Desktop type intelligent sorting and dispensing system and method

Abstract

The invention discloses a desktop type intelligent sorting and dispensing system and method, and belongs to the technical field of intelligent medical equipment. The system comprises a desktop type six-degree-of-freedom mechanical arm, a visual detection module and clamping jaw suction cup integrated operation tool integrated at the tail end of the mechanical arm, a stereoscopic warehouse used for storing multiple kinds of medicine, a medicine split charging station provided with an information display screen, a single-time medicine dispensing box station, a main controller and a man-machine interaction touch screen. The medicine type is automatically positioned and recognized through visual recognition, the taking and placing path is planned according to prescription information, grabbing and sorting of the medicine are completed through an end operation tool, and automatic dispensing of single-time medicine use is achieved. The automatic medicine dispensing device is compact in structure, low in cost and suitable for various medicine forms such as tablets, capsules and pills, medicine dispensing efficiency and accuracy are improved, manual errors and occupational exposure risks are reduced, and the automatic medicine dispensing device is suitable for various scenes such as hospital wards, old-age nursing institutions and home nursing.

Description

Technical Field

[0001] This invention relates to the field of intelligent medical device technology, and more specifically to a desktop intelligent sorting and dispensing system and method. Background Technology

[0002] Currently, with the rapid development of smart healthcare and the deepening of population aging, the demand for automation and intelligence in drug sorting and dispensing in medical institutions and home care scenarios continues to rise. Existing dispensing systems mostly focus on bulk drug sorting in hospital pharmacies and have played a certain role in large-scale dispensing scenarios. However, for the refined sorting needs of patients for single-use medication, such as the sorting of different forms of drugs like tablets, capsules, and pills, the work still mainly relies on manual operation.

[0003] However, manual medication dispensing has many unavoidable drawbacks: First, it is inefficient; when dealing with a wide variety of medications or when processing single-dose orders in bulk, manual sorting cannot meet the actual needs. Second, manual operation carries a high error rate, which may lead to dosage deviations, medication mix-ups, and other safety hazards, threatening patient safety. Third, medical staff face occupational exposure risks when handling high-risk medications such as chemotherapy drugs, which can harm their health. Fourth, elderly people, people with mobility impairments, and other special groups find it difficult to independently prepare daily single-dose medications, causing many inconveniences for home-based elderly care and home-based medical care.

[0004] Therefore, how to propose a desktop intelligent sorting and dispensing system and method to improve dispensing efficiency, accuracy and adaptability, and meet the needs of multiple scenarios is a problem that urgently needs to be solved by those skilled in the art. Summary of the Invention

[0005] In view of this, the present invention proposes a desktop intelligent sorting and dispensing system and method through miniaturization, intelligence and low cost design. It realizes automatic identification and positioning of medicines through AI vision technology, and realizes the grasping and sorting of different types of medicines through a small robotic arm. It can adapt to various forms of medicines, realize intelligent sorting of single-use medicines according to prescription, improve dispensing efficiency and reduce error rate.

[0006] To achieve the above objectives, the present invention adopts the following technical solution: On the one hand, the present invention proposes a desktop intelligent sorting and dispensing system, including a medicine sorting robot, a three-dimensional warehouse for medicine boxes, a medicine dispensing work area, a storage area for single-use medicine sorting boxes, a vision inspection module, a main controller and a human-computer interaction touch screen; The drug sorting robot is used to grasp and transfer drug packaging boxes and drugs. The automated medicine box warehouse has several compartments for storing medicine boxes containing different medicines. Each compartment is equipped with a compartment medicine information display screen to display the name of the medicine in the corresponding compartment. The drug repackaging work area is equipped with several repackaging stations. Each repackaging station is used to place drug repackaging boxes taken out from the automated drug box warehouse. Each repackaging station is equipped with a drug repackaging station display screen that displays the corresponding drug name. The single-use medicine sorting box storage area is equipped with several sorting stations. Each sorting station is used to place single-use medicine dispensing boxes. Each sorting station is equipped with a single-use medication information display screen that displays patient information and medication information. The visual detection module is used to collect drug image information, identify drug types, and determine the spatial location of drugs. The main controller is connected to the drug sorting robot, the vision inspection module, each display screen and the human-machine interface touch screen. It is used to receive prescription information, control the vision inspection module to perform image acquisition and processing, plan the movement path of the drug sorting robot, and control the collaborative work of each component to sort the drugs required for a single dose according to the prescription.

