CN109092708A - A kind of medicine sorting picking up system and method - Google Patents
A kind of medicine sorting picking up system and method Download PDFInfo
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- CN109092708A CN109092708A CN201810845442.4A CN201810845442A CN109092708A CN 109092708 A CN109092708 A CN 109092708A CN 201810845442 A CN201810845442 A CN 201810845442A CN 109092708 A CN109092708 A CN 109092708A
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- unit
- drug
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- pickup
- control unit
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/34—Sorting according to other particular properties
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/36—Sorting apparatus characterised by the means used for distribution
- B07C5/361—Processing or control devices therefor, e.g. escort memory
-
- G—PHYSICS
- G16—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR SPECIFIC APPLICATION FIELDS
- G16H—HEALTHCARE INFORMATICS, i.e. INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR THE HANDLING OR PROCESSING OF MEDICAL OR HEALTHCARE DATA
- G16H20/00—ICT specially adapted for therapies or health-improving plans, e.g. for handling prescriptions, for steering therapy or for monitoring patient compliance
- G16H20/10—ICT specially adapted for therapies or health-improving plans, e.g. for handling prescriptions, for steering therapy or for monitoring patient compliance relating to drugs or medications, e.g. for ensuring correct administration to patients
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- Health & Medical Sciences (AREA)
- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Bioinformatics & Cheminformatics (AREA)
- Medicinal Chemistry (AREA)
- Epidemiology (AREA)
- General Health & Medical Sciences (AREA)
- Medical Informatics (AREA)
- Primary Health Care (AREA)
- Public Health (AREA)
- Warehouses Or Storage Devices (AREA)
Abstract
It include processor, sensing unit, information acquisition unit, control unit, pickup unit and delivery unit the invention discloses a kind of medicine sorting picking up system and method, system；The present invention obtains the digital information and location information for depositing in the drug of sales counter or drug storage area by information acquisition unit, and digital information and location information are sent to control unit；Sensing unit calculates pickup unit by path optimization's location technology synchronous with the robot based on big data based on intelligent algorithm and unit is moved to the optimal path that drug specifies storage area, and control unit control pickup unit and delivery unit are moved to drug storage area according to optimal path；Drug is picked up to the travelling bogie of delivery unit by the manipulator of pickup unit, in order to carry out subsequent sorting and pickup work.The present invention does not need additional manpower, improves the efficiency and accuracy rate of medicine sorting, reduces paying for labour, and easy to operate, quickly and effectively.
Description
Technical field
The invention belongs to medical sciences and Intelligent logistics information technology field, and in particular to a kind of medicine sorting picking up system
And method.
Background technique
Currently, existing drug sorting is largely dependent on drug sorting work personnel for drug attribute and storage ring
The understanding in border, long the time required to being familiar with process, working efficiency is lower, and sorting speed is slower, and misplaced rate is still very high, in order to improve
It is mainly that hand-hold scanning equipment picks medicine technology that the mainstream of drug sorting efficiency, which picks medicine technology,.It is to pick medicine person by allowing that this, which picks prescription method,
After scanning drug bar code with scanning device, the storage position that medicine should be stored is shown on the screen of scanning device, prompt picks
Medicine person goes to corresponding bin storage space to set and carries out drug sort operation, and places the drug into drug storage area in a manual manner, this
Kind of the method for relying on manual identified is largely accessed probabilistic influence by operation, have it is greatly uncertain and
Error rate brings potential risk and hidden danger for community services places such as doctors.
Summary of the invention
In order to solve the above-mentioned technical problems, the present invention provides a kind of system and methods medicine sorting and picked up.
Technical solution used by system of the invention is: a kind of medicine sorting picking up system, it is characterised in that: including place
Manage device, sensing unit, information acquisition unit, control unit, pickup unit and delivery unit；
The sensing unit is used for through range sensor locating base station, to travelling bogie planning path and provide position
Confidence breath；
The information acquisition unit is used to obtain the digital information of drug；
Described control unit obtains the location information of drug according to the digital information that information acquisition unit provides, and according to institute
The location information control pickup unit for stating drug picks up drug and drug is placed in delivery unit；
In fixed computer end, in medical staff's access medicament purpose region is arranged in computer for described control unit setting；
The sensing unit, information acquisition unit and control unit are on travelling bogie；
The processor is respectively at the sensing unit, information acquisition unit, control unit, pickup unit and delivery unit
Connection, for controlling the sensing unit, information acquisition unit, control unit, pickup unit and delivery unit work.
