information stored in the chip, which can be read, includes solvent information and reagent information. The solvent information includes solvent specifications. ,batch ,quantity and corresponding patient identifier set The pharmaceutical information includes the pharmaceutical specifications. Drug demand and delivery time; the information verification comprehensive index The acquisition involves two core parameters: information retrieval success rate and... Information matching degree , The range of values ​​is Specifically, the information reading module successfully read... The ratio of the number of times chip information was read to the total number of reads. The number of matching solvent and reagent information entries The ratio of the total number of information entries stored in the chip; the comprehensive information verification index is calculated using the formula... The calculation shows that, among which The patient medication priority coefficient is calculated in the priority acquisition module; a preset verification threshold is set. , The range of values ​​is ; at the same time if The calculation result is greater than or equal to The external display on the unloading platform will then show complete medication dispensing information, including patient identification. The solvent specifications and quantity, the reagent specifications and quantity, and the preparation status are all qualified; if The calculation result is less than If the display issues an alarm, the information reading module will reread the data. Chip information, until The calculation result is greater than or equal to Then, complete medication information will be displayed.

[0013] Preferably, the front and back of the solvent bag are determined by acquiring images through a visual inspection module: Definition The value used to determine whether the object is front or back. A value of 0 indicates that the solvent bag is reversed, meaning the product specifications or label are facing down; A value of 1 indicates that the solvent bag is facing forward, i.e., the product specifications or label are facing up; when... When the judgment result is 1, analyze the bag-turning angular velocity. With the angle of the bag angular velocity of bag turning Bag turning angle The value is , The width of the solvent bag. For the thickness of the solvent bag, The target time for bag turning; the bag turning mechanism is used to adjust to the reverse side: the bag turning action is performed by... The controller directs the bag-turning mechanism to execute, according to the calculated... angular velocity rotation Adjust the angle of the solvent bag to... Values After reaching the designated state, it continues to be transported to the unloading platform.

[0014] Preferably, the reset is performed by: The controller controlled the operation, and the solvent tank, reagent tank, transfer mechanism, and bag tipping mechanism all returned to their initial positions, with a reset position error. Must meet To preset the reset accuracy threshold and The value is greater than 0; the overall drug dispensing efficiency calculate, The total time for dispensing medication for a single patient, i.e., the total time from the start of medication preparation to the completion of information verification. This represents the total number of drug specifications; the drug dispensing data and efficiency information are stored by the host computer, and the stored information provides a reference for subsequent process optimization.

[0015] The technical effects and advantages of this invention are as follows: 1. This invention achieves precise scheduling of patient medication needs by preprocessing medication data on a host computer and constructing a calculation model for medication priority coefficients. This solves the problems of existing technologies that cannot simultaneously meet the needs of emergency patients and have low efficiency in dispensing multiple specifications / dosages. It ensures that emergency patients and complex medication needs are processed first, improving the targeting of medication services and the overall efficiency of the process. At the same time, it optimizes the dispensing logic of the solvent compartment, introduces a buffer compartment, and designs an analysis method for dispensing batches and delivery volumes. This avoids redundant operations such as repeatedly moving material baskets and dispensing multiple medications. Furthermore, the buffer compartment's assembly function enables intensive delivery of solvent, reducing process bottlenecks and ensuring the continuity of solvent delivery and batch processing capabilities. 2. The medicine compartment of this invention adopts an XY axis transfer mechanism. Through precise analysis of positioning time and pushing force, it achieves positioning accuracy control and mechanical protection for medicine delivery, solving the problems of delivery deviation and medicine collision damage in existing medicine compartments, improving the safety and accuracy of medicine delivery, and reducing the medicine loss rate. At the same time, it constructs a full-process information management system of "NFC information storage - visual inspection - quantitative verification". Through the inspection qualification index and information verification comprehensive index, it realizes the quantitative evaluation of dispensing quality and information accuracy, solving the problem of traditional information verification relying on manual labor and prone to errors, ensuring the authenticity and traceability of dispensing information, and improving the reliability and convenience of information verification. 3. This invention improves the solvent bag turning control algorithm by precisely analyzing the turning angular velocity and angle, thereby enhancing the efficiency and accuracy of solvent bag front and back adjustments. This avoids incomplete turning or damage to the solvent bag, ensuring the standardization of subsequent solvent bag transportation and storage, and reducing the failure rate of subsequent operations. Simultaneously, through full-process parameterized design and control, it achieves coordinated operation of various modules in drug delivery, reducing human intervention and lowering the drug delivery error rate and contamination risk. Furthermore, the quantitative evaluation of overall drug delivery efficiency provides data support for system process optimization, comprehensively improving the automation level, stability, and economy of the intelligent drug delivery system. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the system structure of the present invention. Detailed Implementation

