Medicine barrel transfer method and device, storage medium, electronic equipment and product
By using real-time monitoring and robotic arms to transfer medicine barrels, the problem of blockage caused by delays or long-term operation of individual medicine barrels in the decoction production line has been solved, achieving efficient operation of the production line and continuity of medicine barrel operation.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- CHENGDU YH INTELLIGENT EQUIP TECH CO LTD
- Filing Date
- 2026-03-20
- Publication Date
- 2026-05-08
AI Technical Summary
On a decoction production line, delays or prolonged operation of individual medicine barrels can easily lead to blockages in the production line, a problem that current technologies have not been able to effectively solve.
By monitoring the status of the production line in real time, a robotic arm is used to transfer the medicine barrels that are blocked on the sub-production line to a temporary storage area to continue the work, and then transfer them back to the production line after completion. The system is intelligently scheduled based on the differences in the time required for replenishing medicine and pre-decoction.
It effectively eliminates blockages in the production line, ensures the continuity of medicine barrel operations and the efficient operation of the production line, and improves the flexibility and overall processing capacity of the decoction production line.
Smart Images
Figure CN121990353A_ABST
Abstract
Description
Technical Field
[0001] This application relates to the field of motion control technology for medical robots, and more specifically, to a method and apparatus for transferring a medicine container, a storage medium, electronic equipment, and a product. Background Technology
[0002] In the routine operation of a traditional Chinese medicine decoction center, a typical decoction production line adopts a serial flow mode. After a work order is loaded onto a medicine barrel, the specific decoction steps are completed on the production line according to the order sequence. However, in actual operation, congestion often occurs on certain sub-production lines. For example, in the manual refill area, if a medicine barrel encounters unforeseen circumstances such as insufficient medicine inventory or delayed refill preparation when it arrives at the refill station, the refill operation cannot be completed immediately, causing queues and backlogs on the sub-production line. In the pre-decoction area, due to the significant differences in pre-decoction time between different medicine barrels, barrels that have been pre-decoctioned for a long time will continuously occupy core workstations on the sub-production line, preventing waiting barrels from quickly completing their operations, thus causing congestion on the sub-production line.
[0003] In related technologies, multiple medicine barrels are transported on the assembly line according to the work order sequence. When the assembly line is delayed or operates for a long time due to the operation of a single medicine barrel, it is easy to cause blockage. At present, no effective solution has been proposed.
[0004] Therefore, it is necessary to improve the relevant technology to overcome the aforementioned defects. Summary of the Invention
[0005] This application provides a method and apparatus for transferring medicine barrels, a storage medium, an electronic device, and a product, to at least solve the problem in the related art where multiple medicine barrels are transferred on an assembly line according to the work order sequence, and the assembly line is easily blocked when the operation of a single medicine barrel is delayed or the operation is prolonged.
[0006] According to one aspect of the embodiments of this application, a method for transferring a medicine barrel is provided, comprising: real-time monitoring of the working status of multiple sub-production lines on a main production line; for any first sub-production line whose working status is blocked, controlling a robotic arm to transfer a first medicine barrel on the first sub-production line to a temporary storage area, and continuing to work on the first medicine barrel in the temporary storage area, wherein the first medicine barrel is the first medicine barrel on the first sub-production line; and when it is detected that the first medicine barrel has completed its work in the temporary storage area, controlling the robotic arm to transfer the first medicine barrel back to the first sub-production line.
[0007] In an exemplary embodiment, after real-time monitoring of the working status of multiple sub-production lines on the main water line, the method further includes: for a second sub-production line among the multiple sub-production lines used to replenish medicine barrels, determining whether multiple first medicines in the first medicine barrel are in short supply, wherein the multiple first medicines are of different categories; if it is determined that a second medicine among the multiple first medicines is in short supply, determining that the first medicine barrel causes the second sub-production line to be in the blocked state.
[0008] In an exemplary embodiment, after real-time monitoring of the operating status of multiple sub-production lines on the main production line, the method further includes: for a third sub-production line used for pre-decocting medicines among the multiple sub-production lines, determining a first pre-decocting time for multiple first medicines in the first medicine barrel and a second pre-decocting time for multiple third medicines in the second medicine barrel, wherein the second medicine barrel is the second medicine barrel on the third sub-production line, the first pre-decocting time is the total time for pre-decocting the multiple first medicines, and the second pre-decocting time is the total time for pre-decocting the multiple third medicines; if the first pre-decocting time is greater than the second pre-decocting time, and the time difference between the first pre-decocting time and the second pre-decocting time is greater than or equal to a preset threshold, determining that the first medicine barrel causes the third sub-production line to be in the blocked state.
