CN111071681B

CN111071681B - Parallel medicine falling control method based on double-layer rotary table, and system and device for parallel medicine falling control of double-layer rotary table

Info

Publication number: CN111071681B
Application number: CN201911420237.4A
Authority: CN
Inventors: 卢超; 石峰; 刑亚娟; 姜卫国; 杨进; 张生科; 乔自艳
Original assignee: Zhejiang Yinxinborong Electronic Technology Co ltd
Current assignee: Ningbo Yinzhikang Technology Co ltd
Priority date: 2019-12-31
Filing date: 2019-12-31
Publication date: 2020-09-08
Anticipated expiration: 2039-12-31
Also published as: CN111071681A

Abstract

The invention discloses a parallel medicine falling control method, a device and a system based on a double-layer turntable and an implementation method thereof.

Description

Parallel medicine falling control method based on double-layer rotary table, and system and device for parallel medicine falling control of double-layer rotary table

Technical Field

The invention relates to the technical field of equipment automation, in particular to a method for realizing parallel medicine falling control based on a double-layer turntable, a control method, a system and a device for the parallel medicine falling control of the double-layer turntable.

Background

With the development of science and technology, the intelligent and automatic control of medicine dropping and dispensing has become a development trend. However, the realization of automatic dispensing and dropping requires hardware support and software control method assistance, which is relatively complicated. Therefore, although the development concept of equipment intellectualization has been proposed for a while, in the actual implementation process, the medicine falling control still can only reach the semi-automation degree at present, namely, the currently common medicine falling control is that medicine bottles containing different medicines are placed on a medicine falling console according to the prescription by people, then a medicine storage device capable of circularly rotating is deployed under the medicine falling console, the medicine storage device is controlled to circularly rotate under the medicine falling console, the automatic medicine falling is realized, and the medicines in a certain medicine storage grid are sequentially taken away by people after being matched. It can be seen that, although the prior art realizes automation of medicine dropping to a certain extent, the following defects still exist:

firstly, the medicine placing process still needs manual placing, a large amount of labor is consumed for intensive business volume of a hospital, and the medicine dispensing efficiency is influenced;

secondly, in the mechanical control stage, the medicine storage device needs to be controlled to rotate circularly, so that the mechanical control operation needed is relatively complicated and complex and is easy to make mistakes in order to avoid repeated medicine falling and wrong medicine falling;

the third, because the control cabinet that falls is according to the circulation rotation that stores up the medicine device and falls the medicine, the control of falling the medicine of the control cabinet that falls itself is intelligent inadequately, and after certain package medicine was joined in marriage completely, still need artificial supplementary could guarantee in time to take the encapsulation away when falling the medicine, otherwise will produce the repeated condition of falling the medicine easily.

Disclosure of Invention

A first object of the present invention is to provide a solution that can realize automatic medicine drop control with a minimum of mechanical operations, so as to shorten prescription dispensing time and improve prescription dispensing efficiency.

The second purpose of the invention is to realize that the medicine bottles in the upper turntable can simultaneously drop medicine in parallel under the condition of minimum mechanical action, further shorten prescription dispensing time and improve prescription dispensing efficiency.

According to a first aspect of the invention, a method for realizing parallel medicine falling control based on a double-layer turntable is provided, wherein the double-layer turntable involved in the method comprises an upper turntable provided with a medicine falling control mechanism and a lower turntable provided with medicine storage grids, the upper turntable is provided with an operating position for placing or taking medicine bottles to or from the medicine falling control mechanism, and the method comprises the following steps of

Determining a medicine falling control period according to the configured mechanical parameters of the double-layer turntable;

in each medicine falling control period, the following operations are sequentially and circularly carried out until the medicine falling control period is reached: determining a medicine falling position to perform medicine falling control operation; after the medicine falling operation, generating a first rotation control signal according to the mechanical parameters of the double-layer turntable to control the rotation of the lower turntable;

when the medicine falling control period is reached, the following operations are carried out: determining a medicine falling position to perform medicine falling control operation; after the medicine falling operation, generating a second rotation control signal according to the mechanical parameters of the double-layer turntable and simultaneously controlling the upper turntable and the lower turntable to rotate;

wherein the first rotation control signal is configured to cause only the lower turntable to rotate a predetermined number of medicine storage compartments in a preset direction; the second rotation control signal is configured to rotate the medicine storage grid of the lower rotary table back to the initial position, and update the medicine falling control mechanism at the operation position of the upper rotary table to the medicine falling control mechanism at the position adjacent to the current medicine falling control mechanism in the opposite direction of the preset direction.

According to a second aspect of the invention, a parallel medicine falling control method based on a double-layer turntable is provided, wherein the double-layer turntable comprises an upper turntable provided with a medicine falling control mechanism, a lower turntable provided with a medicine storage grid and a mechanical arm arranged at an operation position of the upper turntable and used for placing or taking a medicine bottle to the medicine falling control mechanism, and the method comprises the following steps of

Determining a medicine falling control period according to mechanical parameters of the double-layer rotating disc, wherein the mechanical parameters comprise the number m of medicine falling control mechanisms arranged on the upper rotating disc, the number n of medicine storage grids arranged on the lower rotating disc and the number x of medicine storage grids controlled by each medicine falling control mechanism, and the determined medicine falling control period is k-n/(m-x);

responding to the instruction for starting the current medicine falling control period, according to the medicine bottle placing condition of the medicine falling control mechanism at the operating position, controlling the mechanical arm to place the medicine bottle or take away the medicine bottle from the medicine falling control mechanism at the operating position, and starting the medicine falling control operation in the current period, wherein the medicine falling control operation is realized by comprising: in the medicine falling control period, keeping the current medicine falling control mechanism at the operation position unchanged, and controlling the medicine falling control mechanism to perform medicine falling operation for k times; in the first k-1 times of medicine dropping operation, after each medicine dropping operation, the lower turntable is controlled to rotate x medicine storage grids in the preset direction; after the kth medicine falling operation, the medicine storage grids of the lower rotary disc are controlled to rotate back to the initial position, and the upper rotary disc is controlled to rotate, so that the medicine falling control mechanism at the operation position of the upper rotary disc is updated to the medicine falling control mechanism which is located at the adjacent position of the current medicine falling control mechanism in the opposite direction of the preset direction.

According to a third aspect of the present invention, there is provided a parallel drug dropping control device for a double-deck carousel, which is applied to a double-deck carousel comprising an upper carousel provided with a drug dropping control mechanism, a lower carousel provided with drug storage compartments, and a robotic arm arranged at an operating position of the upper carousel for placing or removing a drug vial to the drug dropping control mechanism, wherein the device comprises

A storage module for storing configuration information;

the first control module is used for generating a first control signal for placing a medicine bottle on the medicine falling control mechanism in the current operation position or taking the medicine bottle away according to the acquired prescription information and the medicine falling control mechanism in the current operation position and outputting the first control signal to the mechanical arm;

the second control module is used for determining a medicine falling control period and a medicine falling position according to the first control signal and the configuration information, and generating second control signals for medicine falling control operation according to the determined medicine falling control period and the determined medicine falling position and outputting the second control signals to corresponding medicine falling control mechanisms respectively; and

the third control module is used for generating a first rotation control signal or a second rotation control signal according to the second control signal and the configuration information and outputting the first rotation control signal or the second rotation control signal to the double turntables; wherein the first rotation control signal is configured to cause only the lower turntable to rotate a predetermined number of medicine storage compartments in a preset direction; the second rotation control signal is configured to rotate the medicine storage grid of the lower rotary table back to the initial position, and update the medicine falling control mechanism at the operation position of the upper rotary table to the medicine falling control mechanism at the position adjacent to the current medicine falling control mechanism in the opposite direction of the preset direction.