[0017] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0018] As attached Figure 1 The intelligent drug delivery system shown includes a priority acquisition module, a solvent batch delivery module, a solvent combination delivery module, a label printing detection module, a drug delivery module, an information verification and display module, a solvent bag turning adjustment module, and a system reset evaluation module.

[0019] Priority acquisition module: The host computer receives and preprocesses medication dispensing request information, defines core parameters, and analyzes the patient's medication dispensing priority coefficient; In this embodiment, it should be specifically noted that the medication demand information includes the number of patients. A unique identifier for each patient The type and quantity of medication to be dispensed, wherein the type of medication to be dispensed includes the type of solvent. and drug type The quantity of the medicine to be dispensed includes the amount of solvent required. and drug demand ,in For solvent specification number, Corresponding salt water, Corresponding glucose; The drug specification number; the core parameters include the patient's urgency level. Drug preparation complexity and initial waiting time The range of values ​​is Furthermore, the higher the value, the greater the urgency and the more complex the medication preparation. Values A value of 1 corresponds to a single solvent and a single reagent; a value of 2 corresponds to a single solvent and multiple reagents; and a value of 3 corresponds to multiple solvents and multiple reagents. Initial waiting time. The normalized dimensionless parameter, ranging from 0 to 1, is used to characterize the patient's initial waiting state for medication dispensing and does not involve a specific time unit; the medication dispensing priority coefficient This module is used to quantify the coupling between urgency and medication complexity, providing a basis for subsequent medication scheduling, where 'e' represents the natural constant. In medical medication scenarios, patients exhibit differences in urgency (e.g., critically ill patients require priority medication) and medication complexity (e.g., different combinations such as single solvent + single drug, multiple solvents + multiple drugs). Without a unified priority scheduling logic, urgent needs can be delayed, and complex medication processes can become chaotic. By preprocessing medication requirements, defining core parameters, and calculating priority coefficients, a scientific coupling between urgency and medication complexity can be achieved, providing a clear basis for medication scheduling and avoiding disordered operations. Furthermore, the primary prerequisite for medication work is clarifying "who to dispense, what to dispense, and who to dispense first." This module revolves around this core requirement and is the foundation for all subsequent medication delivery actions. Without this module, operations such as solvent grabbing and drug delivery would lose their target orientation, failing to balance efficiency and medical urgency, thus failing to meet the actual needs of "precise scheduling" in intelligent medication dispensing.

[0020] The solvent batch delivery module: Based on the drug dispensing requirements and priority coefficients, the solvent bin assesses the dispensing batch and the delivery volume of each batch, grabs solvent bags in batches, delivers them to the buffer bin, and writes NFC information; In this embodiment, it should be specifically noted that the medication batch... , This is the cache utilization coefficient. The maximum capacity of the cache repository and The value is greater than the maximum value among the total solvent requirements for each specification; if the obtained value is greater than the maximum value among the total solvent requirements for each specification; If the value is 0, then let The value is 1 to ensure that the shipment is delivered in at least one batch; the shipment quantity per batch Calculated using a piecewise formula The batch number is a range of values. ,when Less than At that time, the amount of each batch transported Through formula Calculate, when equal At that time, the amount of each batch transported Through formula calculate, The total demand for solvents of various specifications and The solvent bag gripping is performed by... The controller directs the mechanical gripping components to execute the dispensing process according to the determined batch number of medications. With each batch of delivery volume Grab the solvent bag and convey it to the buffer compartment; after conveying is complete... The writing module writes the solvent information into the built-in storage basket. Chip and solvent information includes solvent specifications. ,batch ,quantity and corresponding patient identifier set The existing solvent dispensing method suffers from drawbacks such as repeated handling of material baskets and low efficiency in dispensing multiple specifications of medication. By calculating the dispensing batches and the amount delivered per batch, bulk and intensive delivery of solvents can be achieved, reducing redundant handling. The introduction of a buffer compartment can temporarily store batches of solvents, avoiding conflicts in the delivery of different specifications of solvents. NFC information writing can bind the specifications and quantities of solvents with patient identifiers, preventing information confusion from the source and providing a basis for subsequent verification. At the same time, the solvent compartment needs to store multiple specifications of solvents (such as saline and glucose) and meet the differentiated needs of multiple patients. Batch delivery and buffer collaboration are key to solving the contradiction of "multiple needs and multiple specifications" delivery. NFC information binding is the foundation of "full traceability" in intelligent medication dispensing. Without this module, it is impossible to achieve accurate correspondence between solvents and patients, which meets the actual requirements of "efficiency and traceability" for large-scale medication dispensing.

