CN112520292A - Medicine library control method and device and storage medium - Google Patents
Medicine library control method and device and storage medium Download PDFInfo
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- CN112520292A CN112520292A CN202011408145.7A CN202011408145A CN112520292A CN 112520292 A CN112520292 A CN 112520292A CN 202011408145 A CN202011408145 A CN 202011408145A CN 112520292 A CN112520292 A CN 112520292A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/0492—Storage devices mechanical with cars adapted to travel in storage aisles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/137—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
- B65G1/1373—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed for fulfilling orders in warehouses
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Abstract
The invention provides a method, a device and a storage medium for controlling a drug library, wherein the method comprises the following steps: receiving an instruction for storing a plurality of storage boxes, and controlling the first transport vehicle to receive the plurality of storage boxes; continuing the steps of placing all cartridges into their destination storage compartments, said steps comprising: the method comprises the steps of obtaining a target branch track and a target storage grid corresponding to a first storage box which is not stored in a first transport vehicle, controlling the first transport vehicle to slide to a position corresponding to the end part of the target branch track, controlling a first manipulator on the target branch track to grab the first storage box, sliding to one side of the target storage grid, and placing the first storage box into the target storage grid. In summary, the method can automatically store the storage box in the preset storage grid.
Description
Technical Field
The invention relates to the technical field of medicine storage, in particular to a method and a device for controlling a medicine library and a storage medium.
Background
In a hospital drug storage, drug storage cabinets are usually arranged in a row, and then several rows of drug storage cabinets are arranged in a row, so that the drug storage is usually required to automatically take in and out drugs for the convenience of use of a user, and in practice, drugs are usually loaded into a storage box 4 and then the storage box 4 is automatically taken in by the drug storage. Therefore, in the drug storage, a transportation device capable of automatically taking up the drug needs to be planned.
Disclosure of Invention
The invention aims to provide a method and a device for controlling a medicine library and a storage medium.
In order to achieve one of the above objects, according to one embodiment of the present invention, there is provided a method for controlling a drug library, the drug library including: a plurality of drug storage shelves divided into a plurality of storage compartments for storing storage cartridges; the drug storage rack is characterized in that branch rails are arranged on one side of the drug storage rack, a first manipulator is arranged on each branch rail in a sliding mode, and the first manipulator can take a storage box out of any storage grid and place the storage box into any storage grid; the main track is in contact with one end parts of all the branch tracks, and a first transport vehicle is arranged on the main track in a sliding mode; when the first transport vehicle slides to a position corresponding to the end of any branch track, the first manipulator in the branch track can grab the storage box in the first transport vehicle and can place the grabbed storage box into the first transport vehicle; the method comprises the following steps: receiving an instruction for storing a plurality of storage boxes, and controlling the first transport vehicle to receive the plurality of storage boxes; continuing the steps of placing all cartridges into their destination storage compartments, said steps comprising: the method comprises the steps of obtaining a target branch track and a target storage grid corresponding to a first storage box which is not stored in a first transport vehicle, controlling the first transport vehicle to slide to a position corresponding to the end part of the target branch track, controlling a first manipulator on the target branch track to grab the first storage box, sliding to one side of the target storage grid, and placing the first storage box into the target storage grid.
As a further improvement of an embodiment of the present invention, the "sliding to one side of the target storage compartment and placing the first storage box in the target storage compartment" specifically includes: sliding to one side of a target storage cell, controlling a first manipulator to grab a second storage box when the target storage cell is determined to contain an empty second storage box, sliding to the end part of a target branch track, and grabbing the second storage box to a first transport vehicle in a main track; then, the first storage box is slid to one side of the destination storage cell and is put into the destination storage cell.
As a further improvement of an embodiment of the present invention, the drug library further comprises: the second extension track is provided with a third transport vehicle capable of sliding along the second extension track, the third transport vehicle is used for transporting the storage box, and the trunk track is provided with a second manipulator capable of sliding along the trunk track; when the third transport vehicle slides to a third preset position of the second extension track, and the second manipulator and the first transport vehicle are located at a fourth preset position of the main track, the second manipulator can move the storage box between the first transport vehicle and the third transport vehicle; the control method further comprises the following steps: and controlling the second manipulator and the first transport vehicle to slide to a fourth preset position of the main track, controlling and controlling the third transport vehicle to transport to a third preset position along the second extension track, and controlling the second manipulator to move the empty storage box of the first transport vehicle to the third transport vehicle.