According to a fourth aspect of the present invention, there is provided a parallel pill-dropping control system for a double-deck turntable, comprising a double-deck turntable and a control device, wherein,

the double-layer turntable comprises

An upper rotary disc provided with a medicine falling control mechanism;

a lower turntable provided with medicine storage grids; and

the mechanical arm is arranged at the operating position of the upper turntable and used for placing or taking the medicine bottle to the medicine falling control mechanism;

the control device comprises

The storage module is used for storing configuration information, wherein the configuration information comprises mechanical parameters of the double-layer turntable, and serial numbers of the medicine falling control mechanism and the medicine storage grids;

the first control module is used for generating a first control signal according to the acquired prescription information and the medicine dropping control mechanism at the current operation position and outputting the first control signal to the mechanical arm; the mechanical arm places a medicine bottle on the medicine falling control mechanism at the current operation position or takes the medicine bottle away according to the first control signal and outputs an operation feedback signal to the control device;

the second control module is used for acquiring medicine falling control information according to the first control signal and the feedback signal of the mechanical arm, determining a medicine falling control period and a medicine falling position according to the medicine falling control information, and generating second control signals according to the determined medicine falling control period and the determined medicine falling position and outputting the second control signals to corresponding medicine falling control mechanisms respectively; the corresponding medicine falling control mechanisms respectively perform medicine falling actions according to the second control signals and output action feedback signals to the control device; and

the third control module is used for acquiring medicine falling control information according to the second control signal and a feedback signal of the medicine falling control mechanism, generating a first rotation control signal or a second rotation control signal according to the medicine falling control information and outputting the first rotation control signal or the second rotation control signal to the double turntables; the double turntables drive the lower turntables to rotate according to the first rotation control signal, or drive the upper turntables and the lower turntables to rotate simultaneously according to the second rotation control signal;

According to a fifth aspect of the present invention, there is provided an electronic apparatus comprising: the computer-readable medium includes at least one processor, and a memory communicatively coupled to the at least one processor, wherein the memory stores instructions executable by the at least one processor, the instructions being executable by the at least one processor to enable the at least one processor to perform the steps of the above-described method.

According to a sixth aspect of the present invention, there is provided a storage medium having stored thereon a computer program which, when executed by a processor, carries out the steps of the above-mentioned method.

By the method, the device and the system, the mechanical arm only needs to perform simple actions of taking and placing the medicine bottle at the operation position, so that the mechanical control conversion time is greatly saved, the mechanical control time is reduced compared with the microsecond-level processing speed of a computer, and the medicine dispensing time can be greatly shortened. Moreover, according to the scheme, in each medicine falling control period, the medicines on the medicine falling control mechanism at the operation position are configured to the corresponding medicine storage grids along with the rotation of the lower rotary table, and then the medicine falling control mechanism at the operation position is adjusted to be a new medicine falling mechanism.

Drawings

FIG. 1 is a flow chart of a method for implementing a parallel drug dropping control based on a double-layer turntable according to an embodiment of the present invention;

FIG. 2 is a schematic structural diagram of the double-layer turntable mentioned in FIG. 1 according to an embodiment of the present invention;

FIG. 3 is a flowchart of a method for determining a medication dispensing location in the method of FIG. 1 according to an embodiment of the present invention;

FIG. 4 is a diagram showing a position display state example of a double-layer turntable at a time of dropping medicine at a certain time in a medicine dropping control period;

FIG. 5 is a diagram showing a position display state example of a double-layer turntable at a time of dropping medicine at a certain time in a medicine dropping control period;

FIG. 6 is a diagram showing a position display state example of a double-layer turntable at a time of dropping medicine at a certain time in a medicine dropping control period;

FIG. 7 is a flowchart of a method of controlling a parallel drug dropping based on a double-layer turntable according to an embodiment of the present invention;

FIG. 8 is a block diagram of an apparatus for parallel pill drop control for a dual-deck carousel, in accordance with one embodiment of the present invention;

FIG. 9 is a schematic structural diagram of a system for parallel pill drop control of a double-deck turntable according to an embodiment of the present invention;

FIG. 10 is a block diagram of an electronic device in accordance with an embodiment of the present invention.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict.

The invention may be described in the general context of computer-executable instructions, such as program modules, being executed by a computer. Generally, program modules include routines, programs, objects, components, data structures, etc. that perform particular tasks or implement particular abstract data types. The invention may also be practiced in distributed computing environments where tasks are performed by remote processing devices that are linked through a communications network. In a distributed computing environment, program modules may be located in both local and remote computer storage media including memory storage devices.

As used in this disclosure, "module," "device," "system," and the like are intended to refer to a computer-related entity, either hardware, a combination of hardware and software, or software in execution. In particular, for example, an element may be, but is not limited to being, a process running on a processor, an object, an executable, a thread of execution, a program, and/or a computer. Also, an application or script running on a server, or a server, may be an element. One or more elements may be in a process and/or thread of execution and an element may be localized on one computer and/or distributed between two or more computers and may be operated by various computer-readable media. The elements may also communicate by way of local and/or remote processes based on a signal having one or more data packets, e.g., from a data packet interacting with another element in a local system, distributed system, and/or across a network in the internet with other systems by way of the signal.

Finally, it should also be noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.

The present invention will be described in further detail with reference to the accompanying drawings.

Fig. 1 schematically shows a method flow of an implementation method of parallel drug dropping control based on a double-layer turntable according to an embodiment of the invention, and fig. 2 schematically shows a structural diagram of the double-layer turntable according to an embodiment.

Referring to fig. 1 and 2, the double-layer turntable includes an upper turntable 1 provided with a medicine dropping control mechanism 10 and a lower turntable 2 provided with a medicine storage grid 20, and the upper turntable is provided with an operating position 11 for placing or taking away a medicine bottle, in a specific implementation, an operation of taking and placing the medicine bottle can be implemented by providing a mechanical arm (not shown) at the position for placing or taking away the medicine bottle to the medicine dropping control mechanism, or an operation mode of manually taking and placing the medicine bottle or other operations of taking and placing the medicine bottle can be adopted, and the embodiment of the present invention is described by taking as an example that the mechanical arm for placing or taking away the medicine bottle to the medicine dropping control mechanism is provided at the operating position. Referring to the drawings, the implementation method for parallel medicine falling control based on the double-layer turntable comprises the following steps:

step S101: and determining a medicine falling control period according to the configured mechanical parameters of the double-layer turntable. Referring to the schematic structural diagram shown in fig. 2, in the structure of the double-deck rotating disc, the medicine falling control mechanisms 10 uniformly distributed on the upper rotating disc 1 fall into the medicine storage grids 20 uniformly distributed on the lower rotating disc 2 to achieve medicine dispensing, so that the medicines placed in the medicine falling control mechanisms 10 need to be set according to prescription requirements, and each medicine storage grid of the medicine storage grids 20 corresponds to one prescription for medicine dispensing. Because when designing this mechanical structure according to concrete demand, can realize on mechanical structure that the control mechanism that falls to the medicine corresponds to the storage medicine check of presetting quantity, that is to say that the quantity of the control mechanism that falls that evenly distributed on respective disc and storage medicine check can be according to the demand configuration, that is to say that double-deck carousel can have the mechanical parameter who designs according to the demand, exemplarily, the mechanical parameter who sets up can include the quantity m of the control mechanism that falls to set up on the carousel and the quantity n of the storage medicine check that sets up on the carousel down, and the quantity of the storage medicine check that every control mechanism that falls to correspond can not be the one-to-one correspondence, can also be the relation a to many according to the demand, therefore the mechanical parameter that relates to can also include the quantity x of the storage medicine check that every control mechanism that falls to control. Therefore, the included angle between each medicine falling control mechanism on the upper rotary table and the circle center of the rotary table is (360/m) °, the included angle between each medicine storage grid of the lower rotary table and the circle center of the rotary table is (360/n) °, and the number of the medicine storage grids arranged between the two medicine falling control mechanisms is n/m based on mathematical theory knowledge. Based on this, the inventor thinks that if a medicine dropping control period is set for each medicine dropping control mechanism, the medicine dropping range of a certain medicine dropping control mechanism can be controlled under the condition of ensuring that the medicine dropping control mechanism is not moved, so that the medicine placed on the medicine dropping control mechanism can fall into the medicine storage grid between the two medicine dropping control mechanisms, and based on the respective control of the medicine dropping control periods of all the medicine dropping control mechanisms, prescription medicine dispensing can be automatically realized on the basis of ensuring the minimum mechanical operation. Since the processing speed of the computer is in the microsecond level in the whole automatic implementation, the longest time is the mechanical operation time, and therefore, if the mechanical operation is reduced to the minimum based on the concept, the prescription dispensing time can be effectively ensured to be greatly shortened. Therefore, the inventors thought that the above mathematical theory knowledge is applied to the mechanical structure, and thus the medicine dropping control period k is n/(m x) is determined for each medicine dropping control mechanism, so that the medicines on a certain medicine dropping control mechanism can be sequentially dropped into the medicine storage lattices between the adjacent medicine dropping control mechanisms in one medicine dropping control period, and for example, with reference to the structure shown in fig. 2, the medicines in the medicine dropping control mechanism a1 can be dropped into the medicine storage lattices 1 to 4 between the medicine dropping control mechanism a1 and the medicine dropping control mechanism A8 by dropping the medicines k times in the medicine dropping control period. Therefore, the mechanical arm is arranged at the operation position, the medicine falling control mechanism at the operation position can be controlled to fall according to the medicine falling control period, and the operation of taking and placing the medicine bottles by the mechanical arm is simplified. Referring to fig. 2, the present embodiment assumes that the position where the medicine dropping control mechanism, which is designated by the reference numeral a1, is currently located is the operation position.