Technical solution used by method of the invention is: it is a kind of medicine sorting pick-up method, which is characterized in that including with
Lower step:
Step 1: digital information and the position for depositing in the drug of sales counter or drug storage area are obtained by information acquisition unit
Confidence breath, and the digital information and location information are sent to described control unit；
Step 2: the sensing unit is by the path optimization based on intelligent algorithm and based on the robot of big data
Synchronous location technology is moved to the optimal path of the specified storage area of the drug to calculate pickup unit and unit, and by controlling
Unit controls pickup unit and delivery unit and is moved to the drug storage area according to the optimal path；
Step 3: being picked up drug to the travelling bogie of delivery unit by the manipulator of pickup unit, in order to carry out
Subsequent sorting and pickup work.
The practical medicine sorting picking up system provided of the present invention controls pickup unit by control unit and picks up drug storage
Drug in area, system can distribute goods yard automatically for drug, entirely sort during being sorted and being picked up to drug
Journey is controlled by system, and whole equipment is automatically performed, and is sorted in platform instead of tradition and is used the behaviour for manually being sorted and being picked up
Make method, improves the efficiency and accuracy rate of drug sorting, reduce paying for labour, while improving service quality, and
And it is easy to operate, quickly and effectively.
Detailed description of the invention
Fig. 1 is the system frame structure figure of the embodiment of the present invention；
Fig. 2 is the method flow diagram of the embodiment of the present invention.
Specific embodiment
Understand for the ease of those of ordinary skill in the art and implement the present invention, with reference to the accompanying drawings and embodiments to this hair
It is bright to be described in further detail, it should be understood that implementation example described herein is merely to illustrate and explain the present invention, not
For limiting the present invention.
Referring to Fig.1, a kind of medicine sorting picking up system provided by the invention, including processor, sensing unit, acquisition of information
Unit, control unit, pickup unit and delivery unit；
Sensing unit is used for through range sensor locating base station, to travelling bogie planning path and provide position letter
Breath；Positioning device carries out fixation and recognition using super-broadband tech (UWD), for the acquisition in path and the knowledge of medical storage area
Not；
Information acquisition unit is used to obtain the digital information of drug；
Control unit obtains the location information of drug according to the digital information that information acquisition unit provides, and according to drug
Location information control pickup unit picks up drug and drug is placed in delivery unit；
In fixed computer end, in medical staff's access medicament purpose region is arranged in computer for control unit setting；
Sensing unit, information acquisition unit and control unit are on travelling bogie；
Processor is connected respectively at sensing unit, information acquisition unit, control unit, pickup unit with delivery unit, is used
In control sensing unit, information acquisition unit, control unit, pickup unit and delivery unit work.
The information acquisition unit of the present embodiment includes scanning device, printing device；Scanning device is several, is respectively arranged at and picks up
It takes on the manipulator of unit, each scanning device is all connected with processor, for scanning the two dimensional code of storage drug or outbound drug
Or barcode label information；Printing device is used to print the two dimensional code or bar code of storage drug or outbound drug；
The pick device of the pickup unit of the present embodiment is manipulator；Control unit be configured with label display, for pair
The drug information of scanning is shown；Delivery unit is configured with travelling bogie.
The present invention is applied to medicine sorting platform, and medicine sorting platform includes that sales counter, medicament transport channel and drug are deposited
Put area.
Medical storage area is mainly used for storing drug, in sorting, needs to turn drug by the manipulator of pick device
Delivery unit is moved to, drug storage area is directly placed by the travelling bogie of delivery unit；Or delivery unit when needing to take medicine
Medicine is removed from medical storage area, administrative staff are transported to by the travelling bogie of delivery unit and specify destination.Delivery unit is
Medicine, will be transported to the destination of medicine by travelling bogie navigation routine and when installing drug automatically.
In medical storage area, a certain number of positioning are disposed to set by the synchronous location technology of the robot based on big data
Standby, information acquisition unit and sensing unit obtain drug digital information and the position for being stored in medical storage area by positioning device
Information, scanning device and positioning device in information acquisition unit are used to obtain the drug information in medical storage area, and will
The digital information and location information of scanning are sent to control unit, control unit after receiving digital information and location information,
Analytical calculation can be carried out to digital information and location information, determine drug storeroom.
In embodiments of the present invention, pickup unit is preferably manipulator, manipulator, that is, automatic mechanical arm, mechanical palmistry
When the instruction from control system can be received in a robot, it is precisely positioned to a certain specific of drug storage area
Point carries out picking task.Manipulator is divided into multi-joint manipulator, rectangular coordinate system manipulator according to the difference of structure type, and ball is sat
Mark system manipulator, polar coordinates manipulator, cylindrical coordinates manipulator etc..