[0021] Solvent mixing and delivery module: The buffer compartment mixes solvents according to the drug mixing priority, analyzes the mixing efficiency, and delivers the mixing units to the label printing module; In this embodiment, it should be specifically noted that the assembly efficiency... , The density of the solvent. This refers to the transport distance from the buffer compartment to the label printing module. The conveying speed of the conveying mechanism; the assembly unit To meet the total solvent requirements of a single patient, i.e. If a patient does not require a certain type of solvent, the required quantity of that type of solvent is set to 0; the assembly unit is then transported to the label printing module according to the dispensing priority coefficient. Execute in descending order of size, by The controller controls the conveyor mechanism to assemble the units. The solutions are sequentially delivered to the label printing module, ensuring priority processing for emergency patients. The core function of the buffer compartment is "combination and transfer," combining solvents according to dispensing priority to ensure that solvents for emergency patients enter subsequent processes first. Each combination unit corresponds to all solvent needs of a single patient, preventing mixing of solvents from different patients and reducing the risk of mismixing. Calculating combination efficiency optimizes the delivery sequence, making the flow smoother and preventing congestion in the buffer compartment. Simultaneously, as the intermediary between the solvent compartment and the label printing module, the buffer compartment must bridge the gap between "batch delivery" and "precise matching"—the solvent compartment outputs batch-sized solutions, while label printing requires matching to individual patients; the combination process is crucial for this transformation. Without this module, batch solutions would directly enter the printing stage, unable to be precisely matched to patients, failing to comply with the "one person, one batch" medical dispensing standard.

[0022] Label printing inspection module: The label printing module prints and affixes the dispensing labels, while the visual inspection module captures images of the solvent bags, analyzes the inspection pass index, and determines whether the product is qualified. In this embodiment, it should be specifically noted that the medication label includes a patient identifier. The solvent specifications, quantity, and dispensing time are read by the label printing module. The solvent information from the chip is then printed and pasted onto the solvent bag; the visual inspection module acquires an image of the solvent bag and extracts the label printing clarity. Integrity of solvent bag Two parameters, The range of values ​​is Furthermore, it is calculated through the contrast of image grayscale values. The range of values ​​is And the solvent bag is undamaged The value is The greater the damage to the solvent bag The smaller the value of the index, the better the pass rate. Preset qualified threshold , The range of values ​​is ;like Greater than or equal to Then the solvent bag proceeds to the next process; if Less than ,but The controller directs the mechanical gripping component to return the solvent bag to the solvent storage compartment for re-grip and printing. The medication label is the visual carrier of patient medication information, containing key information such as patient identification and solvent specifications. Printing and affixing labels is fundamental to ensuring identifiable medication. Visual inspection can detect problems such as unclear label printing and damaged solvent bags, preventing substandard materials from entering subsequent stages. A quantitative pass index determines compliance, which is more accurate and consistent than subjective human judgment, reducing human error. Furthermore, medical medication dispensing demands extremely high accuracy; incorrect labels or damaged solvents can lead to serious medication risks. This module is a crucial link in medication quality control. Without label printing, it's impossible to distinguish solvents for different patients; without visual inspection, substandard solvents may be used for dispensing, failing to meet the core requirement of "quality first" in medical medication dispensing.

