CN116729869A - Intelligent pharmacy medicine taking system and medicine taking method - Google Patents
Intelligent pharmacy medicine taking system and medicine taking method Download PDFInfo
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- CN116729869A CN116729869A CN202310713605.4A CN202310713605A CN116729869A CN 116729869 A CN116729869 A CN 116729869A CN 202310713605 A CN202310713605 A CN 202310713605A CN 116729869 A CN116729869 A CN 116729869A
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- 239000003814 drug Substances 0.000 title claims abstract description 325
- 238000000034 method Methods 0.000 title claims abstract description 9
- 229940079593 drug Drugs 0.000 claims abstract description 18
- 230000000007 visual effect Effects 0.000 claims description 7
- 230000003993 interaction Effects 0.000 claims description 5
- 238000004806 packaging method and process Methods 0.000 claims description 3
- 238000013439 planning Methods 0.000 claims description 3
- 238000013507 mapping Methods 0.000 abstract description 3
- 230000008901 benefit Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000007726 management method Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 230000004888 barrier function Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000012377 drug delivery Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000003384 imaging method Methods 0.000 description 1
- 239000007788 liquid Substances 0.000 description 1
- 239000013589 supplement Substances 0.000 description 1
Classifications
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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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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Medical Preparation Storing Or Oral Administration Devices (AREA)
Abstract
The invention relates to the technical field of pharmacy medicine taking, in particular to an intelligent pharmacy medicine taking system and an intelligent pharmacy medicine taking method, wherein the intelligent pharmacy medicine taking system comprises a movable medicine taking robot, a PC (personal computer), a medicine rack and a storage cabinet; the medicine taking information codes are synchronously stored in the PC; the PC sends a medicine taking information code to the medicine taking robot; the medicine taking robot disassembles the information code and moves to the appointed medicine rack along the navigation path, and the mechanical arm of the medicine taking robot autonomously takes medicine through the AI algorithm of machine vision and places the medicine in the randomly attached medicine boxes; and after the medicine taking is finished, continuously executing the next medicine taking information code to take down one medicine until all medicines on the prescription are taken, navigating to a medicine storage cabinet after the medicine taking operation is finished, placing the medicines into the storage cabinet, sending the medicine taking code to a patient, and waiting for the patient to take medicine by self. The invention can reach each position of the pharmacy through SLAM mapping and navigation algorithm, and the mechanical arm can pick up the medicine and take the medicine autonomously. The identification accuracy is improved through an AI identification algorithm of machine vision; the physical labor of pharmacists is liberated.
Description
Technical Field
The invention relates to the technical field of pharmacy medicine taking, in particular to an intelligent pharmacy medicine taking system.
Background
At present, most of pharmacy in China adopts manual operation by pharmacists, the manual operation is complex, medicines are easy to pollute, and the sorting efficiency is low. With the continuous development of the science and technology in China, more and more pharmacies use mobile robots to take medicines.
By consulting the related literature, the existing pharmacy robots are multipurpose mechanical devices controlled by rows and columns which move vertically to each other, and generally the robots are positioned in a certain row corresponding to the front row of medicine racks and the rear row of medicine racks to move horizontally, and the other vertical movement is used for selecting medicines on the medicine racks. The medicine taking robot needs to update and reform a medicine rack of a pharmacy, and is difficult to use.
Disclosure of Invention
The invention aims to solve the problems in the background technology and provides an intelligent pharmacy medicine taking system.
According to the technical scheme, the intelligent pharmacy medicine taking system comprises a movable medicine taking robot, a PC, a medicine rack and a storage cabinet;
the PC stores a pharmacy plan view, a medicine rack position view, a medicine warehouse-in packaging box view, medicine warehouse-in information and medicine rack information;
the medicine taking information code is generated in a PC;
the PC sends a medicine taking information code to the medicine taking robot; the medicine taking robot disassembles information code information and moves to a specified medicine rack along a navigation path, and a mechanical arm of the medicine taking robot automatically takes medicine and places the medicine in a medicine box attached at random; after the medicine taking robot finishes the medicine taking operation, navigating to a medicine storage cabinet, placing the medicine into the storage cabinet, sending a medicine taking code to a patient, and waiting for the patient to take medicine by self.
