CN109598470B - Hospital medicine distribution method and system - Google Patents
Hospital medicine distribution method and system Download PDFInfo
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- CN109598470B CN109598470B CN201811467967.5A CN201811467967A CN109598470B CN 109598470 B CN109598470 B CN 109598470B CN 201811467967 A CN201811467967 A CN 201811467967A CN 109598470 B CN109598470 B CN 109598470B
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
- G06Q10/00—Administration; Management
- G06Q10/08—Logistics, e.g. warehousing, loading or distribution; Inventory or stock management
- G06Q10/083—Shipping
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
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- 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
Abstract
The invention belongs to the technical field of article distribution, and discloses a method and a system for distributing hospital medicines, wherein the method comprises the following steps: when the server receives a distribution request sent by a delivery station, an idle unmanned aerial vehicle is selected as a distribution unmanned aerial vehicle, and a cargo taking flight task is sent to the distribution unmanned aerial vehicle according to the distribution request; the delivery unmanned aerial vehicle flies to a delivery station according to the goods taking flight task to grab a target medicine box and applies for a delivery route to the server; when the server receives a distribution route application request of the distribution unmanned aerial vehicle, a delivery flight task of the distribution unmanned aerial vehicle is generated according to the distribution request, and the delivery flight task is sent to the distribution unmanned aerial vehicle; and the delivery unmanned aerial vehicle delivers the target medicine boxes to the delivery station according to the delivery flight task. The invention adopts the unmanned aerial vehicle to distribute the medicines in the hospital, can utilize the external space of the hospital to transport the medicines, does not occupy the building area of the hospital, does not depend on a vertical channel in the hospital, and is not influenced by the flow of the people in the hospital, so that the distribution speed is high and the distribution efficiency is high.
Description
Technical Field
The invention belongs to the technical field of article distribution, and particularly relates to a distribution method and a distribution system for hospital medicines.
Background
Currently, when drugs are transported in hospitals, the most common transport modes are: 1. carrying by manpower; 2. pneumatic logistics, rail trolleys and box type logistics; 3. hospital's commodity circulation robot. The manual conveying is that the staff conveys the required medicine to the department of living quarters through the shallow, and the manual conveying mode has the difficult supervision, non-standardized operation, and the cost of labor is high, difficult management scheduling problem.
The logistics modes of pneumatic logistics, rail trolleys and box type logistics all need to establish exclusive transportation rails in hospitals, not only can occupy a large amount of building area in the hospitals, but also is high in maintenance cost.
The logistics robot in hospital is a logistics transportation mode which is recently developed, although a special transportation channel can not be constructed, due to the fact that dependence on a vertical channel (vertical elevator) is high, many vertical channel resources in hospital do not have too much reservation, people flow in hospital is very large, the vertical elevator in hospital often needs to be arranged in long lines, the transportation efficiency of the robot is limited, and particularly, medicines which are needed urgently cannot be distributed by the logistics robot in hospital.
Disclosure of Invention
The invention aims to provide a method and a system for distributing hospital medicines, which realize the distribution of the hospital medicines through an unmanned aerial vehicle, do not occupy the building area of a hospital, and have high distribution efficiency.
The technical scheme provided by the invention is as follows:
in one aspect, a method for dispensing a hospital drug is provided, comprising:
when a server receives a distribution request sent by a delivery station, an idle unmanned aerial vehicle is selected as a distribution unmanned aerial vehicle, and a cargo taking flight task is issued to the distribution unmanned aerial vehicle according to the distribution request;
the delivery unmanned aerial vehicle flies to the delivery station according to the goods taking flight task to grab a target medicine box and applies for a delivery route to the server;
when the server receives a distribution route application request of the distribution unmanned aerial vehicle, a delivery flight task of the distribution unmanned aerial vehicle is generated according to the distribution request, and the delivery flight task is sent to the distribution unmanned aerial vehicle;
and the delivery unmanned aerial vehicle delivers the target medicine box to a delivery station according to the delivery flight task.
Further, the unmanned aerial vehicle that delivers flies to the delivery station according to the flight task of getting goods snatchs the target medical kit, and specifically includes to the server application route:
the distribution unmanned aerial vehicle flies to the delivery station according to the goods taking flight task;
the distribution unmanned aerial vehicle identifies the information of the medicine box according to the label information on the medicine box;
the delivery unmanned aerial vehicle judges whether the medicine box is a target medicine box according to the information of the medicine box;
when the medicine chest is the target medicine chest, the delivery unmanned aerial vehicle grabs the target medicine chest and applies for a transportation route to the server.
Further, after the delivery unmanned aerial vehicle flies to the delivery station according to the pick-up flight task, the delivery unmanned aerial vehicle further includes, before recognizing the information of the medicine box according to the tag information on the medicine box:
the distribution unmanned aerial vehicle judges whether the delivery station is a target delivery station or not according to the label information on the delivery window of the delivery station;
when the delivery station is a target delivery station, the delivery unmanned aerial vehicle opens a delivery window of the delivery station, penetrates through the delivery window and reaches the upper part of the medicine chest;
when the medical kit is the target medical kit, the delivery unmanned aerial vehicle picks the target medical kit, and further includes after applying for a transport route to the server:
the distribution unmanned aerial vehicle flies away from the delivery station and closes the delivery window.
Further, the delivering unmanned aerial vehicle delivering the target medicine box to the receiving station according to the delivery flight task specifically includes:
the delivery unmanned aerial vehicle flies to a receiving station according to the delivery flight task;
the distribution unmanned aerial vehicle judges whether the goods receiving station is a target goods receiving station or not according to the label information on the goods receiving window of the goods receiving station;
when the goods receiving station is a target goods receiving station, the distribution unmanned aerial vehicle opens a goods receiving window of the goods receiving station and penetrates through the goods receiving window to reach the upper part of a platform of the goods receiving station;
the delivery unmanned aerial vehicle automatically descends, the target medicine box is placed on the platform, and the target medicine box is conveyed to a destination through the conveying belt;
and the distribution unmanned aerial vehicle flies away from the goods receiving station and closes the goods receiving window.
