Intelligent control system for preventing mixed medicine in medicine preparation based on valve state detection

Abstract

The present application relates to a medicine preparation anti-mixed medicine intelligent control system based on valve state detection, and belongs to the technical field of intelligent control of medicine preparation. A controller determines a target medicine valve and a non-target medicine isolation valve according to a current preparation task, suspends output of an opening signal after receiving an opening request of the target medicine valve, controls the non-target medicine isolation valve to close, generates a closing permission after the opening state feedback disappears and the closing state feedback continuously remains for a preset time length, outputs an opening signal of the target medicine valve after all the closing permissions are valid, starts medicine delivery when the opening state feedback of the target medicine valve is formed and the closing permission is continuously valid, stops the medicine delivery and closes the target medicine valve when any closing permission is invalid, and restarts the preparation task after valid closing permissions of all the medicine control valves are regenerated, so that the abnormal state is limited within the current preparation period, and the possibility of mixed medicine, mixed medicine and misdelivery is reduced.

Description

Technical Field

[0001] This invention relates to the field of intelligent control technology for drug preparation, specifically to an intelligent control system for preventing drug mixing in drug preparation based on valve status detection. Background Technology

[0002] In existing technologies, automated drug preparation systems typically use controllers, delivery pumps, solenoid valves, and mechanical actuators to select, aspirate, inject, and transfer drugs or solvents, thereby reducing the intensity of manual drug preparation and improving efficiency. Chinese patent publication CN111821181A discloses an intelligent intravenous drug preparation robot and method. This robot uses a drug input module, a solvent module, an injection peristaltic pump module, an aspiration peristaltic pump module, and a robotic arm module to collaboratively complete drug input, dissolution, aspiration, and finished product output. It uses prescription information to drive each execution step, enabling automated intravenous drug preparation. This type of solution mainly addresses the automated connection between drug grasping, dissolving, aspiration, and delivery processes. However, in scenarios where multiple drug supply branches share a preparation channel, relying solely on control commands to determine the action of a single actuator is insufficient to directly confirm whether a stable and reliable physical isolation state has been established for non-target drug pathways.

[0003] Existing technologies also include schemes that utilize multiple solenoid valves to switch and control the gas path or drug delivery process. For example, Chinese patent publication CN112043593A discloses a medical pneumatic dispensing system that uses multiple solenoid valves to switch different gas channels to achieve drug delivery, pushing, circulation, and depressurization of the dissolving unit. This type of technology can control valve combinations according to a predetermined working mode, improving the automation level of dispensing operations. However, its control focus is on switching the working state of the gas path, and it does not establish a closed-loop control relationship of "reliable closure of non-target branches—opening of target branches—continuous isolation during delivery" when multiple drug branches are connected to a common dispensing channel. Especially when valves experience sluggish action, abnormal feedback, incomplete valve core positioning, or inconsistencies between control commands and actual mechanical states, if the system only uses the issued closure command as the basis for subsequent opening or delivery, there is a possibility that non-target drug branches and target drug branches may simultaneously connect to the common channel.

[0004] Therefore, in automated dispensing equipment where multiple drugs are supplied through independent supply branches to a common dispensing channel, a key technical problem to solve is how to generate verifiable closure permissions based on the actual valve status, and how to continuously verify the safe closure status of isolation valves for non-target drugs before, after, and during drug delivery. Furthermore, it is necessary to promptly stop drug delivery and restore the system to a safe state where all relevant valves are reconfirmed closed should any isolation condition fail. This reduces the risk of drug crosstalk and mixing caused by uncertain valve status, overlapping control timings, or abnormal feedback, thereby improving the controllability and safety of the dispensing process. Summary of the Invention

[0005] The purpose of this invention is to provide an intelligent control system for preventing drug mixing in drug preparation based on valve status detection, thereby solving some of the drawbacks and shortcomings pointed out in the background art.

[0006] The present invention adopts the following technical solution to solve the above-mentioned technical problems:

[0007] The system includes a controller, a valve status acquisition unit, a valve execution control unit, a drug delivery drive unit, and drug control valves located between each drug supply branch and the common preparation channel. The controller determines the target drug valve and non-target drug isolation valves based on the current preparation task. After receiving a target drug valve opening request, it temporarily delays the output of the opening signal and controls the non-target drug isolation valves to close. After the open state feedback of the drug control valve disappears and the closed state feedback is continuously maintained for a preset time, the controller generates a closing permission for the drug control valve. After all non-target drug isolation valve closing permissions are valid, the controller outputs the target drug valve opening signal. When the target drug valve open state feedback is obtained and the closing permission remains valid, the controller starts the drug delivery drive unit. If any of the closing permissions fails during the delivery process, the controller stops the drug delivery drive unit and closes the target drug valve. After the target valve is closed and all drug control valves regenerate valid closing permissions, the preparation task is restarted.

[0008] Furthermore, the controller generates a preparation cycle identifier for the current preparation task and associates the closing permission of each non-target drug isolation valve with the preparation cycle identifier; when any of the closing permissions fails or the current preparation task is switched, the preparation cycle identifier is updated, and the closing permission associated with the preparation cycle identifier before the update is removed from the opening control of the target drug valve.

[0009] Furthermore, the controller outputs the target drug valve opening signal after all non-target drug isolation valves have valid closing permissions, and continuously monitors the closing permissions after the opening signal is output until the drug delivery drive unit is started; when any of the closing permissions fails, the opening signal is revoked, and the drug delivery drive unit is started when the target drug valve opening status feedback is obtained and the closing permission remains valid.

[0010] Furthermore, after the controller receives feedback on the open status of the target drug valve, it sets the closing permission of each non-target drug isolation valve in the current preparation task to an occupied state, so that the closing permission in the occupied state does not participate in the opening control of the non-target drug isolation valve; after the drug delivery ends and each drug control valve regenerates a valid closing permission, the occupied state is released.

[0011] Furthermore, when each closure permission is associated with the same preparation cycle identifier, the controller causes the target drug valve to enter the opening control; when any of the preparation cycle identifiers associated with the closure permission are inconsistent with the preparation cycle identifier of the current preparation task, the closure permission is cleared and the opening condition of the current preparation task is invalidated, until the closure permissions of each non-target drug isolation valve are all associated with the preparation cycle identifier of the current preparation task.

[0012] Furthermore, after the target drug valve opens, the controller locks the preparation cycle identifier, so that the current preparation task's closing permission remains associated with the locked preparation cycle identifier; if any of the closing permissions fails, the controller unlocks and updates the preparation cycle identifier, setting the closing permission associated with the preparation cycle identifier before the update to invalid.

