CN112589810A - Intelligent medicine taking auxiliary robot and control method - Google Patents
Intelligent medicine taking auxiliary robot and control method Download PDFInfo
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- CN112589810A CN112589810A CN202011411961.3A CN202011411961A CN112589810A CN 112589810 A CN112589810 A CN 112589810A CN 202011411961 A CN202011411961 A CN 202011411961A CN 112589810 A CN112589810 A CN 112589810A
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- medicine
- box
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- taking
- intelligent
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61J—CONTAINERS SPECIALLY ADAPTED FOR MEDICAL OR PHARMACEUTICAL PURPOSES; DEVICES OR METHODS SPECIALLY ADAPTED FOR BRINGING PHARMACEUTICAL PRODUCTS INTO PARTICULAR PHYSICAL OR ADMINISTERING FORMS; DEVICES FOR ADMINISTERING FOOD OR MEDICINES ORALLY; BABY COMFORTERS; DEVICES FOR RECEIVING SPITTLE
- A61J7/00—Devices for administering medicines orally, e.g. spoons; Pill counting devices; Arrangements for time indication or reminder for taking medicine
- A61J7/04—Arrangements for time indication or reminder for taking medicine, e.g. programmed dispensers
- A61J7/0409—Arrangements for time indication or reminder for taking medicine, e.g. programmed dispensers with timers
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61J—CONTAINERS SPECIALLY ADAPTED FOR MEDICAL OR PHARMACEUTICAL PURPOSES; DEVICES OR METHODS SPECIALLY ADAPTED FOR BRINGING PHARMACEUTICAL PRODUCTS INTO PARTICULAR PHYSICAL OR ADMINISTERING FORMS; DEVICES FOR ADMINISTERING FOOD OR MEDICINES ORALLY; BABY COMFORTERS; DEVICES FOR RECEIVING SPITTLE
- A61J7/00—Devices for administering medicines orally, e.g. spoons; Pill counting devices; Arrangements for time indication or reminder for taking medicine
- A61J7/04—Arrangements for time indication or reminder for taking medicine, e.g. programmed dispensers
- A61J7/0409—Arrangements for time indication or reminder for taking medicine, e.g. programmed dispensers with timers
- A61J7/0454—Arrangements for time indication or reminder for taking medicine, e.g. programmed dispensers with timers for dispensing of multiple drugs
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/008—Manipulators for service tasks
- B25J11/009—Nursing, e.g. carrying sick persons, pushing wheelchairs, distributing drugs
Abstract
The invention relates to the field of auxiliary medicine taking equipment and discloses an intelligent medicine taking auxiliary robot and a control method, wherein the intelligent medicine taking auxiliary robot comprises a medicine storage device, a medicine picking device, a medicine outlet box, a controller and a voice module; the medicine storage device is used as a virtual rotation axis, and the medicine storage device and the medicine discharging box are arranged on one side of the medicine storage device at different angle positions; the medicine storage device comprises a rotary base, a stepping motor, a stepping driver, a medicine box base and a medicine box; the medicine picking device is used for picking the tablets in the medicine box closest to the medicine picking device; the step driver is electrically connected with the controller, the medicine picking device is electrically connected with the controller, and the voice module is electrically connected with the controller. Through the arrangement of the technical scheme, the medicine taking amount and the medicine taking time of a patient are accurate, and the working intensity of medical staff is reduced.
Description
Technical Field
The invention relates to the field of auxiliary medicine taking equipment, in particular to an intelligent medicine taking auxiliary robot and a control method.
Background
At present, the number of the elderly people in China reaches 2.12 hundred million, and more than 250 million of the elderly people need to take various medicines for a long time. How much the old in China should take more or less drugs? An investigation of drug use by community elderly showed that 51.33% of the elderly took the drug daily, with 18.74% taking 3 drugs daily and 2.52% taking 6 drugs daily. The elderly often suffer from non-single disease types, most elderly have inconvenient actions and poor memory, and the number of medicines to be taken each day is large, so that the patients are easily mistaken for the number of each tablet, the condition is delayed, the health is damaged, and even the life is threatened.
In the current society, people pay more and more attention to health problems and medical resources are in short supply, and with the increase of health problems, the working pressure of hospital staff is increased, and people often turn upside down day and night and cannot have a good rest, so that a vicious circle is formed.