Further, when receiving a delivery route application request of the delivery unmanned aerial vehicle, the server generates a delivery flight task of the delivery unmanned aerial vehicle according to the delivery request, and sends the delivery flight task to the delivery unmanned aerial vehicle, where the delivery flight task specifically includes:
when the server receives a distribution route application request of the distribution unmanned aerial vehicle, a delivery flight task of the distribution unmanned aerial vehicle is generated according to air route information and receiving station information in the distribution request, wherein the delivery flight task comprises takeoff time, flight track and transfer station information;
and the server sends the goods delivery flight task to the delivery unmanned aerial vehicle.
On the other hand, a distribution system of hospital medicines is further provided, and comprises a server, a distribution unmanned aerial vehicle, a delivery station and a receiving station;
the server is used for selecting an idle unmanned aerial vehicle as the distribution unmanned aerial vehicle when receiving a distribution request sent by a delivery station, and sending a cargo taking flight task to the distribution unmanned aerial vehicle according to the distribution request;
the delivery unmanned aerial vehicle is used for flying to the delivery station according to the goods taking flight task to grab a target medicine box and applying for a delivery route to the server;
the server is used for generating a delivery flight task of the delivery unmanned aerial vehicle according to the delivery request and sending the delivery flight task to the delivery unmanned aerial vehicle when receiving a delivery route application request of the delivery unmanned aerial vehicle;
and the delivery unmanned aerial vehicle is used for delivering the target medicine chest to a delivery station according to the delivery flight task.
Further, the delivery drone includes:
the flying module is used for flying to the delivery station according to the goods taking flying task;
the identification module is used for identifying the information of the medicine box according to the label information on the medicine box;
the judgment module is used for judging whether the medicine box is a target medicine box or not according to the information of the medicine box;
the grabbing module is used for grabbing the target medicine box when the medicine box is the target medicine box;
and the route application module is used for applying for a transportation route to the server after the target medicine box is grabbed.
Furthermore, the delivery station comprises a channel consisting of sound insulation glass, a platform and a conveyor belt, wherein the platform and the conveyor belt are arranged in the channel;
the identification module is used for identifying the label information on the delivery window;
the judging module is used for judging whether the delivery station is a target delivery station;
the distribution unmanned aerial vehicle further comprises a control module;
the control module is used for controlling the opening of the delivery window when the delivery station is a target delivery station;
the flying module is used for penetrating through the delivery window into the channel and reaching the upper part of the medicine chest placed on the platform after the delivery window is opened;
the control module is also used for controlling the delivery window to be closed after the delivery unmanned aerial vehicle flies away from the channel.
Furthermore, the goods receiving station comprises a channel consisting of sound insulation glass, a platform and a conveyor belt, wherein the platform and the conveyor belt are arranged in the channel;
the delivery unmanned aerial vehicle includes:
the flight module is used for flying to a receiving station according to the delivery flight task;
the identification module is used for identifying the label information on the receiving window;
the judging module is used for judging whether the goods receiving station is a target goods receiving station or not according to the label information on the goods receiving window of the goods receiving station;
the control module is used for controlling the opening of the goods receiving window when the goods receiving station is a target goods receiving station;
the flight module is used for penetrating through the goods receiving window into the channel and reaching the upper part of the platform of the goods receiving station after the goods receiving window is opened;
the descending module is used for automatically descending when the target medicine boxes reach the upper part of the platform of the goods receiving station, placing the target medicine boxes on the platform and enabling the target medicine boxes to be conveyed to the destination through the conveyor belt;
the control module is also used for controlling the goods receiving window to be closed after the distribution unmanned aerial vehicle flies away from the channel.
Further, the server includes:
the flight task generating module is used for generating a delivery flight task of the distribution unmanned aerial vehicle according to air route information and receiving station information in the distribution request when receiving a distribution route application request of the distribution unmanned aerial vehicle, wherein the delivery flight task comprises takeoff time, flight track and transfer station information;
and the task sending module is used for sending the delivery flight task to the delivery unmanned aerial vehicle.
The distribution method and the distribution system of the hospital medicines provided by the invention can bring at least one of the following beneficial effects:
1. the invention adopts the unmanned aerial vehicle to distribute the medicines in the hospital, can utilize the external space of the hospital to transport the medicines, does not occupy the building area of the hospital, does not depend on a vertical channel in the hospital for distribution by the unmanned aerial vehicle, and is not influenced by the flow of people in the hospital, so that the distribution speed is high and the efficiency is high.
2. In a preferred embodiment of the present invention, before grabbing the medicine box, the unmanned delivery vehicle checks the information of the medicine box through the label information on the medicine box to determine whether the medicine box is the target medicine box, so as to prevent errors in medicine delivery and improve the accuracy of medicine delivery.
3. In a preferred embodiment of the invention, the label information is set on the delivery window of the delivery station, and when the delivery unmanned aerial vehicle arrives at the delivery station, the delivery station information is checked to confirm whether the arrived delivery station is correct or not, so that the accuracy of medicine delivery is improved. Simultaneously, the delivery station sets up the delivery window, and is opened by distribution unmanned aerial vehicle control, can make the delivery station be in the encapsulated situation, prevents that the medicine from losing or being changed, improves the security.
4. In a preferred embodiment of the invention, the receiving window of the receiving station is provided with label information, when the delivery unmanned aerial vehicle arrives at the receiving station, the receiving station information is checked firstly, and whether the arrived receiving station is a target receiving station is confirmed, so that a drug delivery error is prevented, and the accuracy of drug delivery is improved. Simultaneously, the goods receiving station sets up the goods receiving window, and is opened by delivery unmanned aerial vehicle control, and delivery unmanned aerial vehicle places the medical kit behind the goods receiving station, can make the delivery station be in the encapsulated situation, prevents that the medicine from losing or being changed, improves the security.
Drawings
The foregoing features, technical features, advantages and implementations of a method and system for dispensing hospital medications are further described in the following detailed description of preferred embodiments in a clearly understandable manner in conjunction with the accompanying drawings.
FIG. 1 is a schematic flow chart illustrating a method for dispensing a hospital drug according to a first embodiment of the present invention;
FIG. 2 is a schematic flow chart illustrating a second embodiment of a method for dispensing a hospital drug according to the present invention;
FIG. 3 is a flow chart illustrating a third embodiment of a method for dispensing a hospital drug according to the present invention;
FIG. 4 is a flowchart illustrating a fourth embodiment of a method for dispensing hospital drugs according to the present invention;
FIG. 5 is a flow chart illustrating a fifth embodiment of a method for dispensing hospital drugs according to the present invention;
FIG. 6 is a block diagram schematically illustrating the structures of six and seven embodiments of a hospital drug delivery system according to the present invention;
fig. 7 is a schematic structural view of an issuing station of a hospital medicine delivery system according to the present invention.