[0013] Furthermore, after the controller updates the preparation cycle identifier, it re-executes the closure permission generation process for each non-target drug isolation valve and associates the regenerated closure permission with the updated preparation cycle identifier. Once the closure permission for each non-target drug isolation valve is generated, it participates in the opening control of the target drug valve. The closure permission associated with the preparation cycle identifier before the update does not participate in the opening control.

[0014] Furthermore, the controller blocks the opening requests of each non-target drug isolation valve during the occupancy state; after the target drug valve is closed, the occupancy state is maintained if a drug control valve has not regenerated a valid closing permission, and the occupancy state is released when all drug control valves have regenerated valid closing permission.

[0015] Furthermore, before releasing the occupancy state, the controller regenerates the closing permits of each drug control valve into an updated closing permit set, and replaces the closing permit occupied by the current preparation task with the updated closing permit set; after the occupancy state is released, the next drug preparation task executes the opening control of the target drug valve based on the updated closing permit set.

[0016] Furthermore, before releasing the occupancy state, the controller temporarily stores the newly generated closing permits for each drug control valve as candidate closing permits; after all candidate closing permits for each drug control valve are formed, the candidate closing permits are combined into the updated closing permit set and a unified replacement is performed; if any candidate closing permit becomes invalid before the unified replacement, all candidate closing permits are cleared and the occupancy state is maintained.

[0017] Using the above technical solution, the controller distinguishes between target drug valves and non-target drug isolation valves based on the current preparation task. Upon receiving a request to open the target drug valve, it first controls the non-target drug isolation valves to close. The closing permission is generated based on the disappearance of valve open feedback and the continuous maintenance of closed feedback for a preset duration. Therefore, the opening of the target drug valve is no longer solely based on the closing command, but rather on the actual closed state verified by feedback as the interlocking condition. This reduces the risk of accidental connection of drug branches due to valve lag, incomplete positioning, or transient feedback.

[0018] The system only allows the target drug valve to open after all non-target drug isolation valves have valid closure permissions. Upon confirming the target drug valve's open status feedback and the continued validity of the closure permission, the drug delivery drive unit is activated, creating a continuous interlock between the valve isolation state and drug delivery. If any closure permission fails during delivery, the controller immediately stops drug delivery and closes the target drug valve. The preparation task is restarted only after the relevant drug control valves have re-established a valid closure permission, thus limiting abnormal states to the current preparation cycle and reducing the possibility of cross-contamination, mixing, and incorrect delivery. Attached Figure Description

[0019] Figure 1 This is a flowchart of the drug preparation anti-mixing control based on valve status detection according to the present invention.

[0020] Figure 2 This is a diagram confirming the continuous closed state of the isolation valve for non-target drugs in Embodiment 1 of the present invention.

[0021] Figure 3 This is a diagram showing the consistency judgment of the closed license configuration cycle in Embodiment 1 of the present invention.

[0022] Figure 4 This is a timing diagram of the configuration cycle identifier lock update and the closing permission reconstruction in Embodiment 1 of the present invention.

[0023] Figure 5 This is a diagram showing the continuous detection of the closing permission during the opening phase of the target drug valve in Embodiment 2 of the present invention.

[0024] Figure 6 This is a timing diagram for disabling license occupancy and enabling request blocking in Embodiment 2 of the present invention.

[0025] Figure 7This is a diagram showing the overall clearing and unified replacement of candidate closing permissions in Embodiment 2 of the present invention. Detailed Implementation

[0026] As attached Figure 1 As shown, in one embodiment, each drug supply branch is used to transport a corresponding drug, and each drug supply branch is connected to a common preparation channel. Each drug supply branch is equipped with a corresponding drug control valve, which controls the connection or isolation between the corresponding drug supply branch and the common preparation channel. The controller pre-stores the correspondence between drugs and drug control valves, which can be saved through a correspondence record between drug identifiers and drug control valve identifiers. The drug delivery drive unit is used to drive the target drug along the corresponding drug supply branch into the common preparation channel when the drug delivery conditions are met.

[0027] The controller determines the drugs to be transported based on the current drug preparation task. According to the correspondence between drugs and drug control valves, it designates the control valve used to transport the target drug as the target drug valve, and the remaining control valves not involved in the current drug transport as non-target drug isolation valves. This ensures that the target drug valve provides the current drug flow, while the non-target drug isolation valves isolate other drug supply branches from the common preparation channel. When the controller receives an opening request for the target drug valve, it does not immediately send an opening signal. Instead, it postpones the opening request and first sends a closing control signal to each non-target drug isolation valve, causing them to close. This establishes isolation for other drug supply branches before the target drug valve opens, preventing other drug supply branches from being connected when the target drug begins transport.

[0028] During the closing action of the non-target drug isolation valve, the controller continuously acquires the status feedback information corresponding to the drug control valve. Specifically, the drug control valve is equipped with an open state detection component to indicate the valve is fully open and a closed state detection component to indicate the valve is fully closed. The open and closed state detection components can be implemented using position detection switches, proximity detection components, or detection components capable of outputting corresponding open / closed state signals that correspond to the actuation position of the drug control valve. The open state detection component generates open state feedback, and the closed state detection component generates closed state feedback. The controller reads the open and closed state feedback according to a preset detection cycle and determines whether the drug control valve has reached a stable closed state based on the open and closed state feedback.

[0029] When the open feedback of the drug control valve disappears and the closed feedback is maintained continuously for a preset duration, the controller determines that the drug control valve has been closed and that the closed state meets the safety control requirements of the current preparation task, and then generates a closing permission for the drug control valve. The preset duration can be stored in the controller in advance and set according to the time required for the state feedback to stabilize after the drug control valve completes the closing action, so that the closed state feedback needs to be maintained continuously for a period of time before it is confirmed as valid. The closing permission can be stored in the controller as a status flag associated with the corresponding drug control valve identifier, indicating that the corresponding drug control valve has been confirmed as closed by the current state. When the open state feedback reappears, the closed state feedback disappears, or the closed state feedback can no longer meet the continuous maintenance condition, the controller invalidates the corresponding closing permission. By combining the two conditions of the disappearance of the open state feedback and the continuous maintenance of the closed state feedback, it is possible to avoid judging whether the valve has been reliably closed based solely on the instantaneous closed state feedback.