[0009] In an exemplary embodiment, after the robotic arm transfers the first medicine barrel from the first sub-production line to a temporary storage area, the method further includes: changing the working state of the first medicine barrel to a temporary storage state, wherein the temporary storage state is used to indicate that the first medicine barrel is to continue working in the temporary storage area; and changing the working state to a completed state when it is detected that the first medicine barrel has completed its work in the temporary storage area.
[0010] In an exemplary embodiment, controlling the robotic arm to transfer the first medicine barrel back to the first sub-production line includes: sending a control command to the robotic arm, wherein the control command instructs the robotic arm to transfer the first medicine barrel from the temporary storage area to the outlet of the first sub-production line; determining whether the robotic arm executes the control command within a preset time; and if it is determined that the robotic arm has not executed the control command within the preset time, sending the control command to the robotic arm again to control the robotic arm to transfer the first medicine barrel from the temporary storage area to the outlet of the first sub-production line.
[0011] In an exemplary embodiment, after controlling the robotic arm to transfer the first medicine barrel back to the first sub-production line, the method further includes: modifying the working status of the first medicine barrel to a pending review status, wherein the pending review status is used to indicate that the working completion status of the first medicine barrel is to be reviewed; and if the review result of the first medicine barrel indicates that the review of the first medicine barrel has passed, controlling the first medicine barrel to flow back to the main production line.
[0012] According to another aspect of the embodiments of this application, a medicine barrel transfer device is also provided, comprising: a monitoring module for real-time monitoring of the working status of multiple sub-production lines on the main flow line; a first transfer module for controlling a robotic arm to transfer a first medicine barrel on any first sub-production line whose working status is blocked to a temporary storage area, and continuing to work on the first medicine barrel in the temporary storage area, wherein the first medicine barrel is the first medicine barrel on the first sub-production line; and a second transfer module for controlling the robotic arm to transfer the first medicine barrel back to the first sub-production line when it is detected that the first medicine barrel has completed its work in the temporary storage area.
[0013] According to another aspect of the embodiments of this application, a computer-readable storage medium is also provided, wherein a computer program is stored in the computer-readable storage medium, wherein the computer program is configured to execute the above-described method for transferring the medicine barrel when it is run.
[0014] According to another aspect of the embodiments of this application, an electronic device is also provided, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the method for transferring the medicine barrel through the computer program.
[0015] According to another aspect of the embodiments of this application, a computer program product is also provided, including a computer program that, when executed by a processor, implements the steps of the methods described in various embodiments of this application.
[0016] This application enables real-time monitoring of the operational status of multiple sub-production lines on the main production line. For any first sub-production line that is blocked, the control robot arm transfers the first medicine barrel on the first sub-production line to a temporary storage area, where it continues to operate. The first medicine barrel is the first medicine barrel on the first sub-production line. Once the operation of the first medicine barrel in the temporary storage area is detected, the control robot arm transfers the first medicine barrel back to the first sub-production line. This solves the problem in related technologies where multiple medicine barrels are transferred on the production line according to the work order sequence, and the production line is prone to blockage when the operation of a single medicine barrel is delayed or prolonged. Attached Figure Description
[0017] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application.
[0018] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, for those skilled in the art, other drawings can be obtained based on these drawings without creative effort.
[0019] Figure 1 This is a hardware structure block diagram of a medical robot for a method of transferring a medicine container according to an embodiment of this application;
[0020] Figure 2 This is a flowchart of a method for transferring a medicine barrel according to an embodiment of this application;
[0021] Figure 3 This is a structural block diagram of a medicine barrel transfer device according to an embodiment of this application. Detailed Implementation
[0022] To enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present application, and not all embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative effort should fall within the scope of protection of the present application.
[0023] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of this application described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.