Description of the reference numerals
1. A channel; 2. a platform; 3. a conveyor belt; 4. a delivery window; 5. a medicine chest; 100. a server; 110. A flight task generating module; 120. a task sending module; 200. distributing unmanned aerial vehicles; 210. a flight module; 220. an identification module; 230. a judgment module; 240. a grabbing module; 250. a route application module; 260. and a control module.
Detailed Description
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following description will be made with reference to the accompanying drawings. It is obvious that the drawings in the following description are only some examples of the invention, and that for a person skilled in the art, other drawings and embodiments can be derived from them without inventive effort.
For the sake of simplicity, the drawings only schematically show the parts relevant to the present invention, and they do not represent the actual structure as a product. In addition, in order to make the drawings concise and understandable, components having the same structure or function in some of the drawings are only schematically illustrated or only labeled. In this document, "one" means not only "only one" but also a case of "more than one".
According to a first embodiment of the present invention, as shown in fig. 1, a method for distributing hospital medicine comprises:
s100, when a server receives a distribution request sent by a delivery station, selecting an idle unmanned aerial vehicle as a distribution unmanned aerial vehicle, and sending a cargo taking flight task to the distribution unmanned aerial vehicle according to the distribution request;
s200, the delivery unmanned aerial vehicle flies to the delivery station to grab a target medicine box according to the goods taking flight task and applies for a delivery route to the server;
s300, when receiving a distribution route application request of the distribution unmanned aerial vehicle, the server generates a delivery flight task of the distribution unmanned aerial vehicle according to the distribution request and sends the delivery flight task to the distribution unmanned aerial vehicle;
s400, the delivery unmanned aerial vehicle delivers the target medicine box to a receiving station according to the delivery flight task.
Specifically, when the prepared medicine box is placed at a delivery station, the delivery station sends a delivery request to a server (a dispatching system), the delivery request comprises information of the medicine to be delivered, information of the delivery station and information of the delivery station, the server analyzes the delivery request after receiving the delivery request sent by the delivery station, the information of the medicine to be delivered, the information of the delivery station and the information of the delivery station are obtained, then an idle unmanned aerial vehicle is selected from an airport to serve as a delivery unmanned aerial vehicle, and a delivery flying task is sent to the delivery unmanned aerial vehicle according to the information of the delivery station and the information of the medicine to be delivered in the delivery request. The goods taking flight task comprises takeoff time, flight track and information of the medicine to be dispensed.
The airport of stopping is used for unmanned aerial vehicle's concentrated parking, and unmanned aerial vehicle stands by, charges at the airport of stopping, stops the airport and just is provided with the automatic window that can open and close for enclosed state, when unmanned aerial vehicle need carry out the delivery task, opens automatic window and from stopping the airport departure, has carried out the flight task back, gets back to the airport of stopping, sets up to the enclosed state and can play the guard action to unmanned aerial vehicle in the airport of stopping, prevents that unmanned aerial vehicle from blowing to shine and reduce life.
After flying to the delivery station according to the goods taking flight task, the delivery unmanned aerial vehicle captures a target medicine box according to the information of the medicine to be delivered, and applies for a delivery route to the server.
And when the server receives the delivery route application request of the delivery unmanned aerial vehicle, generating a delivery flight task according to the receiving station information in the delivery request, and sending the delivery flight task to the delivery unmanned aerial vehicle. The distribution route is applied after the distribution unmanned aerial vehicle gets goods, so that the server can plan the most reasonable and optimal flight track for the distribution unmanned aerial vehicle according to the distribution flight condition, the aviation control condition and the receiving station information of the current unmanned aerial vehicle group, and the distribution speed is improved. The delivery unmanned aerial vehicle flies to the delivery station according to the delivery flight task to deliver the target medicine chest to the delivery station.
The invention adopts the unmanned aerial vehicle to distribute the medicines in the hospital, can utilize the external space of the hospital to transport the medicines, does not occupy the building area of the hospital, does not depend on a vertical channel in the hospital for distribution by the unmanned aerial vehicle, and is not influenced by the flow of people in the hospital, so that the distribution speed is high and the efficiency is high.
According to a second embodiment of the present invention, as shown in fig. 2, a method for dispensing a hospital medicine includes:
s100, when a server receives a distribution request sent by a delivery station, selecting an idle unmanned aerial vehicle as a distribution unmanned aerial vehicle, and sending a cargo taking flight task to the distribution unmanned aerial vehicle according to the distribution request;
s210, the distribution unmanned aerial vehicle flies to the delivery station according to the goods taking flight task;
s220, the delivery unmanned aerial vehicle identifies information of the medicine box according to the label information on the medicine box;
s230, judging whether the medicine box is a target medicine box by the delivery unmanned aerial vehicle according to the information of the medicine box;
s240, when the medicine box is a target medicine box, the delivery unmanned aerial vehicle grabs the target medicine box and applies for a transportation route to the server;
s300, when receiving a distribution route application request of the distribution unmanned aerial vehicle, the server generates a delivery flight task of the distribution unmanned aerial vehicle according to the distribution request and sends the delivery flight task to the distribution unmanned aerial vehicle;
s400, the delivery unmanned aerial vehicle delivers the target medicine box to a receiving station according to the delivery flight task.
Specifically, after the medicines are placed in the empty medicine boxes at the delivery station, label information such as a two-dimensional code and a bar code is attached to the medicine boxes, and the label information includes medicine information, receiving station information, and the like. After the medicine boxes with the label information are placed in the delivery station, when the delivery station detects that the medicine boxes need to be delivered, the label information on the medicine boxes can be scanned to obtain medicine information and receiving station information of the medicine boxes, and then the delivery station information, the medicine information and the receiving station information are sent to the server to request delivery.
After receiving the distribution request, the server analyzes the distribution request, acquires the information of the medicine to be distributed, the information of the delivery station and the information of the receiving station, and then issues a cargo taking flight task to the distribution unmanned aerial vehicle according to the information of the medicine to be distributed and the address of the delivery station.
After the delivery unmanned aerial vehicle flies to a delivery station according to the goods taking flight task, firstly identifying label information on the medicine box to acquire information of the medicine box, namely acquiring medicine information in the medicine box, confirming whether the medicine information in the medicine box is matched with the information of the medicine to be delivered, if so, proving that the medicine box is a target medicine box, and the delivery unmanned aerial vehicle grabs the target medicine box and applies for a transportation route to a server.