As a further improvement of one embodiment of the present invention, the first transportation vehicle comprises N storage locations, and the storage locations can store one storage box, wherein N is a natural number, and N is greater than or equal to 2; the "controlling the first transport vehicle to receive the plurality of storage boxes" specifically includes: controlling the first transporter to receive at most N-1 storage cassettes.
As a further improvement of the embodiment of the present invention, the "acquiring a destination branch track and a destination storage space corresponding to an unstored first storage cassette in the first transportation vehicle" specifically includes: obtaining destination branch tracks and destination storage grids corresponding to unprocessed M second storage boxes, wherein the M second storage boxes correspond to the same destination branch tracks, M is a natural number and is less than or equal to N-1; the step of controlling the first transport vehicle to slide to a position corresponding to the end of the destination branch track, controlling the first manipulator on the destination branch track to grab the first storage box, sliding to one side of the destination storage cell, and placing the first storage box into the destination storage cell specifically includes: and controlling the first transport vehicle to slide to the position corresponding to the end part of the destination branch track corresponding to the M second storage boxes, and then, continuously grabbing one second storage box from the first transport vehicle for M times, and sliding to one side of the corresponding destination storage grid and putting the second storage box into the destination storage grid for each second storage box.
As a further improvement of an embodiment of the present invention, the drug library further comprises: the first extension track is provided with a second transport vehicle capable of sliding along the first extension track, the second transport vehicle is used for transporting the storage box, and the trunk track is provided with a second manipulator capable of sliding along the trunk track; when the second transport vehicle slides to the first preset position of the first extension track, and the second manipulator and the first transport vehicle are located at the second preset position of the trunk track, the second manipulator can move the storage box between the first transport vehicle and the second transport vehicle;
the "controlling the first transport vehicle to receive the plurality of storage boxes" specifically includes: the second transport vehicle is controlled to slide to a first preset position of the first extension track, the second manipulator and the first transport vehicle slide to a second preset position of the main track, and the second manipulator is controlled to grab a plurality of storage boxes from the second transport vehicle and place the storage boxes into the first transport vehicle.
The embodiment of the invention also provides a control device of the medicine warehouse, and the medicine warehouse comprises: a plurality of drug storage shelves divided into a plurality of storage compartments for storing storage cartridges; the drug storage rack is characterized in that branch rails are arranged on one side of the drug storage rack, a first manipulator is arranged on each branch rail in a sliding mode, and the first manipulator can take a storage box out of any storage grid and place the storage box into any storage grid; the main track is in contact with one end parts of all the branch tracks, and a first transport vehicle is arranged on the main track in a sliding mode; when the first transport vehicle slides to a position corresponding to the end of any branch track, the first manipulator in the branch track can grab the storage box in the first transport vehicle and can place the grabbed storage box into the first transport vehicle; the system comprises the following modules:
the acquisition module is used for receiving an instruction for storing a plurality of storage boxes and controlling the first transport vehicle to receive the plurality of storage boxes;
an execution module for continuously performing the following steps until all storage cartridges are placed in their destination storage compartments, the steps comprising: the method comprises the steps of obtaining a target branch track and a target storage grid corresponding to a first storage box which is not stored in a first transport vehicle, controlling the first transport vehicle to slide to a position corresponding to the end part of the target branch track, controlling a first manipulator on the target branch track to grab the first storage box, sliding to one side of the target storage grid, and placing the first storage box into the target storage grid.
As a further improvement of an embodiment of the present invention, the execution module is further configured to: sliding to one side of a target storage cell, controlling a first manipulator to grab a second storage box when the target storage cell is determined to contain an empty second storage box, sliding to the end part of a target branch track, and grabbing the second storage box to a first transport vehicle in a main track; then, the first storage box is slid to one side of the destination storage cell and is put into the destination storage cell.