Disclosure of Invention
The invention aims to provide an intelligent medicine taking auxiliary robot and a control method, and the intelligent medicine taking auxiliary robot can solve the problems that old people forget to take medicines, take wrong medicines and medical care personnel have high working strength.
In order to achieve the above object, a first aspect of the present invention provides an intelligent auxiliary robot for taking medicine, which includes a medicine storage device, a medicine picking device, a medicine discharging box, a controller and a voice module;
the medicine storage device comprises a rotary base, a stepping motor, a stepping driver, a medicine box base and a medicine box, wherein the stepping motor is vertically arranged in the rotary base, the medicine box base is positioned on the rotary base and is connected with the stepping motor, a plurality of mounting grooves are circumferentially arranged on the medicine box base, the medicine box is arranged in the mounting grooves, and the medicine box is of a hollow structure with an opening at the top; the stepping driver is electrically connected with the stepping motor;
the medicine sorting device is used for sorting the tablets in the medicine box closest to the medicine sorting device and placing the tablets into the medicine outlet box;
the step driver is electrically connected with the controller, the medicine picking device is electrically connected with the controller, and the voice module is electrically connected with the controller.
Through the setting of above-mentioned technical scheme, the medicine selects the device can select different tablets through the rotation of medicine box base, puts into out the medicine box to remind the patient to take medicine by voice module, thereby make the patient take medicine amount and medicine time accurate, and reduced medical personnel's working strength.
Further, the bottom end of the cartridge has a recess.
Further, the lateral wall of mounting groove is gone up the vertical recess that is provided with, the buckle that is vertically provided with on the outer wall of medicine box, the medicine box passes through buckle and recess with the mounting groove is connected.
Further, the medicine picking device comprises a lifting cylinder, a rotary cylinder and a pneumatic suction nozzle, wherein the fixed end of the lifting cylinder is vertically arranged on the movable end of the rotary cylinder, the movable end of the lifting cylinder faces downwards, the pneumatic suction nozzle is arranged on the movable end of the lifting cylinder, the pneumatic suction nozzle is provided with a suction disc, and the suction disc faces downwards.
Furthermore, a slide way is arranged between the medicine sorting device and the medicine discharging box, and the slide way is inclined downwards from the medicine sorting device to the medicine discharging box.
Further, a specular reflection sensor is arranged on one side of the slide way, and an optical signal emitted by the specular reflection sensor penetrates through the upper side of the slide way from the width direction of the slide way; a diffuse reflection sensor is arranged on one side of the medicine outlet box, and an optical signal of the diffuse reflection sensor covers the medicine outlet box;
the specular reflection sensor and the diffuse reflection sensor are electrically connected with the controller.
Further, intelligence medicine auxiliary robot is equipped with the safety cover outward, the safety cover is close the position of going out the medicine box is provided with out the medicine mouth.
Furthermore, the intelligent medicine taking auxiliary robot further comprises a touch screen and a debugging interface, wherein the debugging interface is arranged on the controller, and the touch screen is electrically connected with the controller.
The second aspect of the present invention provides a control method, including the intelligent medication assisting robot:
s1, respectively putting different multi-day amounts of medicine into a plurality of medicine boxes, and setting medicine type parameters, different medicine type quantity parameters, character parameters, medicine type and medicine amount parameters corresponding to the character parameters and medicine taking time parameters corresponding to the character parameters in a controller through a touch screen;
s2, when the medicine taking time corresponding to any character parameter is reached, the medicine storage device rotates for multiple times according to the medicine type and the medicine amount corresponding to the character parameter, and the medicine picking device performs at least one medicine picking action, rotation action and medicine loosening action on the medicine box closest to the medicine picking device during each rotation of the medicine storage device;
s3, when the medicine type and the medicine amount corresponding to any character parameter are placed, the controller controls the voice module to broadcast;
s4, detecting the existence of any medicine in the medicine box by the diffuse reflection sensor within a preset time interval;
s5, if there is medicine, playing voice after the preset time interval, and executing S4 step; if no drug is present, step S2 is performed.