[0024] The methods and embodiments provided in this application can be executed in a medical robot or a similar computing device. Taking its operation on a medical robot as an example, Figure 1This is a hardware structure block diagram of a medical robot for a method of transferring a medicine container according to an embodiment of this application. Figure 1 As shown, a medical robot may include one or more ( Figure 1 Only one is shown in the diagram. A processor 102 (which may include, but is not limited to, a central processing unit (CPU) or a field-programmable gate array (FPGA)) and a memory 104 for storing data are also shown. The medical robot may further include a transmission device 106 for communication functions and an input / output device 108. Those skilled in the art will understand that... Figure 1 The structure shown is for illustrative purposes only and does not limit the structure of the medical robot described above. For example, the medical robot may also include components that are larger than... Figure 1 The more or fewer components shown, or having the same Figure 1 The different configurations shown.
[0025] The memory 104 can be used to store computer programs, such as application software programs and modules, like the computer program corresponding to the data integration method in this embodiment. The processor 102 executes various functional applications and data processing by running the computer program stored in the memory 104, thus implementing the above-described method. The memory 104 may include high-speed random access memory and non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some instances, the memory 104 may further include memory remotely located relative to the processor 102, and these remote memories can be connected to the medical robot via a network. Examples of such networks include, but are not limited to, the Internet, corporate intranets, local area networks, mobile communication networks, and combinations thereof.
[0026] The medical robot's communication provider offers a wireless network. In one example, transmission device 106 includes a Network Interface Controller (NIC), which can connect to other network devices via a base station to communicate with the Internet. In another example, transmission device 106 can be a Radio Frequency (RF) module for wireless communication with the Internet.
[0027] This embodiment provides a method for transferring a medicine barrel. Figure 2 This is a flowchart of a method for transferring a medicine barrel according to an embodiment of this application, such as... Figure 2 As shown, the process includes the following steps:
[0028] Step S202: Monitor the working status of multiple sub-production lines on the main production line in real time;
[0029] Step S204: For any first sub-production line in the plurality of sub-production lines whose working state is blocked, control the robotic arm to transfer the first medicine barrel on the first sub-production line to the temporary storage area, and continue to work on the first medicine barrel in the temporary storage area, wherein the first medicine barrel is the first medicine barrel on the first sub-production line.
[0030] Step S206: When it is detected that the first medicine barrel has completed its operation in the temporary storage area, the robotic arm is controlled to transfer the first medicine barrel back to the first sub-production line.
[0031] This application enables real-time monitoring of the operational status of multiple sub-production lines on the main production line. For any first sub-production line that is blocked, the control robot arm transfers the first medicine barrel on the first sub-production line to a temporary storage area, where it continues to operate. The first medicine barrel is the first medicine barrel on the first sub-production line. Once the operation of the first medicine barrel in the temporary storage area is detected, the control robot arm transfers the first medicine barrel back to the first sub-production line. This solves the problem in related technologies where multiple medicine barrels are transferred on the production line according to the work order sequence, and the production line is prone to blockage when the operation of a single medicine barrel is delayed or prolonged.
[0032] By monitoring the operational status of multiple sub-production lines on the main production line in real time, once a blockage is detected in any sub-production line—meaning the first medicine barrel cannot proceed with subsequent operations (such as replenishing herbs or pre-decoction) for various reasons—the system immediately directs a dedicated robotic arm to transfer the first medicine barrel to a temporary storage area, where it continues its unfinished work. This transfer process not only releases the blocked sub-production line, allowing subsequent medicine barrels to continue flowing, but also ensures that the first medicine barrel's work can continue and be completed. Once the first medicine barrel completes its work in the temporary storage area, the system again controls the robotic arm to transfer it back to the main production line, thus seamlessly connecting to subsequent processes. This technical solution, through the coordinated action of the robotic arm and the temporary storage area, achieves effective management and scheduling of medicine barrels in a blocked state, overcomes the problem of a single medicine barrel's operation hindering the entire production line's operation, improves the flexibility and overall processing capacity of the decoction production line, and ensures the continuity and high efficiency of the decoction process.
[0033] In an exemplary embodiment, after real-time monitoring of the working status of multiple sub-production lines on the main water line, the method further includes: for a second sub-production line among the multiple sub-production lines used to replenish medicine barrels, determining whether multiple first medicines in the first medicine barrel are in short supply, wherein the multiple first medicines are of different categories; if it is determined that a second medicine among the multiple first medicines is in short supply, determining that the first medicine barrel causes the second sub-production line to be in the blocked state.