In the present embodiment, between sensing unit and information acquisition unit and control unit by way of wireless transmission into
Row information connection is also that informational linkage is carried out by way of wireless transmission between control unit and pickup unit, single picking up
In member, it is provided with wireless receiver and is used to the control instruction that reception control unit is sent.
Control unit judges the current position of pickup unit and medicine to be picked up after extracting the location information of drug
The current position of object, calculating pickup unit and being moved at drug needs optimal path, and optimal path can be understood as picking up
Unit is moved to the shortest distance passed through at drug, and pickup unit moving distance is shorter, and the energy of consumption is fewer, while the time gets over
It is short, it is more efficient.
See Fig. 2, a kind of medicine sorting pick-up method provided by the invention, comprising the following steps:
Step 1: digital information and the position for depositing in the drug of sales counter or drug storage area are obtained by information acquisition unit
Confidence breath, and digital information and location information are sent to control unit；
By the scanning device of information acquisition unit, the number for depositing in the drug of medical storage area or drug storage area is obtained
Word information, without limitation, the position of scanning device installation is preferably to sweep on the manipulator of pickup unit to the number of scanning device
The installation site for retouching equipment, drug can be taken from different angles by needing to meet.The digital information of acquisition is passed through later
The mode of wireless transmission is sent to control unit and shows information for label display.
Step 2: sensing unit obtains the information of control unit feedback, by path optimization based on intelligent algorithm and
The synchronous location technology of robot based on big data is moved to drug and specifies storage area most to calculate pickup unit and unit
Good path, and control pickup unit and delivery unit and be moved to drug storage area according to optimal path；
The invention mainly relates to following both sides core technologies: path optimization based on intelligent algorithm and being based on
The synchronous positioning of the robot of feature, is taken based on the TSP algorithm of genetic algorithm in intelligent algorithm this part, can be reasonable
Plan transportation route, required drug can quickly be obtained convenient for trolley by providing most succinct route to travelling bogie, thus
It ensure that the efficiency of sorting and reduce energy loss；In synchronous this technical aspect of positioning of robot, using ultra wide band skill
Art (UWD) carries out fixation and recognition, and the positioning and real time position that drug information may be implemented are transmitted, in order to which the drug of manipulator picks up
It takes.
Step 3: being picked up drug to the travelling bogie of delivery unit by the manipulator that control unit controls pickup unit
On, drug is transported to by specified region by " path optimization based on intelligent algorithm " technology；It is subsequent in order to carry out
Sorting and pickup work.
The embodiment of the present invention to the number of sensing unit and information acquisition unit without limitation, when the number of information acquisition unit
When measuring more, it can take pictures from more angles to drug, it, can after control unit carries out analytical calculation to multiple groups digital information
To obtain the more accurate location information of drug, even spatial information.Control unit is according to the location information control of the drug
Pickup unit processed picks up drug and drug is placed on the travelling bogie of delivery unit, and travelling bogie passes through sensing unit route
Drug can be transported to the destination of drug after installing drug by navigation automatically.
Medicine sorting picking up system provided in an embodiment of the present invention does not need additional manpower, improves the effect of medicine sorting
Rate and accuracy rate reduce paying for labour, and easy to operate, quickly and effectively.
It should be understood that the storage process of medicine is equally identical as above-mentioned process, only target is on the contrary, destination is doctor
Medicine stores shelf；In fact, pickup is to be transported to the specified place of medical staff from medicine storage shelf, and storage is referred to from medical staff
Determine place and is placed into medicine storage shelf.
It should be understood that the part that this specification does not elaborate belongs to the prior art.
It should be understood that the above-mentioned description for preferred embodiment is more detailed, can not therefore be considered to this
The limitation of invention patent protection range, those skilled in the art under the inspiration of the present invention, are not departing from power of the present invention
Benefit requires to make replacement or deformation under protected ambit, fall within the scope of protection of the present invention, this hair
It is bright range is claimed to be determined by the appended claims.