[0007] Preferably, the drug sorting robot is a desktop six-degree-of-freedom robotic arm, with each degree of freedom controlled by a servo motor. The end is equipped with an integrated gripper and suction cup composite operating tool. The composite operating tool connects the miniature pneumatic suction cup to the electric gripper through a bracket and bolts, and is used to realize the picking and placing of drug packaging boxes and tablets, capsules and pills.

[0008] Preferably, the vision detection module includes a camera and an image processing unit. The camera is fixed to the end of the drug sorting robot via a bracket and pins, and communicates with the main controller via a USB interface. The image processing unit is based on the YOLO target recognition framework and the OpenCV library, and is used to identify drug types and calculate the three-dimensional coordinates of the drug in the robot arm's base coordinate system.

[0009] Preferably, the main controller is a controller with AI computing power, equipped with an operating system, in which drug sorting system control software is running. The control software includes a display interface, motion control, motion planning, and vision and image processing program modules, realizing functions such as prescription information input, automatic path planning, and drug grabbing and sorting.

[0010] Preferably, the main controller is any one of an NVIDIA JETSON controller, a PC, an industrial PC, or a Raspberry Pi, and the operating system is the Ubuntu operating system.

[0011] Preferably, the main controller supports multiple prescription entry methods, including barcode scanning import, automatic photo recognition and extraction, and manual entry.

[0012] Preferably, the visual detection module has the ability to automatically train drug type recognition, optimize drug type recognition accuracy by accumulating image data samples of similar drugs, and determine whether the drug packaging is correct.

[0013] Preferably, the main controller also has a batch dispensing control function, including: setting multiple copies of the same prescription, or selecting multiple recorded prescriptions in batches, and the control system continuously completing multiple sorting and dispensing operations.

[0014] On the other hand, the present invention also proposes a desktop intelligent sorting and dispensing method, comprising the following steps: S1: The main controller starts up and loads the operating system and preset programs, completes the initialization of the AI ​​visual recognition model and OpenCV library, the drug sorting robot performs zero-position calibration, and the visual inspection module completes the calibration of image acquisition parameters and sends an initialization completion signal. S2: Obtain prescription information through barcode scanning, photo recognition, or manual entry. The prescription information includes patient information, drug type, and single dosage. S3: The main controller allocates empty slots in the automated warehouse for the required medicines based on the prescription information. The operator is prompted through the medicine information display screen of the slot to pour the medicines after unpacking into the designated medicine dispensing box, and then place the medicine dispensing box into the corresponding slot. After the medicine dispensing box is placed, it is sealed and stored in a dustproof manner. S4: The main controller controls the drug sorting robot to take out the corresponding drug packaging box from the drug box automated warehouse and place it into the corresponding packaging station in the drug packaging work area; the vision detection module collects images of the drugs in the drug packaging box, identifies the drug type and determines the drug position; the main controller plans the motion path and controls the drug sorting robot to grab the specified number of drugs according to the prescription requirements and transfer them to the single-use drug dispensing box. S5: After completing a single medication dispensing, the operator checks the information on the single medication information display screen and takes away the single medication dispensing box; when there is an empty sorting station in the single medication sorting box storage area, a new sorting and dispensing operation can be started.

