Nursing medicine dispensing robot with power-off emergency operation capability

Abstract

The invention relates to the technical field of medical instruments, and provides a nursing medicine dispensing robot with power-off emergency operation capability, the nursing medicine dispensing robot comprises an interaction module, a modular medicine grid array, an electromagnetic lock assembly and an unlocking assembly, the modular medicine grid array is composed of a plurality of independent medicine grid units, each medicine grid unit comprises a cabinet body and a medicine box slidably arranged on the cabinet body, and the electromagnetic lock assembly is arranged on the cabinet body. The electromagnetic lock assembly is arranged on the cabinet body and is configured to lock the medicine box on the cabinet body in a power-on state, the unlocking assembly comprises a lock arranged on the medicine box, a linkage rod linked with the lock and a plurality of stop blocks, and the medicine box is provided with limiting grooves corresponding to the stop blocks. Under the condition of sudden power failure or network interruption, patient identity verification, target medicine lattice unlocking, medicine dispensing guidance and operation log recording can still be independently completed, service interruption or out-of-control medicine management caused by power failure, namely shutdown, of a traditional nursing robot is effectively avoided, and medical safety is guaranteed.

Description

Technical Field

[0001] This invention relates to the technical field of medical devices, specifically to a nursing medication dispensing robot with emergency operation capability during power outages. Background Technology

[0002] In modern hospital environments, automated medication dispensing systems have become crucial tools for improving efficiency and reducing human error. However, traditional nursing robots often fail to complete their current tasks or dock safely in the event of a sudden power outage, potentially leading to delays in patient medication administration and confusion in medication management. Therefore, designing a nursing medication dispensing robot capable of performing medication dispensing operations even when the main power is interrupted is of paramount importance. Summary of the Invention

[0003] This invention provides a nursing medication dispensing robot with emergency operation capabilities during power outages, aiming to solve the problem in existing technologies where nursing robots cannot complete their current tasks or safely dock in the event of a sudden power outage, leading to delays in patient medication and chaotic drug management. The specific implementation method is as follows: A nursing medication dispensing robot with emergency operation capability during power outages includes an interaction module for receiving patient identification information and displaying medication dispensing instructions; The modular medicine compartment array is composed of multiple independent medicine compartment units, each of which includes a cabinet and a medicine box that slides on the cabinet. An electromagnetic lock assembly is provided on the cabinet and configured to lock the medicine box onto the cabinet when energized; The unlocking component includes a lock on the medicine box, a linkage rod linked to the lock, and multiple stops. The medicine box has a limiting groove corresponding to the stops. When the lock is activated by an external force, it drives the linkage rod to move, causing the stops to disengage from the limiting grooves, thereby releasing the limitation on the medicine box. The drive unit includes at least two drive wheels and two omnidirectional wheels, the drive wheels being driven by a motor, for enabling the robot to move within the pharmacy or ward area; The emergency power module, including a supercapacitor bank and a lithium battery, is used to provide short-term power to the electromagnetic lock assembly and control module when the main power is lost, so as to complete the current drug dispensing task, safely dock, or return to the charging position. An offline caching module is used to pre-store the day's medical orders data; The control module is communicatively connected to the interaction module, electromagnetic lock component, drive device, and offline cache module, and is used to verify patient identity based on local data in the event of a network outage or power outage, and to control the unlocking of the corresponding pharmacy compartment and the dispensing of medicines.

[0004] As a further embodiment of the present invention, a slide rail is provided on the inner wall of the cabinet, and the medicine box is slidably connected to the slide rail by a slider.

[0005] As a further embodiment of the present invention, the linkage rod is provided with a cam, one end of the cam is connected to the linkage rod and the other end is connected to the lock. When the lock is activated by an external force, it drives the cam to rotate, thereby driving the linkage rod to move, causing the stop block to disengage from the limiting groove and completing the unlocking of the medicine box.

[0006] As a further embodiment of the present invention, the cabinet is provided with a slidable slide plate, a plurality of the stops are arranged at intervals along the length direction of the slide plate, the slide plate is provided with a stop bar, and the linkage rod is inserted into the stop bar.