[0034] In this embodiment, the system monitors the operational status of each sub-production line on the main flow line in real time, especially the second sub-production line used for replenishing medicine barrels. It accurately analyzes and determines the current inventory of various types of first medicines needed to be replenished in the first medicine barrels. If it detects that the inventory of a certain type of second medicine among the first medicines is insufficient, and the first medicine barrel cannot be replenished in time, the system automatically identifies the potential blockage in the second sub-production line. Based on this determination, an anti-blockage mechanism is immediately activated. A robotic arm removes the first medicine barrel from the production line and places it on a temporary storage shelf. Simultaneously, the system record is updated, marking the work order as "temporarily stored awaiting replenishment." This process ensures the unimpeded operation of the sub-production line, maintaining continuous operation of subsequent medicine barrels even if individual medicine barrels experience replenishment delays, significantly improving the overall operational efficiency and stability of the decoction production line. When subsequent medicines are replenished, the system automatically dispatches a robotic arm to move the medicine barrel back from the temporary storage shelf. After scanning and verification to confirm that replenishment is complete, the medicine barrel is reintroduced into the main flow line to continue subsequent processing steps. This dynamic adjustment strategy effectively prevents and resolves blockages in the production line in real time, avoiding operational errors that may result from manual intervention and fully demonstrating the advantages of automated control.
[0035] In an exemplary embodiment, after real-time monitoring of the operating status of multiple sub-production lines on the main production line, the method further includes: for a third sub-production line used for pre-decocting medicines among the multiple sub-production lines, determining a first pre-decocting time for multiple first medicines in the first medicine barrel and a second pre-decocting time for multiple third medicines in the second medicine barrel, wherein the second medicine barrel is the second medicine barrel on the third sub-production line, the first pre-decocting time is the total time for pre-decocting the multiple first medicines, and the second pre-decocting time is the total time for pre-decocting the multiple third medicines; if the first pre-decocting time is greater than the second pre-decocting time, and the time difference between the first pre-decocting time and the second pre-decocting time is greater than or equal to a preset threshold, determining that the first medicine barrel causes the third sub-production line to be in the blocked state.
[0036] In this embodiment, for the pre-decoction sub-line of the decoction production line, the system uses real-time monitoring and analysis to determine the first pre-decoction time of the first medicine barrel currently at the pre-decoction station and the second pre-decoction time of the immediately following second medicine barrel. When the calculated first pre-decoction time significantly exceeds the second pre-decoction time, and the time difference between the two reaches a preset threshold, the system determines that the presence of the first medicine barrel may cause blockage in the sub-line. At this time, a robotic arm intervenes, transferring the first medicine barrel with a long pre-decoction time to a temporary storage shelf, allowing the subsequent second medicine barrel with a short pre-decoction time to quickly enter the pre-decoction process, maintaining the efficient operation of the production line without being hindered by medicine barrels with long operating times. The first medicine barrel continues to complete its pre-decoction operation in the temporary storage area, while the system record is updated, marking the work order as "temporarily stored for pre-decoction". After the temporary medicine barrel completes its pre-decoction, the system automatically dispatches the robotic arm to move the medicine barrel back from the temporary storage shelf. After scanning and verifying that the pre-decoction is completed, the medicine barrel is reintegrated into the main production line to continue subsequent flow processes. This intelligent control strategy based on time difference thresholds ensures that the sub-production line can still operate smoothly when faced with differences in the pre-decoction time of different work orders, avoiding unnecessary waiting and backlog, and achieving a significant improvement in the operating efficiency of the decoction production line.
[0037] Optionally, on the pre-decoction sub-line of the decoction production line, suppose the first medicine barrel contains various herbs that require a 60-minute pre-decoction, while the subsequent second medicine barrel only requires a 30-minute pre-decoction. Since the pre-decoction time of the first medicine barrel is much longer than that of the second, the time difference reaches 30 minutes, exceeding a preset blockage threshold (e.g., set to 15 minutes). At this point, the system determines that the first medicine barrel has caused a blockage in the sub-line. Based on this determination, the system will activate an anti-blockage mechanism, where a robotic arm will move the first medicine barrel to a temporary storage shelf. The pre-decoction process will continue in the temporary storage area until the first medicine barrel's pre-decoction time is over, at which point it will be returned to the exit station of the pre-decoction sub-line, ensuring that subsequent medicine barrels can flow quickly and unaffected, thus optimizing the production line's efficiency.