[0015] As can be seen from the above technical solution, compared with the prior art, the present invention discloses a desktop intelligent sorting and dispensing system and method, integrating a desktop robotic arm, an AI vision recognition system, an integrated gripper and suction cup operating tool, a three-dimensional warehouse with an information display screen, and an interactive terminal. It can automatically locate and grasp various forms of medicines through visual recognition, and sort single-use doses of medicine into designated medicine boxes according to prescription information, realizing full automation and intelligence from information input and medicine identification to dispensing. Through the collaborative innovation of hardware and software systems, the present invention achieves highly flexible automated dispensing capabilities within a limited desktop space, improving operational accuracy, adaptability, and human-machine collaboration efficiency, providing a reliable personalized medication solution for wards, elderly care, and home settings. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the overall structure of a desktop intelligent sorting and dispensing system. Figure 2 This is a schematic diagram of a drug sorting robot. Figure 3 Flowchart of a desktop intelligent sorting and dispensing method; In the diagram, 1-Drug sorting robot; 2-Automatic drug box warehouse; 3-Warehouse drug information display screen; 4-Drug dispensing station display screen; 5-Single-use information display screen; 6-Drug dispensing box; 7-Single-use drug dispensing box; 8-Human-machine interaction touch screen; 9-Vision inspection module; 10-Gripper; 11-Pneumatic suction cup; 12-Robot controller. 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] On the one hand, such as Figure 1 As shown, this embodiment of the invention discloses a desktop intelligent sorting and dispensing system, including a medicine sorting robot 1, a medicine box automated warehouse 2, a medicine dispensing work area, a single-use medicine sorting box storage area, a vision inspection module 9, a main controller, and a human-computer interaction touch screen 8. The drug sorting robot 1 is used to grasp and transfer drug packaging boxes 6 and drugs.

[0019] refer to Figure 2The pharmaceutical sorting robot 1 consists of a small, desktop-mountable six-degree-of-freedom robotic arm, related end effectors, and a vision inspection camera. Each degree of freedom of the robot is controlled by a servo motor. The end effector is a composite tool that combines an electric gripper 10 and a pneumatic suction cup 11, primarily connecting the miniature pneumatic suction cup 11 to the electric gripper 10 via a bracket and bolts. The sorting robot controller 12 uses an embedded ARM controller and integrates servo motor control circuitry and a communication interface with a host computer. By receiving motion commands from the main controller and driving the servo motors, it controls the six-degree-of-freedom robotic arm to move along a planned trajectory, enabling the picking and placing of pharmaceutical packaging boxes 6 and tablets, capsules, and pills.

[0020] The automated medicine storage unit 2 is mainly used to store medicine dispensing boxes 6. It consists of several compartments, each numbered sequentially and equipped with a separate medicine information display screen 3. The display screen 3 is embedded in the front panel of the automated storage unit 2 and displays the name of the medicine stored in the corresponding compartment. To facilitate the robot's retrieval of tablets, pills, capsules, and other medicines, before sorting medicines according to prescriptions, the packaging of different types of medicines must first be removed and poured into the medicine dispensing boxes 6. Then, the medicine dispensing boxes 6 are placed in the automated medicine storage unit 2, and the name of the medicine is displayed on the compartment medicine information display screen 3 according to the specific medicine in the dispensing box 6. The medicine storage compartments are arranged in the order of empty compartments by the host computer control software. After the medicine dispensing boxes 6 are placed in the compartments, they can meet certain dustproof and sealing requirements.

[0021] The drug packaging work area is equipped with several packaging stations. Each packaging station has a square position marker for placing the drug packaging boxes 6 taken from the drug box warehouse 2. Each packaging station is also equipped with a drug packaging station display screen 4 that displays the corresponding drug name. In this embodiment, according to the types of drugs that need to be sorted in the prescription, the system first takes out the corresponding drug packaging box 6 from the drug box warehouse 2, places the drug packaging box 6 on the packaging station according to the square position marker above the station, and the corresponding drug name is also displayed on the drug packaging station display screen 4.

