WO2022116254A1 - 一种药库的控制方法、装置和存储介质 - Google Patents

一种药库的控制方法、装置和存储介质 Download PDF

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Publication number
WO2022116254A1
WO2022116254A1 PCT/CN2020/135734 CN2020135734W WO2022116254A1 WO 2022116254 A1 WO2022116254 A1 WO 2022116254A1 CN 2020135734 W CN2020135734 W CN 2020135734W WO 2022116254 A1 WO2022116254 A1 WO 2022116254A1
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WO
WIPO (PCT)
Prior art keywords
storage
transport vehicle
storage box
destination
manipulator
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Application number
PCT/CN2020/135734
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English (en)
French (fr)
Inventor
颜长军
Original Assignee
苏州艾隆科技股份有限公司
浙江艾隆科技有限公司
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Publication of WO2022116254A1 publication Critical patent/WO2022116254A1/zh

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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
    • 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
    • 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

Definitions

  • the present invention relates to the technical field of medicine storage, in particular to a control method, device and storage medium of a medicine storehouse.
  • the drug storage cabinets In the drug storehouse of the hospital, there are usually drug storage cabinets.
  • the drug storage cabinets will be arranged in a row, and then several rows of drug storage cabinets will be arranged in a row.
  • the medicines In practice, in order to improve the efficiency, the medicines are usually loaded into a storage box 4 and then the medicine storehouse automatically absorbs the storage box 4 . Therefore, in the drug storehouse, it is necessary to plan a transport device that can automatically absorb drugs.
  • the purpose of the present invention is to provide a control method, device and storage medium for a drug storehouse.
  • an embodiment of the present invention provides a method for controlling a drug storehouse, wherein the drug storehouse includes: a plurality of drug storage racks, and the drug storage racks are divided into a number of storage compartments for storing storage boxes A branch rail is arranged on one side of the medicine storage rack, and a first manipulator is slidably arranged on each branch rail, and the first manipulator can take out the storage box from any storage compartment, and can put the storage box in the storage box.
  • the main rail, the main rail is in contact with one end of all branch rails, and a first transport vehicle is slidably arranged on the main rail; when the first transport vehicle slides to the end of any branch rail In the corresponding position, the first manipulator in the branch track can grab the storage box in the first transport vehicle, and can put the grabbed storage box into the first transport vehicle; including the following steps: receiving and storing several The instruction of the storage box controls the first transport vehicle to receive several storage boxes; the following steps are continuously performed until all the storage boxes are put into their destination storage compartments, and the steps include: obtaining the unstored storage boxes in the first transport vehicle The destination branch track and destination storage compartment corresponding to the first storage box, control the first transport vehicle to slide to the position corresponding to the end of the destination branch track, and control the first manipulator on the destination branch track to grab the object.
  • the first storage box is slid to one side of the destination storage compartment, and the first storage box is put into the destination storage compartment.
  • 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 destination storage compartment, and after determining the When the destination storage compartment contains an empty second storage box, the first manipulator is controlled to grab the second storage box and slide it to the end of the destination branch track to grab the second storage box to the first storage box in the trunk track. in the transport cart; after that, slide to the side of the destination storage compartment and place the first storage box into the destination storage compartment.
  • the drug storehouse further includes: a second extending rail, a third transport vehicle capable of sliding along the second extending rail is provided, and the third transport vehicle is used for The storage box is transported, and the main rail is provided with a second manipulator capable of sliding along the main rail; when the third transport vehicle slides to the third preset position of the second extension rail, the second manipulator and the first transport When the vehicle is located at the fourth preset position of the main track, the second manipulator can move the storage box between the first and third transport vehicles; the control method further includes the following steps: controlling the second manipulator and the first transport vehicle to slide to the the fourth preset position of the main rail, and control and control the third transport vehicle to transport along the second extended track to the third preset position, and control the second manipulator to move the empty storage box of the first transport vehicle to the third transport vehicle middle.
  • the first transport vehicle includes N storage positions, and the storage positions can store one storage box, wherein N is a natural number, and N ⁇ 2; "The first transport vehicle to receive several storage boxes" specifically includes: controlling the first transport vehicle to receive at most N-1 storage boxes.