Step S102A: the method comprises the steps of responding to received prescription information to control the start of a medicine dropping control period, recording the information of the current medicine dropping control period when judging that one medicine dropping control period needs to be started, initializing the medicine dropping times of the period (for example, initializing to zero according to requirements), and then performing step S102B. Illustratively, the recorded information of the current medicine falling control period includes the medicine falling control mechanisms at the corresponding operation positions and the number of the periods of all the medicine falling control periods experienced by each medicine falling control mechanism in the prescription process, where the number of the periods can be used to assist in judging the medicine falling positions, and each medicine falling control mechanism performs cumulative calculation on the number of the periods if medicine falling is performed in a certain medicine falling control period (that is, the calculation of the number of the periods includes the own medicine falling control period when the medicine falling control mechanism is at the operation position, and also includes the medicine falling control period experienced when the medicine falling control mechanism also needs to fall when other medicine falling control mechanisms are at the operation positions), until the number of the periods required by the prescription is reached, the medicine falling of the current medicine is not performed any more. When prescription information is received and medicine dispensing is needed, whether a medicine falling control period is started or not is judged according to the prescription information, and if the medicine falling control period is judged to be started, medicine falling control operation is conducted on a medicine falling control mechanism at an operation position in the medicine falling control period.

Judging whether to start the medicine falling control period according to the prescription information is to judge the number of packages needing to be filled according to the prescription information, exemplarily, the prescription information includes the number of posts needing to be filled, each post corresponds to the number of packages, and if one post corresponds to each package, namely two packages, in the morning and the evening, the number of packages needing to be filled can be calculated according to the number of posts and the dosage of the filling in the prescription information. Meanwhile, the type and quantity of the medicaments required to be dispensed can be acquired according to the prescription information, different types of medicaments are respectively placed in the medicament dropping control mechanisms to achieve respective medicament dropping under the mechanical structure of the embodiment of the invention, and in the scheme of the embodiment of the invention, the mechanical arm only carries out the operation of taking and placing the medicament bottles on the medicament dropping control mechanism at the operation position each time, so that the corresponding medicament bottles are sequentially operated according to the type and quantity of the medicaments required to be dispensed, and are sequentially placed on the corresponding medicament dropping control mechanisms at the operation position or the medicament bottles after medicament dropping are sequentially taken down from the operation position. Therefore, whether the medicine dropping control mechanism at the current operation position needs to perform medicine dropping control for one cycle again can be judged according to the number of the medicine types needing to be dispensed and the number of packages needing to be dispensed in the prescription information and the recorded medicine types on the medicine dropping control mechanism at the current operation position (the medicine types on the medicine dropping control mechanism at the current operation position are recorded and updated each time the medicine taking and placing operation is performed), and the situations that the medicine dropping control cycle needs to be started include two types: the first is that if a medicine dropping control mechanism at the current operation position has not placed a certain medicine (i.e. the kind of the medicine to be dispensed has not been completely placed), the mechanical arm needs to be controlled to place a medicine bottle corresponding to a certain medicine to the medicine dropping control mechanism at the current operation position, and the medicine dropping control mechanism is opened for a period of medicine dropping control; secondly, a medicine bottle is already placed on the medicine dropping control mechanism at the current operation position, the medicine of the medicine bottle is dropped (namely, the medicine dropping control mechanism is not located at the operation position for the first time in the prescription dispensing process), and all medicine bottles of the medicine are already placed on the medicine dropping control mechanism, however, the number of the medicine dispensing packages of some types of medicines does not meet the prescription requirement (the number of the cycles that each medicine dropping control mechanism has already passed and the number of the cycles that the prescription process needs to pass are combined for judgment, and when the required number of the cycles is not reached, the prescription requirement is not met), the medicine dropping control mechanism at the operation position needs to be controlled to control the mechanical arm to take the medicine bottle which has completed medicine dropping away, and starting a period of medicine falling control, so that other kinds of medicines can be continuously fallen into the corresponding medicine storage grids.

In a specific implementation, the prescription information may be acquired in the following ways:

the first way is to make his (hospital information management system) software system generating the prescription able to push the prescription information to the target program by using the data interface service after it generates the prescription through the provided data interface service;

the second way is that the supplier of his software for generating the prescription provides an interface (such as view, dll, webservice, http and the like) for acquiring the prescription, and when the software is applied specifically, the data interface provided by the supplier is called by writing a program to actively acquire prescription information;

the third way is that the supplier of his software for generating prescriptions provides the exported prescription information text file, and the prescription information text file is read by writing a program in specific application, and the text format supports txt, csv, xls, json and the like.

Step S102B: whether the control period is within the control period is judged in each medicine dropping control period, if the control period is within the medicine dropping control period Tk, the step S103 is carried out, and if the control period is not within the medicine dropping control period Tk, the step S105 is not carried out. And judging whether the medicine falling times in the medicine falling control period are counted and judged in the medicine falling control period, if the medicine falling times reach the kth time, judging that the medicine falling times are not in the medicine falling control period Tk, and if the medicine falling times reach the kth-1 time, judging that the medicine falling times are in the medicine falling control period.

Step S103: and determining a medicine falling position to perform medicine falling control operation. After a medicine dropping control period is started, medicine dropping operation is carried out according to the medicine dropping control period, in order to accurately complete automatic prescription medicine dispensing and avoid the situations of repeated medicine dropping and missing medicine dropping, the medicine dropping position in the current medicine dropping control period needs to be accurately judged before medicine dropping control is carried out every time, and the method is also one of the difficulties in realizing automatic prescription medicine dispensing. In the embodiment of the present invention, in a specific implementation, since the medicine dropping control mechanism at each operation position is used as a reference to perform the medicine dropping control for one cycle, when determining the medicine dropping position, the medicine dropping position can be accurately determined only by considering the medicine situation, the medicine type number and the package number of the medicine dropping control mechanism at the current operation position, and the specific implementation may exemplarily refer to the method flow shown in fig. 3, and as shown in fig. 3, the implementation includes the following steps:

step S301: the medicine falling control mechanism and the medicine storage grid are respectively numbered, wherein the numbers of the medicine falling control mechanism and the medicine storage grid are arranged in opposite directions. Referring to fig. 2, in this embodiment, m is 8 medicine dropping control mechanisms uniformly distributed in the upper turntable, n is 32 medicine storage grids uniformly distributed in the lower turntable are numbered a1 to A8 respectively, and the medicine storage grids are numbered 1 to 32 respectively, wherein the medicine dropping control mechanisms are numbered clockwise, and the medicine storage grids are numbered counterclockwise.