The PC is provided with a front-end display and is accessed into a man-machine interaction interface; and performing man-machine interaction.
The medicine taking information code comprises a name of the medicine taken, map position information of the medicine taken, position information of a medicine rack where the medicine taken is located and quantity information of the medicine taken.
Preferably, a six-degree-of-freedom mechanical arm is integrated on the medicine taking robot, and a medicine taking clamp and a camera are arranged at the tail end of the mechanical arm; the medicine taking clamp is used for completing medicine taking;
the camera identifies the name of the medicine based on an AI algorithm and compares the name with the information code to determine the name of the medicine; meanwhile, the medicine clamping position is determined according to visual recognition, and the mechanical arm fetches medicine.
Preferably, the medicine taking robot is integrated with a laser radar and an inertial navigation sensor; the medicine taking robot builds a map of the pharmacy through the laser radar and the inertial navigation sensor and stores the map in the PC.
Preferably, the medicine taking robot further comprises a mobile power supply, a wireless transceiver module, a bottom layer wheel type motion control module and a mechanical arm joint control module;
the mobile power supply supplies power to the medicine taking robot;
the medicine taking robot is connected with the PC in a wireless mode;
the bottom layer wheel type motion control module drives the medicine taking robot to move;
the mechanical arm joint control module controls the mechanical arm to move.
Preferably, a charging base is arranged in the pharmacy, and the medicine taking robot returns to the base position for charging in a standby state.
The intelligent pharmacy medicine taking method comprises the following specific steps:
s1, a patient scans two-dimensional codes to a designated place through a payment bill to send the medicine taking varieties and quantity to a PC (personal computer) of a pharmacy;
s2, receiving a user request to generate a medicine taking information code by the PC, and sending the medicine taking information code to a medicine taking robot in a wireless mode;
s3, the medicine taking robot receives the medicine taking information codes, and the information of the information codes is disassembled to determine the navigation map position information, the medicine rack position information reached by the mechanical arm, the name and the quantity information of the medicine to be taken;
s4, planning a motion trail by the medicine taking robot according to the map position of the medicine and preparing medicine taking according to the motion control to reach a designated place;
s5, performing kinematic inverse solution on the rotation angles of all joints of the mechanical arm according to the medicine frame position where the medicine is located, and moving to the medicine position through joint movement instructions;
s6, the mechanical arm, hand and eye integrated camera identifies the name of the medicine based on an AI algorithm, compares the name with the name of the medicine in the information code, confirms the medicine to be taken in the information code, and determines the medicine clamping position according to visual identification at the same time, and the mechanical arm takes the medicine; after taking the medicine, putting the medicine into a random medicine box; after the medicine taking is completed, continuously executing the next medicine taking information code to take one medicine until all medicines on the prescription are taken out;
s7, after the medicine taking is completed, the robot navigates to a medicine storage cabinet, and places the medicine into the storage cabinet, and sends a medicine taking code to a patient, and waits for the patient to take the medicine;
s8, automatically resetting the medicine taking robot to return to the base after finishing.
And S1, the two-dimensional code information on the payment bill comprises medicine names and medicine quantity information.
S6, performing actions according to the number of the medicines, and placing the medicines into a medicine taking box; and the medicine taking success command is actively sent and fed back to the PC in a wireless mode, and the inventory data of the pharmacy of the PC is updated.
Compared with the prior art, the invention has the following beneficial technical effects:
the pharmacy robot has great flexibility, can reach each position of pharmacy through SLAM map construction and navigation algorithm, and the arm can retrieve all medicines on the medicine rack to can independently get medicine. The medicine name on the label is identified through the AI identification algorithm of machine vision and compared with the medicine name on the medicine taking information code, so that the identification accuracy is improved, and medicines are placed into the storage cabinet after medicine taking is completed. Updating the medicine inventory quantity of the medicine rack; then the robot returns to the standby state; the medicine taking device can be charged in a standby state and is ready for the next medicine taking work. The manual labor of pharmacists is liberated, and the medicine taking accuracy and medicine taking efficiency are improved.