  • the "obtaining the destination branch track and destination storage box corresponding to the unstored first storage box in the first transport vehicle” specifically includes: obtaining unprocessed M second storage boxes Corresponding destination branch track and destination storage grid, the M second storage boxes correspond to the same destination branch track, where M is a natural number, M ⁇ N-1;
  • the position corresponding to the end of the destination branch track controls the first manipulator on the destination branch track to grab the first storage box, slide it to one side of the destination storage compartment, and put the first storage box into the destination storage compartment
  • "Medium” specifically includes: controlling the first transport vehicle to slide to the position corresponding to the end of the destination branch track corresponding to the M second storage boxes, and after that, grabbing a second storage vehicle from the first transport vehicle for M times. and for each second storage box, slide to one side of the corresponding destination storage compartment and place the second storage box into the destination storage compartment.
  • the drug storehouse further includes: a first extending rail, a second transport vehicle capable of sliding along the first extending rail is provided, and the second transport vehicle is used for The storage box is transported, and the main rail is provided with a second manipulator capable of sliding along the main rail; when the second transport vehicle slides to the first preset position of the first extension rail, the second manipulator and the first transport When the cart is located at the second preset position of the main track, the second manipulator can move the storage box between the first and second transport carts;
  • the "controlling the first transport vehicle to receive a plurality of storage boxes” specifically includes: controlling the second transport vehicle to slide to the first preset position of the first extension track, and the second manipulator and the first transport vehicle to slide to the position of the main rail. In the second preset position, the second manipulator is controlled to grab several storage boxes from the second transport vehicle and put them into the first transport vehicle.
  • An embodiment of the present invention further provides a control device for a drug storehouse
  • the drug storehouse includes: a plurality of drug storage racks, the drug storage racks are divided into a number of storage compartments for storing storage boxes;
  • the side is provided with branch rails, and a first manipulator is slidably arranged on each branch rail, and the first manipulator can take out the storage box from any storage compartment, and can put the storage box into any storage compartment.
  • main rail the main rail is in contact with one end of all branch rails, and a first transport vehicle is slidably arranged on the main rail; when the first transport vehicle slides to a position corresponding to the end of any branch rail, the described The first manipulator in the branch track can grab the storage box in the first transport vehicle, and can put the grabbed storage box into the first transport vehicle; including the following modules:
  • an acquisition module configured to receive an instruction to store several storage boxes, and control the first transport vehicle to receive several storage boxes
  • the execution module is configured to continuously perform the following steps until all the storage boxes are put into their destination storage compartments, the step comprising: acquiring the destination branch track and destination corresponding to the unstored first storage box in the first transport vehicle storage compartment, control the first transport vehicle to slide to the position corresponding to the end of the destination branch track, control the first manipulator on the destination branch track to grab the first storage box and slide it to the destination storage compartment side, put the first storage box into the destination storage compartment.
  • the execution module is further configured to: slide to one side of the destination storage box, and when it is determined that the destination storage box contains an empty second storage box, control the first manipulator to grab The second storage box is slid to the end of the destination branch rail, and the second storage box is grabbed into the first transport cart in the trunk rail; The box is placed in the destination storage compartment.
  • An embodiment of the present invention also provides a control device for a drug store, including a memory, a processor, and a computer program stored in the memory and running on the processor, the processor implementing the above-mentioned method when the program is executed. step.
  • An embodiment of the present invention further provides a computer-readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor, the steps of the above-mentioned method are implemented.
  • the embodiment of the present invention provides a control method, device and storage medium for a drug storehouse.
  • the method includes: receiving an instruction to store several storage boxes, controlling the first The transport vehicle receives a number of storage boxes; the following steps are continued until all storage boxes are put into their destination storage compartments, the steps comprising: acquiring the destination branch track corresponding to the unstored first storage box in the first transport vehicle and the destination storage box, control the first transport vehicle to slide to the position corresponding to the end of the destination branch track, control the first manipulator on the destination branch track to grab the first storage box, and slide it to the destination On one side of the storage compartment, place the first storage box into the destination storage compartment.
  • the method can automatically store the storage box in the preset storage compartment.
  • Fig. 1A is the three-dimensional structure schematic diagram of the medicine storehouse in the 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 in FIG. 1A;
  • FIG. 1D is an enlarged view of region C in FIG. 1A;
  • FIG. 2 is a schematic flowchart of a method for controlling a drug storehouse in an embodiment of the present invention.
  • spatially relative positions are used herein for ease of illustration to describe one element or feature relative to another as shown in the figures The relationship of a unit or feature.