Step S302: and determining the pack number of the current medicine dispensing and the number of prescription cycles required to be passed by each medicine falling control mechanism according to the acquired prescription information, and setting the number of medicine storage grids for filling the current medicine. The prescription information includes the number of posts required to dispense the medicine, each post corresponds to the number of packages, and if one post corresponds to each package, namely two packages of medicine, the number of packages p required to dispense the medicine can be calculated according to the number of posts and the dosage of the medicine dispensed in the prescription information. And then, the pack number and the medicine storage grids are corresponding according to the numbering sequence to set medicine storage grids for containing medicines when the medicine is dispensed according to the prescription, and exemplarily, when the pack number is 14 packs, the medicine storage grids with the numbers of 1-14 are set as the medicine storage grids for containing medicines in the medicine dispensing process, so that the medicine can be dispensed to the medicine storage grids by controlling the medicine dispensing control mechanism, and the automatic medicine dispensing process is realized. When the prescription is filled, the medicines are taken from the medicine storage grids and packaged, and then the current medicine filling can be completed. The prescription period number represents the number of packages in the prescription which can be finished by the medicine on the medicine dropping mechanism through several cycles, and the value is p/(k x).

Step S303: the number of the medicine dropping control mechanism currently located at the operation position is recorded. As mentioned above, one of the key points of the present invention lies in that the medicine dropping control mechanism at each operation position is periodically controlled to enable the mechanical arm to only perform the operation of taking and placing the medicine bottle on the medicine dropping control mechanism at the operation position, so that the medicine dropping control mechanism at the current operation position needs to be recorded during the prescription medicine dispensing process, and thus the medicine dropping control mechanism at the operation position can be marked, and the medicine dropping control mechanism can be conveniently corresponded to the placed prescription medicine, thereby avoiding the repeated medicine dropping.

Step S304: and acquiring the number of the medicine storage grids corresponding to the medicine falling control mechanism at the current operation position and the number of cycles experienced by each medicine falling control mechanism. As mentioned above, each medicine dropping control mechanism can correspondingly control x medicine storage grids according to the mechanical structure design of the double-layer rotating disc, and the number of the x medicine storage grids correspondingly controlled by the medicine dropping control mechanism currently located at the operation position is obtained according to the numbers of the medicine dropping control mechanism and the medicine storage grids. When the medicine falling control period is started, the number of the periods of each medicine falling control mechanism is counted, and the numerical value is obtained.