[0030] The controller determines whether each non-target drug isolation valve corresponding to the current preparation task has a valid closure permission. Once all non-target drug isolation valves have valid closure permissions, it confirms that other drug supply branches have been isolated. At this point, the controller releases the delay in requesting the target drug valve to open and outputs an opening signal to the target drug valve, causing it to open. After outputting the opening signal, the controller continues to acquire status feedback from the target drug valve and confirms that the target drug valve is open upon receiving open status feedback. Simultaneously, the controller continues to monitor whether the closure permissions corresponding to each non-target drug isolation valve remain valid. Under the condition that the target drug valve has formed an open status feedback and all closure permissions remain valid, the controller activates the drug delivery drive unit, allowing the target drug to enter the common preparation channel via its corresponding drug supply branch. The drug delivery drive unit can be implemented using a delivery pump or other drug delivery actuator capable of driving drug flow according to the controller's start and stop control. This establishes a control sequence of first isolating non-target drugs, then opening the target drug valve, and finally initiating drug delivery, thereby reducing the risk of drug mixing caused by simultaneous connection of different drug supply branches.

[0031] After the drug delivery drive unit is started, the controller continuously monitors the closing permits corresponding to the current preparation task during drug delivery to determine whether the isolation valves for non-target drugs remain in a compliant closed state. When any closing permit fails during drug delivery, it indicates that the drug control valve corresponding to that permit no longer meets the pre-set closing confirmation conditions. Upon detecting the failure of the closing permit, the controller stops the drug delivery drive unit, halting the delivery of the target drug, and simultaneously sends a closing control signal to the target drug valve, causing it to close. By simultaneously stopping drug delivery and closing the target drug valve, the current preparation process can be interrupted in the event of an abnormal isolation state, preventing the continued delivery of drugs to the common preparation channel when isolation conditions are not met.

[0032] After the target drug valve closes, the controller continues to acquire status feedback from each drug control valve and reassesses the closing status of each drug control valve based on the condition that the open status feedback disappears and the closed status feedback remains continuously for a preset duration. Once all drug control valves have re-met the closing permission generation conditions and re-formed a valid closing permission, the controller confirms that each drug supply branch has re-established a closing status that meets the current control requirements. Based on this, the current preparation task re-enters the control flow before the target drug valve opened, instead of directly using the target drug valve's open status or drug delivery status before the anomaly occurred. By re-executing the closing status confirmation and closing permission generation process after an anomaly occurs, the direct use of the closing status judgment results formed before the anomaly occurs can be avoided. This ensures that the restarted preparation task is based on the reconfirmed valve status, thus forming a continuous anti-mixing control mechanism that includes pre-opening checks of the target drug valve, continuous monitoring during drug delivery, and reconfirmation after an anomaly.

[0033] In one implementation, to prevent the valve closure status from being mixed between different preparation tasks, the controller generates a corresponding preparation cycle identifier for the current preparation task and associates the closure permission formed by each non-target drug isolation valve in the current preparation task with this preparation cycle identifier. The preparation cycle identifier uniquely represents a valve status confirmation cycle corresponding to the current preparation task. It can be a sequence identifier, task identifier, or other identifier information that can distinguish different preparation cycles, generated and updated by the controller when starting a new preparation task or re-establishing a valve status confirmation cycle. After the closure permission is generated, the controller simultaneously records the drug control valve identifier and the current preparation cycle identifier corresponding to the closure permission, so that the closure permission can be simultaneously mapped to a specific drug control valve and a specific preparation cycle.

[0034] By using a preparation cycle identifier, multiple closure permits generated within the same preparation task can be uniformly assigned, enabling the controller to identify whether each closure permit originates from the current preparation task. When a closure permit corresponding to any non-target drug isolation valve becomes invalid, the controller determines that the original closure state combination of the current preparation task has changed and updates the preparation cycle identifier corresponding to the current preparation task. When the controller detects a switch in the current preparation task, it also updates the preparation cycle identifier, ensuring that the new preparation task is logically distinct from the previous one. After the preparation cycle identifier is updated, closure permits associated with the previous preparation cycle identifier are no longer used for the opening determination of the target drug valve, thus preventing closure permits generated in the previous preparation cycle from participating in the opening control of the subsequent preparation cycle.

[0035] When executing the target drug valve opening control, the controller reads the preparation cycle identifier associated with the closing permission of each non-target drug isolation valve and compares the preparation cycle identifier corresponding to each closing permission with the preparation cycle identifier of the current preparation task. When all closing permissions are associated with the same preparation cycle identifier, and this preparation cycle identifier matches the preparation cycle identifier corresponding to the current preparation task, the controller confirms that the closing state of each non-target drug isolation valve belongs to the same preparation cycle and allows the target drug valve to enter the opening control process. If the preparation cycle identifier associated with any closing permission is inconsistent with the preparation cycle identifier of the current preparation task, the controller clears the closing permission and invalidates the opening conditions corresponding to the current preparation task. At this time, even if other non-target drug isolation valves have formed closing permissions, closing permissions formed by different preparation cycles will not be combined. The controller continues to monitor the status of each non-target drug isolation valve until each non-target drug isolation valve re-forms a closing permission, and each closing permission is associated with the preparation cycle identifier corresponding to the current preparation task, before restoring the opening control conditions of the target drug valve.

[0036] Once the target drug valve opening signal has been output, the controller locks the preparation cycle identifier corresponding to the current preparation task, ensuring that the closing permits involved in this target drug valve opening control remain associated with the locked preparation cycle identifier. Locking means that during this target drug valve opening control and subsequent drug delivery, the controller prevents the currently used preparation cycle identifier from being replaced by other newly generated preparation cycle identifiers, and only uses closing permits consistent with the locked preparation cycle identifier as valid closing permits for the current preparation task. In the locked state, the controller does not replace the closing permits already used in the current preparation task with closing permits generated by other preparation cycles, thus maintaining the consistency of the sources of closing permits during the target drug valve opening control process.

[0037] If any closing permission fails during the target drug valve opening control or subsequent drug delivery process, the controller unlocks the current preparation cycle identifier and updates it, simultaneously invalidating the closing permissions associated with the previous preparation cycle identifier. After the preparation cycle identifier is updated, the controller re-executes the closing permission generation process for each non-target drug isolation valve and reconfirms its closing status based on the open and closed status feedback of each non-target drug isolation valve. After each non-target drug isolation valve regenerates a closing permission, the controller associates the regenerated closing permission with the updated preparation cycle identifier. When all closing permissions corresponding to each non-target drug isolation valve are regenerated and belong to the updated preparation cycle, the closing permissions re-participate in the target drug valve opening control, while the closing permissions associated with the previous preparation cycle identifier no longer participate in the opening control. Through the above process of generating, comparing, locking, updating, and re-associating preparation cycle identifiers, closing permissions participating in the same target drug valve opening control all originate from the same preparation cycle, thereby preventing closing permissions formed at different times from being combined for the current preparation task.