[0023] Medicine delivery module: The medicine compartment obtains positioning time and pushing force through the XY axis transfer mechanism, grabs medicine and delivers it to the storage basket and updates NFC information; In this embodiment, it is specifically necessary to explain that the positioning time... , The coordinates are the storage locations for each specification of medicine. These are the initial position coordinates of the transfer station. The moving speed of the transfer mechanism; the pushing force , For the quality of the medicine, To accelerate the push, The friction coefficient of the pushing surface is given by g, and g is the acceleration due to gravity. The grasped medicine is transported to the storage basket and the NFC information is updated. The controller controls the transfer mechanism in Move to the target drug storage location within the given time, and press The calculated pushing force propels the medicine into the transfer mechanism, which then moves above the corresponding storage basket and delivers the medicine into it; once the medicine is delivered, The write module updates chip information and supplements drug specifications. Drug demand The system includes data such as delivery time. The medication storage compartment holds various medications (e.g., vials, ampoules). Similar to a vending machine, the XY-axis transfer mechanism requires precise positioning to accurately grasp the target medication. Positioning time calculation ensures efficient movement and avoids delays. Pushing force calculation controls the pushing force based on parameters such as medication quality and friction coefficient, preventing damage from excessive force. NFC information updates link medication information with stored solvent information, forming a complete patient medication information chain. Given the diverse types and small sizes of medications, precise grasping and lossless delivery are core requirements for the medication storage compartment's operation. Without positioning time calculation, the transfer mechanism may move too fast or too slow, affecting efficiency or causing inaccurate positioning. Without pushing force control, medications are easily damaged. Without NFC information updates, medications and solvents will be in a state of "information disconnect," making complete medication verification impossible, thus failing to meet the requirements of "precision, losslessness, and traceability" in intelligent medication dispensing.

[0024] Information verification and display module: When the storage basket is transported to the unloading platform, the information reading module reads the NFC information, obtains the comprehensive information verification index, and displays it visually on the monitor; In this embodiment, it should be specifically noted that: the storage basket is transported to the unloading platform by a conveying mechanism. The controller ensures that the conveying speed of the conveying mechanism is consistent with the conveying speed of the conveying mechanism in the solvent mixing and conveying module; the information reading module is built into the unloading platform. The chip information reading module is used to read the chip information inside the storage basket. The information stored in the chip, which can be read, includes solvent information and reagent information. The solvent information includes solvent specifications. ,batch ,quantity and corresponding patient identifier set The pharmaceutical information includes the pharmaceutical specifications. Drug demand and delivery time; the information verification comprehensive index The acquisition involves two core parameters: information retrieval success rate and... Information matching degree , The range of values ​​is Specifically, the information reading module successfully read... The ratio of the number of times chip information was read to the total number of reads. The number of matching solvent and reagent information entries The ratio of the total number of information entries stored in the chip; the comprehensive information verification index is calculated using the formula... The calculation shows that, among which The patient medication priority coefficient is calculated in the priority acquisition module; a preset verification threshold is set. , The range of values ​​is ; at the same time if The calculation result is greater than or equal to The external display on the unloading platform will then show complete medication dispensing information, including patient identification. The solvent specifications and quantity, the reagent specifications and quantity, and the preparation status are all qualified; if The calculation result is less than If the display issues an alarm, the information reading module will reread the data. Chip information, until The calculation result is greater than or equal to Then, complete medication information is displayed. After the storage basket is transported to the unloading platform, NFC information must be read to verify the medication information, ensuring that the solvent, medication, and patient's needs are completely consistent. The information reading success rate reflects the equipment's reading stability, and the information matching degree reflects the medication accuracy. Combining these two factors to calculate a comprehensive verification index quantifies the verification results and avoids "fuzzy judgments." The visual display allows staff to intuitively confirm the medication information, promptly detect anomalies, and receive alarm prompts for quick response to verification discrepancies. Existence: The final step in medication dispensing requires a "closed-loop information system," and verification is the last line of defense against mis-dispensing and omissions. Manual verification is inefficient and prone to errors; automated reading and quantitative evaluation significantly improve verification accuracy and efficiency. The display aligns with the "visual verification" operating habits of medical work. Without this module, it's impossible to confirm whether the medication meets the requirements, potentially leading to incorrect medication administration, thus conforming to the necessary process of "final verification" in medical medication dispensing.