Step S305: and determining the number of the medicine falling control mechanism needing to fall the medicine currently according to the number of the current medicine falling control mechanism, the number of the medicine storage grids corresponding to the medicine falling control mechanism at the current operation position, the number of the medicine storage grids used for containing the medicine currently, the number x of the medicine storage grids controlled by each medicine falling control mechanism and the cycle times of each medicine falling control mechanism. After the number of the medicine falling control mechanism at the current operation position, the number of the medicine storage grid corresponding to the medicine falling control mechanism at the operation position and the number of the medicine storage grid used for the current medicine filling are obtained, the numbers of the other medicine falling control mechanisms respectively corresponding to the number of the medicine storage grid used for the current medicine filling with the number of the medicine falling control mechanism at the operation position as a base point and the number of the medicine storage grids controlled by each medicine falling control mechanism as an example are calculated according to the number x of the medicine storage grids controlled by each medicine falling control mechanism, in the embodiment, the number of the medicine storage grids controlled by each medicine falling control mechanism is two, the number of the medicine falling control mechanisms of the upper rotating disc is eight, the number of the medicine storage grids of the lower rotating disc is thirty two, the number of medicine packages required by the prescription medicine filling at this time is fourteen, the number of the medicine storage grids set for the current medicine filling is 1-14, and the number of the medicine falling control mechanism at the current operation position is A1, the corresponding medicine storage grids are numbered as A3 and A4, so that each medicine falling control mechanism corresponds to two medicine storage grids, and two medicine storage grids between every two adjacent medicine falling control mechanisms are empty (namely not corresponding to the medicine falling control mechanisms), so that the corresponding relation between the medicine storage grids for dispensing the medicine and the medicine falling control mechanisms can be calculated as follows: no. 3 and No. 4 store up medicine check and correspond medicine control mechanism A1 that falls, No. 7 and No. 8 store up medicine check and correspond medicine control mechanism A8 that falls, and No. 11 and No. 12 store up medicine check and correspond medicine control mechanism A7 that falls. And according to the recorded conditions of the medicine bottles placed on the medicine falling control mechanism at the current operation position, the serial number of the medicine falling control mechanism which needs to fall medicine at present can be determined. And the placement condition of the medicine bottle can be recorded for the medicine bottle taking and placing operation of the mechanical arm every time aiming at the prescription dispensing process after the prescription information is received, exemplarily: when prescription information is received, the process is regarded as an initialization process, the serial number of the medicine falling control mechanism at each operation position in the initialization process is A1, and the corresponding medicine storage grids are initialized to be the medicine storage grids with the serial numbers of 1-X, so that the serial number of the medicine falling control mechanism and the medicines correspondingly placed on the medicine falling control mechanism by the mechanical arm can be recorded during the first operation, at the moment, the medicines required by the prescription at this time are not placed on other medicine falling control mechanisms, and the medicine falling operation is only carried out on the medicines on the medicine falling control mechanism A1 in the first medicine falling control period; then, the other medicine falling control mechanisms which rotate to the operation positions are sequentially controlled in the medicine falling period, and the medicine bottle placing conditions corresponding to the numbers of the medicine falling control mechanisms are recorded according to the medicine bottle taking and placing conditions of the mechanical arms (since the medicine falling control mechanisms rotate to the operation positions, the mechanical arms can be controlled to place the medicine bottles of the medicines to be configured on the medicine falling control mechanisms according to the prescription configuration conditions, or the medicine bottles of the medicines which have been prepared and have been prepared in the prescription can be taken away from the medicine falling control mechanisms, of course, after the medicine bottles are taken away, if the medicines are not configured, the mechanical arms can be controlled to place the medicine bottles of the next medicine to be configured on the medicine falling control mechanisms, namely, the mechanical arms sequentially operate the medicine falling control mechanisms at the operation positions, so that the recorded medicine bottle placing conditions can be that the numbers of the medicine falling control mechanisms correspond to one medicine, it is also possible that the medicine dropping control mechanism number corresponds to no medicine placed, and if the medicine is placed, the medicine dropping is performed, and if the medicine is not placed, the medicine dropping is not performed). In this way, after calculating the number of the medicine dropping control mechanism corresponding to the number of the medicine storage grid used in the current prescription, the determination of whether medicine is dropped or not can be performed by combining the cycle number of each medicine dropping control mechanism based on the placement of the medicine bottle on the medicine dropping control mechanism, so as to determine the number of the medicine dropping control mechanism which finally needs medicine dropping, for example, for the medicine dropping control mechanisms with the numbers of a1, A8 and a7 calculated in the example shown in fig. 4, the number of the medicine dropping control mechanism is respectively: the medicine placed on the medicine dropping control mechanism with the current position of A1 is changed from the first medicine to the ninth medicine, the medicine dropping control mechanisms with the current positions of A8 and A7 are respectively provided with the eighth medicine and the seventh medicine, the medicine dropping control mechanisms capable of dropping medicine can be determined to be A1, A8 and A7 according to the recorded medicine bottle placing conditions, and the medicine dropping control mechanisms needing to drop medicine can be determined to be A1, A8 and A7 according to the calculated cycle times of the medicine dropping control cycles which the medicine dropping control mechanisms with the current positions of A1, A8 and A7 have undergone as 1 and 2 times as well as 14/(2 x 2) 3.5; in the same position, if the prescription only needs eight medicines to be dispensed, and the current position is that the medicine falling control mechanism with the number of A1 is in the operating position for the second time, the recorded medicine bottle placing condition of A1 is empty, and the recorded medicine bottle placing conditions of A8 and A7 are respectively provided with the eighth medicine and the seventh medicine, therefore, the number of cycles experienced by each medicine falling control mechanism is obtained by accumulating and calculating according to the recorded medicine bottle placing condition and the number of cycles experienced by the medicine bottle (as referred to above, the number of cycles experienced by each medicine falling control mechanism is based on the number of medicine falling control cycles experienced by the medicine falling control mechanism and whether the medicine falling control mechanism falls within the medicine falling control period of the time, namely, if the medicine falling control mechanism falls in a certain medicine falling control period, the number of cycles is accumulated and the medicine falling control period referred to in the calculation process comprises the medicine falling control period of the medicine falling control mechanism when the medicine falling control mechanism is in the operating position, also including the medicine falling control period which is required to be experienced when the medicine falling control mechanism is required to fall when other medicine falling control mechanisms are in the operation position) and the required number of times of the prescribed period, the medicine falling control mechanisms which are required to fall can be determined to be A8 and A7; in the same position, if the current position is that the medicine dropping control mechanism with the number of a1 is at the operating position for the first time, and is the first medicine dropping control period of the medicine dropping control mechanism with the number of a1 (the number of cycles experienced by the medicine dropping control mechanism a1 is zero at this time), then the medicine bottles are not necessarily placed on the medicine dropping control mechanisms with the numbers of A8 and a7 at this time (the number of cycles experienced by the medicine dropping control mechanisms A8 and a7 is zero at this time), that is, the initial empty state is recorded, and then the medicine dropping control mechanism needing medicine dropping can be determined to be a1 according to the recorded medicine bottle placing condition at this time. Similarly, for the dispensing exhibition example shown in fig. 5, the number of the medicine storage grids correspondingly controlled by each medicine falling control mechanism is one, the number of the medicine falling control mechanisms of the upper rotating disc is eight, the number of the medicine storage grids of the lower rotating disc is sixteen, the number of the medicine packages required for dispensing the prescription at this time is fourteen, the number of the medicine storage grids set for containing the medicine at this time is 1 to 14, the number of the medicine falling control mechanism at the current operating position is a1, and the number of the corresponding medicine storage grid is 2, so that since each medicine falling control mechanism corresponds to one medicine storage grid, one medicine storage grid is empty between every two adjacent medicine falling control mechanisms (i.e. does not correspond to the medicine falling control mechanism), the corresponding relationship between the medicine storage grid and the medicine falling control mechanism for dispensing at this time can be calculated as follows: no. 2 stores up medicine check and corresponds medicine control mechanism A1 that falls, and No. 4 stores up medicine check and corresponds medicine control mechanism A8 that falls, and No. 6 stores up medicine check and corresponds medicine control mechanism A7 that falls, and No. 8 stores up medicine check and corresponds medicine control mechanism A6 that falls, and No. 10 stores up medicine check and corresponds medicine control mechanism A5 that falls, No. 12 stores up medicine check and corresponds medicine control mechanism A4 that falls, and No. 14 stores up medicine check and corresponds medicine control mechanism A3 that falls. And according to the recorded situation that the medicine bottles arranged on the medicine falling control mechanism at the current operation position are all provided with medicine bottles A1-A8, the medicine arranged on the medicine falling control mechanism A1 is the ninth medicine, and the frequency of the combination of the prescription cycle is as follows: the number of cycles of the ninth medicine of the medicine dropping control mechanism a1 is zero, the number of cycles of the medicine dropping control mechanism A8 is one, the number of cycles of the medicine dropping control mechanism a7 is two, the number of cycles of the medicine dropping control mechanism a6 is three, the number of cycles of the medicine dropping control mechanism a5 is four, the number of cycles of the medicine dropping control mechanism a4 is five, the number of cycles of the medicine dropping control mechanism A3 is six, and the required number of prescribed cycles is 14/(1 × 2) ═ 7, so that the number of the medicine dropping control mechanism which needs medicine dropping at present can be determined as: a1, A8, A7, A6, A5, A4 and A3. Similarly, for the dispensing exhibition example shown in fig. 6, the number of the medicine storage grids correspondingly controlled by each medicine falling control mechanism is one, the number of the medicine falling control mechanisms of the upper rotating disc is three, the number of the medicine storage grids of the lower rotating disc is nine, the number of the medicine packages required for dispensing the prescription at this time is eight, the number of the medicine storage grids set for containing the medicine at this time is 1-8, the number of the medicine falling control mechanism at the current operating position is a1, and the number of the corresponding medicine storage grid is 1, so that since each medicine falling control mechanism corresponds to one medicine storage grid, two medicine storage grids between every two adjacent medicine falling control mechanisms are empty (i.e. do not correspond to the medicine falling control mechanisms), the corresponding relationship between the medicine storage grid used for dispensing at this time and the medicine falling control mechanism can be calculated as follows: no. 1 stores up medicine check and corresponds medicine control mechanism A1 that falls, and No. 4 stores up medicine check and corresponds medicine control mechanism A3 that falls, and No. 7 stores up medicine check and corresponds medicine control mechanism A2 that falls. And according to the recorded medicine bottle situations placed on the medicine falling control mechanism at the current operation position, the medicine bottles are placed in A1-A3, the medicine placed in the medicine falling control mechanism A1 is the fourth medicine, and the combination of the prescription cycle times is as follows: the number of the cycle of the fourth medicine of the medicine falling control mechanism a1 is zero, the number of the cycle of the medicine falling control mechanism A3 is one, the number of the cycle of the medicine falling control mechanism a2 is two, and the number of the prescription cycles that the medicine falling control mechanism needs to be subjected to is 8/(1 × 3) ═ 2.6, so that the number of the medicine falling control mechanism which needs to fall currently can be determined as follows: a1, A3 and a 2.

After the medicine dropping position is determined according to the method, the corresponding medicine dropping control mechanism can be controlled to perform medicine dropping operation on the medicine storage grid, and the step S104 is executed after the medicine dropping operation is performed. In each prescription dispensing process, when the prescription information is received, the serial number, the placing condition of the medicine bottle and the like can be initialized, so that each prescription dispensing process can be accurately judged and operated according to the process. As can be understood from the above description of the process, according to the method provided by the embodiment of the present invention, the number of the determined falling drug control mechanisms that currently need to fall the drug is at most q, where q is defined as the result of rounding up p/(k × x), and p is the number of packs of the current drug dispensing determined according to the acquired prescription information. And the determined number of the medicine falling control mechanisms needing medicine falling currently is at least 0, for example, when the prescription filling process is completed. Therefore, the medicine dropping control mechanism of the upper turntable can drop medicines in parallel, and the prescription dispensing time is greatly shortened.

Step S104: and after the medicine falling operation, generating a first rotation control signal according to the mechanical parameters of the double-layer turntable to control the rotation of the lower turntable. Wherein the first rotation control signal is configured to cause only the lower dial to rotate a predetermined number of drug storage compartments in a preset direction. Therefore, after each medicine falling, the medicine falling control mechanism at the current operation position can rotate the group of medicine storage grids which have finished medicine falling through rotating the positions of the medicine storage grids, and the next group of medicine storage grids which are close to the group of medicine storage grids and do not receive the medicine of the medicine falling control mechanism at the current operation position are rotated to correspond to the operation position so as to carry out the next medicine falling, at the moment, the medicine storage grids at other positions which need medicine falling can be known according to the algorithm process can also just correspond to the corresponding medicine falling control mechanisms, so that the medicine falling control mechanism at the operation position can complete the medicine falling of one cycle at the position as much as possible, other medicine falling control mechanisms which have placed medicine bottles can also carry out the parallel medicine falling, and further, the medicine falling control mechanisms with the largest number in the upper rotary table in each cycle can simultaneously fall medicine, therefore, the medicine dispensing machine can ensure that mechanical actions are minimum, can ensure that medicines fall in parallel, and greatly shortens the prescription dispensing time. Preferably, in order to ensure that the medicine falling control mechanism at the operating position can sequentially fall the medicine in the medicine storage grids in each medicine falling control period, the first rotation control signal is configured to include that the control object is a lower rotating disc, the rotation direction is a first direction, and the rotation angle is a first angle, wherein the first angle is (360 x/n) °. After the position of the lower rotary table is adjusted, the number of times of dropping medicine in the current period is increased by one, and then the step S102B is proceeded to determine whether the medicine is still in the current dropping control period, so as to ensure that the k times of dropping operation of the medicine dropping control mechanism at the operation position can be completed in each dropping control period.