[0038] In one implementation, before executing the target drug valve opening control, the controller checks the closing permission status of each non-target drug isolation valve in the current preparation task. When the closing permission of each non-target drug isolation valve is valid, the controller confirms that each non-target drug supply branch has met the isolation conditions and outputs an opening signal to the target drug valve, causing the target drug valve to begin its opening action. After the opening signal is output, the controller does not immediately start the drug delivery drive unit, but continues to check the closing permission of each non-target drug isolation valve while the target drug valve is opening. By maintaining the closing permission check after the target drug valve opening signal is output and before the drug delivery drive unit is started, it is possible to avoid continuing to execute subsequent drug delivery actions when the target drug valve has already started opening but the closing status of the non-target drug isolation valves has changed.

[0039] When the controller detects any invalidation of a closing permission during the detection period, it indicates that the corresponding non-target drug isolation valve no longer meets the closing conditions required for the current preparation task. The controller cancels the previously output target drug valve opening signal and simultaneously outputs a closing control signal to the target drug valve, causing it to stop the opening process and enter the closing process, preventing the drug delivery drive unit from starting. After the target drug valve enters the closing process, the controller continues to acquire its open and closed status feedback until its closed status is reconfirmed. If the closing permission of each non-target drug isolation valve remains valid during the opening process of the target drug valve, the controller continues to acquire the status feedback of the target drug valve. Upon receiving the open status feedback of the target drug valve, the controller confirms that the target drug valve has reached the open state that allows drug delivery and reconfirms that the closing permission of each non-target drug isolation valve remains valid.

[0040] Under the condition that the target drug valve opening status feedback has been established and all closing permissions remain valid, the controller activates the drug delivery drive unit, allowing the target drug to enter the common preparation channel via the corresponding drug supply branch. By setting the target drug valve opening signal output, target drug valve opening status confirmation, and drug delivery drive unit activation as a sequential control process, and continuously monitoring the closing permissions of non-target drug isolation valves during this process, the drug delivery action can be based on the common confirmation that the target drug valve has opened and all non-target drug isolation valves remain effectively closed. This avoids activating the drug delivery drive unit even if the isolation status changes during the opening of the target drug valve.

[0041] In one implementation, when the controller receives feedback on the open state of the target drug valve, it indicates that the target drug valve has entered the open state corresponding to the current preparation task. At this time, the controller sets the closing permissions already formed for each non-target drug isolation valve in the current preparation task to an occupied state, so that these closing permissions maintain their control relationship with the current preparation task during the current drug delivery process. The occupied state can be stored in the controller as a status flag associated with the corresponding closing permission. When a closing permission is in an occupied state, the controller only allows that closing permission to continue to be used for isolation state monitoring in the current preparation task, and does not allow it to be called by other drug opening control processes. Closing permissions in an occupied state no longer participate in the opening control of other drug control valves, thereby avoiding the same closing permission being used for the opening judgment of other drug control valves before the current preparation task has ended.

[0042] After drug delivery is completed, the controller stops the drug delivery drive unit and controls the target drug valve to close, while continuing to acquire status feedback from each drug control valve. Each drug control valve regenerates a closing permit based on the disappearance of open status feedback and the continued maintenance of closed status feedback. Until all drug control valves have generated valid closing permits, the controller maintains the current closed permit's occupied state, disallowing new drug opening control from using occupied closing permits. Once all drug control valves have regenerated valid closing permits, the controller confirms that the valve status used for the current preparation task has been reconfirmed and releases the occupied closing permit.

[0043] While the closure permission is in an occupied state, the controller blocks opening requests for non-target drug isolation valves, preventing the acceptance of opening control requests for non-target drug isolation valves during the current preparation task execution and the state recovery phase after the current preparation task ends. Blocking means that even if the controller receives an opening request for a non-target drug isolation valve, it does not output an opening signal to the corresponding non-target drug isolation valve and keeps the opening request from participating in the valve control of the current preparation task. After the target drug valve closes, the controller checks each drug control valve to see if a valid closure permission has been re-generated. If any drug control valve has not yet regenerated a valid closure permission, it indicates that the drug supply branch has not yet completed the new closure status confirmation. The controller continues to maintain the closure permission in an occupied state and continues to block opening requests for non-target drug isolation valves. Once all drug control valves have regenerated valid closure permission, the controller confirms that the closure status of each drug supply branch has been re-established according to the new detection results and releases the closure state. By continuing to maintain the occupied state after the target drug valve closes, it prevents the closure permission generated by the current preparation task from being directly used by the next preparation task before the drug control valves have completed reconfirmation.

[0044] Before releasing the occupancy status, the controller centrally manages the newly generated closing permits for each drug control valve and temporarily stores them as candidate closing permits. Each candidate closing permit corresponds to a drug control valve that has re-met the closing status confirmation conditions and is associated with the corresponding drug control valve identifier. During the temporary storage period, candidate closing permits do not directly replace the currently occupancy closing permits, nor do they participate in the opening control of new target drug valves. The controller continuously monitors the validity status of each candidate closing permit and waits for all candidate closing permits for each drug control valve to be formed. When all candidate closing permits for each drug control valve have been formed and remain valid, the controller combines these candidate closing permits into an updated closing permit set and uniformly replaces the currently occupancy closing permits in the preparation task with the updated closing permit set. After the replacement is completed, the controller releases the occupancy status, enabling the next drug preparation task to execute the target drug valve opening control based on the updated closing permit set. Through unified replacement, the closing permits used in the next preparation task are derived from the reconfirmation process after the current drug delivery is completed, avoiding the joint participation of some newly generated closing permits and some existing closing permits in the opening judgment of the next preparation task.