  • the term spatially relative position may be intended to encompass different orientations of the device in use or operation in addition to the orientation shown 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.
  • first, second, etc. may be used herein to describe various elements or structures, these described objects should not be limited by these terms. These terms are only used to distinguish these described objects from each other.
  • 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.
  • Embodiment 1 of the present invention provides a control method for a drug storehouse.
  • the drug storehouse includes: a plurality of drug storage racks 1 , and the drug storage racks 1 are divided There are several storage compartments for storing the storage boxes 4; a branch rail 2 is provided on one side of the medicine storage rack 1, and a first manipulator 61 is slidably provided on each branch rail 2, and the first manipulator 61
  • the storage box 4 is taken out from any storage compartment, and the storage box 4 can be put into any storage compartment; the main rail 3, the main rail 3 is in contact with one end of all the branch rails 2, and slides on the main rail 3
  • a first transport vehicle 31 is provided; when the first transport vehicle 31 slides to a position corresponding to the end of any branch track 2 , the first manipulator 61 in the branch track 2 can grab the first transport vehicle 31 and can put the grabbed storage box 4 into the first transport vehicle 31; here, as shown in FIG.
  • Each storage cabinet is divided into several storage layers in the up-down direction, and each storage layer is divided into several storage compartments in the left-right direction, and each storage compartment is used for storing the storage boxes 4 .
  • the plurality of drug storage racks 1 are distributed along the front-rear direction.
  • the storage box 4 filled with medicine boxes needs to be put into the storage compartment, it is only necessary to put the storage box 4 on the first transport vehicle 31 on the main rail 3, and then the first A transport vehicle 31 will slide along the main track 3, and when it slides to a position corresponding to the end of a branch track 2, the first manipulator 61 will slide to the end, then grab the storage box 4, and then move along the The branch rail 2 slides to a certain storage compartment, and then the storage box 4 can be put into the storage compartment.
  • FIG. 1A only one medicine storage cabinet is shown on each medicine storage rack 1 , but in practice, there may be a plurality of medicine storage cabinets.
  • the trunk track 3 is in contact with one end of all the branch tracks 2, and the "contact” here should not be interpreted as connection in a narrow sense, and its specific meaning can be understood as: for the branch track 2, both the trunk track 3 have A position corresponding to the end of the branch track 2, when the first transport cart 31 moves to this position, the first grab device can grab the storage box 8 in the first transport cart 31, in this text, " The meaning of "contact” can be understood in this way.
  • Step 201 After receiving the instruction to store several storage boxes 4, control the first transport vehicle 31 to receive several storage boxes 4; , the first transport cart 31 needs to be slid to this position before receiving the storage box 4 .
  • the storage box 4 can be loaded onto the first transport vehicle 31 manually, or the storage box 4 can be loaded onto the first transport vehicle 31 using a machine. It is understandable that the storage box 4 stores medicines.
  • Step 202 Continue to perform the following steps until all the storage boxes 4 are put into their destination storage compartments, the steps include: acquiring the destination branch track and destination corresponding to the unstored first storage box in the first transport vehicle 31 storage box, control the first transport vehicle 31 to slide to the position corresponding to the end of the destination branch track, control the first manipulator 61 on the destination branch track to grab the first storage box and slide it to the destination On one side of the storage compartment, place the first storage box into the destination storage compartment.
  • the storage box can be stored in the first transport vehicle 31 first, and then the first transport vehicle 31 can be controlled to slide along the main rail 3 and slide to the destination branch rail, and then the first storage box can be stored by the first manipulator 61. The box is placed into the destination storage compartment.
  • each drug storage rack 1 is correspondingly provided with a unique branch track 2, and at the same time, two drug storage racks 1 may share one branch track 2.
  • the first manipulator 61 needs to judge, Whether the destination storage compartment is located on the front side or the rear side of the first manipulator 61 .
  • a drug storehouse management system may be provided, and the drug storehouse management system will be provided with a database, and the database stores the conditions of the storage cells in each drug storage rack 1, at least including: Whether the storage box is stored, the medicine types of several medicines stored in the storage box, the storage quantity of each medicine and other information.
  • the database needs to be modified accordingly.
  • each storage box 4 may be provided with a unique identification code, and in the drug storehouse, multiple sensors need to be provided, and a storage device will be set in the storage box 4, which stores The identification code is stored in the device, and the sensor can read the identification code, so that the location of the storage box can be obtained at all times.