Step S105: and determining the medicine falling position to perform medicine falling control operation, and then performing step S106. The implementation process of determining the medicine dropping position is the same as that of step S103, and may be implemented by referring to the above description, which is not described herein again.

Step S106: after the medicine dropping operation, a second rotation control signal is generated according to the mechanical parameters of the double-layer turntable, the upper turntable and the lower turntable are controlled to rotate simultaneously, and then the step S101 is carried out to judge whether the medicine dropping period control needs to be continued according to the prescription information. The second rotation control signal is configured to rotate the medicine storage grid of the lower rotary table back to the initial position, and update the medicine falling control mechanism at the operation position of the upper rotary table to the medicine falling control mechanism at the position adjacent to the current medicine falling control mechanism in the opposite direction of the preset direction. Therefore, the next medicine falling control mechanism can be subjected to the medicine bottle taking and placing and medicine falling period control, and the mechanical arm can only operate the medicine falling control mechanism at the operation position. Preferably, the second rotation control signal is configured to include that the first control object is an upper rotating disk, the rotation direction is a second direction, and the rotation angle is a second angle, and the second control object is a lower rotating disk, the rotation direction is a second direction, and the rotation angle is a third angle, wherein the second direction is a direction opposite to the first direction, the second angle is (360/m) °, and the third angle is (360 × x (k-1) ° x/n). Therefore, after the period of the last medicine falling control mechanism is finished, the medicine falling control of the next medicine falling control mechanism is automatically skipped to, and automatic medicine falling and dispensing without repetition are realized.

In the above, that is, for a complete automatic medicine dispensing process of prescription information, referring to the method and process of the above example, it can be known that the scheme of the present invention can implement periodic medicine dispensing control on a single medicine dispensing control mechanism, and ensure that the medicine storage grids of the lower turntable can be sequentially dispensed without omission only by performing mechanical operation of taking and placing medicine bottles on the medicine dispensing control mechanism at the operation position, thereby ensuring the least mechanical operation actions and shortening the prescription medicine dispensing time. In addition, the scheme can further realize the parallel medicine falling of the medicine falling control mechanisms as many as possible, and further shorten the prescription dispensing time. In addition, the prescription dispensing process can be automatically controlled based on each prescription, so that a fully-automatic prescription dispensing process is realized. Of course, in other embodiments, a person skilled in the art may also select only a scheme of periodic medication drop control according to needs, and not apply the scheme to the whole prescription process, for example, only the processes of steps S102B to S106 are performed, and each medication drop control mechanism is individually subjected to periodic control, and not subjected to complete automatic control based on prescription information, so as to meet personalized needs, which is not limited in the embodiment of the present invention. Through the scheme, the mechanical arm only needs to control the mechanical arm to place the medicine bottle or take the medicine bottle away from the medicine falling control mechanism at the operation position according to the medicine bottle placing condition of the medicine falling control mechanism at the operation position at present before the medicine falling for the first time in each medicine falling control period, and the mechanical action is very simple.

Fig. 7 schematically shows a method flow for applying the implementation method to a double-layer turntable to implement parallel medicine falling control.

Referring to fig. 7, the method includes:

step S501: and determining the medicine falling control period according to the mechanical parameters of the double-layer turntable. The mechanical parameters comprise the number m of the medicine falling control mechanisms arranged on the upper rotating disc, the number n of the medicine storage grids arranged on the lower rotating disc and the number x of the medicine storage grids controlled by each medicine falling control mechanism, and the determined medicine falling control period is k-n/(m x).

Step S502: responding to the instruction for starting the current medicine falling control period, according to the medicine bottle placing condition of the medicine falling control mechanism at the operating position, controlling the mechanical arm to place the medicine bottle or take away the medicine bottle from the medicine falling control mechanism at the operating position, and starting the medicine falling control operation in the current period, wherein the medicine falling control operation is realized by comprising:

in the medicine falling control period, keeping the current medicine falling control mechanism at the operation position unchanged, and controlling the medicine falling control mechanism to perform medicine falling operation for k times; wherein the content of the first and second substances,

in the first k-1 times of medicine dropping operation, after each time of medicine dropping operation, the lower turntable is controlled to rotate x medicine storage grids in the preset direction;

after the kth medicine falling operation, the medicine storage grids of the lower rotary disc are controlled to rotate back to the initial position, the upper rotary disc is controlled to rotate, and the medicine falling control mechanism at the operation position of the upper rotary disc is updated to the medicine falling control mechanism located at the position adjacent to the current medicine falling control mechanism in the opposite direction of the preset direction.

The instruction for starting the current medicine falling control period can be triggered based on the action of taking and placing the medicine bottles by manually operating the mechanical arm, or can be triggered based on the input prescription information by referring to the scheme, and when the instruction is based on the prescription information, a complete prescription period can be realized, so that a prescription medicine dispensing process is automatically completed. The specific implementation processes of controlling the medicine falling control mechanism to perform the medicine falling operation and starting the medicine falling control period according to the acquired prescription information can be described with reference to the foregoing method, and are not described herein again.

Fig. 8 schematically shows a principle framework structure of a parallel medicine falling control device for a double-layer turntable of an embodiment, which can be applied to the double-layer turntable to realize parallel medicine falling control of the double-layer turntable. Wherein, referring to FIG. 8, the apparatus comprises

A storage module 60 for storing configuration information, the stored configuration information including mechanical parameters of the double-layer turntable, illustratively including the number m of medicine falling control mechanisms provided on the upper turntable, the number n of medicine storage grids provided on the lower turntable, and the number x of medicine storage grids controlled by each medicine falling control mechanism;

the first control module 61 is configured to generate a first control signal for placing a medicine bottle on or taking away the medicine bottle from the medicine falling control mechanism in the current operation position according to the acquired prescription information and the medicine falling control mechanism in the current operation position, and output the first control signal to the mechanical arm;

the second control module 62 is configured to determine a medicine falling control period and a medicine falling position according to the first control signal and the configuration information, and generate second control signals for performing medicine falling control operations according to the determined medicine falling control period and the determined medicine falling position and output the second control signals to corresponding medicine falling control mechanisms respectively; and

the third control module 63 is configured to generate a first rotation control signal or a second rotation control signal according to the second control signal and the configuration information and output the first rotation control signal or the second rotation control signal to the dual turntable; wherein the first rotation control signal is configured to cause only the lower turntable to rotate a predetermined number of medicine storage compartments in a preset direction; the second rotation control signal is configured to rotate the medicine storage grid of the lower rotary table back to the initial position, and update the medicine falling control mechanism at the operation position of the upper rotary table to the medicine falling control mechanism at the position adjacent to the current medicine falling control mechanism in the opposite direction of the preset direction.

The formats of the first control signal, the second control signal, the first rotation control signal and the second rotation control signal are respectively matched with the interface provided by the driving mechanism of the corresponding mechanical structure, and the driving mode can be designed by referring to the specification of the driving mode of the corresponding mechanical structure. The content of the first control signal may exemplarily include a signal for taking or placing a medicine bottle, a kind of medicine placed to the medicine dropping control mechanism of the current operation position, and the like, and the content of the second control signal may exemplarily include information for opening and closing the medicine dropping port, and the first rotation control signal and the second rotation control signal include a control object, a rotation direction, a rotation angle, and the like. The first control module generates a first control signal according to the acquired prescription information and the medicine dropping control mechanism at the current operation position, the second control module determines the medicine dropping control period and the medicine dropping position, and the specific contents of the first rotation control signal and the second rotation control signal generated by the third control module can refer to the description of the method part, and are not described herein again.