[0045] During the formation and unified replacement of candidate closure permits, the controller continues to monitor whether each candidate closure permit remains valid. If any candidate closure permit expires before the unified replacement is completed, it indicates that the reconfirmed combination of closure states has changed. At this point, the controller clears all currently stored candidate closure permits, does not use any still valid candidate closure permits, continues to update the closure permit set, and maintains the occupancy status of the original closure permits. Subsequently, the controller regenerates candidate closure permits based on the re-detected states of each drug control valve, until all candidate closure permits for each drug control valve are formed and remain valid in the same update process, then forms a new updated closure permit set and performs unified replacement. By temporarily storing, verifying, and uniformly replacing candidate closure permits, the controller avoids combining closure permits formed at different state confirmation stages for the next preparation task, ensuring that the closure permits used in the next preparation task are based on a complete valve state reconfirmation result.

[0046] Example 1:

[0047] In one embodiment, this embodiment provides an intelligent control system for preventing drug mixing in drug preparation based on valve status detection. The system includes a controller, a valve status acquisition unit, a valve execution control unit, a drug delivery drive unit, and drug control valves disposed between each drug supply branch and the common preparation channel. Each drug supply branch corresponds to a drug to be delivered. The controller determines the target drug to be delivered based on the current preparation task and, according to a pre-established correspondence between drugs and drug control valves, designates the drug control valve corresponding to the target drug as the target drug valve, and designates the remaining drug control valves not involved in drug delivery in the current preparation task as non-target drug isolation valves. Upon receiving an opening request from the target drug valve, the controller temporarily suspends the output of the opening signal to the target drug valve and first outputs a closing control signal to each non-target drug isolation valve through the valve execution control unit, so that other drug supply branches remain isolated from the common preparation channel before the target drug valve is opened.

[0048] The valve status acquisition unit collects the open and closed status feedback of each drug control valve and sends the results to the controller. The open status feedback indicates whether the corresponding drug control valve is in the fully open state, and the closed status feedback indicates whether the corresponding drug control valve is in the fully closed state. The controller continuously reads the open and closed status feedback according to a preset sampling period. When the open status feedback of a non-target drug isolation valve disappears and the closed status feedback is valid, the controller begins to accumulate the number of valid sampling periods that continuously meet the closed status confirmation condition for that valve. If subsequent sampling periods continue to meet the above condition, the number of valid sampling periods continues to increase. If, in any sampling period, a valid open status feedback, an invalid closed status feedback, or other states that do not meet the closed status confirmation condition are detected again, the continuous accumulation for this round is terminated, and the closed status confirmation is re-executed.

[0049] To ensure that closure authorization is based on a continuous and stable valve state, this embodiment determines the cumulative duration for which the non-target drug isolation valve meets the closure confirmation conditions based on the number of consecutive effective sampling periods. For the first... The cumulative duration of a non-target drug isolation valve is determined according to the following formula:

[0050]

[0051] in, Indicates the first The cumulative duration for which a non-target drug isolation valve continuously meets the closed state confirmation condition, in milliseconds; This indicates the number of valid sampling cycles that the controller has completed consecutively, where the conditions of the open state feedback disappearing and the closed state feedback being valid are met in each valid sampling cycle. This indicates the sampling period of the valve status acquisition unit, in milliseconds. Since each successful sampling period signifies that the aforementioned closed state confirmation condition has been maintained for one sampling period, continuous completion... After one valid sampling period, the corresponding cumulative duration is The sum of the times for each sampling period. The controller also pre-stores the preset duration required for continuous confirmation of the off state. ,when Reaching or exceeding At that time, the controller confirms that the corresponding non-target drug isolation valve has reached a stable closed state and generates a closing permission for the corresponding drug control valve.

[0052] like Figure 2 As shown, the sampling period of the valve status acquisition unit is... The preset duration is 20 milliseconds for continuous confirmation in the off state. The duration is defined as 200 milliseconds. After the on-state feedback disappears and the off-state feedback remains valid, the controller gradually accumulates the valid duration according to a sampling period of 20 milliseconds. Figure 2 The cumulative duration It increases with the number of effective sampling periods, reaching 200 milliseconds in the 10th effective sampling period. At this point, we have:

[0053]

[0054] because equal When the corresponding non-target drug isolation valve meets the conditions for generating a closure permit, the controller sets the closure permit to be valid from that moment. If only 9 valid sampling cycles are completed consecutively, the cumulative duration is 180 milliseconds. If the duration is less than the preset duration of 200 milliseconds, the controller will not generate a closure permit. Figure 2 This further reflects that even if the valve has entered an effective state, the closing status feedback still needs to go through a continuous state confirmation stage before a closing permission can be formed. This ensures that the generation of the closing permission corresponds to the actual duration of the valve's state, rather than making a judgment directly based on a single sampling moment.

[0055] In this embodiment, the closure permission is a control state information generated and stored by the controller based on the status feedback of the drug control valve, rather than a separately set physical component. The controller records at least the corresponding drug control valve identifier, the current valid state of the closure permission, and the preparation cycle identifier associated with the closure permission for each closure permission. After generating the closure permission, the controller continues to monitor the open and closed status feedback of the corresponding drug control valve. When open status feedback reappears, closed status feedback disappears, or the continuous closed status confirmation condition is no longer met, the corresponding closure permission is set to invalid. This allows the closure permission to be updated promptly as the drug control valve status changes, serving as the basis for determining the opening control of the subsequent target drug valve.

[0056] To prevent the mixing of closure permits generated from different preparation tasks or different status confirmation stages, the controller generates a preparation cycle identifier corresponding to the current preparation task at the start of the current preparation task. This preparation cycle identifier is an internal status identifier used by the controller to distinguish different preparation cycles, and can be an incrementing sequence number or other data format capable of differentiating different preparation cycles. In this embodiment, the controller generates a preparation cycle identifier cycle 23 for the current preparation task, and associates the corresponding closure permit with cycle 23 when each non-target drug isolation valve generates a closure permit. Therefore, each closure permit can simultaneously correspond to a specific drug control valve and a specific preparation cycle, allowing the controller to determine whether the closure permits of different non-target drug isolation valves originate from the same current preparation cycle.

[0057] Before the target drug valve enters the opening control, the controller reads the valid status of the closing permission of each non-target drug isolation valve corresponding to the current preparation task and the corresponding preparation cycle identifier. To characterize whether the closing permission of all non-target drug isolation valves simultaneously meets the validity requirement and the preparation cycle consistency requirement, this embodiment determines the following cycle consistency result:

[0058]

[0059] in, This indicates the total number of non-target drug isolation valves corresponding to the current preparation task; Indicates the first The consistency state quantity corresponding to the closure permission of each non-target drug isolation valve; when the first When a shutdown permission is currently valid, and the configuration cycle identifier associated with that shutdown permission matches the configuration cycle identifier of the current configuration task, Take 1, otherwise Set to 0; This indicates the periodic consistency result of all current non-target drug isolation valve closure authorizations. Because each Only 0 or 1 can be selected, and the target drug valve's opening control requires all non-target drug isolation valves to simultaneously meet two conditions: valid closure permission and consistent preparation cycle. Therefore, only all... Only when both are 1, is the molecule equal to ,at this time It equals 1; as long as any one of them exists. If the value is 0, the numerator is less than 0. ,at this time Less than 1.