Through the setting of above-mentioned technical scheme, through having set up closed-loop control, remind the patient to take medicine by voice module to make patient dose and medicine time accurate, and reduced medical personnel's working strength.
Further, the S2 further includes:
the mirror reflection sensor detects the medicine placed on the slideway and transmits a signal to the controller;
the controller calculates the amount of drug remaining in the cartridge in conjunction with the cartridge from which the drug was removed.
Additional features and advantages of the invention will be set forth in the detailed description which follows.
Drawings
FIG. 1 is a schematic diagram of an overall structure of an intelligent robot for assisting in taking medicine according to an embodiment of the present invention;
FIG. 2 is a schematic cross-sectional view of an embodiment of the intelligent dispensing assistant robot of the present invention;
FIG. 3 is an exploded view of one embodiment of a medication storage device;
fig. 4 is an enlarged view of fig. 2 at a.
Description of the reference numerals
1 medicament storage device 2 medicament picking device
3 go out 11 rotating base of medicine box
12 stepping motor 13 medicine box base
14 medicine box 15 mounting groove
16 groove 17 fastener
21 lifting cylinder and 22 rotating cylinder
23 pneumatic suction nozzle 24 suction cup
4-slideway 5-mirror reflection sensor
6 diffuse reflection sensor 7 touch screen
8 protective cover 18 sealing cover
9 medicine-taking gate structure 141 recess
Detailed Description
The following describes in detail specific embodiments of the present invention. It should be understood that the detailed description and specific examples, while indicating the present invention, are given by way of illustration and explanation only, not limitation.
In the present invention, the use of directional terms such as "upper" and "lower" generally means in the orientation shown in FIG. 1, unless otherwise indicated. "inner and outer" refer to the inner and outer contours of the respective component itself.
In order to solve the problems that the old people forget to take medicines, take wrong medicines and the medical staff has high working strength, as shown in fig. 1-3, the invention provides an intelligent medicine taking auxiliary robot in a first aspect, wherein the intelligent medicine taking auxiliary robot comprises a medicine storage device 1, a medicine picking device 2, a medicine outlet box 3, a controller and a voice module; preferably, the controller is a PLC controller;
the medicine storage device 1 and the medicine outlet box 3 are arranged on one side of the medicine picking device 2 at different angular positions by taking the medicine picking device 2 as a virtual rotation axis;
the medicine storage device 1 comprises a rotary base 11, a stepping motor 12, a stepping driver, a medicine box base 13 and a medicine box 14, wherein the stepping motor 12 is arranged in the rotary base 11 in a mode that a rotating shaft of the stepping motor 12 is vertical, the medicine box base 13 is positioned on the rotary base 11 and is connected with the stepping motor 12 through the rotating shaft, a plurality of mounting grooves 15 are circumferentially arranged on the medicine box base 13, the medicine box 14 is arranged in the mounting grooves 15, and the medicine box 14 is of a hollow structure with an opening at the top; the stepping driver is electrically connected with the stepping motor 12; preferably, the rotating base 11 is cylindrical, and the voice module is disposed in the space around the stepping motor 12;
the medicine picking device 2 is used for picking the tablets in the medicine box 14 closest to the medicine picking device 2 and placing the tablets into the medicine outlet box 2;
the step driver is electrically connected with the controller, the medicine picking device 2 is electrically connected with the controller, and the voice module is electrically connected with the controller. Preferably, the electrical connection is a wire connection.
Through the setting of above-mentioned technical scheme, medicine is chosen device 2 and can is chosen different tablets through the rotation of medicine box base 13, puts into out medicine box 3 to remind the patient to take medicine by voice module, thereby make patient dose and medicine time accurate, and reduced medical personnel's working strength.
In order to ensure that the picking device 2 can accurately suck tablets, the bottom end of the medicine box 14 is preferably provided with a recess 141, and more preferably, the recess 141 is conical or dome-shaped, so that the tablets can automatically gather to the lowest end of the recess 141 under the action of gravity.