[0007] As a further embodiment of the present invention, the drive wheel is equipped with an electromagnetic brake device, which automatically locks the wheel when the robot stops or the power is cut off.

[0008] As a further embodiment of the present invention, the medicine box is provided with a limiting slot adapted to the shape of the medicine, and the medicine box is integrated with an RFID tag for storing the medicine name, batch number and expiration date information. The medicine box is also equipped with a photoelectric sensor for monitoring whether the medicine has been taken away.

[0009] As a further aspect of the present invention, the medicine box is also provided with a status indicator light, wherein green indicates that the medicine box is in a "waiting to be taken" state, and red indicates that there is an abnormal state; The abnormal status includes missing medications or inconsistencies between locally cached prescriptions and the latest medical orders in the hospital information system.

[0010] As a further embodiment of the present invention, the emergency power module is located on the chassis on the back of the robot, and the chassis is equipped with a tilt sensor. When the tilt angle of the whole machine exceeds 10°, the drive wheels are automatically braked and an alarm is issued.

[0011] As a further embodiment of the present invention, the interactive module includes a touch screen, a wristband scanner, a camera, and a voice broadcasting device. In offline mode, it can still display the drug name, dosage, manufacturer information, indications, and adverse reactions, and supports voice-controlled access to the electronic instruction manual.

[0012] As a further aspect of the present invention, the offline caching unit automatically downloads the list of outpatient prescriptions for the day from the hospital information system during a preset time period each day, and stores it in the memory with encryption. After power failure and restoration, it automatically verifies the integrity of the data and uploads the operation log.

[0013] Due to the adoption of the above technical solutions, the beneficial technical effects of the present invention are as follows: 1. This invention preloads the daily medical order data through an offline caching module and is equipped with an emergency power supply module, so that the robot can still independently complete patient identity verification, target pharmacy unlocking, drug dispensing guidance and operation log recording in the event of a sudden power outage or network interruption. This effectively avoids service interruption or loss of control of drug management caused by the shutdown of traditional nursing robots due to power outages, and ensures medical safety. 2. The medicine box of this invention supports manual removal of medicine by medical staff in the event of system power failure or mechanical failure, ensuring uninterrupted emergency medication dispensing. At the same time, the whole machine is integrated with safety protection devices, which can adapt to scenarios such as unstable power supply in primary medical institutions and elderly patients with inconvenient mobility while ensuring autonomous operation efficiency. 3. This invention reduces the peak power consumption of the whole machine by using low-power mechanical components such as stepper motors, synchronous belt drives, and self-locking mechanisms. Combined with a hybrid power supply of lithium batteries and supercapacitors, the battery life exceeds 10 hours. This not only extends the single operation cycle but also reduces manufacturing costs and maintenance burden, which is conducive to its promotion and application in medical institutions. Attached Figure Description

[0014] Figure 1 This is a schematic diagram of the structure of the nursing medication dispensing robot in a specific embodiment of the present invention; Figure 2 This is an exploded view of the nursing medication dispensing robot in a specific embodiment of the present invention; Figure 3 This is a schematic diagram of a portion of the electromagnetic lock assembly in a specific embodiment of the present invention; Figure 4 This is a schematic diagram of the structure of the medicine box and the electromagnetic lock assembly in a specific embodiment of the present invention; Figure 5 This is a partial structural cross-sectional view of the limiting mechanism in a specific embodiment of the present invention; Figure 6 This is a schematic diagram illustrating the working principle of the nursing medication dispensing robot in a specific embodiment of the present invention.