[0025] Solvent bag turning adjustment module: The visual detection module determines the front and back of the solvent bag. If it is the front, the turning angular velocity and angle are calculated, and the turning mechanism is used to adjust it to the back. In this embodiment, it should be specifically noted that: the front and back of the solvent bag are determined by images acquired by the visual inspection module: Definition The value used to determine whether the object is front or back. A value of 0 indicates that the solvent bag is reversed, meaning the product specifications or label are facing down; A value of 1 indicates that the solvent bag is facing forward, i.e., the product specifications or label are facing up; when... When the judgment result is 1, analyze the bag-turning angular velocity. With the angle of the bag angular velocity of bag turning Bag turning angle The value is , The width of the solvent bag. For the thickness of the solvent bag, The target time for bag turning; the bag turning mechanism is used to adjust to the reverse side: the bag turning action is performed by... The controller directs the bag-turning mechanism to execute, according to the calculated... angular velocity rotation Adjust the angle of the solvent bag to... Values After reaching the correct state, the solvent bags continue to be transported to the unloading platform. During the grabbing and transporting process, the solvent bags are prone to flipping over. If the label is facing upwards (front), friction during subsequent storage and transportation may cause label wear, or information may not be quickly identified during medication. By visually detecting the front and back, and then calculating the flipping angular velocity and angle, precise flipping can be achieved, avoiding incomplete flipping or damage to the solvent bags due to excessive force. This ensures that the solvent bags are transported in a uniform direction (label down, reverse side), guaranteeing information integrity. Furthermore, the uniform orientation of the solvent bags is an important aspect of standardized medication dispensing. Labels facing downwards reduce wear, facilitate stacking and storage, and enable rapid barcode scanning and verification. Without this module, the inconsistent orientation of the solvent bags may affect the smoothness of subsequent processes, and even lead to information loss due to label wear. This meets the "standardized and refined" operational requirements of intelligent medication dispensing. The derivation process of the flipping angular velocity ω is as follows: 1. The goal of turning over the bag is to... Inside, the solvent bag is flipped from the front (θ=1) to the back (θ=0), with the flipping angle α=π (180°). 2. The solvent bag can be considered as a rectangular rigid body with a rotation radius of... (w is the width of the solvent bag, h is the thickness of the solvent bag); 3. Length of rotation required to turn the bag ; 4. To ensure a smooth and undamaged flipping process, the angular velocity must be matched with the rotation radius and the target time. This is derived as follows: ,because Substituting the values ​​and simplifying, we get the result.

[0026] System Reset Evaluation Module: After the medication is dispensed, all mechanisms of the system are reset, the overall medication dispensing efficiency is analyzed, and the host computer stores the medication dispensing data and efficiency information.

[0027] In this embodiment, it should be specifically noted that: the reset is achieved by... The controller controlled the operation, and the solvent tank, reagent tank, transfer mechanism, and bag tipping mechanism all returned to their initial positions, with a reset position error. Must meet To preset the reset accuracy threshold and The value is greater than 0; the overall drug dispensing efficiency calculate, The total time for dispensing medication for a single patient, i.e., the total time from the start of medication preparation to the completion of information verification. Total number of drug specifications (Soluble demand) and The quantities (of medicines required) are dimensionless values ​​(representing the number of units such as "bags" and "bottles"). The numerator represents the total quantity of medicines dispensed in a single batch (total number of solvent bags + total number of medicine bottles), and the denominator is the total dispensing time for a single batch. The overall dispensing efficiency η is expressed in "quantities per second," representing the total amount of medicine dispensed per unit time. The dispensing data and efficiency information are stored by the host computer, and the stored information provides a reference for subsequent process optimization. After a batch of medicines is dispensed, each actuator (solvent compartment, medicine compartment, transfer mechanism, etc.) must return to its initial position to avoid residual positional deviations affecting the accuracy of the next batch of medicines dispensed. Calculating the overall dispensing efficiency quantifies the system's operating performance and provides data support for subsequent process optimization (such as adjusting dispensing batches and conveying speed). Storing dispensing data and efficiency information enables process traceability, facilitates problem identification, and continuously improves the system's operational capabilities. Meanwhile, the intelligent dispensing system needs to achieve cyclic operation, and mechanism reset is the basis for ensuring the accuracy of subsequent batches of dispensing; if the reset module is missing, the grasping, positioning and other actions of the next batch will deviate; if efficiency calculation and data storage are missing, the system will not be able to achieve self-optimization and will always remain at the initial operating level, which is in line with the core characteristics of intelligent equipment: "cyclic operation and continuous optimization".