Fig. 9 schematically shows a parallel pill drop control system for a double-deck turntable according to an embodiment.

Referring to fig. 9, it comprises a double-layer turntable 100 and a control device 200, wherein the double-layer turntable comprises an upper turntable 1 provided with a medicine falling control mechanism 10; a lower turntable 2 provided with a medicine storage grid 20; and a robot arm (not shown) provided at an operating position 11 of the upper turntable 1 for placing or taking out a medicine bottle to the medicine dropping control mechanism 10. The control device 200 comprises a memory module 60 for storing configuration information, wherein the configuration information comprises mechanical parameters of the double-layer turntable; the first control module 61 is used for generating a first control signal according to the acquired prescription information and the medicine dropping control mechanism at the current operation position and outputting the first control signal to the mechanical arm; the mechanical arm places a medicine bottle on the medicine falling control mechanism at the current operation position or takes the medicine bottle away according to the first control signal and outputs an operation feedback signal to the control device; the second control module 62 is configured to obtain medicine falling control information according to the first control signal and the feedback signal of the mechanical arm, determine a medicine falling control period and a medicine falling position according to the medicine falling control information, and generate second control signals according to the determined medicine falling control period and the determined medicine falling position and output the second control signals to corresponding medicine falling control mechanisms respectively; the corresponding medicine falling control mechanisms respectively perform medicine falling actions according to the second control signals and output action feedback signals to the control device; the third control module 63 is used for acquiring medicine falling control information according to the second control signal and the feedback signal of the medicine falling control mechanism, generating a first rotation control signal or a second rotation control signal according to the medicine falling control information and outputting the first rotation control signal or the second rotation control signal to the double turntables; the double turntables drive the upper turntables to rotate according to the first rotation control signal, or drive the upper turntables and the lower turntables to rotate simultaneously according to the second rotation control signal. Wherein the first rotation control signal is configured to cause only the lower turntable to rotate a predetermined number of medicine storage compartments in a preset direction; the second rotation control signal is configured to enable the medicine storage grid of the lower rotary table to rotate back to the initial position, and enable the medicine falling control mechanism at the operation position of the upper rotary table to be updated to the medicine falling control mechanism located at the position adjacent to the current medicine falling control mechanism in the direction opposite to the preset direction.

In a specific implementation, the feedback signal of the mechanical arm and the feedback signal of the medicine dropping control mechanism may be used to record the medicine bottle placement condition of the medicine dropping control mechanism at the operation position and the medicine dropping frequency of the medicine dropping control period, the first control module generates the first control signal according to the acquired prescription information and the medicine dropping control mechanism at the current operation position, the second control module determines the medicine dropping control period and the medicine dropping position, and the specific content of the first rotation control signal and the second rotation control signal generated by the third control module may refer to the description of the foregoing method part, which is not described herein again.

In some embodiments, the present invention provides a non-transitory computer-readable storage medium, in which one or more programs including executable instructions are stored, where the executable instructions can be read and executed by an electronic device (including but not limited to a computer, a server, or a network device, etc.) to perform the above-described implementation method of parallel drug dropping control based on a dual-layer carousel according to the present invention.

In some embodiments, the present invention further provides a computer program product, where the computer program product includes a computer program stored on a non-volatile computer-readable storage medium, and the computer program includes program instructions, and when the program instructions are executed by a computer, the computer executes the implementation method of the parallel drug dropping control based on the double-layer rotating disk.

In some embodiments, an embodiment of the present invention further provides an electronic device, which includes: at least one processor, and a memory communicatively coupled to the at least one processor; the storage stores instructions which can be executed by at least one processor, and the instructions are executed by the at least one processor, so that the at least one processor can execute the implementation method of the parallel medicine falling control based on the double-layer turntable.

In some embodiments, the present invention further provides a storage medium, on which a computer program is stored, where the computer program is capable of executing the above-mentioned method for implementing parallel drug dropping control based on a double-layer turntable when executed by a processor.

The device for parallel medicine falling control based on the double-layer turntable in the embodiment of the invention can be used for executing the implementation method for parallel medicine falling control based on the double-layer turntable in the embodiment of the invention, and correspondingly achieves the technical effects achieved by the implementation method for parallel medicine falling control based on the double-layer turntable in the embodiment of the invention, and further description is omitted here. In the embodiment of the present invention, the relevant functional module may be implemented by a hardware processor (hardware processor).

Fig. 10 is a schematic hardware structure diagram of an electronic device for implementing a method for parallel drug dropping control based on a double-layer turntable according to another embodiment of the present application.

Referring to fig. 10, the apparatus includes:

one or more processors 810 and a memory 820, with one processor 810 being an example in fig. 10.

The apparatus for implementing the parallel medicine falling control based on the double-layer turntable may further include: an input device 830 and an output device 840.

The processor 810, the memory 820, the input device 830, and the output device 840 may be connected by a bus or other means, such as the bus connection in fig. 4.

The memory 820, which is a non-volatile computer-readable storage medium, may be used to store non-volatile software programs, non-volatile computer-executable programs, and modules, such as program instructions/modules corresponding to the implementation method of the parallel pill dropping control based on the dual-layer turntable in the embodiment of the present application. The processor 810 executes various functional applications and data processing of the server by executing the nonvolatile software programs, instructions and modules stored in the memory 820, that is, the implementation method of the parallel drug dropping control based on the double-layer turntable in the above method embodiment is implemented.

The memory 820 may include a program storage area and a data storage area, wherein the program storage area may store an operating system, an application program required for at least one function; the storage data area may store data created according to use of a device based on parallel pill drop control of a double-deck turntable, and the like. Further, the memory 820 may include high speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other non-volatile solid state storage device. In some embodiments, memory 820 optionally includes memory remotely located from processor 810, which may be connected to a dual-layer carousel-based parallel pill-drop control device via a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.

The input device 830 may receive input numeric or character information and generate signals related to user settings and function control of the device based on the double-layer dial parallel drop control. The output device 840 may include a display device such as a display screen.

The one or more modules are stored in the memory 820, and when executed by the one or more processors 810, perform a method for implementing the dual-layer carousel-based parallel pill drop control in any of the above-described method embodiments.

The product can execute the method provided by the embodiment of the application, and has the corresponding functional modules and beneficial effects of the execution method. For technical details that are not described in detail in this embodiment, reference may be made to the methods provided in the embodiments of the present application.

The electronic device of the embodiments of the present application exists in various forms, including but not limited to:

(1) mobile communication devices, which are characterized by mobile communication capabilities and are primarily targeted at providing voice and data communications. Such terminals include smart phones (e.g., iphones), multimedia phones, functional phones, and low-end phones, among others.

(2) The ultra-mobile personal computer equipment belongs to the category of personal computers, has calculation and processing functions and generally has the characteristic of mobile internet access. Such terminals include PDA, MID, and UMPC devices, such as ipads.

(3) Portable entertainment devices such devices may display and play multimedia content. Such devices include audio and video players (e.g., ipods), handheld game consoles, electronic books, as well as smart toys and portable car navigation devices.

(4) The server is similar to a general computer architecture, but has higher requirements on processing capability, stability, reliability, safety, expandability, manageability and the like because of the need of providing highly reliable services.

(5) And other electronic devices with data interaction functions.

The above-described embodiments of the apparatus are merely illustrative, and the units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment.

Through the above description of the embodiments, those skilled in the art will clearly understand that each embodiment can be implemented by software plus a general hardware platform, and certainly can also be implemented by hardware. Based on such understanding, the above technical solutions substantially or contributing to the related art may be embodied in the form of a software product, which may be stored in a computer-readable storage medium, such as ROM/RAM, magnetic disk, optical disk, etc., and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the method according to the embodiments or some parts of the embodiments.

Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present application, and not to limit the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions in the embodiments of the present application.