When the medicine information in the medicine box is not matched with the medicine information to be dispensed, other medicine boxes of the delivery station are continuously identified until a target medicine box is found, if the target medicine box matched with the medicine to be dispensed cannot be found in the delivery station, error prompt information is sent to a server, after the server obtains the error prompt information, whether the address of the delivery station in a delivered goods taking flight task is correct is detected, if the address is correct, a correct signal is sent to a delivery unmanned aerial vehicle, the delivery unmanned aerial vehicle sends an alarm signal after receiving the correct signal, and workers are reminded to process the alarm signal.
In this embodiment, the unmanned aerial vehicle that delivers checks medical kit information through the label information on the medical kit earlier before snatching the medical kit to confirm whether this medical kit is the target medical kit, prevent that medicine delivery error from appearing, in order to improve the rate of accuracy of medicine delivery.
According to a third embodiment of the present invention, as shown in fig. 3, a method for distributing hospital medicine comprises:
s100, when a server receives a distribution request sent by a delivery station, selecting an idle unmanned aerial vehicle as a distribution unmanned aerial vehicle, and sending a cargo taking flight task to the distribution unmanned aerial vehicle according to the distribution request;
s210, the distribution unmanned aerial vehicle flies to the delivery station according to the goods taking flight task;
s211, the distribution unmanned aerial vehicle judges whether the delivery station is a target delivery station or not according to the label information on the delivery window of the delivery station;
s212, when the delivery station is a target delivery station, the delivery unmanned aerial vehicle opens a delivery window of the delivery station, penetrates through the delivery window and reaches the upper part of the medicine box;
s220, the delivery unmanned aerial vehicle identifies information of the medicine box according to the label information on the medicine box;
s230, judging whether the medicine box is a target medicine box by the delivery unmanned aerial vehicle according to the information of the medicine box;
s240, when the medicine box is a target medicine box, the delivery unmanned aerial vehicle grabs the target medicine box and applies for a transportation route to the server;
s250, the distribution unmanned aerial vehicle flies away from the delivery station and closes the delivery window;
s300, when receiving a distribution route application request of the distribution unmanned aerial vehicle, the server generates a delivery flight task of the distribution unmanned aerial vehicle according to the distribution request and sends the delivery flight task to the distribution unmanned aerial vehicle;
s400, the delivery unmanned aerial vehicle delivers the target medicine box to a receiving station according to the delivery flight task.
Specifically, since there may be a plurality of delivery stations in the hospital, after the delivery unmanned aerial vehicle flies to the delivery station according to the delivery flight mission, the tag information on the delivery window of the delivery station is identified first, and it is determined whether the delivery station is the target delivery station, that is, whether the delivery station is the place where the delivery unmanned aerial vehicle takes the medicine is determined, so as to prevent the delivery unmanned aerial vehicle from reaching the wrong delivery station due to the error in the flying process.
After the delivery unmanned aerial vehicle confirms that the delivery station is the target delivery station, the delivery window of the delivery station is opened, the delivery window penetrates through the upper part reaching the medicine box, then the label information on the medicine box is scanned, and the target medicine box is found and grabbed. The information of the delivery station is confirmed firstly, then the information of the medicine box is confirmed, and the accuracy rate of medicine delivery can be ensured through double guarantee.
In this embodiment, set up label information on the delivery window of delivery station, deliver unmanned aerial vehicle and check delivery station information earlier when arriving delivery station, confirm whether the delivery station that arrives is correct, then confirm whether the medical kit is correct to improve the rate of accuracy of medicine delivery, avoid appearing the wrong condition of medicine delivery. Simultaneously, the delivery station sets up the delivery window, and is opened by distribution unmanned aerial vehicle control, can make the delivery station be in the encapsulated situation, prevents that the medicine from losing or being changed, improves the security.
According to a fourth embodiment of the present invention, as shown in fig. 4, a method for distributing hospital medicine includes:
s100, when a server receives a distribution request sent by a delivery station, selecting an idle unmanned aerial vehicle as a distribution unmanned aerial vehicle, and sending a cargo taking flight task to the distribution unmanned aerial vehicle according to the distribution request;
s200, the delivery unmanned aerial vehicle flies to the delivery station to grab a target medicine box according to the goods taking flight task and applies for a delivery route to the server;
s300, when receiving a distribution route application request of the distribution unmanned aerial vehicle, the server generates a delivery flight task of the distribution unmanned aerial vehicle according to the distribution request and sends the delivery flight task to the distribution unmanned aerial vehicle;
s410, the delivery unmanned aerial vehicle flies to a receiving station according to the delivery flight task;
s420, the distribution unmanned aerial vehicle judges whether the receiving station is a target receiving station or not according to the label information on the receiving window of the receiving station;
s430, when the goods receiving station is a target goods receiving station, the distribution unmanned aerial vehicle opens a goods receiving window of the goods receiving station and penetrates through the goods receiving window to reach the upper part of a platform of the goods receiving station;
s440, the delivery unmanned aerial vehicle automatically descends, the target medicine box is placed on the platform, and the target medicine box is conveyed to a destination through a conveying belt;
s450, the distribution unmanned aerial vehicle flies away from the goods receiving station and closes the goods receiving window.
Specifically, since there are a plurality of receiving stations in the hospital, after the unmanned aerial vehicle flies to the receiving station according to the delivery flight mission, the unmanned aerial vehicle firstly identifies the label information on the receiving window of the receiving station, and confirms whether the receiving station is the target receiving station, that is, confirms whether the receiving station is the destination of the unmanned aerial vehicle, so as to prevent the unmanned aerial vehicle from arriving at the wrong receiving station due to errors in the flying process and causing errors in the delivery of the medicine. The label information may be a two-dimensional code or a bar code, etc.
After the distribution unmanned aerial vehicle confirms that the goods receiving station is the target goods receiving station, the goods receiving window is controlled to be opened and penetrates through the goods receiving window to reach the upper portion of the platform of the goods receiving station. The delivery unmanned aerial vehicle descends automatically and places the target medicine chest on the platform, and the target medicine chest passes through the conveyer belt and conveys the destination, triggers the speech equipment on the receiving station after the target medicine chest arrives the destination, and the nurse of voice prompt receiving station receives goods, and the nurse of receiving station receives the voice prompt after receiving the voice prompt, takes the goods away.