The invention realizes traceability and effective management of the warehouse storage of medicines in a pharmacy by the whole process digital management of the medicines; through smart machine + data advantage, improve the rapidity, accuracy and the security that the doctor used medicine. The medical service and patient satisfaction are improved by pharmacy upgrading, so that the convenience for people and the benefit for people are realized.
Drawings
FIG. 1 is a flow chart of the method of the present invention;
fig. 2 is a schematic structural view of the drug delivery system of the present invention.
Detailed Description
Example 1
As shown in fig. 2, the intelligent pharmacy medicine taking system provided by the invention comprises a movable medicine taking robot, a PC, a medicine rack and a storage cabinet;
the PC stores a pharmacy plan view, a medicine rack position view, a medicine warehouse-in packaging box view, medicine warehouse-in information and placed medicine rack information;
the medicine taking information code is generated in a PC;
the PC sends a medicine taking information code to the medicine taking robot; the medicine taking robot disassembles information code information and moves to a specified medicine rack along a navigation path, and a mechanical arm of the medicine taking robot automatically takes medicine and places the medicine in a medicine box attached at random; after the medicine taking is completed, continuously executing the next medicine taking information code to take one medicine until all medicines on the prescription are taken out; after the medicine taking robot finishes the medicine taking operation, navigating to a medicine storage cabinet, placing the medicine into the storage cabinet, sending a medicine taking code to a patient, and waiting for the patient to take medicine by self.
The PC is provided with a front-end display and is accessed into a man-machine interaction interface; and performing man-machine interaction.
In this embodiment, the medicine taking information code includes a name of the medicine taken, map position information of the medicine taken, frame position information of the medicine taken, and number information of the medicine taken.
In the embodiment, a six-degree-of-freedom mechanical arm is integrated on the medicine taking robot, and a medicine taking clamp and a camera are arranged at the tail end of the mechanical arm; the medicine taking clamp is used for completing medicine taking;
the camera recognizes the name of the medicine based on an AI algorithm and compares the name with the information code to determine the name of the medicine to be taken, so that the recognition accuracy is improved; meanwhile, the medicine clamping position is determined according to visual recognition, and the mechanical arm fetches medicine.
In the embodiment, a laser radar and an inertial navigation sensor are integrated on the medicine taking robot; the drug taking robot carries out SLAM (liquid level imaging) mapping on a pharmacy through a laser radar and an inertial navigation sensor, and the mapped pharmacy map is stored in a PC (personal computer).
In this embodiment, the medicine taking robot further includes a mobile power supply, a wireless transceiver module, a bottom layer wheel type motion control module and a mechanical arm joint control module;
the mobile power supply supplies power to the medicine taking robot;
the medicine taking robot is connected with the PC in a wireless mode;
the bottom layer wheel type motion control module drives the medicine taking robot to move;
the mechanical arm joint control module controls the mechanical arm to move.
In this embodiment, a charging base is provided in the pharmacy, and the medicine taking robot returns to the base position for charging in a standby state.
In the initial state, the medicine taking robot is positioned in the charging base to supplement energy; after receiving the medicine taking instruction, supplying power to the medicine taking robot through a mobile power supply; the medicine taking robot effectively avoids barriers in the moving process; avoiding the mutual collision to influence the use.