[0022] The outermost part of the system's desktop is the single-dose medication sorting box storage area. Based on the prescription, the system retrieves the specified quantity and type of medication required for a single dose from the medication dispenser and places it into the single-dose medication sorting box. This storage area has several sorting stations, each used to hold a single-dose medication dispensing box 7. Each station is equipped with a single-dose information display screen 5, showing patient and medication information for easy verification by the operator. After single-dose medication sorting is completed, the operator can remove the single-dose medication sorting box and deliver it to the patient. When there are available stations in the single-dose medication sorting box storage area, a new sorting and dispensing operation can be started via the software.

[0023] The visual inspection module 9 is used to acquire drug image information, identify drug types, and determine the spatial location of drugs. The visual inspection module 9 has visual recognition and detection functions, including a camera and an image processing unit. The camera is fixed to the end of the drug sorting robot 1 via a bracket and pins, and communicates with the main controller via a USB interface to acquire drug image information and transmit it to the main controller in real time. The image processing unit uses the YOLO target recognition framework in the main controller to identify and select drugs, distinguish drug types, and then uses OpenCV to detect the target location of the identified drugs and provide the target location coordinates. The visual inspection module 9 also has the ability to automatically train drug type recognition, optimize drug type recognition accuracy by accumulating image data samples of similar drugs, and determine whether the drug packaging is correct.

[0024] The main controller is connected to the drug sorting robot 1, the vision inspection module 9, each display screen and the human-machine interaction touch screen 8. It is used to receive prescription information, control the vision inspection module 9 to perform image acquisition and processing, plan the motion path of the drug sorting robot 1, and control the collaborative work of each component to realize the sorting of drugs required for a single dose according to the prescription.

[0025] The system's host computer controller possesses sufficient AI computing power to meet the algorithm requirements for visual AI recognition, image processing, and robot automatic path planning. The desktop human-machine interface touchscreen 8 is connected to the host controller via an HDMI display interface, serving as both a display device and a human-machine interface. The host controller runs on the Ubuntu operating system. By designing and running the drug sorting system control software under Ubuntu, the entire system can be controlled. The drug sorting system control software includes program modules such as a display interface, motion control, motion planning, and vision and image processing, enabling functions such as prescription information entry, automatic path planning, and drug grasping and sorting.

[0026] This embodiment uses the NVIDIA JETSON controller, which has advantages such as low cost, small size, easy embedding into the system, and sufficient AI computing power. It is the preferred controller in this embodiment based on the system characteristics. Other host computers and operating systems, such as PCs, industrial control computers, Raspberry Pis, etc., can also achieve the required functions.

[0027] The main controller supports multiple prescription entry methods, including barcode scanning import, automatic photo recognition and extraction, and manual entry.

[0028] Preferably, the main controller also has a batch dispensing control function, including: setting multiple copies of the same prescription, or selecting multiple entered prescriptions in batches, and the control system continuously completing multiple sorting and dispensing operations.

[0029] On the other hand, this invention also proposes a desktop intelligent sorting and dispensing method, such as... Figure 3 As shown, it includes the following steps: S1: The main controller starts up and loads the operating system and preset programs, completes the initialization of the AI ​​visual recognition model and OpenCV library, the drug sorting robot performs zero-position calibration, and the visual inspection module completes the calibration of image acquisition parameters and sends an initialization completion signal.

[0030] After the system is powered on, the main controller starts and loads the operating system and preset programs, completes the initialization of the YOLO target recognition model and OpenCV library of the AI ​​visual recognition measurement system, performs zero-position calibration of the drug sorting robot, returns the six servo motors to their initial positions, and the end gripper is in the open state. The servo motor drive unit detects whether each servo motor is responding normally. The visual recognition module starts the camera, completes the calibration of image acquisition parameters (exposure, contrast, etc.), and sends an initialization completion signal to the host main controller through the communication module.

[0031] S2: Obtain prescription information through barcode scanning, photo recognition, or manual entry. Prescription information includes patient information, drug type, and single dosage.