  • 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 (the NFC communication device) The identification code is stored in the device), and the sensor can read the device for NFC.
  • the "sliding to the side of the destination storage compartment, and placing the first storage box in the destination storage compartment” specifically includes: sliding to the side of the destination storage compartment, after determining that the destination storage compartment contains a
  • the first manipulator 61 is controlled to grab the second storage box, and slide it to the end of the target branch rail, and grab the second storage box to the first transport vehicle 31 in the trunk rail 3 Then, slide to the side of the destination storage compartment, and put the first storage box into the destination storage compartment.
  • the second storage box needs to be taken away, and then, the first storage box is put into the destination storage compartment, and then, the first storage box is transported by the first transport vehicle. 31 Send the empty storage box away.
  • the drug storehouse further includes: a second extending rail 5B, and a third transport vehicle 5B1 capable of sliding along the second extending rail 5B is provided on the second extending rail 5B, and the third transport vehicle 5B1 is used for transporting
  • the storage box 4 the main rail 3 is provided with a second manipulator 62 that can slide along the main rail 3; when the third transport vehicle 5B1 slides to the third preset position of the second extension rail 5B, the second When the manipulator 62 and the first transport vehicle 31 are located at the fourth preset position of the trunk rail 3, the second manipulator 62 can move the storage box 4 between the first and third transport vehicles;
  • the control method further includes the following steps: controlling the second manipulator 62 and the first transport vehicle 31 to slide to the fourth preset position of the main rail 3, and controlling and controlling the third transport vehicle 5B1 to be transported along the second extension rail 5B to In the third preset position, the second manipulator 62 is controlled to move the empty storage box 4 of the first transport vehicle 31 to the third transport vehicle 5B1 .
  • a window needs to be set up, the window user feeds the storage box full of drugs into the drug storehouse, and takes away the empty storage box, but for some reason, this window may be related to several drugs.
  • the storage racks 1 are not located in the same position, so a second extension rail 5B needs to be provided, and the second extension rail 5B is used to send away empty storage boxes; here, when the third transport vehicle 5B1 is filled with empty storage boxes At 4:00, the third transport cart 5B1 can be slid to a preset position, and then the empty storage box can be removed manually.
  • the second extension rail 5B can be a straight rail (the rail can be placed vertically), and the first end of the straight rail is in contact with the main rail 3, so the first end is the second extension rail
  • the third preset position of 5B, and the position where the trunk rail 3 is in contact with the first end is the fourth preset position.
  • the second extension rail 5B can be a vertically placed annular rail, and the highest position of the annular rail is in contact with the trunk rail 3 , so the highest position is the third preset position of the second extension rail 5B, and the main rail 3
  • the position in contact with the first end is the fourth preset position.
  • the first transport vehicle 31 includes N storage positions 311, and the storage positions 311 can store one storage box 4, wherein N is a natural number, and N ⁇ 2;
  • a transport vehicle 31 receiving several storage boxes 4 ′′ specifically includes: controlling the first transport vehicle 31 to receive at most N ⁇ 1 storage boxes 4 .
  • the destination storage compartment contains empty storage boxes, the empty storage boxes need to be put into the first transport vehicle 31 , therefore, an empty storage space 311 needs to be reserved in the first transport vehicle 31 in advance.
  • the "obtaining the destination branch track and destination storage box corresponding to the unstored first storage box in the first transport vehicle 31" specifically includes: obtaining the destination branch corresponding to the unprocessed M second storage boxes A track and a destination storage grid, the M second storage boxes correspond to the same destination branch track, where M is a natural number, and M ⁇ N-1;
  • One side of the storage compartment, putting the first storage box into the destination storage compartment specifically includes: controlling the first transport vehicle 31 to slide to the position corresponding to the end of the destination branch track corresponding to the M second storage boxes, and then , for M times, grab a second storage box from the first transport vehicle 31, and for each second storage box, slide it to the side of the corresponding destination storage compartment and put the second storage box into the destination storage box in the grid.
  • the M storage boxes all correspond to the same destination branch track, then when the first transport vehicle 31 slides to the end of the destination branch track, at this time, the M storage boxes can be stored in the corresponding storage boxes. box, so that the sliding of the first transport vehicle 31 can be reduced, and the efficiency can be greatly improved.