[0015] Explanation of reference numerals in the attached figures: 100. Interaction Module; 200. Modular Drug Filter Array; 300. Cabinet; 400. Drive Unit; 500. Emergency Power Supply Module; 600. Offline Cache Module; 700. Control Module. 110. Touchscreen display; 120. Wristband scanner; 130. Camera; 140. Voice broadcast device. 210. Medicine box; 220. Red indicator light; 230. Green indicator light. 310. Compression spring; 320. Electromagnetic lock assembly; 330. Lock; 340. Limiting assembly; 350. Cam plate; 360. Linking rod; 370. Limiting plate. 321. First electromagnetic plate; 322. First iron block; 341. Support plate; 342. Slide plate; 343. Stop block; 344. Stop bar; 345. Second iron block; 346. Moving plate; 347. Spring; 348. Second electromagnetic plate. 371. Limiting groove. Detailed Implementation

[0016] The specific embodiments of the present invention are described below with reference to the accompanying drawings and examples: It should be noted that the structures, proportions, sizes, etc. illustrated in the accompanying drawings of this specification are only used to complement the content disclosed in the specification, so that those skilled in the art can understand and read them, and are not intended to limit the conditions under which the present invention can be implemented. Any modifications to the structure, changes in the proportions, or adjustments to the size, without affecting the effects and objectives that the present invention can produce, should still fall within the scope of the technical content disclosed in the present invention.

[0017] Furthermore, the terms such as "upper," "lower," "left," "right," "middle," and "one" used in this specification are merely for clarity of description and are not intended to limit the scope of the invention. Any changes or adjustments to their relative relationships, without substantially altering the technical content, should also be considered within the scope of the invention.

[0018] Combination Figures 1 to 6 As shown, this invention provides a nursing dispensing robot with emergency operation capability during power outages, suitable for medical scenarios such as outpatient pharmacies in primary hospitals and community health service centers. The robot has an overall vertical cabinet structure, approximately 1.5 meters high, and occupies no more than 2.5 square meters of floor space, facilitating flexible deployment in space-constrained pharmacy environments.

[0019] The robot includes an interaction module 100, a modular medicine compartment array 200, an electromagnetic lock assembly 320, a drive unit 400, an emergency power supply module 500, an offline cache module 600, and a control module 700. The control module 700 is communicatively connected to the interaction module 100, the modular medicine compartment array 200, the electromagnetic lock assembly 320, the drive unit 400, the emergency power supply module 500, and the offline cache module 600, and is used to perform functions such as patient identification, prescription data matching, medicine compartment unlocking, autonomous navigation, and emergency response in the event of power outages or network outages.

[0020] Specifically, the control module 700 is located on the main control board inside the robot chassis, preferably using an ARM Cortex-A55 quad-core processor. The control module 700 has a built-in hardware encryption engine that supports the AES-256 symmetric encryption algorithm, used for encrypting and decrypting offline cached data, thereby ensuring patient privacy and prescription information security.

[0021] When the main power supply is normal, the control module 700 obtains power through the AC adapter, and the system can perform all predetermined functions, including patient identification, prescription matching, pharmacy compartment unlocking, and autonomous navigation. When a voltage drop or main power failure is detected, the control module 700 automatically switches to the emergency power module 500 for power.

[0022] The emergency power module 500 consists of a set of lithium iron phosphate batteries and a supercapacitor bank. The supercapacitor can switch power supplies within 0.1 seconds, ensuring that the control module 700 can still complete the current dispensing command, control the unlocking of the medicine compartment, and drive the robot to safely dock at the preset safe position in the event of a sudden power outage.

[0023] Specifically, the interaction module 100 is located on the upper front of the robot and includes a touch screen 110, a wristband scanner 120, a camera 130, and a voice broadcasting device 140. The voice broadcasting device 140 is an embedded speaker integrated into the front shell of the robot, used to output voice prompts and medication guidance information.

[0024] In normal operating mode, the patient wears an electronic wristband issued by the hospital and approaches the sensing area of ​​the wristband scanner 120. The wristband scanner 120 automatically reads the unique identification code stored in the wristband and transmits the identification code to the control module 700 in real time. Based on the identification code, the control module 700 retrieves the corresponding prescription data for the day from the local offline cache module 600 or the hospital information system (HIS) connected through the hospital intranet, and drives the touch screen 110 to display key medication information such as drug name, specifications, dosage, usage, manufacturer, indications, and potential adverse reactions. At the same time, the control module 700 controls the voice broadcast device 140 to output voice prompts synchronously.