[0038] In an exemplary embodiment, after the robotic arm transfers the first medicine barrel from the first sub-production line to a temporary storage area, the method further includes: changing the working state of the first medicine barrel to a temporary storage state, wherein the temporary storage state is used to indicate that the first medicine barrel is to continue working in the temporary storage area; and changing the working state to a completed state when it is detected that the first medicine barrel has completed its work in the temporary storage area.
[0039] In this embodiment, when it is detected that the first medicine barrel on the first sub-production line is queuing up due to delayed replenishment or excessive pre-decoction time, affecting the operation of subsequent medicine barrels, the robotic arm is controlled to transfer the first medicine barrel to a temporary storage area. Simultaneously, the system data is updated, changing the operating status of the first medicine barrel to a temporary storage state. The temporary storage state includes at least two conditions: temporarily storing medicine awaiting replenishment and temporarily storing medicine in the process of pre-decoction. This indicates that the operation of the first medicine barrel should continue in the temporary storage area. Within the temporary storage area, the first medicine barrel completes its subsequent operations according to its specific operational needs (replenishment or pre-decoction), without being affected by the main production line flow. After the first medicine barrel completes its operation in the temporary storage area, the system updates its operating status to a completed state, triggering the robotic arm to transport it to the exit station of the corresponding sub-production line for barcode scanning and verification, ensuring that the operation is completed and meets the standards. The medicine barrel then flows back to the main production line to continue its subsequent flow. This series of operations achieves intelligent management and scheduling of congested medicine barrels, avoiding the impact of delays in the operation of a single medicine barrel on the efficiency of the entire production line, and improving the smooth operation and overall capacity of the decoction production line.
[0040] It's important to clarify that each medicine container has a QR code label. Scanning the QR code reveals the latest work order information, medicine details, and operational requirements for the container. The work order information indicates the container's operational status. When the container is moving along the assembly line, scanning the QR code label indicates its operational status is "moving along." When the container is operating normally on the assembly line, scanning the QR code label indicates its operational status is "operating."
[0041] In an exemplary embodiment, controlling the robotic arm to transfer the first medicine barrel back to the first sub-production line includes: sending a control command to the robotic arm, wherein the control command instructs the robotic arm to transfer the first medicine barrel from the temporary storage area to the outlet of the first sub-production line; determining whether the robotic arm executes the control command within a preset time; and if it is determined that the robotic arm has not executed the control command within the preset time, sending the control command to the robotic arm again to control the robotic arm to transfer the first medicine barrel from the temporary storage area to the outlet of the first sub-production line.
[0042] In this embodiment, the process of controlling the robotic arm to transfer the first medicine barrel back to the first sub-production line specifically includes sending a control command to the robotic arm, which clearly indicates that the robotic arm should transfer the first medicine barrel from the temporary storage area to the exit position of the first sub-production line. The system monitors the robotic arm's movements to determine whether it has executed the control command within the set time frame. If the monitoring results show that the robotic arm fails to complete the action within the predetermined time, the system will take remedial measures, that is, resend the same control command until the robotic arm successfully executes the command and accurately places the medicine barrel at the exit of the first sub-production line. This mechanism ensures that even in the event of an emergency, the medicine barrel can be reintegrated into the production line system in a timely and correct manner, avoiding further blockages or work interruptions that may be caused by delays in robotic arm operation, thereby ensuring the smooth operation of the decoction production line and improving overall efficiency.
[0043] In an exemplary embodiment, after controlling the robotic arm to transfer the first medicine barrel back to the first sub-production line, the method further includes: modifying the working status of the first medicine barrel to a pending review status, wherein the pending review status is used to indicate that the working completion status of the first medicine barrel is to be reviewed; and if the review result of the first medicine barrel indicates that the review of the first medicine barrel has passed, controlling the first medicine barrel to flow back to the main production line.