[0028] In conclusion, the above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. An intelligent drug dispensing and delivery system, characterized in that, include: Priority acquisition module: The host computer receives and preprocesses medication dispensing request information, defines core parameters, and analyzes the patient's medication dispensing priority coefficient; The solvent batch delivery module: Based on the drug dispensing requirements and priority coefficients, the solvent bin assesses the dispensing batch and the delivery volume of each batch, grabs solvent bags in batches, delivers them to the buffer bin, and writes NFC information; Solvent mixing and delivery module: The buffer compartment mixes solvents according to the drug mixing priority, analyzes the mixing efficiency, and delivers the mixing units to the label printing module; Label printing inspection module: The label printing module prints and affixes the dispensing labels, while the visual inspection module captures images of the solvent bags, analyzes the inspection pass index, and determines whether the product is qualified. Medicine delivery module: The medicine compartment obtains positioning time and pushing force through the XY axis transfer mechanism, grabs medicine and delivers it to the storage basket and updates NFC information; Information verification and display module: When the storage basket is transported to the unloading platform, the information reading module reads the NFC information, obtains the comprehensive information verification index, and displays it visually on the monitor; Solvent bag turning adjustment module: The visual detection module determines the front and back of the solvent bag. If it is the front, the turning angular velocity and angle are calculated, and the turning mechanism is used to adjust it to the back. System Reset Evaluation Module: After the medication is dispensed, all mechanisms of the system are reset, the overall medication dispensing efficiency is analyzed, and the host computer stores the medication dispensing data and efficiency information.

2. The intelligent drug dispensing and delivery system according to claim 1, characterized in that: The medication demand information includes the number of patients. A unique identifier for each patient The type and quantity of medication to be dispensed, wherein the type of medication to be dispensed includes the type of solvent. and drug type The quantity of the medicine to be dispensed includes the amount of solvent required. and drug demand ,in For solvent specification number, Corresponding salt water, Corresponding glucose; The drug specification number; the core parameters include the patient's urgency level. Drug preparation complexity and initial waiting time The range of values ​​is Furthermore, the higher the value, the greater the urgency and the more complex the medication preparation. Values A value of 1 corresponds to a single solvent and a single reagent; a value of 2 corresponds to a single solvent and multiple reagents; and a value of 3 corresponds to multiple solvents and multiple reagents.

3. The intelligent drug dispensing and delivery system according to claim 1, characterized in that: The batch of medication , This is the cache utilization coefficient. The maximum capacity of the cache repository and The value is greater than the maximum value among the total solvent requirements for each specification; if the obtained value is greater than the maximum value among the total solvent requirements for each specification; If the value is 0, then let The value is 1 to ensure that there is at least one batch of delivery; the quantity of each batch of delivery... Calculated using a piecewise formula The batch number is a range of values. ,when Less than At that time, the amount of each batch transported Through formula Calculate, when equal At that time, the amount of each batch transported Through formula calculate, The total demand for solvents of various specifications and The solvent bag gripping is performed by... The controller directs the mechanical gripping components to execute the dispensing process according to the determined batch number of medications. With each batch of delivery volume Grab the solvent bag and convey it to the buffer compartment; after conveying is complete... The writing module writes the solvent information into the built-in storage basket. Chip and solvent information includes solvent specifications. ,batch ,quantity and corresponding patient identifier set .

4. The intelligent drug delivery system according to claim 1, characterized in that: The assembly unit To meet the total solvent requirements of a single patient, i.e. If a patient does not require a certain type of solvent, the required quantity of that type of solvent is set to 0; the assembly unit is then transported to the label printing module according to the dispensing priority coefficient. Execute in descending order of size, by The controller controls the conveyor mechanism to assemble the units. The medications are sequentially fed to the label printing module to ensure that emergency patients receive their medications first.