The embodiment of the present invention further provides a control device for a drug library, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor, where the processor executes the computer program to implement the steps of the above method.
Embodiments of the present invention also provide a computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, implements the steps of the above-mentioned method.
Compared with the prior art, the invention has the technical effects that: the embodiment of the invention provides a method, a device and a storage medium for controlling a medicine library, wherein the method comprises the following steps: receiving an instruction for storing a plurality of storage boxes, and controlling the first transport vehicle to receive the plurality of storage boxes; continuing the steps of placing all cartridges into their destination storage compartments, said steps comprising: the method comprises the steps of obtaining a target branch track and a target storage grid corresponding to a first storage box which is not stored in a first transport vehicle, controlling the first transport vehicle to slide to a position corresponding to the end part of the target branch track, controlling a first manipulator on the target branch track to grab the first storage box, sliding to one side of the target storage grid, and placing the first storage box into the target storage grid. In summary, the method can automatically store the storage box in the preset storage grid.
Drawings
FIG. 1A is a schematic perspective view of a drug depot according to an embodiment of the present invention;
FIG. 1B is an enlarged view of area A in FIG. 1A;
FIG. 1C is an enlarged view of area B of FIG. 1A;
FIG. 1D is an enlarged view of area C of FIG. 1A;
fig. 2 is a flowchart illustrating a method for controlling a drug library according to an embodiment of the present invention.
Detailed Description
The present invention will be described in detail below with reference to embodiments shown in the drawings. These embodiments are not intended to limit the present invention, and structural, methodological, or functional changes made by those skilled in the art according to these embodiments are included in the scope of the present invention.
Terms such as "upper," "above," "lower," "below," and the like, used herein to denote relative spatial positions, are used for ease of description to describe one element or feature's relationship to another element or feature as illustrated in the figures. The spatially relative positional terms may be intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. For example, if the device in the figures is turned over, elements described as "below" or "beneath" other elements or features would then be oriented "above" the other elements or features. Thus, the exemplary term "below" can encompass both an orientation of above and below. The device may be otherwise oriented (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.
Also, it should be understood that, although the terms first, second, etc. may be used herein to describe various elements or structures, these described elements should not be limited by these terms. These terms are only used to distinguish these descriptive objects from one another. For example, the first manipulator may be referred to as the second manipulator, and similarly the second manipulator may also be referred to as the first manipulator, without departing from the scope of the present application.
An embodiment of the present invention provides a method for controlling a drug library, as shown in fig. 1A, fig. 1B, fig. 1C, and fig. 1D, the drug library includes: a plurality of drug storage shelves 1, said drug storage shelves 1 being divided into a plurality of storage compartments for storing storage cartridges 4; the drug storage rack 1 is provided with branch rails 2 at one side, each branch rail 2 is provided with a first manipulator 61 in a sliding manner, and the first manipulator 61 can take a storage box 4 out of any storage grid and put the storage box 4 into any storage grid; the main track 3 is contacted with one end parts of all the branch tracks 2, and a first transport vehicle 31 is arranged on the main track 3 in a sliding mode; when the first carriage 31 slides to a position corresponding to an end of any one of the branch rails 2, the first robot 61 in the branch rail 2 can grasp a storage box 4 in the first carriage 31 and can put the grasped storage box 4 into the first carriage 31; here, as shown in fig. 1, the medicine storage rack 1 may include a plurality of medicine storage cabinets arranged in a left-right direction, each of the medicine storage cabinets being divided into a plurality of storage layers in an up-down direction, each of the storage layers being divided into a plurality of storage compartments in the left-right direction, each of the storage compartments being for storing the storage case 4. The plurality of medicine storage shelves 1 are distributed in the front-rear direction. Here, in the magazine, when it is necessary to put the magazine 4 filled with the medicine boxes into the storage compartment, it is only necessary to put the magazine 4 onto the first carriage 31 on the main rail 3, and then the first carriage 31 slides along the main rail 3, and when sliding to a position corresponding to an end of a certain branch rail 2, the first robot 61 slides to the end, then grabs the magazine 4, and then slides along the branch rail 2 to a certain storage compartment, and then the magazine 4 can be put into the storage compartment.