[0032] The touchscreen operation initiates the sorting task, initially prompting the user to retrieve prescription information, including patient details, medication type, and dosage. Three methods are available for retrieving prescription information: (1) If used in a hospital ward scenario and the user cooperates to open the hospital prescription system, the prescription can be directly imported by scanning the prescription barcode with a barcode scanner; (2) Place the prescription in front of the robot's end camera, and automatically identify the prescription information through taking pictures and text recognition. Automatically match and extract patient information, drug types and dosages, etc. This method is suitable for scenarios where hospital prescription systems cannot be accessed or for home use. (3) Manually enter prescription information through the touch screen input interface. This method is suitable for situations where prescription recognition is difficult, such as non-standard prescriptions, handwritten prescriptions, and single-dose dosages not indicated.

[0033] S3: The main controller allocates empty slots in the automated warehouse for the required medicines based on the prescription information. The operator is prompted through the medicine information display screen of the slot to pour the unpacked medicines into the designated medicine dispensing boxes, and then place the medicine dispensing boxes into the corresponding slots. After the medicine dispensing boxes are placed, they are sealed and stored in a dustproof manner.

[0034] Before sorting and dispensing medications, different types of drugs need to be packaged into drug dispensing boxes to facilitate the drug sorting robot's handling. Due to the wide variety of drug packaging, automating the process of removing the packaging and extracting the drugs is difficult and far less efficient than manual labor. Therefore, after scanning the prescription, human-robot collaboration is required to complete the drug dispensing operation; that is, operators remove the drug packaging and place the drugs into designated drug dispensing boxes.

[0035] The main controller checks whether the required medicine is already in stock in the automated medicine box warehouse based on the prescription information. If the required medicine is already stored in the automated warehouse (i.e., there is a corresponding medicine packaging box and the medicine inside the box matches the prescription), the system will automatically mark the medicine packaging box as "available" and directly enter the subsequent sorting process. There is no need to repackage, that is, skip the medicine packaging and warehousing operation and directly enter the sorting and dispensing operation. The main controller controls the medicine sorting robot to take out the medicine packaging box in the "available" state from the automated warehouse and execute the subsequent grabbing and sorting steps.

[0036] If the required medication is not stored in the automated warehouse, the main controller allocates an empty slot for it. The operator is then prompted via the slot's medication information display to pour the unpacked medication into the designated medication refill box, which is then placed in the corresponding slot for dustproof and sealed storage. In other words, based on the prescription, the automated warehouse automatically assigns a medication refill box to the required medication, displaying the name of the medication to be refilled on the slot's medication information display below the refill box. The operator then pours the entire box or bottle of medication into the designated refill box according to the information displayed on the display and the main controller's touchscreen. Upon initial use, all medication refill boxes in the automated warehouse are empty and can be directly assigned sequentially, with each refill box containing only one type of medication. Subsequent new medications will be automatically assigned to other empty refill boxes in the automated warehouse, and the inventory status information will be updated accordingly.

[0037] After removing all the required medicines from their packaging, the tablets / pills / capsules, etc., are repackaged into designated medicine repackaging boxes and returned to the corresponding warehouse location. This completes the medicine repackaging and warehousing operation. After warehousing, the medicine boxes are sealed to ensure airtight preservation.

[0038] S4: The main controller controls the drug sorting robot to take out the corresponding drug packaging box from the automated drug box warehouse and place it in the corresponding packaging station in the drug packaging work area; the vision detection module collects images of the drugs in the drug packaging box, identifies the drug type and determines the drug location; the main controller plans the motion path and controls the drug sorting robot to grab the specified number of drugs according to the prescription requirements and transfer them to the single-use drug dispensing box.

[0039] A medication dispensing area is set up between the automated warehouse and the robot on the system's workbench. This area includes several medication dispensing stations, each equipped with a display screen. Based on the name information of the medications to be sorted obtained from the scanned prescription, each medication is assigned a medication dispensing station, and the medication name information is displayed on the station's display screen. At the outermost edge of the workbench is the single-dose medication dispensing area, where the robot sequentially picks out the medications required for a single dose from the dispensing boxes and places them into individual medication boxes. Each single-dose medication dispensing station in this area is also equipped with a single-dose information display screen to show patient information, single-dose dosage, and other information.