  • the drug store also includes: a first extension rail 5A, and a second transport vehicle 5A1 that can slide along the first extension rail 5A is disposed on the first extension rail 5A, and the second transport vehicle 5A1 is used for transporting
  • the storage box 4 the main rail 3 is provided with a second manipulator 62 that can slide along the main rail 3; when the second transport vehicle 5A1 slides to the first preset position of the first extension rail 5A, the second When the manipulator 62 and the first transport vehicle 31 are located at the second preset position of the trunk rail 3, the second manipulator 62 can move the storage box 4 between the first and second transport vehicles;
  • the "controlling the first transport vehicle 31 to receive a plurality of storage boxes 4" specifically includes: controlling the second transport vehicle 5A1 to slide to the first preset position of the first extension track 5A, and the second manipulator 62 and the first transport vehicle 31 slides to the second preset position of the trunk rail 3 , and controls the second manipulator 62 to grab several storage boxes 4 from the second transport vehicle 5A1 and put them into the first transport vehicle 31 .
  • a first extension rail 5A may be provided between the window and the medicine store, and the first extension rail 5A is used to receive a storage box filled with medicines put in by the user; here, when the second transport cart 5A1 is loaded with When the storage box 4 is full of medicines, the second transport cart 5A1 can be slid to a preset position, and then the storage box is manually put into the second transport cart 5A1.
  • the first extension rail 5A can be a straight rail (the rail can be placed vertically), and the first end of the straight rail is in contact with the main rail 3, so the first end is the first extension rail
  • the first preset position of 5A, and the position where the trunk rail 3 is in contact with the first end is the second preset position.
  • the first extension rail 5A can be a vertically placed annular rail, and the highest position of the annular rail is in contact with the trunk rail 3, so the highest position is the first preset position of the first extension rail 5A, and the main rail 3
  • the position in contact with the first end is the second preset position.
  • the number of the first transport vehicles 31 may be plural, and the number of the second manipulators 62 may also be plural.
  • the number of the second transport vehicles 5A1 may be plural.
  • the number of the third transport vehicles 5B1 may be plural.
  • the number of the first and second extending rails may be multiple.
  • both the first and second extending rails are an annular rail, and the two annular rails together also form an annular rail.
  • the number of the first transport vehicles 31 is two
  • the number of the second manipulator 62 is one
  • the second manipulator 62 is located between the two first transport vehicles 31 . between.
  • the trunk rail 3 it is necessary to provide several sensors capable of detecting the positions of the first transport vehicle 31 and the second manipulator 62.
  • the first extension rail 5A it is necessary to provide several sensors capable of detecting the position of the second transport vehicle 5A1.
  • the second extension rail 5B it is necessary to provide several sensors capable of detecting the position of the third transport vehicle 5B1.
  • the second embodiment of the present invention provides a control device for a drug storehouse
  • the drug storehouse includes: a plurality of drug storage racks 1, and the drug storage racks 1 are divided into a number of storage compartments for storing storage boxes 4;
  • One side of the rack 1 is provided with branch rails 2, and a first manipulator 61 is slidably arranged on each branch rail 2.
  • the first manipulator 61 can take out the storage box 4 from any storage compartment, and can store the storage box 4.
  • the box 4 is put into any storage compartment; the main rail 3, the main rail 3 is in contact with one end of all the branch rails 2, and the first transport vehicle 31 is slidably arranged on the main rail 3; when the first transport vehicle 31 slides
  • the first manipulator 61 in the branch track 2 can grab the storage box 4 in the first transport vehicle 31 , and can place the grabbed storage box 4 . into the first transport vehicle 31; including the following modules:
  • an acquisition module configured to receive an instruction to store several storage boxes 4, and control the first transport vehicle 31 to receive several storage boxes 4;
  • the execution module is used to continuously perform the following steps until all the storage boxes 4 are put into their destination storage compartments, and the steps include: acquiring the destination branch track corresponding to the unstored first storage box in the first transport vehicle 31 and the destination storage box, control the first transport vehicle 31 to slide to the position corresponding to the end of the destination branch track, control the first manipulator 61 on the destination branch track to grab the first storage box, and slide To the side of the destination storage compartment, place the first storage case into the destination storage compartment.
  • the execution module is further configured to: slide to one side of the destination storage box, and when it is determined that the destination storage box contains an empty second storage box, control the first manipulator 61 to grab the second storage box , and slide to the end of the destination branch track, grab the second storage box into the first transport cart 31 in the trunk track 3; then, slide to the side of the destination storage compartment, put the first storage box into the destination memory cell.