[0025] When the control module 700 detects a network interruption or mains power failure, the system automatically switches to offline emergency operation mode. In this mode, the control module 700 can still complete patient identity verification and medication matching based on the outpatient prescription data stored in the offline cache module 600, and continue to drive the touch screen 110 to display complete medication information, while the voice broadcast device 140 outputs voice prompts simultaneously.

[0026] In a preferred embodiment, camera 130 can be used to assist in facial recognition. Camera 130 can capture images of patients' faces approaching the robot. These images are sent to control module 700, where a facial recognition algorithm processes these images, extracts facial features, and compares them with patient facial data pre-stored in offline cache module 600 or obtained from hospital information system (HIS). If a match is successful, the patient's identity is confirmed, and corresponding operations such as medication dispensing are performed. If a match fails, additional authentication steps or denial of service may be required, thereby further improving system security.

[0027] The modular drug compartment array 200 consists of multiple independent drug compartment units arranged side by side or in an array. Each drug compartment unit includes a cabinet mounted on the robot body and a drug box 210 slidably mounted on the cabinet.

[0028] In a preferred embodiment, the inner sidewall of the cabinet is provided with a slide rail extending in the front-to-back direction, and the two sides of the medicine box 210 are respectively provided with sliders. The sliders cooperate with the slide rail, so that the medicine box 210 can be smoothly pushed into or pulled out of the cabinet along the slide rail, which facilitates the loading, replenishment and emergency access of medicines.

[0029] The connection structure between the slider and the slide rail adopts a quick-release guide mechanism commonly used in the art, such as, but not limited to: a guide rib on the slider cooperating with a groove on the slide rail, supplemented by a limiting protrusion to prevent the medicine box 210 from falling out, or an elastic hook at the end of the slide rail to achieve automatic locking after the medicine box 210 is in place. Such mechanical structures are widely used in existing intelligent medical medicine cabinets, automated drug storage systems, or logistics sorting equipment, and their specific construction and assembly methods are conventional techniques for those skilled in the art. Therefore, without affecting the complete implementation of the technical solution of this invention, the details of the aforementioned known mechanical connections will not be elaborated here.

[0030] In one specific embodiment, the medicine box 210 has a limiting slot inside that is adapted to the shape of tablets, capsules, or vials of medicine for securing the medicine; the medicine box 210 is equipped with an RFID tag for storing the generic name, specifications, batch number, and expiration date information of the medicine; a photoelectric sensor is installed at the bottom of the medicine box 210 for detecting whether the medicine has been taken by the patient. The control module 700 reads the RFID tag to verify the identity of the medicine before dispensing, and determines whether the medicine has been taken by the photoelectric sensor signal after dispensing; if the medicine is not taken within the specified time, the touch screen 110 and the voice broadcast device 140 are triggered to issue a prompt.

[0031] In one specific embodiment, the medicine box 210 is also provided with a status indicator light, preferably a dual-color LED light, which is installed on both sides of the handle on the front of the medicine box 210 for easy observation by the operator.

[0032] When the control module 700 completes patient identity verification and determines that the medication corresponding to a certain medicine box 210 needs to be dispensed, the control module 700 sends a control signal to the status indicator light of the medicine box 210, illuminating the green indicator light 230, indicating that the medicine box is in the "ready to be retrieved" state. At this time, the electromagnetic lock assembly 320 is unlocked, and the medicine box 210 can be manually pulled out for the patient or medical staff to retrieve the medication.

[0033] If the control module 700 detects an abnormality, the drive status indicator light switches to red indicator light 220, indicating that the medicine box is in an abnormal state. The abnormal state includes at least two scenarios: First, during the robot's self-check or dispensing preparation phase, the control module 700 detects the presence of medicine using the photoelectric sensor on the medicine box 210. If the sensor does not receive an obstruction signal, and the RFID tag is read normally or is empty, it is determined that the medicine is not filled or has been exhausted, triggering the red indicator light 220. Second, during the data consistency verification process after network recovery, the control module 700 compares the prescription records stored in the local offline cache module 600 with the latest medical orders synchronized from the HIS. If it finds that the prescription has been canceled, the medicine has been replaced, or the dosage or frequency has changed, while the local dispensing operation has been executed or is about to be executed, it is determined that the prescription data is inconsistent, and the red indicator light 220 is also activated.