[0040] After starting medication preparation, perform the following operations in sequence for intelligent medication preparation: (1) The drug sorting robot uses grippers to take out the drug packaging boxes containing the drugs from the automated warehouse and place them in the drug packaging box work area to wait for sorting and dispensing. (2) The main controller sends an image acquisition command to control the end camera of the robotic arm to move to the top of the medicine packaging box to take pictures of the medicine in the box. The YOLO target recognition model is called to intelligently identify the target medicine. Then, the OpenCV library is used to extract the contour and calculate the coordinates of the identified medicine to determine the position of the medicine in the image coordinate system. The image coordinates are converted into three-dimensional coordinates in the robotic arm base coordinate system in combination with the camera calibration parameters. At the same time, the medicine image sample information is recorded. After multiple trainings, the medicine type can be automatically identified through the target recognition algorithm. The recognition results can be used to check whether the medicine name is consistent with the actual medicine, avoiding the final sorting and dispensing errors caused by the operator's carelessness.

[0041] (3) After identifying the target drug and obtaining its location information, the main controller autonomously decides whether to retrieve the target tablet or capsule using a random selection method. It then calls the robot path planning module to plan the target tablet retrieval path. Based on the reverse motion student of the tablet sorting robot, it generates the motion instruction sequence of each joint motor of the robot and sends the joint motor motion instruction sequence to the robot joint motor. This controls the end effector of the drug sorting robot to start the suction cup to move above the target tablet, activate the suction cup to pick up the tablet, and then move the tablet according to the motion planning path to the single-use drug dispensing box. The tablet is then released and placed into the single-use drug dispensing box. According to the single-use medication requirements in the prescription, the drug sorting robot sequentially picks up and places the specified types and quantities of tablets / pills / capsules into the single-use drug dispensing box to complete one dispensing cycle.

[0042] S5: After completing a single medication dispensing, the operator checks the information on the single medication information display screen and takes away the single medication dispensing box; when there is an empty sorting station in the single medication sorting box storage area, a new sorting and dispensing operation can be started.

[0043] If bulk medication is required, multiple copies of the same prescription can be prepared, or multiple entered prescriptions can be selected in batches. Repeat the above steps until all medication sorting and dispensing tasks are completed. At this time, multiple single-use medication dispensing boxes will be required. Users can retrieve medication according to the information displayed on the single-use medication dispensing box work area screen.

[0044] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on its differences from other embodiments. Similar or identical parts between embodiments can be referred to interchangeably. For the apparatus disclosed in the embodiments, since they correspond to the methods disclosed in the embodiments, the description is relatively simple; relevant parts can be referred to the method section.

[0045] The above description of the disclosed embodiments enables those skilled in the art to make or use the invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the invention. Therefore, the invention is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A desktop intelligent sorting and dispensing system, characterized in that, It includes a drug sorting robot, a drug box automated warehouse, a drug packaging work area, a single-use drug sorting box storage area, a vision inspection module, a main controller, and a human-machine interaction touch screen; The drug sorting robot is used to grasp and transfer drug packaging boxes and drugs. The automated medicine box warehouse has several compartments for storing medicine boxes containing different medicines. Each compartment is equipped with a compartment medicine information display screen to display the name of the medicine in the corresponding compartment. The drug repackaging work area is equipped with several repackaging stations. Each repackaging station is used to place drug repackaging boxes taken out from the automated drug box warehouse. Each repackaging station is equipped with a drug repackaging station display screen that displays the corresponding drug name. The single-use medicine sorting box storage area is equipped with several sorting stations. Each sorting station is used to place single-use medicine dispensing boxes. Each sorting station is equipped with a single-use medication information display screen that displays patient information and medication information. The visual detection module is used to collect drug image information, identify drug types, and determine the spatial location of drugs. The main controller is connected to the drug sorting robot, the vision inspection module, each display screen and the human-machine interface touch screen. It is used to receive prescription information, control the vision inspection module to perform image acquisition and processing, plan the movement path of the drug sorting robot, and control the collaborative work of each component to sort the drugs required for a single dose according to the prescription.