  • Embodiment 3 of the present invention provides a control device for a drug store, including a memory, a processor, and a computer program stored in the memory and running on the processor, the processor implementing the program in Embodiment 1 when the processor executes the program steps of the method.
  • Embodiment 4 of the present invention provides a computer-readable storage medium on which a computer program is stored, and when the computer program is executed by a processor, implements the steps of the method in Embodiment 1.

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Abstract

一种药库的控制方法、装置和存储介质，所述方法包括：接收到存放若干存储盒的指令，控制所述第一运输车接收若干存储盒（201）；持续执行以下步骤，直至所有存储盒均被放入其目的存储格中，所述步骤包括：获取第一运输车中的未存放的第一存储盒对应的目的分支轨道和目的存储格，控制所述第一运输车滑动到所述目的分支轨道的端部对应的位置，控制所述目的分支轨道上的第一机械手抓取所述第一存储盒，并滑动到目的存储格的一侧，将第一存储盒放入目的存储格中（202）。综上所述，该方法能够自动的将存储盒存放在预设的存储格中。

Description

一种药库的控制方法、装置和存储介质
本申请要求了申请日为2020年12月03日，申请号为202011408145.7，发明名称为“一种药库的控制方法、装置和存储介质”的发明专利申请的优先权，其全部内容通过引用结合在本申请中。
技术领域
本发明涉及药品存储技术领域，尤其涉及药库的控制方法、装置和存储介质。
背景技术
在医院的药库中，通常会设置有药品存储柜，该药品存储柜会排成一排，然后若干排药品存储柜会排成一列，为了便于用户的使用，通常都要求该药库能够自动的吸纳药品和送出药品，在实际中，为了提高效率，药品通常是装入一个存储盒4然后药库自动吸纳该存储盒4。于是，在药库中，就需要规划一个能够自动吸纳药品的运输装置。
发明内容
本发明的目的在于提供一种药库的控制方法、装置和存储介质。
为了实现上述发明目的之一，本发明一实施方式提供一种药库的控制方法，所述药库包括：若干药品存储架，所述药品存储架被划分为若干用于存放存储盒的存储格；在药品存储架的一侧设置有分支轨道，在每个分支轨道上均滑动设置有第一机械手，所述第一机械手能够从任意的存储格中取走存储盒、且能够将存储盒放入到任意的存储格中；主干轨道，主干轨道与所有分支轨道的一端部均接触，在主干轨道上滑动设置有第一运输车；当第一运输车滑动到与任一分支轨道的端部对应的位置时，所述分支轨道中的第一机械手能够抓取第一运输车中的存储盒、且能够将所抓取存储盒放入第一运输车中；包括以下步骤：接收到存放若干存储盒的指令，控制所述第一运输车接收若干存储盒；持续执行以下步骤，直至所有存储盒均被放入其目的存储格中，所述步骤包括：获取第一运输车中的未存放的第一存储盒对应的目的分支轨道和目的存储格，控制所述第一运输车滑动到所述目的分支轨道的端部对应的位置，控制所述目的分支轨道上的第一机械手抓取所述第一存储盒，并滑动到目的存储格的一侧，将第一存储盒放入目的存储格中。
作为本发明一实施方式的进一步改进，所述“滑动到目的存储格的一侧，将第一存储盒放入目的存储格中”具体包括：滑动到目的存储格的一侧，在确定所述目的存储格包含有空的第二存储盒时，控制第一机械手抓取第二存储盒，并滑动到目的分支轨道的所述端部，将第二存储盒抓取到主干轨道中的第一运输车中；之后，滑动到目的存储格的一侧，将第一存储盒放入目的存储 格中。