Here, it should be noted that in fig. 1A, only one drug storage cabinet is shown on each drug storage rack 1, and in practice, there may be a plurality of drug storage cabinets.
Here, the trunk rail 3 is in contact with one end of all the branch rails 2, and the term "contact" herein should not be construed narrowly as a connection, and its specific meaning may be understood as: in the case of the branch rails 2, there is a position in the main rail 3 corresponding to the end of the branch rail 2, to which position the first gripper device can grip the storage box 8 in the first carriage 31 when the first carriage 31 is moved, as is understood in the present context by the meaning of "contact".
As shown in fig. 2, the method comprises the following steps:
step 201: receiving an instruction to store a plurality of storage cassettes 4, controlling the first transport vehicle 31 to receive a plurality of storage cassettes 4; here, a special position may be provided on the main track 3 for receiving the storage box 4, and therefore, it is necessary to slide the first carriage 31 to this position and then receive the storage box 4. Here, in this position, the storage box 4 may be manually placed on the first carriage 31, or the storage box 4 may be mechanically placed on the first carriage 31. It will be appreciated that the storage case 4 contains a pharmaceutical product.
Step 202: the following steps are continued until all cartridges 4 are placed in their destination storage compartments, said steps comprising: the method comprises the steps of acquiring a destination branch track and a destination storage grid corresponding to an unstored first storage box in a first transport vehicle 31, controlling the first transport vehicle 31 to slide to a position corresponding to the end part of the destination branch track, controlling a first manipulator 61 on the destination branch track to grab the first storage box and slide to one side of the destination storage grid, and placing the first storage box into the destination storage grid.
Here, the storage box may be stored in the first carriage 31 first, and then the first carriage 31 is controlled to slide along the main rail 3 and to the destination branch rail, and then the first storage box is put into the destination storage cell by the first robot 61.
Here, a unique branch track 2 is provided for each drug storage rack 1, and two drug storage racks 1 may share one branch track 2, and in this case, in this step, the first robot 61 needs to determine whether the target storage space is located on the front side or the rear side of the first robot 61.
Here, in the drug library, a drug library management system may be provided, which may be provided with a database in which the condition of the storage grid in each drug storage rack 1 is stored, including at least: whether deposit the storage box in the storage grid, the medicine type of a plurality of medicines of depositing in the storage box, information such as the storage quantity of every medicine. When a new cartridge is stored in a particular storage compartment or the cartridge is removed, a corresponding modification of the database is required.
Here, in the above steps, a unique identification code may be provided for each storage box 4, and a plurality of sensors are required to be provided in the drug storage, and a storage device is provided in the storage box 4, in which the identification code is stored, and the sensors can read the identification code, so that the position of the storage box can be obtained at any time. For example, the storage device may be a two-dimensional code (the identification code is stored in the two-dimensional code), and the sensor may be a camera; the storage device may be an NFC (Near Field Communication) Communication device in which the identification code is stored, and the sensor may be an NFC reader.
In this embodiment, the "sliding to one side of the destination storage compartment and placing the first storage box into the destination storage compartment" specifically includes: sliding to one side of the target storage cell, controlling the first robot 61 to grab the second storage box and sliding to the end of the target branch rail to grab the second storage box into the first transport vehicle 31 in the main rail 3 when it is determined that the target storage cell contains an empty second storage box; then, the first storage box is slid to one side of the destination storage cell and is put into the destination storage cell. Here, if an empty second storage cassette is stored in the destination storage compartment, the second storage cassette needs to be removed, and then, when the first storage cassette is put into the destination storage compartment, the empty storage cassette is carried away by the first transport vehicle 31.