[0060] like Figure 3 As shown, taking the current preparation task as an example, which includes one target drug valve and three non-target drug isolation valves, the controller currently generates a preparation cycle identifier of cycle 23. When the closing permissions corresponding to isolation valve 1, isolation valve 2, and isolation valve 3 are all in a valid state, and all three closing permissions are associated with cycle 23, , and Both are 1, at this time:

[0061]

[0062] The controller confirms that all non-target drug isolation valve closure permissions are valid and belong to the current preparation cycle, allowing the target drug valve to enter open control. If the preparation cycle identifier associated with the closure permission of isolation valve 2 is inconsistent with cycle 23, then... , , ,at this time:

[0063]

[0064] because If the value is less than 1, the controller determines that at least one closing permission does not meet the periodic consistency requirements of the current preparation task and disables the target drug valve opening condition. Figure 3 The comparison of the two sets of closure permit states reflects the consistency judgment process. That is, even if a single closure permit remains valid, it cannot be used as a valid basis for the opening control of the current target drug valve as long as its preparation cycle identifier is inconsistent with the current preparation task. This prevents closure permits generated by different preparation cycles from being used in combination.

[0065] When the controller confirms that the closure permission of all non-target drug isolation valves is valid and Once the value equals 1, the suspension of the target drug valve opening request is lifted, and an opening signal is output to the target drug valve through the valve execution control unit. After the target drug valve opening signal is output, the controller locks the current preparation cycle identifier, ensuring that each closing permission involved in the current target drug valve opening judgment remains associated with the currently locked preparation cycle identifier. This locking restricts the source of closing permissions used during the target drug valve opening period. In the locked state, the controller does not replace currently participating closing permissions with newly generated closing permissions from other preparation cycles, nor does it combine closing permissions formed in different preparation cycles. After receiving feedback on the target drug valve's open status, the controller reconfirms that the closing permissions of each non-target drug isolation valve remain valid. When the target drug valve's open status feedback has been formed and each closing permission remains valid, the controller activates the drug delivery drive unit, causing the target drug to enter the common preparation channel along the corresponding drug supply branch.

[0066] like Figure 4 As shown, the preparation cycle identifier, cycle lock, closure permission, target drug valve, and drug delivery drive unit are executed in conjunction with the same control sequence. After all closure permissions corresponding to cycle 23 are formed, the controller allows the target drug valve to enter open control and locks cycle 23 after outputting an open signal; when the target drug valve forms an open state feedback and all closure permissions remain valid, the drug delivery drive unit enters the drug delivery state. During this delivery process, if the closure permission of any non-target drug isolation valve fails, the combination of closure states formed under the current cycle 23 no longer meets the safety control requirements. The controller stops using this combination, releases the preparation cycle identifier lock, stops the drug delivery drive unit and controls the target drug valve to close, and simultaneously updates the preparation cycle identifier to the new cycle 24. Figure 4The temporal relationship further indicates that there is a sequential constraint between the periodic identifier update and the closure permission reconstruction. The closure permission formed in period 23 before the update does not directly continue to the opening judgment process in period 24.

[0067] After the preparation cycle identifier is updated, the controller re-executes the closure permit generation process for each non-target drug isolation valve and re-collects the open and closed status feedback for each non-target drug isolation valve. Each non-target drug isolation valve regenerates a new closure permit based on the condition that the open status feedback disappears and the closed status feedback remains continuously for a preset duration. All regenerated closure permits are associated with cycle 24. For example... Figure 4 As shown, during the closure permission reconfirmation phase, the target drug valve remains closed and the drug delivery drive unit remains stopped until all non-target drug isolation valves complete new closure status confirmation and form a valid closure permission corresponding to cycle 24. The controller then performs cycle consistency judgment again, and only when all newly generated closure permissions are valid and belong to cycle 24 will the opening control conditions of the target drug valve be re-established.

[0068] Through the above control process. Figure 2 The continuous state confirmation mechanism shown establishes closure permission based on the valve state that continuously meets the closure conditions. Figure 3 The cycle consistency judgment mechanism shown ensures that all closing permission sources used for the same target drug valve opening control remain consistent. Figure 4 The sequence of locking, anomaly release, periodic update, and closure permission reconstruction shown ensures that the previous closure state combination cannot be directly reused after an anomaly occurs. When the closure permission of any non-target drug isolation valve fails, the closure state combination already formed in the previous preparation cycle exits the current control process, and the closure state confirmation of all non-target drug isolation valves is completed again in the updated preparation cycle. This avoids closure permissions formed at different times or in different preparation cycles being combined for the same drug preparation control, improving the continuity and reliability of drug supply branch isolation control.

[0069] Example 2:

[0070] In one embodiment, this embodiment provides an intelligent control system for preventing drug mixing in drug preparation based on valve status detection. The system includes a controller, a valve status acquisition unit, a valve execution control unit, a drug delivery drive unit, and drug control valves disposed between each drug supply branch and a common preparation channel. The controller determines the target drug valve and non-target drug isolation valves based on the current preparation task, and determines the corresponding closing permission based on the open and closed status feedback of each drug control valve. Before the target drug valve enters the opening control, the controller first detects the closing permission of each non-target drug isolation valve in the current preparation task, and only outputs an opening signal to the target drug valve when the closing permission of each non-target drug isolation valve is valid.

[0071] After the target drug valve opens, the controller does not immediately activate the drug delivery drive unit. Instead, it continuously monitors the closing permissions of each non-target drug isolation valve during the target drug valve's opening action. The valve status acquisition unit continuously provides status feedback from the drug control valves to the controller, which maintains or cancels the valid closing permission based on this feedback. If the closing permission of any non-target drug isolation valve fails before the target drug valve has generated open status feedback, the controller cancels the target drug valve's opening signal, preventing the target drug valve from continuing its current opening process and prohibiting the drug delivery drive unit from starting. If the target drug valve receives open status feedback and the closing permissions of each non-target drug isolation valve remain valid, the controller confirms that the current drug delivery conditions are met and activates the drug delivery drive unit.