5. The intelligent drug dispensing and delivery system according to claim 1, characterized in that: The medication label includes patient identification. The solvent specifications, quantity, and dispensing time are read by the label printing module. The solvent information from the chip is then printed and pasted onto the solvent bag; the visual inspection module acquires an image of the solvent bag and extracts the label printing clarity. The two parameters are related to the integrity of the solvent bag, f. The range of values ​​is Furthermore, the range of values ​​for f is calculated using the image grayscale contrast. And when the solvent bag is undamaged, the value of f is... The greater the damage to the solvent bag The smaller the value of the index, the better the pass rate. Preset qualified threshold , The range of values ​​is ;like Greater than or equal to Then the solvent bag proceeds to the next process; like Less than ,but The controller directs the mechanical gripping component to return the solvent bag to the solvent chamber for re-gripping and printing.

6. The intelligent drug dispensing and delivery system according to claim 1, characterized in that: The positioning time , The coordinates are the storage locations for each specification of medicine. These are the initial position coordinates of the transfer station. The moving speed of the transfer mechanism; the pushing force , For the quality of the medicine, To accelerate the push, The friction coefficient of the pushing surface is given by g, and g is the acceleration due to gravity. The grasped medicine is transported to the storage basket and the NFC information is updated. The controller controls the transfer mechanism in Move to the target drug storage location within the given time, and press The calculated pushing force propels the medicine into the transfer mechanism, which then moves above the corresponding storage basket and delivers the medicine into it; once the medicine is delivered, The write module updates chip information and supplements drug specifications. Drug demand And delivery time data.

7. The intelligent drug delivery system according to claim 1, characterized in that: The storage basket is transported to the unloading platform: the storage basket is transported to the unloading platform by a conveyor mechanism, and the conveying action is performed by... The controller ensures that the conveying speed of the conveying mechanism is consistent with the conveying speed of the conveying mechanism in the solvent mixing and conveying module; the information reading module is built into the unloading platform. The chip information reading module is used to read the chip information inside the storage basket. The information stored in the chip, which can be read, includes solvent information and reagent information. The solvent information includes solvent specifications. ,batch ,quantity and corresponding patient identifier set The pharmaceutical information includes the pharmaceutical specifications. Drug demand and delivery time; The information verification comprehensive index The acquisition involves two core parameters: information retrieval success rate and... Information matching degree , The range of values ​​is Specifically, the information reading module successfully read... The ratio of the number of times chip information was read to the total number of reads. The number of matching solvent and reagent information entries The ratio of the total number of information entries stored in the chip; The comprehensive index for information verification is expressed by formula. The calculation shows that, among which The patient medication priority coefficient is calculated in the priority acquisition module; a preset verification threshold is set. , The range of values ​​is ; at the same time if The calculation result is greater than or equal to The external display on the unloading platform will then show complete medication dispensing information, including patient identification. The solvent specifications and quantity, the reagent specifications and quantity, and the preparation status are all qualified; if The calculation result is less than If the display issues an alarm, the information reading module will reread the data. Chip information, until The calculation result is greater than or equal to Then, complete medication information will be displayed.

8. The intelligent drug dispensing and delivery system according to claim 1, characterized in that: The front and back of the solvent bag are determined by images acquired through a visual inspection module: Definition The value used to determine whether the object is front or back. A value of 0 indicates that the solvent bag is reversed, meaning the product specifications or label are facing down; A value of 1 indicates that the solvent bag is facing forward, i.e., the product specifications or label are facing up; when... When the judgment result is 1, analyze the bag-turning angular velocity. With the angle of the bag angular velocity of bag turning Bag turning angle The value is , The width of the solvent bag. For the thickness of the solvent bag, The target time for turning over the bag; The bag-flipping mechanism adjusts the bag to the reverse side: the bag-flipping action is performed by... The controller directs the bag-turning mechanism to execute, according to the calculated... angular velocity rotation Adjust the angle of the solvent bag to... Values After reaching the designated state, it continues to be transported to the unloading platform.

9. The intelligent drug delivery system according to claim 1, characterized in that: The reset: by The controller controlled the operation, and the solvent tank, reagent tank, transfer mechanism, and bag tipping mechanism all returned to their initial positions, with a reset position error. Must meet To preset the reset accuracy threshold and The value is greater than 0; the overall drug dispensing efficiency calculate, The total time for dispensing medication for a single patient, i.e., the total time from the start of medication preparation to the completion of information verification. This represents the total number of drug specifications; the drug dispensing data and efficiency information are stored by the host computer, and the stored information provides a reference for subsequent process optimization.

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