In this embodiment, the drug library further includes: a second extension rail 5B, wherein a third carriage 5B1 is provided on the second extension rail 5B to be slidable therealong, the third carriage 5B1 is used to transport the storage box 4, and the main rail 3 is provided with a second robot 62 to be slidable along the main rail 3; when the third carriage 5B1 slides to the third preset position of the second extension track 5B, the second manipulator 62 and the first carriage 31 are located at the fourth preset position of the trunk track 3, and the second manipulator 62 can move the storage box 4 between the first and third carriages;
the control method further comprises the following steps: the second robot 62 and the first carriage 31 are controlled to slide to the fourth preset position of the trunk rail 3, and the third carriage 5B1 is controlled and controlled to be transported to the third preset position along the second extension rail 5B, and the second robot 62 is controlled to move the empty magazine 4 of the first carriage 31 into the third carriage 5B 1.
Here, in the magazine, a window needs to be provided which allows a user to feed a full magazine into the magazine and remove an empty magazine, but which may for some reason not be located at the same position as the plurality of drug storage shelves 1, so that a second extended track 5B needs to be provided which second extended track 5B is used to remove an empty magazine; here, when the third carriage 5B1 is filled with empty storage boxes 4, the third carriage 5B1 may be slid to a preset position and then the empty storage boxes are manually taken away.
Here, the second extension track 5B may be a straight track (the track may be vertically placed), a first end of the straight track is in contact with the main track 3, and thus, the first end is a third preset position of the second extension track 5B, and a position where the main track 3 is in contact with the first end is a fourth preset position. The second extension track 5B may be a vertically disposed circular track, and the highest position of the circular track is in contact with the main track 3, so that the highest position is the third predetermined position of the second extension track 5B, and the position where the main track 3 is in contact with the first end portion is the fourth predetermined position.
In this embodiment, the first transport vehicle 31 includes N storage locations 311, where the storage locations 311 can store one storage box 4, where N is a natural number, and N is greater than or equal to 2; said "controlling said first carriage 31 to receive a plurality of storage boxes 4" comprises in particular: the first carriage 31 is controlled to receive at most N-1 storage cassettes 4. Here, if the destination storage compartment contains an empty storage cassette, the empty storage cassette needs to be put into the first transport vehicle 31, and therefore, an empty storage position 311 needs to be reserved in the first transport vehicle 31 in advance.
In this embodiment, the "acquiring the destination branch track and the destination storage space corresponding to the first storage box which is not stored in the first transport vehicle 31" specifically includes: obtaining destination branch tracks and destination storage grids corresponding to unprocessed M second storage boxes, wherein the M second storage boxes correspond to the same destination branch tracks, M is a natural number and is less than or equal to N-1;
the step of controlling the first transport vehicle 31 to slide to a position corresponding to the end of the destination branch track, controlling the first manipulator 61 on the destination branch track to grab the first storage box and slide to one side of the destination storage cell, and placing the first storage box into the destination storage cell specifically includes: and controlling the first transport vehicle 31 to slide to the position corresponding to the end part of the destination branch track corresponding to the M second storage boxes, and then, continuously grabbing one second storage box from the first transport vehicle 31 for M times, and sliding to one side of the corresponding destination storage grid and placing the second storage box into the destination storage grid for each second storage box. Here, if the M storage boxes all correspond to the same destination branch rail, when the first transport vehicle 31 slides to the end of the destination branch rail, at this time, the M storage boxes can all be stored to the corresponding storage boxes, so that the sliding of the first transport vehicle 31 can be reduced, and the efficiency is greatly improved.
In this embodiment, the drug library further includes: a first extension rail 5A, wherein a second carriage 5A1 capable of sliding along the first extension rail 5A is provided, the second carriage 5A1 is used for transporting the storage box 4, and the main rail 3 is provided with a second manipulator 62 capable of sliding along the main rail 3; when the second carriage 5A1 slides to the first preset position of the first extension track 5A, the second manipulator 62 and the first carriage 31 are located at the second preset position of the trunk track 3, and the second manipulator 62 can move the storage box 4 between the first and second carriages;
said "controlling said first carriage 31 to receive a plurality of storage boxes 4" comprises in particular: the second carriage 5A1 is controlled to slide to a first preset position of the first extension rail 5A and the second robot 62 and the first carriage 31 slide to a second preset position of the main rail 3, and the second robot 62 is controlled to pick up the plurality of storage boxes 4 from the second carriage 5A1 and put them into the first carriage 31.