Considering that the medicine box needs to be cleaned, in a preferred case, a groove 16 is vertically formed on a side wall of the mounting groove 15, a buckle 17 is vertically formed on an outer wall of the medicine box 14, and the medicine box 14 is connected with the mounting groove 15 through the buckle 17 and the groove 16. Preferably, the two sides of the buckle 17 are respectively provided with an elastic rod, the two ends of the elastic rod are connected with the buckle 17, and the middle part of the elastic rod is provided with a gap with the buckle 17. The resilient bar is formed with a width greater than the width of the groove 16. When the catch 17 is inserted into the recess 16, the resilient rod is compressed and its restoring force is pressed against the recess 16. Through above-mentioned technical scheme's setting, can make things convenient for the dismouting of medicine box 14, the convenient clearance, and the installation of medicine box 14 back, it is comparatively firm, prevent to be picked up by medicine picking device 2 along with the medicine together.
In order to realize the picking action of the medicine, in a preferred case, the medicine picking device 2 includes a lifting cylinder 21, a rotating cylinder 22 and a pneumatic suction nozzle 23, wherein a fixed end of the lifting cylinder 21 is vertically installed on a movable end of the rotating cylinder 22, a movable end of the lifting cylinder 21 faces downwards, the pneumatic suction nozzle 23 is installed on a movable end of the lifting cylinder 21, the pneumatic suction nozzle 23 has a suction cup 24, and the suction cup 24 faces downwards. The pneumatic suction nozzles 23 are used for sucking granular medicines with different shapes in the medicine box, preferably, a plurality of suction nozzles 23 are arranged, the suction cups 24 are disc-shaped with arc depressions, the diameters of the suction cups 24 for starting the suction nozzles 23 are different, and the angles formed by the arc surfaces are also different, so that the requirement of picking smaller medicine particles is facilitated, and meanwhile, air nozzles with different sizes can be replaced according to the sizes of the particles, so that the system is more flexible and convenient.
Through the setting of above-mentioned technical scheme, lift cylinder 21 control medicine picks reciprocating of device 2, and revolving cylinder 22 controls the rotation that medicine picked device 2, and lift cylinder 21 and revolving cylinder 22 are simple straight line and rotary motion, make the more stable of system.
Preferably, the lifting cylinder 22 is a small-stroke cylinder, which ensures that the medicine can be accurately sucked in a small range.
In view of the need to calculate the remaining amount of medicament and to ensure that the patient takes a medicament, a slide 4 is preferably provided between the drug picking device 2 and the outlet box 3, the slide 4 being inclined downwards from the drug picking device 2 towards the outlet box 3. A specular reflection sensor 5 is arranged on one side of the slide 4, and an optical signal emitted by the specular reflection sensor 5 passes through the upper part of the slide 4 from the width direction of the slide 4; a diffuse reflection sensor 6 is arranged on one side of the medicine discharging box 3, and an optical signal of the diffuse reflection sensor 6 covers the medicine discharging box 3;
the specular reflection sensor 5 and the diffuse reflection sensor 6 are electrically connected with the controller.
The specular reflection sensor 5 is used for calculating the number of tablets passing through the slide 4, feeding back signals to the controller, and calculating the residual medicine quantity in the medicine box 14 by the controller and the medicine quantity in the medicine box 14 with the medicine taken out.
Diffuse reflection sensor 6 is arranged in detecting out whether still have the medicine in the medicine box 3 to guarantee that under the condition that the patient did not in time get it filled or leaked and get it filled, voice module continuously reminded the patient.
In order to facilitate medical staff to use the device or debug the device by other staff, the intelligent medicine taking auxiliary robot further comprises a touch screen 7 and a debugging interface under the preferable condition, the debugging interface is arranged on the controller, and the touch screen 7 is electrically connected with the controller. Preferably, the touch screen 7 communicates with the controller via an industrial ethernet network. It can be used on the touch screen 7 to set parameters, display data, monitor the status of the device, and to trace the automation process in the form of curves/animations. More convenient and fast, has stronger expressive force and can be simplified into a control program of the PLC. The debugging interface can conveniently and freely utilize an external computer to edit and modify, and monitor and debug programs on line.
The initial values of the amount and type of drug in the drug cassette 14 are input by the worker when the worker adds the drug to the drug cassette 14. Meanwhile, the quality guarantee period of each medicine can be input, when the quality guarantee period of the medicines is over, the system can send out warning in time, the system stops running, and the system can work again after waiting for the change of the medicines of workers, so that safety and reliability are guaranteed.