Claims

1. The method for realizing parallel medicine falling control based on the double-layer rotary table comprises an upper rotary table provided with a medicine falling control mechanism and a lower rotary table provided with medicine storage grids, wherein the upper rotary table is provided with an operation position

wherein the first rotation control signal is configured to cause only the lower dial to rotate a predetermined number of medicine storage compartments in a preset direction; the second rotation control signal is configured to enable the medicine storage grid of the lower rotary table to rotate back to the initial position, and enable the medicine falling control mechanism at the operation position of the upper rotary table to be updated to the medicine falling control mechanism located at the position adjacent to the current medicine falling control mechanism in the direction opposite to the preset direction.

2. The implementation method of claim 1, wherein the mechanical parameters comprise the number m of medicine dropping control mechanisms arranged on the upper rotating disc, the number n of medicine storage grids arranged on the lower rotating disc, and the number x of medicine storage grids controlled by each medicine dropping control mechanism, wherein,

the determined medicine dropping control period is k ═ n/(m ×);

the first rotation control signal is configured to include that the control object is a lower rotating disc, the rotation direction is a first direction, and the rotation angle is a first angle, wherein the first angle is (360 x/n) °;

the second rotation control signal is configured to include that the first control object is an upper rotating disc, the rotation direction is a second direction, the rotation angle is a second angle, the second control object is a lower rotating disc, the rotation direction is a second direction, and the rotation angle is a third angle, wherein the second direction is opposite to the first direction, the second angle is (360/m) °, and the third angle is (360 × (k-1) ×/n) °.

3. The method of claim 2, wherein the determining the medication-dropping location is performed by including

The medicine falling control mechanism and the medicine storage grids are respectively numbered, wherein the numbers of the medicine falling control mechanism and the medicine storage grids are arranged in opposite directions;

determining the pack number of the current medicine dispensing and the prescription cycle number of the medicine falling control mechanism according to the acquired prescription information, and setting the number of medicine storage grids for filling the current medicine;

recording the number of a medicine falling control mechanism which is currently positioned at the operation position;

acquiring the number of medicine storage grids corresponding to the medicine falling control mechanism at the current operation position and the number of cycles experienced by each medicine falling control mechanism;

and determining the number of the medicine falling control mechanism needing medicine falling at present according to the number of the current medicine falling control mechanism, the number of the medicine storage grids corresponding to the medicine falling control mechanism at the current operation position, the number of the medicine storage grids used for containing medicine at present, the number x of the medicine storage grids controlled by each medicine falling control mechanism, the prescription cycle times of the medicine falling control mechanism and the experienced cycle times.

4. The method according to claim 3, wherein the number of the determined falling control mechanisms which need falling currently is 0-q, wherein q is defined as a result of rounding up p/(k x), and p is the number of packs of the current medicine determined according to the acquired prescription information.

5. The method according to any one of claims 1 to 4, characterized in that before the first falling of each falling control cycle, the following further processing is performed:

and controlling the mechanical arm to place the medicine bottle to the medicine falling control mechanism at the operating position or take the medicine bottle away according to the medicine bottle placing condition of the medicine falling control mechanism at the operating position.

6. The parallel medicine falling control method based on the double-layer turntable comprises an upper turntable provided with a medicine falling control mechanism, a lower turntable provided with a medicine storage grid and a mechanical arm arranged at an operation position of the upper turntable and used for placing or taking a medicine bottle to the medicine falling control mechanism

Determining a medicine falling control period according to mechanical parameters of the double-layer turntable, wherein the mechanical parameters comprise the number m of medicine falling control mechanisms arranged on the upper turntable, the number n of medicine storage grids arranged on the lower turntable and the number x of medicine storage grids controlled by each medicine falling control mechanism, and the determined medicine falling control period is k-n/(m-x);

responding to the instruction for starting the current medicine falling control period, according to the medicine bottle placing condition of the medicine falling control mechanism at the operating position, controlling the mechanical arm to place the medicine bottle or take away the medicine bottle from the medicine falling control mechanism at the operating position, and starting the medicine falling control operation in the current period, wherein the medicine falling control operation is realized by comprising:

after the kth medicine falling operation, the medicine storage grids of the lower rotary disc are controlled to rotate back to the initial position, the upper rotary disc is controlled to rotate, and the medicine falling control mechanism at the operation position of the upper rotary disc is updated to the medicine falling control mechanism which is located at the position adjacent to the current medicine falling control mechanism in the opposite direction of the preset direction.

7. The parallel medicine falling control method according to claim 6, wherein controlling the medicine falling control mechanism to perform the medicine falling operation is implemented to include:

determining the pack number of the current medicine preparation according to the acquired prescription information, and setting the number of medicine storage grids for filling the current medicine;

acquiring the number of a medicine storage grid corresponding to a medicine falling control mechanism at the current operation position;

determining the number of the medicine falling control mechanism needing medicine falling at present according to the number of the current medicine falling control mechanism, the number of the medicine storage grids corresponding to the medicine falling control mechanism at the current operation position, the number of the medicine storage grids for containing medicine at present and the number of the medicine storage grids controlled by each medicine falling control mechanism;

and controlling the corresponding medicine falling control mechanism to perform medicine falling operation according to the determined number of the medicine falling control mechanism needing to fall the medicine at present.

8. The parallel drop control method according to claim 7, wherein the number of the drop control mechanisms that are determined to currently require dropping is 0 to q, where q is defined as a result of rounding up p/(k x), and p is the number of packs of the current medication determined based on the acquired prescription information.

9. The parallel medication drop control method according to any one of claims 6 to 8, wherein the instruction to start the current medication drop control cycle is generated based on the number of types of medicines in the acquired prescription information, the number of packages of the current medication drop, and the number of the medication drop control mechanism at the current operation position.

10. A parallel medicine controlling means that falls for double-deck carousel, double-deck carousel is including being provided with the last carousel that falls medicine control mechanism, being provided with the lower carousel that stores up the medicine check and setting up in the operating position department of last carousel and being used for placing or tak away the arm of medicine bottle to falling medicine control mechanism, its characterized in that, the device includes

A storage module for storing configuration information;

the third control module is used for generating a first rotation control signal or a second rotation control signal according to the second control signal and the configuration information and outputting the first rotation control signal or the second rotation control signal to the double-layer turntable; wherein the first rotation control signal is configured to cause only the lower dial to rotate a predetermined number of medicine storage compartments in a preset direction; the second rotation control signal is configured to enable the medicine storage grid of the lower rotary table to rotate back to the initial position, and enable the medicine falling control mechanism at the operation position of the upper rotary table to be updated to the medicine falling control mechanism located at the position adjacent to the current medicine falling control mechanism in the direction opposite to the preset direction.

11. A parallel medicine falling control system for a double-layer turntable is characterized by comprising the double-layer turntable and a control device, wherein,

the double-layer turntable comprises

An upper rotary disc provided with a medicine falling control mechanism;

a lower turntable provided with medicine storage grids; and

the control device comprises

A storage module for storing configuration information;

the first control module is used for generating a first control signal according to the acquired prescription information and the medicine dropping control mechanism at the current operation position and outputting the first control signal to the mechanical arm; the mechanical arm places a medicine bottle on the medicine falling control mechanism which is currently positioned at the operation position or takes away the medicine bottle according to the first control signal and outputs an operation feedback signal to the control device;

the second control module is used for acquiring configuration information according to the first control signal and a feedback signal of the mechanical arm, determining a medicine falling control period and a medicine falling position according to the configuration information, and generating second control signals according to the determined medicine falling control period and the determined medicine falling position and outputting the second control signals to corresponding medicine falling control mechanisms respectively; the corresponding medicine falling control mechanisms respectively perform medicine falling actions according to the second control signals and output action feedback signals to the control device; and

the third control module is used for acquiring configuration information according to the second control signal and a feedback signal of the medicine falling control mechanism, generating a first rotation control signal or a second rotation control signal according to the configuration information and outputting the first rotation control signal or the second rotation control signal to the double-layer turntable; the double-layer turntable drives the lower turntable to rotate according to the first rotation control signal, or drives the upper turntable and the lower turntable to rotate simultaneously according to the second rotation control signal;