[0044] In this embodiment, when the system detects a potential blockage under specific conditions, such as a delayed drug replenishment area or an excessively long pre-decoction area, the robotic arm automatically intervenes. It transfers the affected first medicine barrel to a temporary storage shelf, and simultaneously marks the barrel's status as either "temporarily stored awaiting replenishment" or "temporarily stored for pre-decoction." This mechanism prevents blockages in the sub-production line caused by a single barrel's delay, ensuring subsequent barrels can smoothly enter the workstation and maintaining the continuous operation of the sub-production line. When the medicine in the temporary storage barrel is replenished or the pre-decoction time is reached, the robotic arm transfers the barrel back from the temporary storage shelf to the exit station of the first sub-production line and changes its status to "pending verification." At this station, the integrated barcode verification device verifies the barrel's status. After successful verification, the barrel returns to the main production line to continue the subsequent decoction process. The entire process is automated and requires no human intervention. Through precise tracking and verification of the work status, it can not only ensure the quality of decoction but also improve the overall operating efficiency of the production line. At the same time, the system's compatibility and ease of modification allow this solution to be widely applied to multiple key workstations on existing decoction production lines, effectively alleviating and solving congestion problems caused by operational bottlenecks, and achieving smooth and efficient decoction operations.
[0045] Through the above description of the embodiments, those skilled in the art can clearly understand that the methods according to the above embodiments can be implemented by means of software plus necessary general-purpose hardware platforms. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk) and includes several instructions to cause a terminal device (which may be a mobile phone, computer, server, or network device, etc.) to execute the methods of the various embodiments of this application.
[0046] Figure 3 This is a structural block diagram of a medicine barrel transfer device according to an embodiment of this application, such as... Figure 3 As shown, the device includes:
[0047] Monitoring module 32 is used to monitor the working status of multiple sub-production lines on the main water line in real time;
[0048] The first transfer module 34 is used to control a robotic arm to transfer the first medicine barrel on any of the multiple sub-production lines whose working state is blocked to a temporary storage area, and to continue to work on the first medicine barrel in the temporary storage area, wherein the first medicine barrel is the first medicine barrel on the first sub-production line.
[0049] The second transfer module 36 is used to control the robotic arm to transfer the first medicine barrel back to the first sub-production line when the first medicine barrel has completed its work in the temporary storage area.
[0050] The aforementioned device monitors the working status of multiple sub-production lines on the main production line in real time. For any first sub-production line that is blocked, the robotic arm is controlled to transfer the first medicine barrel on the first sub-production line to a temporary storage area, where the first medicine barrel continues to be processed. The first medicine barrel is the first medicine barrel on the first sub-production line. When the first medicine barrel has completed its processing in the temporary storage area, the robotic arm is controlled to transfer the first medicine barrel back to the first sub-production line. This solves the problem in related technologies where multiple medicine barrels are transferred on the production line according to the work order sequence, and the production line is prone to blockage when the processing of a single medicine barrel is delayed or prolonged.
[0051] In an exemplary embodiment, the monitoring module 32 is further configured to determine, for the second sub-production line used to replenish medicine barrels among the plurality of sub-production lines, whether the plurality of first medicines in the first medicine barrel are in short supply, wherein the plurality of first medicines are of different categories; if it is determined that there is a second medicine in short supply among the plurality of first medicines, it is determined that the first medicine barrel causes the second sub-production line to be in the blocked state.
[0052] In an exemplary embodiment, the monitoring module 32 is further configured to, for the third sub-production line used for pre-decocting medicines among the plurality of sub-production lines, determine the first pre-decocting time of a plurality of first medicines in the first medicine barrel and the second pre-decocting time of a plurality of third medicines in the second medicine barrel, wherein the second medicine barrel is the second medicine barrel on the third sub-production line, the first pre-decocting time is the total time for pre-decocting the plurality of first medicines, and the second pre-decocting time is the total time for pre-decocting the plurality of third medicines; if the first pre-decocting time is greater than the second pre-decocting time, and the time difference between the first pre-decocting time and the second pre-decocting time is greater than or equal to a preset threshold, determine that the first medicine barrel causes the third sub-production line to be in the blocked state.
[0053] In an exemplary embodiment, the first transfer module 34 is further configured to modify the working state of the first medicine barrel to a temporary storage state, wherein the temporary storage state is used to indicate that the first medicine barrel is to continue working in the temporary storage area; and when it is detected that the first medicine barrel has completed the work in the temporary storage area, the working state is modified to a completed state.
[0054] In an exemplary embodiment, the second transfer module 36 is configured to send a control command to the robotic arm, wherein the control command instructs the robotic arm to transfer the first medicine barrel from the temporary storage area to the outlet of the first sub-production line; determine whether the robotic arm executes the control command within a preset time; and if it is determined that the robotic arm has not executed the control command within the preset time, send the control command to the robotic arm again to control the robotic arm to transfer the first medicine barrel from the temporary storage area to the outlet of the first sub-production line.