In order to protect the patient to avoid picking up device 2 contact and prevent that the medicine from weing with the medicine, intelligence is taken medicine and is equipped with safety cover 8 outward to assist the robot, safety cover 8 is close the position of going out medicine box 3 is provided with out the medicine mouth.
The cartridge 14 may also be removably provided with a sealing cap 18 for further protection from moisture when the medication is not being used for a period of time.
The safety cover 8 is close to medicine outlet department still is equipped with the door structure 9 of getting it filled, the door structure 9 of getting it filled includes the door plant, the top of door plant with the safety cover 8 is articulated. Preferably, the door panel comprises a first door panel and a second door panel, and the top end of the first door panel is hinged with the bottom end of the second door panel. This setting can make things convenient for the patient to get it filled when placing the damp.
The second aspect of the present invention provides a control method, including the intelligent medication assisting robot:
s1, respectively putting different multi-day quantities of medicines into the medicine boxes 14, and setting medicine type parameters, different medicine type quantity parameters, character parameters, medicine types and medicine quantity parameters corresponding to the character parameters and medicine taking time parameters corresponding to the character parameters in the controller through the touch screen 7;
s2, when the medicine taking time corresponding to any character parameter is reached, the medicine storage device 1 rotates for a plurality of times according to the medicine type and the medicine amount corresponding to the character parameter, and each time the medicine storage device 1 rotates, the medicine sorting device 2 performs at least one medicine sorting action, rotating action and medicine loosening action on the medicine box 14 closest to the medicine sorting device 2;
s3, when the medicine type and the medicine amount corresponding to any character parameter are placed, the controller controls the voice module to broadcast;
s4, the diffuse reflection sensor 6 detects the presence of any drug in the cartridge 14 at predetermined time intervals;
s5, if there is medicine, playing voice after the preset time interval, and executing S4 step; if no drug is present, step S2 is performed.
It should be noted that a clock module is usually provided in the controller.
Through the setting of above-mentioned technical scheme, through having set up closed-loop control, remind the patient to take medicine by voice module to make patient dose and medicine time accurate, and reduced medical personnel's working strength.
Further, the S2 further includes:
the mirror reflection sensor 5 detects the medicine placed on the slideway 4 and transmits a signal to the controller;
the controller, in conjunction with the cartridge 14 from which the medication was removed, calculates the amount of medication remaining in the cartridge 14.
The mirror reflection sensor 5 outputs a switch signal, as long as a medicine enters the detection range of the mirror reflection sensor 5, the mirror reflection sensor 5 immediately transmits the signal to the controller, and the controller subtracts a value 1 from the vertical medicine amount of the corresponding medicine box, so that the residual medicine amount is obtained.
Through the arrangement, when the medicine amount in the medicine box is insufficient or is insufficient to meet the requirement of once medicine taking, the system stops working and reminds workers to add medicine in time.
The preferred embodiments of the present invention have been described in detail, however, the present invention is not limited to the specific details of the above embodiments, and various simple modifications may be made to the technical solution of the present invention within the technical idea of the present invention, and these simple modifications are within the protective scope of the present invention.
It should be noted that the various features described in the above embodiments may be combined in any suitable manner without departing from the scope of the invention. The invention is not described in detail in order to avoid unnecessary repetition.
In addition, any combination of the various embodiments of the present invention is also possible, and the same should be considered as the disclosure of the present invention as long as it does not depart from the spirit of the present invention.
Claims (10)
1. An intelligent auxiliary medicine taking robot is characterized by comprising a medicine storage device (1), a medicine sorting device (2), a medicine outlet box (3), a controller and a voice module;
the medicine storage device (1) comprises a rotary base (11), a stepping motor (12), a stepping driver, a medicine box base (13) and a medicine box (14), wherein the stepping motor (12) is vertically arranged in the rotary base (11), the medicine box base (13) is positioned on the rotary base (11) and is connected with the stepping motor (12), a plurality of mounting grooves (15) are circumferentially arranged on the medicine box base (13), the medicine box (14) is arranged in the mounting grooves (15), and the medicine box (14) is of a hollow structure with an open top; the stepping driver is electrically connected with the stepping motor (12);
the medicine picking device (2) is used for picking the tablets in the medicine box (14) closest to the medicine picking device (2) and placing the tablets into the medicine outlet box (2);
the step driver is electrically connected with the controller, the medicine picking device (2) is electrically connected with the controller, and the voice module is electrically connected with the controller.