Example 2
As shown in fig. 1, the method for taking medicine from the intelligent pharmacy comprises the following specific steps:
s1, a patient scans two-dimensional codes to a designated place through a payment bill to send the medicine taking varieties and quantity to a PC (personal computer) of a pharmacy;
s2, receiving a user request to generate a medicine taking information code by the PC, and sending the medicine taking information code to a medicine taking robot in a wireless mode; the medicine taking information code comprises map position information of the medicine to be taken, medicine frame position information of the medicine to be taken, name of the medicine to be taken and medicine quantity information;
s3, the medicine taking robot receives the medicine taking information codes, and the information of the information codes is disassembled to determine the navigation map position information, the medicine rack position information reached by the mechanical arm, the name and the quantity information of the medicine to be taken;
s4, planning a motion trail by the medicine taking robot according to the map position of the medicine and preparing medicine taking according to the motion control to reach a designated place;
s5, performing kinematic inverse solution on the rotation angles of all joints of the mechanical arm according to the medicine frame position where the medicine is located, and moving to the medicine position through joint movement instructions;
s6, the mechanical arm, hand and eye integrated camera identifies the name of the medicine based on an AI algorithm, compares the name with the name of the medicine in the information code, confirms the medicine to be taken in the information code, and determines the medicine clamping position according to visual identification at the same time, and the mechanical arm takes the medicine; after taking the medicine, putting the medicine into a random medicine box; after the medicine taking is completed, continuously executing the next medicine taking information code to take one medicine until all medicines on the prescription are taken out;
s7, after the medicine taking is completed, the robot navigates to a medicine storage cabinet, the medicine is placed into the storage cabinet, a medicine taking code is sent to a patient, and the patient waits for taking the medicine;
s8, automatically resetting the medicine taking robot to return to the base after finishing.
According to the invention, SLAM mapping and navigation are realized through radar and inertial navigation, and the navigation position is determined according to the medicine taking information code sent by the PC; after the robot reaches a designated position, a camera at the tail end of a mechanical arm of the robot recognizes the name of the medicine on the medicine rack through an AI algorithm; after comparing with the information code, the mechanical arm fetches the medicine according to the visual identification medicine clamping position; the error is avoided, and the accuracy is improved;
the medicine taking robot takes medicine according to the number of the information codes as medicine taking times; after taking the medicine, the medicine is put into a random medicine box. And after the medicine taking is finished, continuously executing the next medicine taking information code to take down one medicine until all the medicines on the prescription are taken, and placing the medicines into a storage cabinet after the medicine taking is finished. Updating the medicine inventory quantity of the medicine rack; then the robot returns to the standby state; the medicine taking device can be charged in a standby state and is ready for the next medicine taking work.
The embodiments of the present invention have been described in detail with reference to the drawings, but the present invention is not limited thereto, and various changes can be made within the knowledge of those skilled in the art without departing from the spirit of the present invention.
Claims (10)
1. The intelligent pharmacy medicine taking system is characterized by comprising a movable medicine taking robot, a PC, a medicine rack and a storage cabinet;
the PC stores a pharmacy plan view, a medicine rack position view, a medicine warehouse-in packaging box view, medicine warehouse-in information and medicine rack information;
the medicine taking information code is generated in a PC;
the PC sends a medicine taking information code to the medicine taking robot; the medicine taking robot disassembles information code information and moves to a specified medicine rack along a navigation path, and a mechanical arm of the medicine taking robot automatically takes medicine and places the medicine in a medicine box attached at random; after the medicine taking robot finishes the medicine taking operation, navigating to a medicine storage cabinet, placing the medicine into the storage cabinet, sending a medicine taking code to a patient, and waiting for the patient to take medicine by self.
2. The intelligent pharmacy access system according to claim 1, wherein the PC is provided with a front-end display and is connected to a man-machine interface; and performing man-machine interaction.
3. The intelligent pharmacy access system of claim 1, wherein the access information code includes an access name, an access map location information, an access shelf location information, and an access quantity information.
4. The intelligent pharmacy medicine taking system according to claim 1, wherein a six-degree-of-freedom mechanical arm is integrated on the medicine taking robot, and a medicine taking clamp and a camera are arranged at the tail end of the mechanical arm; the medicine taking clamp is used for completing medicine taking;
the camera identifies the name of the medicine based on an AI algorithm and compares the name with the information code to determine the name of the medicine; meanwhile, the medicine clamping position is determined according to visual recognition, and the mechanical arm fetches medicine.