[0055] In an exemplary embodiment, the second transfer module 36 is used to modify the operating status of the first medicine barrel to a pending review status, wherein the pending review status is used to indicate that the operation completion status of the first medicine barrel is reviewed; if the review result of the first medicine barrel indicates that the review of the first medicine barrel has passed, the first medicine barrel is controlled to flow back to the mainstream water line.
[0056] Embodiments of this application also provide a computer-readable storage medium storing a computer program, wherein the computer program is configured to execute the steps in any of the above method embodiments when run.
[0057] Optionally, in this embodiment, the storage medium may be configured to store a computer program for performing the following steps:
[0058] S1 monitors the working status of multiple sub-production lines on the main production line in real time.
[0059] S2, for any first sub-production line in the plurality of sub-production lines whose working state is blocked, control the robotic arm to transfer the first medicine barrel on the first sub-production line to the temporary storage area, and continue to work on the first medicine barrel in the temporary storage area, wherein the first medicine barrel is the first medicine barrel on the first sub-production line.
[0060] S3, after monitoring that the first medicine barrel has completed its operation in the temporary storage area, the robotic arm is controlled to transfer the first medicine barrel back to the first sub-production line.
[0061] In one exemplary embodiment, the aforementioned computer-readable storage medium may include, but is not limited to, various media capable of storing computer programs, such as a USB flash drive, read-only memory (ROM), random access memory (RAM), portable hard disk, magnetic disk, or optical disk.
[0062] Specific examples in this embodiment can be found in the examples described in the above embodiments and exemplary implementations, and will not be repeated here.
[0063] Embodiments of this application also provide an electronic device including a memory and a processor, the memory storing a computer program and the processor being configured to run the computer program to perform the steps in any of the above method embodiments.
[0064] Optionally, in this embodiment, the processor can be configured to perform the following steps via a computer program:
[0065] S1 monitors the working status of multiple sub-production lines on the main production line in real time.
[0066] S2, for any first sub-production line in the plurality of sub-production lines whose working state is blocked, control the robotic arm to transfer the first medicine barrel on the first sub-production line to the temporary storage area, and continue to work on the first medicine barrel in the temporary storage area, wherein the first medicine barrel is the first medicine barrel on the first sub-production line.
[0067] S3, after monitoring that the first medicine barrel has completed its operation in the temporary storage area, the robotic arm is controlled to transfer the first medicine barrel back to the first sub-production line.
[0068] In one exemplary embodiment, the electronic device may further include a transmission device and an input / output device, wherein the transmission device is connected to the processor and the input / output device is connected to the processor.
[0069] Embodiments of this application also provide a computer program product, including a non-volatile computer-readable storage medium storing the computer program product, wherein the computer program, when executed by a processor, implements the steps of the methods described in various embodiments of this application.
[0070] Optionally, in this embodiment, the computer program described above can be configured to perform the following steps when executed by the processor:
[0071] S1 monitors the working status of multiple sub-production lines on the main production line in real time.
[0072] S2, for any first sub-production line in the plurality of sub-production lines whose working state is blocked, control the robotic arm to transfer the first medicine barrel on the first sub-production line to the temporary storage area, and continue to work on the first medicine barrel in the temporary storage area, wherein the first medicine barrel is the first medicine barrel on the first sub-production line.
[0073] S3, after monitoring that the first medicine barrel has completed its operation in the temporary storage area, the robotic arm is controlled to transfer the first medicine barrel back to the first sub-production line.
[0074] Specific examples in this embodiment can be found in the examples described in the above embodiments and exemplary implementations, and will not be repeated here.
[0075] Obviously, those skilled in the art should understand that the modules or steps of this application described above can be implemented using general-purpose computing devices. They can be centralized on a single computing device or distributed across a network of multiple computing devices. They can be implemented using computer-executable program code, and thus can be stored in a storage device for execution by a computing device. In some cases, the steps shown or described can be performed in a different order than those presented here, or they can be fabricated as separate integrated circuit modules, or multiple modules or steps can be fabricated as a single integrated circuit module. Thus, this application is not limited to any particular combination of hardware and software.
[0076] The above description is only a preferred embodiment of this application. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the principle of this application, and these improvements and modifications should also be considered within the scope of protection of this application.