In this embodiment, set up label information on the receipts goods window of receiving station, the delivery unmanned aerial vehicle checks the receiving station information earlier when arriving the receiving station, confirms whether the receiving station that arrives is the target receiving station to prevent the medicine delivery mistake, improve the rate of accuracy of medicine delivery. Simultaneously, the delivery station sets up the window of receiving goods, and is opened by delivery unmanned aerial vehicle control, and delivery unmanned aerial vehicle places the medical kit behind the delivery station, can make the delivery station be in the encapsulated situation, prevents that the medicine from losing or being changed, improves the security.
According to a fifth embodiment of the present invention, as shown in fig. 5, a method for dispensing a hospital medicine includes:
s100, when a server receives a distribution request sent by a delivery station, selecting an idle unmanned aerial vehicle as a distribution unmanned aerial vehicle, and sending a cargo taking flight task to the distribution unmanned aerial vehicle according to the distribution request;
s200, the delivery unmanned aerial vehicle flies to the delivery station to grab a target medicine box according to the goods taking flight task and applies for a delivery route to the server;
s310, when receiving a distribution route application request of the distribution unmanned aerial vehicle, the server generates a delivery flight task of the distribution unmanned aerial vehicle according to air route information and receiving station information in the distribution request, wherein the delivery flight task comprises takeoff time, flight track and transfer station information;
s320, the server sends the goods delivery flight task to the delivery unmanned aerial vehicle;
s400, the delivery unmanned aerial vehicle delivers the target medicine box to a receiving station according to the delivery flight task.
Specifically, when receiving a distribution route application request of a distribution unmanned aerial vehicle, a server generates an optimal delivery flight task for the distribution unmanned aerial vehicle according to a distribution condition of a current unmanned aerial vehicle group, aviation control information and receiving station information in the distribution request, wherein the delivery flight task comprises takeoff time, flight trajectory and transfer station information.
The server can also divide the delivery flight track of the delivery unmanned aerial vehicle into multiple sections, for example, the delivery unmanned aerial vehicle needs to reach the position C from the position A, the server divides the delivery flight track of the delivery unmanned aerial vehicle into two sections, the first section is from the position A to the position B, the second section is from the position B to the position C, the position B can be a transfer station or not, the delivery flight task sent by the server can only include the flight track from the position A to the position B firstly, the delivery unmanned aerial vehicle can hover firstly after reaching the position B from the position A and then apply for the flight track to the server again, and the server plans the optimal flight track from the position B to the position C for the delivery unmanned aerial vehicle according to the current airline information.
According to a sixth embodiment provided by the present invention, as shown in fig. 6, a distribution system for hospital drugs comprises a server 100, a distribution drone 200, a delivery station and a receiving station;
the server 100 is configured to select an idle unmanned aerial vehicle as the distribution unmanned aerial vehicle 200 when receiving a distribution request sent by a delivery station, and issue a cargo taking flight task to the distribution unmanned aerial vehicle 200 according to the distribution request;
the delivery unmanned aerial vehicle 200 is configured to fly to the delivery station to grab a target medicine box according to the goods taking flight task, and apply for a delivery route to the server 100;
the server 100 is configured to generate a delivery flight task of the distribution unmanned aerial vehicle 200 according to a distribution request when receiving the distribution route application request of the distribution unmanned aerial vehicle 200, and send the delivery flight task to the distribution unmanned aerial vehicle 200;
the delivery unmanned aerial vehicle 200 is configured to deliver the target medicine boxes to the receiving station according to the delivery flight task.
Specifically, when the prepared medicine box is placed at the receiving station, the receiving station sends a delivery request to the server 100 (scheduling system), the delivery request includes information of the medicine to be delivered, information of the delivery station and information of the receiving station, after the server 100 receives the delivery request sent by the delivery station, the delivery request is analyzed, the information of the medicine to be delivered, the information of the delivery station and the information of the receiving station are obtained, then an idle unmanned aerial vehicle is selected from an airport to serve as the delivery unmanned aerial vehicle 200, and a delivery flying task is issued to the delivery unmanned aerial vehicle 200 according to the information of the delivery station and the information of the medicine to be delivered in the delivery request. The goods taking flight task comprises takeoff time, flight track and information of the medicine to be dispensed.
The airport of stopping is used for unmanned aerial vehicle's concentrated parking, and unmanned aerial vehicle stands by, charges at the airport of stopping, stops the airport and just is provided with the automatic window that can open and close for enclosed state, when unmanned aerial vehicle need carry out the delivery task, opens automatic window and from stopping the airport departure, has carried out the flight task back, gets back to the airport of stopping, sets up to the enclosed state and can play the guard action to unmanned aerial vehicle in the airport of stopping, prevents that unmanned aerial vehicle from blowing to shine and reduce life.
After flying to the delivery station according to the goods taking flight task, the delivery unmanned aerial vehicle 200 captures a target medicine box according to the information of the medicine to be delivered, and applies for a delivery route to the server 100.
When receiving the delivery route application request of the delivery unmanned aerial vehicle 200, the server 100 generates a delivery flight task according to the receiving station information in the delivery request, and sends the delivery flight task to the delivery unmanned aerial vehicle 200. The distribution route is applied after the distribution unmanned aerial vehicle 200 takes the goods, so that the server 100 plans the most reasonable and optimal flight track for the distribution unmanned aerial vehicle 200 according to the distribution flight condition, the aviation control condition and the receiving station information of the current unmanned aerial vehicle group, and the distribution rate is improved. The delivery unmanned aerial vehicle 200 flies to the delivery station according to the delivery flight mission to deliver the target medicine boxes to the delivery station.
The invention adopts the unmanned aerial vehicle to distribute the medicines in the hospital, can utilize the external space of the hospital to transport the medicines, does not occupy the building area of the hospital, does not depend on a vertical channel in the hospital for distribution by the unmanned aerial vehicle, and is not influenced by the flow of people in the hospital, so that the distribution speed is high and the efficiency is high.