[0072] To ensure that the closing permission detection result during the opening process of the target drug valve can directly reflect whether all non-target drug isolation valves simultaneously maintain an effective isolation state, this embodiment is the first... The closing permission setting status quantity for each non-target drug isolation valve When the closure permission is currently in effect, Set to 1, when the current permission to close is invalid. Set to 0. Let the number of isolation valves for non-target drugs that need to remain isolated in the current preparation task be... The controller determines the overall permitting status at the current detection moment according to the following formula. :

[0073]

[0074] in, This indicates the total number of non-target drug isolation valves that need to be kept closed during the current preparation task; Indicates the first The current valid status of the closure permit corresponding to each non-target drug isolation valve; This indicates the overall clearance status at the current detection moment, indicating that all non-target drug isolation valves are closed. Due to various... It can be either 0 or 1; if any closed license becomes invalid, the corresponding... That is, 0, the product result is 0; only when all closed permissions are valid, each Both are 1, at this time The value is 1. This is not equivalent to the original closed state feedback of the drug control valve. Instead, it is the control state quantity determined by the controller based on whether the closed state is currently valid after the closed state has been confirmed and a closed permission has been generated.

[0075] In a specific control process, the current preparation task includes one target drug valve and four non-target drug isolation valves, therefore The value is 4. After the controller outputs an open signal to the target drug valve, it continuously monitors the closing permission of the four non-target drug isolation valves. At a certain monitoring moment, all four closing permissions are valid, corresponding to... , , and If both are 1, then:

[0076]

[0077] At this point, the controller continues to maintain the target drug valve's open position and waits for feedback that the target drug valve has reached the open state. In subsequent detection moments, if the closing permission for the third non-target drug isolation valve fails, then... When the value changes from 1 to 0, at this point:

[0078]

[0079] like Figure 5 As shown, the isolation valve closure permits for the four non-target drug isolation valves corresponding to serial numbers 1 to 3 in the continuous testing remain valid, indicating a comprehensive permit status. The status remains at 1; during the fourth consecutive test, the closing permission corresponding to the third non-target drug isolation valve changes from an effective state to an ineffective state, and remains ineffective in subsequent test stages, thus maintaining the overall permission status. Synchronization changed from 1 to 0. The controller detected this. If the value is 0, it is determined that at least one non-target drug isolation valve no longer meets the isolation conditions required to continue opening the target drug valve. The opening signal of the target drug valve is then revoked, and the drug delivery drive unit is prevented from starting. Figure 5 The statuses shown in subsequent test serial numbers 6 and 7 correspond to the retesting process after the closure permission is re-established. When the closure permission of each non-target drug isolation valve is restored to validity, the overall permission status is... Only when the value is restored to 1 can the controller regain the basic conditions to enter the target drug valve opening judgment process.

[0080] After the target drug valve receives feedback on its open status, the controller sets the closure permits of all non-target drug isolation valves already used in the current preparation task to an occupied state. This occupied state is an internal control state set by the controller for the closure permits, not a mechanical position state of the drug control valves. Once the closure permit enters the occupied state, it is still used for isolation status monitoring in the current preparation task, but it is not allowed to be invoked during the opening control process of other drug control valves. Until the current target drug delivery is completed, the same closure permit maintains its control relationship with the current preparation task.

[0081] During the period when the closure permission is in a occupied state, the controller simultaneously blocks opening requests corresponding to each non-target drug isolation valve. This blocking means that even if the controller receives an opening request for the current non-target drug isolation valve, it will not output an opening signal to the corresponding drug control valve, and will prevent that opening request from entering the current valve's control process. For example... Figure 6 As shown, the target drug valve first enters the opening control. After receiving the opening status feedback, the closing permission used in the current preparation task enters the occupied state, and at the same time, it begins to block opening requests from non-target drug isolation valves. Subsequently, the drug delivery drive unit is started while the closing permission remains occupied. During drug delivery, the closed permission occupied state and the opening request blocking state persist, ensuring that the current isolation relationship is not changed by other opening control processes.

[0082] After the drug delivery is completed, the controller stops the drug delivery drive unit and controls the target drug valve to close through the valve execution control unit, while continuing to acquire the open and closed status feedback of each drug control valve. Figure 6 The diagram further illustrates the state recovery process after drug delivery is completed. Specifically, after the target drug valve enters the closed state, the controller does not immediately release the occupancy of the closure permission, nor does it immediately cancel the blocking of opening requests for non-target drug isolation valves. Instead, it continues to reconfirm the closed state of each drug control valve. Only after the reconfirmation is complete does the controller release the occupancy of the closure permission and the corresponding opening request blocking, allowing the next preparation task to enter a new valve opening control process.

[0083] Each drug control valve generates a new closing permit after meeting the conditions for closing permit generation again. Before releasing the occupancy state, the controller does not directly replace the currently occupied closing permits with these new ones; instead, it temporarily stores them as candidate closing permits. Each candidate closing permit corresponds to a drug control valve that has already completed its closing confirmation. While candidate closing permits are in the temporary storage stage, they do not participate in the opening control of new target drug valves, nor do they cause the corresponding original closing permit to prematurely exit the occupancy state. The controller continuously monitors the re-closing confirmation results of each drug control valve until all drug control valves requiring re-confirmation have generated candidate closing permits.

[0084] In a specific recovery process, the system has five drug control valves. One valve is used for the current drug preparation task, while the other four act as isolation valves for non-target drugs during this drug delivery. After the drug delivery is completed and the target drug valve is closed, the controller requires all five drug control valves to reconfirm their closed status. For example... Figure 7 As shown, during the first round of reconfirmation, drug control valves 1 to 4 successively form candidate closure permits, while drug control valve 5 has not yet formed a candidate closure permit. At this time, the controller still maintains the original closure permit occupancy status and does not allow the already formed candidate closure permits to participate in the next preparation task in advance.

[0085] If the candidate closure permission corresponding to the second drug control valve fails before all candidate closure permissions have been formed in the first round, the controller determines that the combination of closure states obtained by reconfirmation in this round has changed. Figure 7 The overall clearing phase means that the controller clears all the candidate closure permits corresponding to drug control valves 1 to 4 that have been temporarily stored in this round, rather than only clearing the second candidate closure permit that has failed, nor retaining the remaining valid candidate closure permits to continue waiting for drug control valve 5 to form a candidate closure permit. During the overall clearing, the original closure permits remain in an occupied state, and each drug control valve re-enters the closure confirmation process.