Claims (9)
1. a kind of medicine sorting picking up system, it is characterised in that: single including processor, sensing unit, information acquisition unit, control
Member, pickup unit and delivery unit；
The range sensor that the sensing unit is carried by positioning device, for travelling bogie planning path and offer position
Information；
The information acquisition unit is used to obtain the digital information of drug；
Described control unit obtains the location information of drug according to the digital information that information acquisition unit provides, and according to the medicine
The location information control pickup unit of object picks up drug and drug is placed in delivery unit；
The sensing unit, information acquisition unit and control unit are arranged on travelling bogie；
In fixed computer end, in medical staff's access medicament purpose region is arranged in computer for described control unit setting；
The processor connects respectively at the sensing unit, information acquisition unit, control unit, pickup unit and delivery unit
It connects, for controlling the sensing unit, information acquisition unit, control unit, pickup unit and delivery unit work.
2. medicine sorting picking up system according to claim 1, it is characterised in that: the information acquisition unit includes scanning
Equipment and printing device；
The scanning device is several, is respectively arranged on the manipulator of the pickup unit, and each scanning device is all connected with described
Processor, for scanning the two dimensional code or barcode label information of storage drug or outbound drug；
The printing device is used to print the two dimensional code or bar code of storage drug or outbound drug.
3. medicine sorting picking up system according to claim 1, it is characterised in that: the positioning device uses ultra wide band skill
Art carries out fixation and recognition, for the acquisition in path and the identification of medical storage area.
4. medicine sorting picking up system according to claim 1, it is characterised in that: the pick device of the pickup unit is
Manipulator.
5. medicine sorting picking up system according to claim 1, it is characterised in that: described control unit is aobvious configured with label
Show device, for showing to the drug information of scanning.
6. medicine sorting picking up system according to claim 1, it is characterised in that: the delivery unit is small configured with transporting
Vehicle.
7. a kind of medicine sorting pick-up method, which comprises the following steps:
Step 1: obtaining the digital information for depositing in the drug of sales counter or drug storage area by information acquisition unit and position is believed
Breath, and the digital information and location information are sent to described control unit；
Step 2: the sensing unit is synchronous with the robot based on big data by the path optimization based on intelligent algorithm
Location technology is moved to the optimal path of the specified storage area of the drug to calculate pickup unit and unit, and by control unit
It controls pickup unit and delivery unit and is moved to the drug storage area according to the optimal path；
Step 3: being picked up drug to the travelling bogie of delivery unit by the manipulator of pickup unit, in order to carry out below
Sorting and pickup work.
8. medicine sorting pick-up method according to claim 1, it is characterised in that: intelligent algorithm described in step 2,
It is taken based on the TSP algorithm of genetic algorithm.
9. medicine sorting pick-up method according to claim 1, it is characterised in that: robot described in step 2 synchronizes fixed
Position technology carries out fixation and recognition using super-broadband tech, realizes that the positioning of drug information and real time position are transmitted, in order to machinery
The drug of hand picks up.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810845442.4A CN109092708A (en) | 2018-07-27 | 2018-07-27 | A kind of medicine sorting picking up system and method |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810845442.4A CN109092708A (en) | 2018-07-27 | 2018-07-27 | A kind of medicine sorting picking up system and method |
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| CN109092708A true CN109092708A (en) | 2018-12-28 |
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| CN201810845442.4A Pending CN109092708A (en) | 2018-07-27 | 2018-07-27 | A kind of medicine sorting picking up system and method |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111724890A (en) * | 2020-07-01 | 2020-09-29 | 湖南德荣医疗器械物流配送服务有限公司 | Integrated logistics platform inside and outside hospital based on SPD system |
| CN112149904A (en) * | 2020-09-24 | 2020-12-29 | 南京中爱人工智能与生命科学研究院有限公司 | Big data-based medicine sorting system, method, terminal and storage medium |
| CN113570305A (en) * | 2021-07-20 | 2021-10-29 | 广东畅联智能装备有限公司 | Automatic tracking and transporting method, device and system for medicine frames |
| CN113823375A (en) * | 2021-08-03 | 2021-12-21 | 爱在工匠智能科技(苏州)有限公司 | Medicine sorting robot system and using method thereof |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111724890A (en) * | 2020-07-01 | 2020-09-29 | 湖南德荣医疗器械物流配送服务有限公司 | Integrated logistics platform inside and outside hospital based on SPD system |
| CN112149904A (en) * | 2020-09-24 | 2020-12-29 | 南京中爱人工智能与生命科学研究院有限公司 | Big data-based medicine sorting system, method, terminal and storage medium |
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| CN113823375A (en) * | 2021-08-03 | 2021-12-21 | 爱在工匠智能科技(苏州)有限公司 | Medicine sorting robot system and using method thereof |
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Application publication date: 20181228 |