作为本发明一实施方式的进一步改进，所述药库还包括：第二延伸轨道，所述第二延伸轨道上设置有能够沿着其滑动的第三运输车，所述第三运输车用于运输存储盒，所述主干轨道上设置有能够沿着所述主干轨道滑动的第二机械手；当第三运输车滑动到第二延伸轨道的第三预设位置时，第二机械手和第一运输车位于主干轨道的第四预设位置时，第二机械手能够在第一、第三运输车之间挪动存储盒；所述控制方法还包括以下步骤：控制第二机械手和第一运输车滑动到主干轨道的第四预设位置，并控制并控制第三运输车沿着第二延伸轨道运输到第三预设位置，控制第二机械手将第一运输车空的存储盒挪动到第三运输车中。
作为本发明一实施方式的进一步改进，所述第一运输车包含有N个存储位，所述存储位能够存放一个存储盒，其中，N为自然数，且N≥2；所述“控制所述第一运输车接收若干存储盒”具体包括：控制所述第一运输车接收至多N-1个存储盒。
作为本发明一实施方式的进一步改进，所述“获取第一运输车中的未存放的第一存储盒对应的目的分支轨道和目的存储格”具体包括：获未处理的M个第二存储盒对应的目的分支轨道和目的存储格，所述M个第二存储盒对应相同的目的分支轨道，其中M为自然数，M≤N-1；所述“控制所述第一运输车滑动到所述目的分支轨道的端部对应的位置，控制所述目的分支轨道上的第一机械手抓取所述第一存储盒，并滑动到目的存储格的一侧，将第一存储盒放入目的存储格中”具体包括：控制所述第一运输车滑动到M个第二存储盒对应的目的分支轨道的端部对应的位置，之后，持续M次、从第一运输车中抓取一个第二存储盒，并且对每个第二存储盒，均滑动到对应的目的存储格的一侧并将第二存储盒放入目的存储格中。
作为本发明一实施方式的进一步改进，所述药库还包括：第一延伸轨道，所述第一延伸轨道上设置有能够沿着其滑动的第二运输车，所述第二运输车用于运输存储盒，所述主干轨道上设置有能够沿着所述主干轨道滑动的第二机械手；当第二运输车滑动到第一延伸轨道的第一预设位置时，第二机械手和第一运输车位于主干轨道的第二预设位置时，第二机械手能够在第一、第二运输车之间挪动存储盒；
所述“控制所述第一运输车接收若干存储盒”具体包括：控制第二运输车滑动到第一延伸轨道的第一预设位置，且第二机械手和第一运输车滑动到主干轨道的第二预设位置，控制第二机械手从第二运输车中抓取若干存储盒，并放入到第一运输车中。
本发明实施例还提供了一种药库的控制装置，所述药库包括：若干药品存储架，所述药品存储架被划分为若干用于存放存储盒的存储格；在药品存储架的一侧设置有分支轨道，在每个分支轨道上均滑动设置有第一机械手，所述第一机械手能够从任意的存储格中取走存储盒、且能够将 存储盒放入到任意的存储格中；主干轨道，主干轨道与所有分支轨道的一端部均接触，在主干轨道上滑动设置有第一运输车；当第一运输车滑动到与任一分支轨道的端部对应的位置时，所述分支轨道中的第一机械手能够抓取第一运输车中的存储盒、且能够将所抓取存储盒放入第一运输车中；包括以下模块：
获取模块，用于接收到存放若干存储盒的指令，控制所述第一运输车接收若干存储盒；
执行模块，用于持续执行以下步骤，直至所有存储盒均被放入其目的存储格中，所述步骤包括：获取第一运输车中的未存放的第一存储盒对应的目的分支轨道和目的存储格，控制所述第一运输车滑动到所述目的分支轨道的端部对应的位置，控制所述目的分支轨道上的第一机械手抓取所述第一存储盒，并滑动到目的存储格的一侧，将第一存储盒放入目的存储格中。
作为本发明一实施方式的进一步改进，所述执行模块还用于：滑动到目的存储格的一侧，在确定所述目的存储格包含有空的第二存储盒时，控制第一机械手抓取第二存储盒，并滑动到目的分支轨道的所述端部，将第二存储盒抓取到主干轨道中的第一运输车中；之后，滑动到目的存储格的一侧，将第一存储盒放入目的存储格中。
本发明实施例还提供了一种药库的控制装置，包括存储器、处理器及存储在存储器上并可在处理器上运行的计算机程序，所述处理器执行所述程序时实现上述的方法的步骤。
本发明实施例还提供了一种计算机可读存储介质，其上存储有计算机程序，所述计算机程序被处理器执行时实现上述的方法的步骤。