According to a seventh embodiment provided by the present invention, as shown in fig. 6,
a distribution system of hospital drugs comprises a server 100, a distribution unmanned aerial vehicle 200, a delivery station and a receiving station; the distribution unmanned aerial vehicle 200 comprises a flight module 210, an identification module 220, a judgment module 230, a grabbing module 240 and a route application module 250;
the server 100 is configured to select an idle unmanned aerial vehicle as the distribution unmanned aerial vehicle 200 when receiving a distribution request sent by a delivery station, and issue a cargo taking flight task to the distribution unmanned aerial vehicle 200 according to the distribution request;
the flying module 210 is used for flying to the delivery station according to the goods taking flying task;
the identifying module 220 is configured to identify information of the medicine box according to the label information on the medicine box;
a judging module 230, configured to judge whether the medicine box is a target medicine box according to the information of the medicine box;
a grasping module 240 configured to grasp a target medicine box when the medicine box is the target medicine box;
a route applying module 250, configured to apply for a transportation route to the server 100 after grabbing a target medicine box;
the server 100 is configured to generate a delivery flight task of the distribution unmanned aerial vehicle 200 according to a distribution request when receiving the distribution route application request of the distribution unmanned aerial vehicle 200, and send the delivery flight task to the distribution unmanned aerial vehicle 200;
the delivery unmanned aerial vehicle 200 is configured to deliver the target medicine boxes to the receiving station according to the delivery flight task.
Specifically, after the medicines are placed in the empty medicine boxes at the delivery station, label information such as a two-dimensional code and a bar code is attached to the medicine boxes, and the label information includes medicine information, receiving station information, and the like. After the medicine boxes with the label information are placed in the delivery station, when the delivery station detects that the medicine boxes need to be delivered, the label information on the medicine boxes can be scanned to obtain medicine information and receiving station information of the medicine boxes, and then the delivery station information, the medicine information and the receiving station information are sent to the server 100 to request delivery.
After receiving the delivery request, the server 100 parses the delivery request, obtains the information of the to-be-delivered drug, the information of the delivery station and the information of the receiving station, and then issues a cargo taking flight task to the delivery unmanned aerial vehicle 200 according to the information of the to-be-delivered drug and the address of the delivery station.
After the delivery unmanned aerial vehicle 200 flies to the delivery station according to the goods taking flight task, firstly, the label information on the medicine box is recognized to acquire the information of the medicine box, that is, the medicine information in the medicine box is acquired, whether the medicine information in the medicine box is matched with the information of the medicine to be delivered is confirmed, if the medicine information is matched with the information of the medicine to be delivered, the medicine box is proved to be a target medicine box, the delivery unmanned aerial vehicle 200 grabs the target medicine box, and applies for a transportation route to the server 100.
When the medicine information in the medicine box is not matched with the medicine information to be dispensed, other medicine boxes of the delivery station are continuously identified until a target medicine box is found, if the target medicine box matched with the medicine to be dispensed cannot be found at the delivery station, error prompt information is sent to the server 100, after the server 100 obtains the error prompt information, whether the address of the delivery station in the issued goods taking flight task is correct is detected, if the address is correct, a correct signal is sent to the delivery unmanned aerial vehicle 200, and after the delivery unmanned aerial vehicle 200 receives the correct signal, an alarm signal is sent to remind a worker to process the address.
In this embodiment, the unmanned delivery vehicle 200 checks the medicine box information through the label information on the medicine box before grasping the medicine box to determine whether the medicine box is the target medicine box, thereby preventing errors in medicine delivery and improving the accuracy of medicine delivery.
Preferably, as shown in fig. 7, the delivery station comprises a channel 1 made of sound-proof glass, and a platform 2 and a conveyor belt 3 which are arranged in the channel 1, wherein one end of the channel 1 close to the platform 2 is provided with a delivery window 4 which can be opened and closed, and a label is arranged on the delivery window 4;
the identification module 220 of the distribution unmanned aerial vehicle 200 is used for identifying the label information on the delivery window 4;
a determining module 230 of the distribution drone 200, configured to determine whether the delivery station is a target delivery station;
the control module 260 of the distribution unmanned aerial vehicle 200 is configured to control the opening of the delivery window 4 when the delivery station is a target delivery station;
the flight module 210 of the unmanned aerial vehicle 200 is configured to, after the delivery window 4 is opened, pass through the delivery window 4 into the passage 1 and reach above the medicine boxes 5 placed on the platform 2;
the control module 260 of the distribution drone 200 is further configured to control the delivery window 4 to be closed after the distribution drone 200 flies away from the passage 1.
Specifically, the delivery station includes passageway 1 by insulating glass constitution, and set up platform 2 and conveyer belt 3 in passageway 1, staff or robot can place the medical kit 5 of dress medicine on conveyer belt 3, convey the medical kit 5 to platform 2 by conveyer belt 3, delivery unmanned aerial vehicle 200 arrives the delivery station after, discern the label information on the delivery window 4 of delivery station earlier, confirm whether this delivery station is the target delivery station, confirm promptly whether this delivery station is the place that this delivery unmanned aerial vehicle 200 got the medicine, prevent that delivery unmanned aerial vehicle 200 from arriving wrong delivery station because of appearing the mistake in the flight.
After the delivery unmanned aerial vehicle 200 confirms that the delivery station is the target delivery station, the delivery window 4 of the delivery station is opened, the delivery window 4 passes through to reach the upper side of the medicine boxes 5 placed on the platform 2, and then the label information on the medicine boxes 5 is scanned to find and grasp the target medicine boxes. The information of the delivery station is confirmed first, and then the information of the medicine boxes 5 is confirmed, so that the accuracy of medicine delivery can be ensured through double guarantee.
In this embodiment, the label information is set on the delivery window 4 of the delivery station, and when the delivery unmanned aerial vehicle 200 arrives at the delivery station, the delivery station information is checked first, whether the arrived delivery station is correct is confirmed, and then whether the medicine box 5 is correct is confirmed, so that the accuracy of medicine delivery is improved, and the occurrence of a medicine delivery error is avoided. Simultaneously, the delivery station includes the passageway 1 of constituteing by sound insulating glass, can make the delivery station be in the encapsulated situation, prevents that the medicine from losing or being changed, improves the security to sound insulating glass can keep apart unmanned aerial vehicle's noise, prevents to influence the patient in the ward.
Preferably, the structure of the goods receiving station is the same as that of the goods issuing station, and the structure schematic diagram of the goods receiving station refers to the structure schematic diagram of the goods issuing station shown in fig. 7; the goods receiving station comprises a channel consisting of sound insulation glass, a platform and a conveying belt, wherein the platform and the conveying belt are arranged in the channel, one end, close to the platform, of the channel is provided with a goods receiving window which can be opened and closed, and a label is arranged on the goods receiving window.