5. The intelligent pharmacy access system according to claim 1, wherein the access robot is integrated with a laser radar and inertial navigation sensor; the medicine taking robot builds a map of the pharmacy through the laser radar and the inertial navigation sensor and stores the map in the PC.
6. The intelligent pharmacy access system of claim 1, wherein the access robot further comprises a mobile power supply, a wireless transceiver module, a bottom layer wheeled motion control module and a mechanical arm joint control module;
the mobile power supply supplies power to the medicine taking robot;
the medicine taking robot is connected with the PC in a wireless mode;
the bottom layer wheel type motion control module drives the medicine taking robot to move;
the mechanical arm joint control module controls the mechanical arm to move.
7. The intelligent pharmacy access system according to claim 1, wherein a charging base is provided in the pharmacy, and the access robot is returned to the base position for charging in a standby state.
8. A method for taking medicine from a smart pharmacy, which uses the intelligent pharmacy medicine taking system as claimed in any one of claims 1-7, and is characterized by comprising the following specific steps:
s1, a patient scans two-dimensional codes to a designated place through a payment bill to send the medicine taking varieties and quantity to a PC (personal computer) of a pharmacy;
s2, receiving a user request to generate a medicine taking information code by the PC, and sending the medicine taking information code to a medicine taking robot in a wireless mode;
s3, the medicine taking robot receives the medicine taking information codes, and the information of the information codes is disassembled to determine the navigation map position information, the medicine rack position information reached by the mechanical arm, the name and the quantity information of the medicine to be taken;
s4, planning a motion trail by the medicine taking robot according to the map position of the medicine and preparing medicine taking according to the motion control to reach a designated place;
s5, performing kinematic inverse solution on the rotation angles of all joints of the mechanical arm according to the medicine frame position where the medicine is located, and moving to the medicine position through joint movement instructions;
s6, the mechanical arm, hand and eye integrated camera identifies the name of the medicine based on an AI algorithm, compares the name with the name of the medicine in the information code, confirms the medicine to be taken in the information code, and determines the medicine clamping position according to visual identification at the same time, and the mechanical arm takes the medicine; after taking the medicine, putting the medicine into a random medicine box; after the medicine taking is completed, continuously executing the next medicine taking information code to take one medicine until all medicines on the prescription are taken out;
s7, after the medicine taking is completed, the robot navigates to a medicine storage cabinet, the medicine is placed into the storage cabinet, a medicine taking code is sent to a patient, and the patient waits for taking the medicine;
s8, automatically resetting the medicine taking robot to return to the base after finishing.
9. The intelligent pharmacy according to claim 7, wherein the two-dimensional code information on the bill in S1 includes a medicine name and medicine quantity information.
10. The intelligent pharmacy according to claim 7, wherein the step S6 is performed according to the amount of the medicine, and the medicine is put into the medicine taking box; and the medicine taking success command is actively sent and fed back to the PC in a wireless mode, and the inventory data of the pharmacy of the PC is updated.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310713605.4A CN116729869A (en) | 2023-06-16 | 2023-06-16 | Intelligent pharmacy medicine taking system and medicine taking method |
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| CN202310713605.4A CN116729869A (en) | 2023-06-16 | 2023-06-16 | Intelligent pharmacy medicine taking system and medicine taking method |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117270544A (en) * | 2023-11-21 | 2023-12-22 | 天津华燕康源科技有限公司 | Intelligent logistics machine character flow method and system based on AI identification |
| CN117657655A (en) * | 2023-12-19 | 2024-03-08 | 南京埃伯顿自动化设备有限公司 | Sorting system of wisdom traditional chinese medicine pharmacy |
-
2023
- 2023-06-16 CN CN202310713605.4A patent/CN116729869A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117270544A (en) * | 2023-11-21 | 2023-12-22 | 天津华燕康源科技有限公司 | Intelligent logistics machine character flow method and system based on AI identification |
| CN117657655A (en) * | 2023-12-19 | 2024-03-08 | 南京埃伯顿自动化设备有限公司 | Sorting system of wisdom traditional chinese medicine pharmacy |
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