[0034] When the red indicator light 220 illuminates, the control module 700 pauses the automatic unlocking function of the medicine box 210 and displays a corresponding error message on the touch screen 110 of the interaction module 100 to prevent incorrect medication dispensing. Authorized medical personnel can enter maintenance mode with management privileges to perform medication replenishment, data synchronization, or manual confirmation of medication dispensing operations, thereby effectively improving medical personnel's awareness of the robot's operating status and their emergency response capabilities, ensuring medication safety.

[0035] Specifically, the unlocking component includes a lock 330 disposed on the medicine box 210 and a linkage rod 360 linked with the lock 330. A compression spring 310 is connected between the cabinet 300 and the medicine box 210. A limiting component 340 is provided on the cabinet 300. The limiting component 340 includes a support plate 341 and a sliding plate 342 slidably disposed on the support plate 341. The medicine box 210 is slidably assembled in a slide groove in the cabinet 300 via the sliding plate 342. A support plate 341 is provided at the bottom end of the slide groove to support the sliding plate 342 and ensure that it slides smoothly along the slide groove. Multiple stops 343 are provided on the side wall of the sliding plate 342 at equal intervals in the vertical direction. A limiting plate 370 is provided at the corresponding position of the medicine box 210. A limiting groove 371 corresponding to each of the multiple stops 343 is opened on the outer wall of the limiting plate 370. When the lock 330 is activated by an external force, it drives the linkage 360 ​​to move, causing the stop block 343 to disengage from the limiting groove 371, thereby releasing the limitation on the medicine box 210.

[0036] In the normally locked state, the stop block 343 is embedded in the limiting groove 371, thereby preventing the medicine box 8 from being pulled out. When unlocking, the lock 330 on the medicine box 210 is triggered, which drives the cam plate 350 connected to its back to rotate. The back of the cam plate 350 is connected to the linkage rod 360, which is inserted between two stops 344 installed on the side wall of the slide plate 342. When retrieving medicine in the power-off state, a key needs to be inserted into the lock 330 and rotated upward to rotate the lock cylinder by half a revolution, thereby driving the cam plate 350 and the linkage rod 360 to move upward synchronously, thereby pushing the stops 344, causing the slide plate 342 to move upward in the longitudinal direction, so that the stop block 343 disengages from the limiting groove 371, thereby releasing the limitation on the medicine box 210 and allowing the medicine box 210 to be pulled out.

[0037] In one specific embodiment, the support plate 341 forms an installation cavity, on which a movable plate 346 is slidably mounted. A spring 347 is mounted on the movable plate 346, with its two ends connected to the bottom of the installation cavity and the movable plate 346, respectively. A second electromagnetic plate 348 is mounted on the upper end of the inner wall of the installation cavity, and a second iron block 245 is mounted on the movable plate 346 corresponding to the second electromagnetic plate 348. The center of the movable plate 346 is connected to the sliding plate 342. When the nursing dispensing robot is powered on, the second electromagnetic plate 348 generates magnetic force, which attracts the second iron block 345 upwards, causing the movable plate 346 to slide upwards. Simultaneously, the spring 347 is stretched, pushing the sliding plate 342 upwards along the slide groove, thereby causing the stop block 343 to move upwards and disengage from the limiting groove 371. At this time, the stop block 343 does not restrict the movement of the medicine box 210.

[0038] An electromagnetic lock assembly 320 is provided on the cabinet, configured to lock the medicine box 210 to the cabinet when powered on. Specifically, the electromagnetic lock assembly 320 includes a first electromagnetic plate 321 and a first iron block 322. The first electromagnetic plate 321 is mounted on the cabinet 300, and the first iron block 322 is mounted on the medicine box 210 corresponding to the first electromagnetic plate 321. The outer wall of the first iron block 322 is in contact with the outer wall of the first electromagnetic plate 321. When the nursing dispensing robot is powered on, the control module 700 applies a driving voltage to the electromagnetic lock assembly 320. The first electromagnetic plate 321 generates an electromagnetic pulling force, which moves the first iron block 322, thereby locking the medicine box 210 to the cabinet 300.