Here, a first extended track 5A may be provided between the window and the medicine magazine, the first extended track 5A for receiving a storage case filled with medicine put in by a user; here, when the second carriage 5a1 is loaded with storage boxes 4 filled with medicines, the second carriage 5a1 may be slid to a predetermined position and then a storage box is manually put into the second carriage 5a 1.
Here, the first extension track 5A may be a straight track (the track may be vertically placed), a first end of the straight track is in contact with the main track 3, and thus, the first end is a first preset position of the first extension track 5A, and a position where the main track 3 is in contact with the first end is a second preset position. The first extension track 5A may be a vertically disposed circular track, and the highest position of the circular track is in contact with the main track 3, so that the highest position is the first predetermined position of the first extension track 5A, and the position where the main track 3 is in contact with the first end portion is the second predetermined position.
Here, in the trunk track 3, the number of the first transport vehicles 31 may be plural, and the number of the second robot arms 62 may be plural. In the first extension track 5A, the number of the second carriage 5A1 may be plural. In the second extension track 5B, the number of the third carriage 5B1 may be plural. Also, the number of the first and second extension rails may be plural. Optionally, the first and second extension tracks are both an annular track, and the two annular tracks together also form an annular track. In the case shown in fig. 1A, in the trunk track 3, the number of the first transport vehicles 31 is two, the number of the second robot arms 62 is 1, and the second robot arms 62 are located between the two first transport vehicles 31.
Here, in the trunk track 3, it is necessary to provide several sensors capable of detecting the positions of the first carriage 31 and the second robot arm 62. In the first extension track 5A, it is necessary to provide a plurality of sensors capable of detecting the position of the second carriage 5A 1. In the second extension track 5B, it is necessary to provide a plurality of sensors capable of detecting the position of the third carriage 5B 1.
An embodiment of the present invention provides a control device for a drug library, where the drug library includes: a plurality of drug storage shelves 1, said drug storage shelves 1 being divided into a plurality of storage compartments for storing storage cartridges 4; the drug storage rack 1 is provided with branch rails 2 at one side, each branch rail 2 is provided with a first manipulator 61 in a sliding manner, and the first manipulator 61 can take a storage box 4 out of any storage grid and put the storage box 4 into any storage grid; the main track 3 is contacted with one end parts of all the branch tracks 2, and a first transport vehicle 31 is arranged on the main track 3 in a sliding mode; when the first carriage 31 slides to a position corresponding to an end of any one of the branch rails 2, the first robot 61 in the branch rail 2 can grasp a storage box 4 in the first carriage 31 and can put the grasped storage box 4 into the first carriage 31; the system comprises the following modules:
an acquisition module, configured to receive an instruction to store a plurality of storage boxes 4, and control the first transport vehicle 31 to receive the plurality of storage boxes 4;
an execution module for continuously executing the following steps until all cartridges 4 are placed in their destination storage compartments, said steps comprising: the method comprises the steps of acquiring a destination branch track and a destination storage grid corresponding to an unstored first storage box in a first transport vehicle 31, controlling the first transport vehicle 31 to slide to a position corresponding to the end part of the destination branch track, controlling a first manipulator 61 on the destination branch track to grab the first storage box and slide to one side of the destination storage grid, and placing the first storage box into the destination storage grid.
In this embodiment, the execution module is further configured to: sliding to one side of the target storage cell, controlling the first robot 61 to grab the second storage box and sliding to the end of the target branch rail to grab the second storage box into the first transport vehicle 31 in the main rail 3 when it is determined that the target storage cell contains an empty second storage box; then, the first storage box is slid to one side of the destination storage cell and is put into the destination storage cell.
The third embodiment of the present invention provides a control device for a drug library, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor, where the processor implements the steps of the method in the first embodiment when executing the program.
A fourth embodiment of the present invention provides a computer-readable storage medium, on which a computer program is stored, where the computer program, when executed by a processor, implements the steps of the method in the first embodiment.
The above description is only for the specific embodiments of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present invention, and all the changes or substitutions should be covered within the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the appended claims.