Claims
1. A method for transferring a medicine barrel, characterized in that, include: Real-time monitoring of the operating status of multiple sub-production lines on the main production line; For any first sub-production line in the plurality of sub-production lines whose working state is blocked, the control robot arm transfers the first medicine barrel on the first sub-production line to a temporary storage area, and continues to work on the first medicine barrel in the temporary storage area, wherein the first medicine barrel is the first medicine barrel on the first sub-production line. Upon monitoring that the first medicine barrel has completed its operation in the temporary storage area, the robotic arm is controlled to transfer the first medicine barrel back to the first sub-production line.
2. The method for transferring the medicine barrel according to claim 1, characterized in that, After real-time monitoring of the operating status of multiple sub-production lines on the main production line, the method further includes: For the second sub-production line used to replenish medicine barrels among the plurality of sub-production lines, it is determined whether the plurality of first medicines in the first medicine barrels are in short supply, wherein the plurality of first medicines are of different categories; If it is determined that there is a shortage of a second drug among the plurality of first drugs, it is determined that the first drug barrel caused the second sub-production line to be in the blocked state.
3. The method for transferring the medicine barrel according to claim 1, characterized in that, After real-time monitoring of the operating status of multiple sub-production lines on the main production line, the method further includes: For the third sub-production line used for pre-decocting medicines among the plurality of sub-production lines, the first pre-decocting time of the plurality of first medicines in the first medicine barrel and the second pre-decocting time of the plurality of third medicines in the second medicine barrel are determined, wherein the second medicine barrel is the second medicine barrel on the third sub-production line, the first pre-decocting time is the total time for pre-decocting the plurality of first medicines, and the second pre-decocting time is the total time for pre-decocting the plurality of third medicines; If the first decoction time is greater than the second decoction time, and the time difference between the first decoction time and the second decoction time is greater than or equal to a preset threshold, it is determined that the first medicine barrel caused the third sub-production line to be in the blocked state.
4. The method for transferring the medicine barrel according to claim 1, characterized in that, After the robotic arm transfers the first medicine barrel from the first sub-production line to the temporary storage area, the method further includes: The working status of the first medicine barrel is changed to a temporary storage status, wherein the temporary storage status is used to indicate that the first medicine barrel is operated on in the temporary storage area; If the first medicine barrel is detected to have completed its operation in the temporary storage area, the operation status is changed to "completed".
5. The method for transferring the medicine barrel according to claim 1, characterized in that, Controlling the robotic arm to transfer the first medicine barrel back to the first sub-production line includes: Send a control command to the robotic arm, wherein the control command is used to instruct the robotic arm to transfer the first medicine barrel from the temporary storage area to the outlet of the first sub-production line; Determine whether the robotic arm executes the control command within a preset time. If it is determined that the robotic arm has not executed the control command within the preset time, the control command is sent to the robotic arm again to control the robotic arm to transfer the first medicine barrel from the temporary storage area to the outlet of the first sub-production line.
6. The method for transferring the medicine barrel according to claim 1, characterized in that, After the robotic arm transfers the first medicine barrel back to the first sub-production line, the method further includes: The operation status of the first medicine tank is changed to a pending review status, wherein the pending review status is used to indicate that the operation completion status of the first medicine tank is to be reviewed. If the verification result of the first medicine barrel indicates that the first medicine barrel has passed the verification, the first medicine barrel is controlled to flow back to the main water line.
7. A transfer device for a medicine barrel, characterized in that, include: The monitoring module is used to monitor the working status of multiple sub-production lines on the main water line in real time. The first transfer module is used to control a robotic arm to transfer the first medicine barrel on any of the multiple sub-production lines whose working state is blocked to a temporary storage area, and to continue working on the first medicine barrel in the temporary storage area, wherein the first medicine barrel is the first medicine barrel on the first sub-production line. The second transfer module is used to control the robotic arm to transfer the first medicine barrel back to the first sub-production line when the first medicine barrel has completed its operation in the temporary storage area.
8. A computer-readable storage medium, characterized in that, The computer-readable storage medium includes a stored program, wherein the program, when executed, performs the method of any one of claims 1 to 6.
9. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the computer program, it implements the steps of the method according to any one of claims 1 to 6.
10. A computer program product, comprising a computer program, characterized in that, When the computer program is executed by a processor, it implements the steps of the method according to any one of claims 1 to 6.