[0039] To prevent medications from scattering due to sudden slippage, the medicine box 210 features a stepped limiting groove inside, with its base plate having a slightly inclined slope at the front end higher than the rear end, ensuring the stability of tablets or capsules during the extension process. Furthermore, the sliding speed of the medicine box 210 is slowed down by the silicone cushioning pads on the guide rails, improving both user experience and safety.

[0040] When the robot encounters a power outage or system failure, the electromagnetic lock assembly 320 loses power, the second electromagnetic plate 348 loses power and no longer attracts the second iron block 345. Under the action of the elastic potential energy of the spring 347, the moving plate 346 is pulled down, which in turn pulls the slide plate 342 to move down, causing the stop block 343 to fall into the limiting groove 371, limiting the position of the limiting plate 370, realizing the automatic locking function of the mechanical lock, thereby ensuring that the undispensed medicine box 210 remains in a closed state, effectively preventing medicine from scattering, being accidentally taken or lost.

[0041] Furthermore, in the event of a communication interruption or power failure, a key needs to be inserted into the lock 330 and rotated upwards to rotate the lock cylinder by half a revolution. This causes the cam disc 350 and the linkage rod 360 to move upwards synchronously, which in turn pushes the stop lever 344, causing the slide plate 342 to move upwards in the longitudinal direction. This allows the stop block 343 to disengage from the limiting groove 371, thereby releasing the limitation on the medicine box 210 and allowing the medicine box 210 to be pulled out. This ensures that even under extreme conditions such as power outages or system failures, the medication dispensing function can still be achieved through manual operation, effectively guaranteeing the continuity of medication and emergency service capabilities in primary healthcare settings.

[0042] Specifically, the drive unit 400 is located at the bottom of the robot chassis and includes two rear drive wheels 410 and two front omnidirectional wheels 420. The drive wheels 410 are driven by brushless DC motors; the omnidirectional wheels 420 can flexibly turn, enabling the robot to turn in place or move diagonally in confined spaces. The control module 700 collects environmental information through a built-in LiDAR and depth camera, constructs a local map based on the SLAM algorithm, and plans a navigation path in real time. At the same time, it sends speed and direction commands to the motor controllers of the drive wheels 410 via the CAN bus to achieve autonomous walking and safe docking.

[0043] In one specific embodiment, each drive wheel 410 is equipped with an electromagnetic brake device 430. The electromagnetic brake device 430 is a normally closed, power-off braking type electromagnetic clutch, installed on the motor output shaft of the drive wheel 410, and includes a stationary iron core, a moving armature, a return spring, and an excitation coil. Under normal operating conditions, the control module 700 continuously applies a DC voltage to the excitation coil, generating an electromagnetic attraction force, causing the moving armature to overcome the spring force of the return spring and engage with the stationary iron core, thereby releasing the brake on the wheel axle and allowing the drive wheel 410 to rotate freely.

[0044] When the control module 700 receives a stop command, detects a main power failure signal, or enters emergency mode, it immediately cuts off the power supply to the excitation coil. At this time, the electromagnetic attraction disappears, the reset spring pushes the moving armature to quickly return to its original position, locking the axle of the drive wheel 410, thereby achieving braking.

[0045] Preferably, the braking torque of the electromagnetic brake device 430 is not less than 1.5 times the maximum driving torque of the drive wheel 410, and it can achieve static self-locking on a 5° slope. This device works in conjunction with the emergency power supply module 500. At the moment of main power failure, the supercapacitor bank prioritizes providing a brief reverse discharge signal to the excitation coil to ensure smooth release of the armature and reliable locking, avoiding braking delay due to sudden current changes.

[0046] Specifically, the offline cache module 600 adopts a hybrid non-volatile storage architecture consisting of an industrial-grade eMMC storage chip and a ferroelectric random access memory (FRAM). The eMMC storage chip has a capacity of 32GB and is used to store the structured daily outpatient prescription dataset; the FRAM is used to record key operation logs in real time, such as the pharmacy compartment unlocking time, drug dispensing status, and patient medication confirmation signals.