A flight module 210 of the distribution unmanned aerial vehicle 200, configured to fly to the pickup station according to the delivery flight mission;
an identification module 220 of the distribution drone 200, configured to identify the tag information on the receiving window;
the determining module 230 of the distribution unmanned aerial vehicle 200 is configured to determine whether the receiving station is a target receiving station according to the label information on the receiving window of the receiving station;
the control module 260 of the distribution unmanned aerial vehicle 200 is configured to control the opening of the cargo receiving window when the cargo receiving station is a target cargo receiving station;
the flight module 210 of the distribution unmanned aerial vehicle 200 is used for passing through the goods receiving window into the channel and reaching the upper part of the platform of the goods receiving station after the goods receiving window is opened;
a landing module 270 of the delivery unmanned aerial vehicle 200, configured to automatically land when arriving above a platform of the receiving station, place the target medicine box on the platform, and enable the target medicine box to be conveyed to a destination via the conveyor belt;
the control module 260 of the distribution unmanned aerial vehicle 200 is further configured to control the receiving window to be closed after the distribution unmanned aerial vehicle 200 flies away from the passage.
Specifically, since there are a plurality of receiving stations in the hospital, after the unmanned aerial vehicle 200 flies to the receiving station according to the delivery flight mission, the tag information on the receiving window of the receiving station is recognized first, and it is determined whether the receiving station is the target receiving station, that is, it is determined whether the receiving station is the destination of the unmanned aerial vehicle 200, so as to prevent the unmanned aerial vehicle 200 from arriving at the wrong receiving station due to an error in the flying process and causing a drug delivery error. The label information may be a two-dimensional code or a bar code, etc.
After the delivery unmanned aerial vehicle 200 confirms that this receiving station is target receiving station, the last receipts goods window of control channel is opened, and pass in this receipts goods window gets into the passageway, reach the platform top of receiving station, delivery unmanned aerial vehicle 200 automatic descending places the target medical kit on the platform after, the target medical kit passes through the conveyer belt and conveys the destination, the voice device on the receiving station is triggered after the target medical kit arrives the destination, the nurse of voice prompt receiving station receives goods, the nurse of receiving station receives the voice prompt after, take the goods away.
In this embodiment, the receiving window of the receiving station is provided with the label information, and when the distribution unmanned aerial vehicle 200 arrives at the receiving station, the receiving station information is checked first, and whether the arriving receiving station is the target receiving station is determined, so as to prevent the drug distribution error and improve the accuracy of the drug distribution. Simultaneously, the receiving station sets up the passageway of constituteing by sound insulation glass, and delivery unmanned aerial vehicle 200 places the medical kit behind the receiving station, can make the receiving station be in the encapsulated situation, prevents that the medicine from losing or being changed, improves the security.
Preferably, the server 100 comprises:
a flight task generating module 110, configured to generate a delivery flight task of the distribution unmanned aerial vehicle 200 according to airline information and receiving station information in the distribution request when receiving a distribution route application request of the distribution unmanned aerial vehicle 200, where the delivery flight task includes takeoff time, flight trajectory, and transfer station information;
a task sending module 120, configured to send the delivery flight task to the delivery unmanned aerial vehicle 200.
Specifically, when the server 100 receives a delivery route application request of the delivery unmanned aerial vehicle 200, an optimal delivery flight task is generated for the delivery unmanned aerial vehicle 200 according to the delivery condition of the current unmanned aerial vehicle group, the aviation control information and the receiving station information in the delivery request, wherein the delivery flight task includes takeoff time, flight trajectory and transfer station information.
The server 100 may further divide the delivery flight trajectory of the delivery unmanned aerial vehicle 200 into multiple segments, for example, the delivery unmanned aerial vehicle 200 needs to reach the location C from the location a, the server 100 divides the delivery flight trajectory of the delivery unmanned aerial vehicle 200 into two segments, where the first segment is from the location a to the location B, the second segment is from the location B to the location C, the location B may be a transfer station or not, the delivery flight mission sent by the server 100 may include only the flight trajectory from the location a to the location B, the delivery unmanned aerial vehicle 200 may hover after reaching the location B from the location a, then apply for the flight trajectory to the server 100 again, and the server 100 plans the optimal flight trajectory from the location B to the location C for the delivery unmanned aerial vehicle 200 according to the current airline information.
It should be noted that the above embodiments can be freely combined as necessary. The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, various modifications and decorations can be made without departing from the principle of the present invention, and these modifications and decorations should also be regarded as the protection scope of the present invention.
Claims (6)
1. A method of dispensing a hospital medication, comprising:
when a server receives a distribution request sent by a delivery station, an idle unmanned aerial vehicle is selected as a distribution unmanned aerial vehicle, and a cargo taking flight task is issued to the distribution unmanned aerial vehicle according to the distribution request;
the delivery unmanned aerial vehicle flies to the delivery station according to the goods taking flight task to grab a target medicine box and applies for a delivery route to the server;
when the server receives a distribution route application request of the distribution unmanned aerial vehicle, a delivery flight task of the distribution unmanned aerial vehicle is generated according to air route information and receiving station information in the distribution request and is sent to the distribution unmanned aerial vehicle, wherein the delivery flight task comprises takeoff time and a first flight track;
the delivery unmanned aerial vehicle flies to a destination corresponding to the first flight track according to the delivery flight task and then applies for a second flight track to a server;
the server plans a second flight track for the distribution unmanned aerial vehicle according to the current air route information and sends the second flight track to the distribution unmanned aerial vehicle;
the delivery unmanned aerial vehicle delivers the target medicine box to a receiving station according to the second flight track;
the delivery unmanned aerial vehicle flies to the delivery station according to the goods taking flight task to grab the target medicine box, and applies for a transportation route to the server, and the method specifically comprises the following steps:
the distribution unmanned aerial vehicle flies to the delivery station according to the goods taking flight task;
the distribution unmanned aerial vehicle identifies the information of the medicine box according to the label information on the medicine box;
the delivery unmanned aerial vehicle judges whether the medicine box is a target medicine box according to the information of the medicine box;
when the medicine chest is the target medicine chest, the delivery unmanned aerial vehicle grabs the target medicine chest and applies for a transportation route to the server.