2. The desktop intelligent sorting and dispensing system according to claim 1, characterized in that, The drug sorting robot is a desktop six-degree-of-freedom robotic arm, with each degree of freedom controlled by a servo motor. The end is equipped with an integrated gripper and suction cup composite operating tool. The composite operating tool connects the miniature pneumatic suction cup to the electric gripper through a bracket and bolts, and is used to pick up and put in drug packaging boxes and tablets, capsules and pills.

3. The desktop intelligent sorting and dispensing system according to claim 1, characterized in that, The visual inspection module includes a camera and an image processing unit. The camera is fixed to the end of the drug sorting robot by a bracket and pins and communicates with the main controller via a USB interface. The image processing unit is based on the YOLO target recognition framework and the OpenCV library and is used to identify drug types and calculate the three-dimensional coordinates of the drug in the robot's base coordinate system.

4. The desktop intelligent sorting and dispensing system according to claim 1, characterized in that, The main controller is a controller with AI computing power and is equipped with an operating system. The operating system runs drug sorting system control software, which includes a display interface, motion control, motion planning, vision and image processing program modules to realize prescription information input, automatic path planning, and drug grabbing and sorting functions.

5. A desktop intelligent sorting and dispensing system according to claim 4, characterized in that, The main controller is any one of NVIDIA JETSON controller, PC, industrial PC or Raspberry Pi, and the operating system is Ubuntu operating system.

6. The desktop intelligent sorting and dispensing system according to claim 1, characterized in that, The main controller supports multiple prescription entry methods, including barcode scanning import, automatic photo recognition and extraction, and manual entry.

7. The desktop intelligent sorting and dispensing robot system according to claim 1, characterized in that, The visual detection module has the ability to automatically train drug type recognition. By accumulating image data samples of similar drugs, it optimizes the accuracy of drug type recognition and determines whether the drug packaging is correct.

8. The desktop intelligent sorting and dispensing robot system according to claim 1, characterized in that, The main controller also has a batch dispensing control function, including: setting multiple copies of the same prescription, or selecting multiple entered prescriptions in batches, and the control system continuously completes multiple sorting and dispensing operations.

9. A desktop intelligent sorting and dispensing method, characterized in that, Includes the following steps: S1: The main controller starts up and loads the operating system and preset programs, completes the initialization of the AI ​​visual recognition model and OpenCV library, the drug sorting robot performs zero-position calibration, and the visual inspection module completes the calibration of image acquisition parameters and sends an initialization completion signal. S2: Obtain prescription information through barcode scanning, photo recognition, or manual entry. The prescription information includes patient information, drug type, and single dosage. S3: The main controller allocates empty slots in the automated warehouse for the required medicines based on the prescription information. The operator is prompted through the medicine information display screen of the slot to pour the medicines after unpacking into the designated medicine dispensing box, and then place the medicine dispensing box into the corresponding slot. After the medicine dispensing box is placed, it is sealed and stored in a dustproof manner. S4: The main controller controls the drug sorting robot to take out the corresponding drug packaging box from the drug box automated warehouse and place it into the corresponding packaging station in the drug packaging work area; the vision detection module collects images of the drugs in the drug packaging box, identifies the drug type and determines the drug position; the main controller plans the motion path and controls the drug sorting robot to grab the specified number of drugs according to the prescription requirements and transfer them to the single-use drug dispensing box. S5: After completing a single medication dispensing, the operator checks the information on the single medication information display screen and takes away the single medication dispensing box; when there is an empty sorting station in the single medication sorting box storage area, a new sorting and dispensing operation can be started.

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