[0047] When the robot is operating normally, the control module 700 automatically initiates a security authentication request to the Hospital Information System (HIS) via the hospital intranet (supporting wired Ethernet or Wi-Fi connections) at 3:00 AM every day, and simultaneously downloads the prescription list of all patients who have scheduled medication pickups for that day. This list includes, but is not limited to, structured data such as: patient's unique identifier, name, outpatient number, generic name of the drug, specification and dosage, frequency of use, manufacturer, allergy history information, and contraindication labels.

[0048] Before being written to the eMMC storage chip, all downloaded data is encrypted end-to-end by the built-in hardware encryption engine called by the control module 700 using the AES-256 symmetric encryption algorithm, ensuring that the prescription information cannot be read even if the storage medium is illegally disassembled.

[0049] When the control module 700 detects a network interruption or mains power failure, the system automatically switches to offline emergency operation mode. In this mode, the control module 700 directly accesses the prescription database cached in the local eMMC to complete patient identity verification, medication matching, and unlocking control of the electromagnetic lock component 320, enabling medication dispensing operations without network dependence.

[0050] Once the network is restored, the control module 700 automatically initiates a data consistency verification program, comparing the operation logs recorded in the FRAM with the latest prescription status in the HIS system item by item. If it is found that a prescription in the HIS has been canceled or modified by a doctor, but medication has already been dispensed locally, the control module 700 will automatically generate a structured anomaly report, including the operation time, patient ID, medication details, operation serial number, and conflict type. This report is then uploaded to a remote management server connected to the hospital information system via an encrypted communication channel for manual review, risk assessment, and follow-up actions by clinical pharmacists or administrators. Simultaneously, the system displays a message on the touchscreen 110 indicating "Prescription conflict exists; please contact a pharmacist for confirmation," ensuring medication safety.

[0051] In emergency mode, the control module 700 prioritizes the following functions: verifying identity and dispensing medication based on medical order data in the offline cache module 600; if the robot encounters a power outage while moving, it immediately brakes the drive wheels, activates voice prompts, and guides the robot to slowly move to the nearest safe stopping point; at the moment of power failure, it quickly writes the current operation log to FRAM and automatically synchronizes the data to the remote management server after power is restored to ensure that the operation records are complete and accurate.

[0052] The specific working steps of this invention are as follows: Step 1: The patient wears an electronic wristband and approaches the wristband scanner 120. The wristband scanner reads the unique identification code and transmits the data to the control module 700.

[0053] Step 2: The control module 700 retrieves the corresponding prescription data for the day from the local offline cache module 600 or the HIS system connected through the hospital intranet.

[0054] Step 3: The prescription data is encrypted with AES-256 and stored in the eMMC. The control module 700 parses the data and displays it on the touch screen 110. At the same time, the voice broadcast device 140 outputs medication guidance information.

[0055] Step 4: The control module 700 determines the medicine box 210 that needs to be unlocked based on the prescription data and sends an unlocking command to the electromagnetic lock assembly 320.

[0056] Step 5: The first electromagnetic plate 321 in the electromagnetic lock assembly 320 separates from the first iron block 322, releasing the constraint on the medicine box 210, allowing the medicine box 210 to be pulled out for the patient or medical staff to retrieve the medicine.

[0057] When the photoelectric sensor detects missing medicine or mismatched RFID tag information during the dispensing process, the control module 700 activates the red status indicator light on the medicine box 210 and displays an abnormality prompt on the touch screen 110.

[0058] When the main power supply fails, the supercapacitor bank in the emergency power module 500 switches power within 0.1 seconds. The control module 700 prioritizes core functions such as prescription matching, pharmacy compartment unlocking, and safe docking, ensuring that medication dispensing operations can still be completed even under extreme conditions. Once the network is restored, the control module 700 initiates a data consistency verification program, comparing the operation logs recorded in the FRAM with the latest medical orders in the HIS system. If a conflict is found, a structured anomaly report is generated and uploaded to the remote management server.