2. A distribution method for hospital medicines according to claim 1, wherein after the unmanned distribution vehicle flies to the delivery station according to the pick-up flight task, the unmanned distribution vehicle further includes, before identifying information of the medicine boxes according to label information on the medicine boxes:
the distribution unmanned aerial vehicle judges whether the delivery station is a target delivery station or not according to the label information on the delivery window of the delivery station;
when the delivery station is a target delivery station, the delivery unmanned aerial vehicle opens a delivery window of the delivery station, penetrates through the delivery window and reaches the upper part of the medicine chest;
when the medical kit is the target medical kit, the delivery unmanned aerial vehicle picks the target medical kit, and further includes after applying for a transport route to the server:
the distribution unmanned aerial vehicle flies away from the delivery station and closes the delivery window.
3. A method for delivering hospital medicines according to claim 1, wherein the delivering unmanned aerial vehicle delivers the target medicine box to the receiving station according to the delivery flight task specifically comprises:
the delivery unmanned aerial vehicle flies to a receiving station according to the delivery flight task;
the distribution unmanned aerial vehicle judges whether the goods receiving station is a target goods receiving station or not according to the label information on the goods receiving window of the goods receiving station;
when the goods receiving station is a target goods receiving station, the distribution unmanned aerial vehicle opens a goods receiving window of the goods receiving station and penetrates through the goods receiving window to reach the upper part of a platform of the goods receiving station;
the delivery unmanned aerial vehicle automatically descends, the target medicine box is placed on the platform, and the target medicine box is conveyed to a destination through the conveying belt;
and the distribution unmanned aerial vehicle flies away from the goods receiving station and closes the goods receiving window.
4. A distribution system for hospital medicines is characterized by comprising a server, a distribution unmanned aerial vehicle, a delivery station and a receiving station;
the server is used for selecting an idle unmanned aerial vehicle as the distribution unmanned aerial vehicle when receiving a distribution request sent by a delivery station, and sending a cargo taking flight task to the distribution unmanned aerial vehicle according to the distribution request;
the delivery unmanned aerial vehicle is used for flying to the delivery station according to the goods taking flight task to grab a target medicine box and applying for a delivery route to the server;
the server is used for generating a delivery flight task of the distribution unmanned aerial vehicle according to air route information and receiving station information in the distribution request and sending the delivery flight task to the distribution unmanned aerial vehicle when receiving a distribution route application request of the distribution unmanned aerial vehicle, wherein the delivery flight task comprises takeoff time and a first flight track;
the delivery unmanned aerial vehicle is used for applying for a second flight track to a server after flying to a destination corresponding to the first flight track according to the delivery flight task;
the server is used for planning a second flight track for the distribution unmanned aerial vehicle according to the current air route information and sending the second flight track to the distribution unmanned aerial vehicle;
the delivery unmanned aerial vehicle is used for delivering the target medicine chest to a delivery station according to the delivery flight task;
the delivery unmanned aerial vehicle includes:
the flying module is used for flying to the delivery station according to the goods taking flying task;
the identification module is used for identifying the information of the medicine box according to the label information on the medicine box;
the judgment module is used for judging whether the medicine box is a target medicine box or not according to the information of the medicine box;
the grabbing module is used for grabbing the target medicine box when the medicine box is the target medicine box;
and the route application module is used for applying for a transportation route to the server after the target medicine box is grabbed.
5. A hospital drug delivery system according to claim 4, wherein said delivery station comprises a tunnel formed of sound-proof glass, and a platform and a conveyor belt arranged in said tunnel, wherein an openable and closable delivery window is provided at an end of said tunnel adjacent to said platform, said delivery window being provided with a label;
the identification module is used for identifying the label information on the delivery window;
the judging module is used for judging whether the delivery station is a target delivery station;
the distribution unmanned aerial vehicle further comprises a control module;
the control module is used for controlling the opening of the delivery window when the delivery station is a target delivery station;
the flying module is used for penetrating through the delivery window into the channel and reaching the upper part of the medicine chest placed on the platform after the delivery window is opened;
the control module is also used for controlling the delivery window to be closed after the delivery unmanned aerial vehicle flies away from the channel.
6. The hospital drug delivery system according to claim 4, wherein the receiving station comprises a channel made of sound-proof glass, and a platform and a conveyor belt arranged in the channel, wherein one end of the channel close to the platform is provided with an openable and closable receiving window, and the receiving window is provided with a label;
the delivery unmanned aerial vehicle includes:
the flight module is used for flying to a receiving station according to the delivery flight task;
the identification module is used for identifying the label information on the receiving window;
the judging module is used for judging whether the goods receiving station is a target goods receiving station or not according to the label information on the goods receiving window of the goods receiving station;
the control module is used for controlling the opening of the goods receiving window when the goods receiving station is a target goods receiving station;
the flight module is used for penetrating through the goods receiving window into the channel and reaching the upper part of the platform of the goods receiving station after the goods receiving window is opened;
the descending module is used for automatically descending when the target medicine boxes reach the upper part of the platform of the goods receiving station, placing the target medicine boxes on the platform and enabling the target medicine boxes to be conveyed to the destination through the conveyor belt;
the control module is also used for controlling the goods receiving window to be closed after the distribution unmanned aerial vehicle flies away from the channel.
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| CN111276225A (en) * | 2020-01-16 | 2020-06-12 | 中通服建设有限公司 | Intelligent service system applied to community medical health |
| CN111617292A (en) * | 2020-05-20 | 2020-09-04 | 上海木木聚枞机器人科技有限公司 | Disinfection method and device in robot cabinet |
| CN112116271B (en) * | 2020-09-27 | 2021-07-06 | 拉扎斯网络科技（上海）有限公司 | Order data processing method and device |
| CN112884395A (en) * | 2020-12-25 | 2021-06-01 | 安徽翼讯飞行安全技术有限公司 | Cargo box delivery system based on logistics unmanned aerial vehicle and control method |
| CN112801601B (en) * | 2021-04-08 | 2021-07-02 | 北京三快在线科技有限公司 | Method and device for allocating routes, storage medium and electronic equipment |
| CN113793107A (en) * | 2021-09-28 | 2021-12-14 | 联想(北京)有限公司 | Distribution system, method and equipment |
| CN113978732A (en) * | 2021-12-08 | 2022-01-28 | 长沙市第三医院 | Four-rotor unmanned aerial vehicle for taking medicine |
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