2. The intelligent robot for assisting medication taking according to claim 1, wherein the bottom end of the medicine box (14) is provided with a recess (141).
3. The intelligent medicine taking assisting robot according to claim 1, wherein a groove (16) is vertically formed on a side wall of the mounting groove (15), a buckle (17) is vertically formed on an outer wall of the medicine box (14), and the medicine box (14) is connected with the mounting groove (15) through the buckle (17) and the groove (16).
4. The intelligent medicine taking auxiliary robot according to claim 1, wherein the medicine picking device (2) comprises a lifting cylinder (21), a rotating cylinder (22) and a pneumatic suction nozzle (23), a fixed end of the lifting cylinder (21) is vertically installed on a movable end of the rotating cylinder (22), the movable end of the lifting cylinder (21) faces downwards, the pneumatic suction nozzle (23) is installed on the movable end of the lifting cylinder (21), the pneumatic suction nozzle (23) is provided with a suction cup (24), and the suction cup (24) faces downwards.
5. The intelligent auxiliary robot for taking medicine according to claim 4, wherein a slide (4) is arranged between the medicine picking device (2) and the medicine discharging box (3), and the slide (4) is inclined downwards from the medicine picking device (2) to the medicine discharging box (3).
6. The intelligent medicine taking assisting robot according to claim 5, wherein a specular reflection sensor (5) is arranged on one side of the slide way (4), and a light signal emitted by the specular reflection sensor (5) passes through the slide way (4) from the width direction of the slide way (4); a diffuse reflection sensor (6) is arranged on one side of the medicine outlet box (3), and an optical signal of the diffuse reflection sensor (6) covers the medicine outlet box (3);
the specular reflection sensor (5) and the diffuse reflection sensor (6) are electrically connected with the controller.
7. The intelligent auxiliary robot for taking medicine according to any one of claim 1, wherein a protective cover (8) is arranged outside the intelligent auxiliary robot for taking medicine, and a medicine outlet is arranged at a position of the protective cover (8) close to the medicine outlet box (3).
8. The intelligent robot for assisting in taking medicine according to any one of claims 1-7, further comprising a touch screen (7) and a debugging interface, wherein the debugging interface is disposed on the controller, and the touch screen (7) is electrically connected with the controller.
9. A control method comprising the intelligent medication assistance robot of claim 8:
s1, different amounts of medicines with multiple days are respectively put into a plurality of medicine boxes (14), and the parameters of medicine types, the quantity of different medicine types, the parameters of characters, the parameters of medicine types and medicine amounts corresponding to the parameters of characters and the parameters of medicine taking time corresponding to the parameters of characters are set in a controller through a touch screen (7);
s2, when the medicine taking time corresponding to any character parameter is reached, the medicine storage device (1) rotates for a plurality of times according to the medicine type and the medicine amount corresponding to the character parameter, and each time the medicine storage device (1) rotates, the medicine sorting device (2) performs at least one medicine sorting action, rotation action and medicine releasing action on the medicine box (14) closest to the medicine sorting device (2);
s3, when the medicine type and the medicine amount corresponding to any character parameter are placed, the controller controls the voice module to broadcast;
s4, detecting the existence of any medicine in the medicine box (14) by the diffuse reflection sensor (6) in a preset time interval;
s5, if there is medicine, playing voice after the preset time interval, and executing S4 step; if no drug is present, step S2 is performed.
10. The control method according to claim 9, wherein the S2 further includes:
the mirror reflection sensor (5) detects the medicine placed on the slide way (4) and transmits a signal to the controller;
the controller, in conjunction with the cartridge (14) from which the drug is removed, calculates the amount of drug remaining in the cartridge (14).
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| CN202011411961.3A CN112589810A (en) | 2020-12-04 | 2020-12-04 | Intelligent medicine taking auxiliary robot and control method |
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| CN202011411961.3A CN112589810A (en) | 2020-12-04 | 2020-12-04 | Intelligent medicine taking auxiliary robot and control method |
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