Claims (10)
1. A method of controlling a drug depot, the drug depot comprising: a plurality of drug storage shelves (1), said drug storage shelves (1) being divided into a plurality of storage compartments for storing storage cartridges (4); the drug storage rack is characterized in that one side of the drug storage rack (1) is provided with branch tracks (2), each branch track (2) is provided with a first manipulator (61) in a sliding manner, and the first manipulator (61) can take a storage box (4) out of any storage grid and place the storage box (4) into any storage grid; the main track (3) is in contact with one end part of each branch track (2), and a first transport vehicle (31) is arranged on the main track (3) in a sliding mode; when the first transport vehicle (31) slides to a position corresponding to an end of any one of the branch rails (2), the first robot (61) in the branch rail (2) can grasp a storage box (4) in the first transport vehicle (31) and can put the grasped storage box (4) into the first transport vehicle (31); the method is characterized by comprising the following steps:
receiving an instruction to store a plurality of storage boxes (4), controlling the first transport vehicle (31) to receive a plurality of storage boxes (4);
the following steps are carried out continuously until all cartridges (4) are placed in their destination storage compartments, said steps comprising: the method comprises the steps of obtaining a target branch track and a target storage grid corresponding to a first storage box which is not stored in a first transport vehicle (31), controlling the first transport vehicle (31) to slide to a position corresponding to the end part of the target branch track, controlling a first manipulator (61) on the target branch track to grab the first storage box and slide to one side of the target storage grid, and placing the first storage box into the target storage grid.
2. The control method according to claim 1, wherein the "sliding to a side of the destination storage compartment, placing the first storage cartridge in the destination storage compartment" specifically includes:
sliding to one side of a target storage cell, controlling a first manipulator (61) to grab a second storage box when the target storage cell is determined to contain an empty second storage box, sliding to the end of the target branch track, and grabbing the second storage box into a first transport vehicle (31) in the main track (3); then, the first storage box is slid to one side of the destination storage cell and is put into the destination storage cell.
3. The control method according to claim 2,
the drug depot further comprises: a second extension track (5B), a third transport vehicle (5B1) capable of sliding along the second extension track (5B) is arranged on the second extension track (5B), the third transport vehicle (5B1) is used for transporting storage boxes (4), and a second manipulator (62) capable of sliding along the trunk track (3) is arranged on the trunk track (3); when the third transport vehicle (5B1) slides to the third preset position of the second extension track (5B), the second manipulator (62) and the first transport vehicle (31) are positioned at the fourth preset position of the main track (3), and the second manipulator (62) can move the storage box (4) between the first transport vehicle and the third transport vehicle;
the control method further comprises the following steps: the second manipulator (62) and the first transport vehicle (31) are controlled to slide to a fourth preset position of the main track (3), the third transport vehicle (5B1) is controlled and controlled to be transported to a third preset position along the second extension track (5B), and the second manipulator (62) is controlled to move the storage box (4) which is empty in the first transport vehicle (31) to the third transport vehicle (5B 1).
4. The control method according to claim 2, characterized in that:
the first transport vehicle (31) comprises N storage positions (311), wherein the storage positions (311) can store one storage box (4), N is a natural number and is more than or equal to 2;
said "controlling said first carriage (31) to receive a number of storage boxes (4)" comprises in particular: -controlling said first carriage (31) to receive at most N-1 storage cassettes (4).
5. The control method according to claim 3,
the step of acquiring the destination branch track and the destination storage grid corresponding to the undeposited first storage box in the first transport vehicle (31) specifically comprises the following steps: obtaining destination branch tracks and destination storage grids corresponding to unprocessed M second storage boxes, wherein the M second storage boxes correspond to the same destination branch tracks, M is a natural number and is less than or equal to N-1;
the controlling the first transport vehicle (31) to slide to a position corresponding to the end of the destination branch track, controlling a first manipulator (61) on the destination branch track to grab the first storage box and slide to one side of the destination storage cell, and placing the first storage box into the destination storage cell specifically comprises: and controlling the first transport vehicle (31) to slide to the position corresponding to the end part of the destination branch track corresponding to the M second storage boxes, and then, continuously grabbing one second storage box from the first transport vehicle (31) for M times, and sliding to one side of the corresponding destination storage grid and placing the second storage box into the destination storage grid for each second storage box.