[0059] Many other changes and modifications can be made without departing from the concept and scope of this invention. It should be understood that this invention is not limited to the specific embodiments, and the scope of this invention is defined by the appended claims.

Claims

1. A nursing medication dispensing robot with emergency operation capability during power outages, characterized in that, Includes an interactive module for receiving patient identification information and displaying medication dispensing instructions; The modular medicine compartment array is composed of multiple independent medicine compartment units, each of which includes a cabinet and a medicine box that slides on the cabinet. An electromagnetic lock assembly is provided on the cabinet and configured to lock the medicine box onto the cabinet when energized; The unlocking component includes a lock on the medicine box, a linkage rod linked to the lock, and multiple stops. The medicine box has a limiting groove corresponding to the stops. When the lock is activated by an external force, it drives the linkage rod to move, causing the stops to disengage from the limiting grooves, thereby releasing the limitation on the medicine box. The drive unit includes at least two drive wheels and two omnidirectional wheels, the drive wheels being driven by a motor, for enabling the robot to move within the pharmacy or ward area; The emergency power module, including a supercapacitor bank and a lithium battery, is used to provide short-term power to the electromagnetic lock assembly and control module when the main power is lost, so as to complete the current drug dispensing task, safely dock, or return to the charging position. An offline caching module is used to pre-store the day's medical orders data; The control module is communicatively connected to the interaction module, electromagnetic lock component, drive device, and offline cache module, and is used to verify patient identity based on local data in the event of a network outage or power outage, and to control the unlocking of the corresponding pharmacy compartment and the dispensing of medicines.

2. The nursing medication dispensing robot according to claim 1, characterized in that, The cabinet has a slide rail on its inner wall, and the medicine box is slidably connected to the slide rail by a slider.

3. The nursing medication dispensing robot according to claim 1, characterized in that, The linkage rod is equipped with a cam. One end of the cam is connected to the linkage rod, and the other end is connected to the lock. When the lock is activated by an external force, it drives the cam to rotate, thereby driving the linkage rod to move, causing the stop block to disengage from the limiting groove and completing the unlocking of the medicine box.

4. The nursing medication dispensing robot according to claim 1, characterized in that, The cabinet is equipped with a sliding plate, and multiple stops are spaced apart along the length of the sliding plate. The sliding plate is equipped with a stop bar, and the linkage rod is inserted into the stop bar.

5. The nursing medication dispensing robot according to claim 1, characterized in that, The drive wheels are equipped with an electromagnetic brake device that automatically locks the wheels when the robot stops or the power is cut off.

6. The nursing medication dispensing robot according to claim 1, characterized in that, The medicine box has a limiting slot adapted to the shape of the medicine. The medicine box is integrated with an RFID tag for storing the medicine name, batch number and expiration date information. The medicine box is also equipped with a photoelectric sensor for monitoring whether the medicine has been taken away.

7. The nursing medication dispensing robot according to claim 1, characterized in that, The medicine box is also equipped with a status indicator light, where green indicates that the medicine box is in a "ready to be taken" state, and red indicates that there is an abnormal state; The abnormal status includes missing medications or inconsistencies between locally cached prescriptions and the latest medical orders in the hospital information system.

8. The nursing medication dispensing robot according to claim 1, characterized in that, The emergency power module is located on the chassis at the back of the robot. The chassis is equipped with a tilt sensor. When the tilt angle of the whole machine exceeds 10°, the drive wheels are automatically braked and an alarm is issued.

9. The nursing medication dispensing robot according to claim 1, characterized in that, The interactive module includes a touch screen, a wristband scanner, a camera, and a voice broadcasting device. Even in offline mode, it can still display the drug name, dosage, manufacturer information, indications, and adverse reactions, and supports voice-controlled access to the electronic instruction manual.

10. The nursing medication dispensing robot according to claim 1, characterized in that, The offline caching unit automatically downloads the daily outpatient prescription list from the hospital information system during a preset time period each day, encrypts and stores it in the memory, and automatically verifies the data integrity and uploads the operation log after power failure and restoration.

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