[0086] After reconfirmation, drug control valves 1 through 5 regenerate candidate closure permits, and the controller continuously monitors their validity during the formation of each candidate closure permit. Figure 7As shown, when all candidate closure permits corresponding to the five drug control valves have been re-formed and remain valid, the controller will combine all candidate closure permits of this round into an updated closure permit set. Before the updated closure permit set is formed, each candidate closure permit remains in the candidate state and does not replace the original closure permits one by one; after the updated closure permit set is fully formed, the controller will uniformly replace the original closure permits that are currently in an occupied state, and release the occupied state of the original closure permits after the uniform replacement is completed, so that the next drug preparation task can perform the target drug valve opening judgment based on the updated closure permit set.

[0087] Through the above methods Figure 5 The continuous closure permission detection shown means that if the closure permission of any non-target drug isolation valve fails during the opening of the target drug valve, the overall permission status will immediately change to an unsatisfactory state, and subsequent drug delivery will be prevented. Figure 6 The shown relationship between closing permission occupancy and opening request masking ensures that the isolation state established by the current preparation task remains associated with the current task during drug delivery and the state recovery phase after delivery. Figure 7 The process of clearing, regenerating, updating the set of candidate closure permits, and uniformly replacing them ensures that the closure permits used in the next preparation task originate from the same complete and continuously effective re-closure confirmation process. This avoids the combined use of closure permits formed at different confirmation stages and reduces the possibility of unexpected simultaneous activation of different drug supply branches.

Claims

1. A smart control system for preventing drug mixing in drug preparation based on valve status detection, comprising a controller, a valve status acquisition unit, a valve execution control unit, a drug delivery drive unit, and drug control valves located between each drug supply branch and the common preparation channel, characterized in that: The controller determines the target drug valve and the non-target drug isolation valve according to the current preparation task. After receiving the target drug valve opening request, it temporarily suspends the output of the opening signal and controls the non-target drug isolation valve to close. The controller generates a closing permission for the drug control valve after the feedback of the open state of the drug control valve disappears and the feedback of the closed state is continuously maintained for a preset time. After the closing permission of the non-target drug isolation valve is valid, the controller outputs the target drug valve opening signal and starts the drug delivery drive unit when the open state feedback of the target drug valve is obtained and the closing permission is continuously valid. If any of the aforementioned closing permits fails during the delivery process, the controller stops the drug delivery drive unit and closes the target drug valve. After the target drug valve is closed and all drug control valves have regenerated valid closing permits, the preparation task is restarted.

2. The intelligent control system for preventing drug mixing in drug preparation based on valve status detection according to claim 1, characterized in that: The controller generates a preparation cycle identifier for the current preparation task and associates the closing permission of each non-target drug isolation valve with the preparation cycle identifier; when any of the closing permissions fails or the current preparation task is switched, the preparation cycle identifier is updated, and the closing permission associated with the preparation cycle identifier before the update is removed from the opening control of the target drug valve.

3. The intelligent control system for preventing drug mixing in drug preparation based on valve status detection according to claim 1, characterized in that: The controller outputs an opening signal for the target drug valve after all non-target drug isolation valves have valid closing permissions, and continuously monitors the closing permissions from the time the opening signal is output until the drug delivery drive unit is started; if any of the closing permissions fails, the opening signal is revoked, and the drug delivery drive unit is started when the target drug valve open status feedback is obtained and the closing permissions remain valid.

4. The intelligent control system for preventing drug mixing in drug preparation based on valve status detection according to claim 1, characterized in that: After receiving feedback on the open status of the target drug valve, the controller sets the closing permission of each non-target drug isolation valve in the current preparation task to an occupied state, so that the closing permission in the occupied state does not participate in the opening control of the non-target drug isolation valve; after the drug delivery ends and each drug control valve regenerates a valid closing permission, the occupied state is released.

5. The intelligent control system for preventing drug mixing in drug preparation based on valve status detection according to claim 2, characterized in that: When each closure permission is associated with the same preparation cycle identifier, the controller causes the target drug valve to enter the opening control; when any of the preparation cycle identifiers associated with the closure permission are inconsistent with the preparation cycle identifier of the current preparation task, the closure permission is cleared and the opening condition of the current preparation task is invalidated, until the closure permissions of each non-target drug isolation valve are all associated with the preparation cycle identifier of the current preparation task.

6. The intelligent control system for preventing drug mixing in drug preparation based on valve status detection according to claim 2, characterized in that: The controller locks the preparation cycle identifier after the target drug valve opens, so that the current preparation task's closing permission is associated with the locked preparation cycle identifier; when any of the closing permissions fails, the controller unlocks and updates the preparation cycle identifier, setting the closing permission associated with the previous preparation cycle identifier to invalid.

7. The intelligent control system for preventing drug mixing in drug preparation based on valve status detection according to claim 2, characterized in that: After the controller updates the preparation cycle identifier, it re-executes the closure permission generation process for each non-target drug isolation valve and associates the regenerated closure permission with the updated preparation cycle identifier. Once the closure permission for each non-target drug isolation valve is generated, it participates in the opening control of the target drug valve. The closure permission associated with the preparation cycle identifier before the update does not participate in the opening control.

8. The intelligent control system for preventing drug mixing in drug preparation based on valve status detection according to claim 4, characterized in that: The controller blocks opening requests from all non-target drug isolation valves during the occupied state; after the target drug valve is closed, the occupied state is maintained if a drug control valve has not regenerated a valid closing permission, and the occupied state is released when all drug control valves have regenerated a valid closing permission.

9. The intelligent control system for preventing drug mixing in drug preparation based on valve status detection according to claim 4, characterized in that: Before the occupancy state is released, the controller regenerates the closing permits of each drug control valve into an updated closing permit set, and replaces the closing permit occupied by the current preparation task with the updated closing permit set; after the occupancy state is released, the next drug preparation task executes the opening control of the target drug valve based on the updated closing permit set.

10. The intelligent control system for preventing drug mixing in drug preparation based on valve status detection according to claim 9, characterized in that: Before releasing the occupancy state, the controller temporarily stores the newly generated closing permits for each drug control valve as candidate closing permits; after all candidate closing permits for each drug control valve are formed, the candidate closing permits are combined into the updated closing permit set and a unified replacement is performed; if any candidate closing permit becomes invalid before the unified replacement, all candidate closing permits are cleared and the occupancy state is maintained.

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