6. The control method according to claim 1,
the drug depot further comprises: a first extension track (5A), wherein a second transport vehicle (5A1) capable of sliding along the first extension track (5A) is arranged on the first extension track (5A), the second transport vehicle (5A1) is used for transporting storage boxes (4), and a second manipulator (62) capable of sliding along the trunk track (3) is arranged on the trunk track (3); when the second transport vehicle (5A1) slides to the first preset position of the first extension track (5A), the second manipulator (62) and the first transport vehicle (31) are located at the second preset position of the main track (3), and the second manipulator (62) can move the storage box (4) between the first transport vehicle and the second transport vehicle;
said "controlling said first carriage (31) to receive a number of storage boxes (4)" comprises in particular: controlling the second transport vehicle (5A1) to slide to a first preset position of the first extension track (5A), controlling the second manipulator (62) and the first transport vehicle (31) to slide to a second preset position of the main track (3), and controlling the second manipulator (62) to grab a plurality of storage boxes (4) from the second transport vehicle (5A1) and put the storage boxes into the first transport vehicle (31).
7. A control device for a drug depot, the drug depot comprising: a plurality of drug storage shelves (1), said drug storage shelves (1) being divided into a plurality of storage compartments for storing storage cartridges (4); the drug storage rack is characterized in that one side of the drug storage rack (1) is provided with branch tracks (2), each branch track (2) is provided with a first manipulator (61) in a sliding manner, and the first manipulator (61) can take a storage box (4) out of any storage grid and place the storage box (4) into any storage grid; the main track (3) is in contact with one end part of each branch track (2), and a first transport vehicle (31) is arranged on the main track (3) in a sliding mode; when the first transport vehicle (31) slides to a position corresponding to an end of any one of the branch rails (2), the first robot (61) in the branch rail (2) can grasp a storage box (4) in the first transport vehicle (31) and can put the grasped storage box (4) into the first transport vehicle (31); the system is characterized by comprising the following modules:
an acquisition module for receiving an instruction to store a plurality of storage boxes (4), controlling the first transport vehicle (31) to receive a plurality of storage boxes (4);
an execution module for continuously executing the following steps until all storage cartridges (4) are placed in their destination storage compartments, said steps comprising: the method comprises the steps of obtaining a target branch track and a target storage grid corresponding to a first storage box which is not stored in a first transport vehicle (31), controlling the first transport vehicle (31) to slide to a position corresponding to the end part of the target branch track, controlling a first manipulator (61) on the target branch track to grab the first storage box and slide to one side of the target storage grid, and placing the first storage box into the target storage grid.
8. The control device of claim 7, wherein the execution module is further configured to: sliding to one side of a target storage cell, controlling a first manipulator (61) to grab a second storage box when the target storage cell is determined to contain an empty second storage box, sliding to the end of the target branch track, and grabbing the second storage box into a first transport vehicle (31) in the main track (3); then, the first storage box is slid to one side of the destination storage cell and is put into the destination storage cell.
9. A control device for a drug library, comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the steps of the method according to any of claims 1 to 6 are performed when the processor executes the program.
10. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the steps of the method of any one of claims 1 to 6.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011408145.7A CN112520292B (en) | 2020-12-03 | 2020-12-03 | Medicine library control method and device and storage medium |
| PCT/CN2020/135734 WO2022116254A1 (en) | 2020-12-03 | 2020-12-11 | Medicine storehouse control method and apparatus, and storage medium |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011408145.7A CN112520292B (en) | 2020-12-03 | 2020-12-03 | Medicine library control method and device and storage medium |
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| Publication Number | Publication Date |
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| CN112520292A true CN112520292A (en) | 2021-03-19 |
| CN112520292B CN112520292B (en) | 2021-12-28 |
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| Publication number | Publication date |
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| CN112520292B (en) | 2021-12-28 |
| WO2022116254A1 (en) | 2022-06-09 |
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