相对于现有技术，本发明的技术效果在于：本发明实施例提供一种药库的控制方法、装置和存储介质，所述方法包括：接收到存放若干存储盒的指令，控制所述第一运输车接收若干存储盒；持续执行以下步骤，直至所有存储盒均被放入其目的存储格中，所述步骤包括：获取第一运输车中的未存放的第一存储盒对应的目的分支轨道和目的存储格，控制所述第一运输车滑动到所述目的分支轨道的端部对应的位置，控制所述目的分支轨道上的第一机械手抓取所述第一存储盒，并滑动到目的存储格的一侧，将第一存储盒放入目的存储格中。综上所述，该方法能够自动的将存储盒存放在预设的存储格中。
附图说明
图1A是本发明实施例中的药库的立体结构示意图；
图1B是图1A中的区域A的放大图；
图1C是图1A中的区域B的放大图；
图1D是图1A中的区域C的放大图；
图2是本发明实施例中的药库的控制方法的流程示意图。
具体实施方式
以下将结合附图所示的各实施方式对本发明进行详细描述。但这些实施方式并不限制本发明，本领域的普通技术人员根据这些实施方式所做出的结构、方法、或功能上的变换均包含在本发明的保护范围内。
本文使用的例如“上”、“上方”、“下”、“下方”等表示空间相对位置的术语是出于便于说明的目的来描述如附图中所示的一个单元或特征相对于另一个单元或特征的关系。空间相对位置的术语可以旨在包括设备在使用或工作中除了图中所示方位以外的不同方位。例如，如果将图中的设备翻转，则被描述为位于其他单元或特征“下方”或“之下”的单元将位于其他单元或特征“上方”。因此，示例性术语“下方”可以囊括上方和下方这两种方位。设备可以以其他方式被定向(旋转90度或其他朝向)，并相应地解释本文使用的与空间相关的描述语。
并且，应当理解的是尽管术语第一、第二等在本文中可以被用于描述各种元件或结构，但是这些被描述对象不应受到这些术语的限制。这些术语仅用于将这些描述对象彼此区分开。例如，第一机械手可以被称为第二机械手，并且类似地第二机械手也可以被称为第一机械手，这并不背离本申请的保护范围。
在说明书附图中，“Front”表示前，“Back”表示后，“Left”表示左，“Right”表示右。
本发明实施例一提供了一种药库的控制方法，如图1A、图1B、图1C和图1D所示，所述药库包括：若干药品存储架1，所述药品存储架1被划分为若干用于存放存储盒4的存储格；在药品存储架1的一侧设置有分支轨道2，在每个分支轨道2上均滑动设置有第一机械手61，所述第一机械手61能够从任意的存储格中取走存储盒4、且能够将存储盒4放入到任意的存储格中；主干轨道3，主干轨道3与所有分支轨道2的一端部均接触，在主干轨道3上滑动设置有第一运输车31；当第一运输车31滑动到与任一分支轨道2的端部对应的位置时，所述分支轨道2中的第一机械手61能够抓取第一运输车31中的存储盒4、且能够将所抓取存储盒4放入第一运输车31中；这里，如图1所示，该药品存储架1可以包含有若干沿着左右方向分布的药品存储柜，每个存储柜在上下方向上被划分为若干存储层，每个存储层中沿左右方向被划分为若干存储格，每个存储格用于存放存储盒4。该若干药品存储架1沿着前后方向分布。这里，在该药库，当需要将装满药盒的存储盒4放入到存储格时，只需要将该存储盒4放入到主干轨道3上的第一运输车31上，然后该第一运输车31会沿着主干轨道3滑动，当滑动到某个分支轨道2的端部对应的位置时，第一机械手61会滑动到该端部，然后抓走该存储盒4，然后沿着分支轨道2滑动到某个存储格，之后就可以将该存储盒4放入到该存储格中了。
这里，需要说明的是，在图1A中，在每个药品存储架1上，仅仅显示有一个药品存储柜， 在实际中，可以为多个。
这里，主干轨道3与所有分支轨道2的一端部均接触，这里的“接触”不应狭义的理解为连接，其具体含义可以理解为：对于分支轨道2而言，在主干轨道3中均有一个位置与该分支轨道2的端部对应，当第一运输车31运动到该位置时，第一抓取装置能够抓取所述第一运输车31中的存储盒8，在本文中，“接触”的含义均可以这样理解。
如图2所示，包括以下步骤：
步骤201：接收到存放若干存储盒4的指令，控制所述第一运输车31接收若干存储盒4；这里，可以在主干轨道3上设置有一个专门的位置，用来接收存储盒4，因此，需要将第一运输车31滑动到该位置，然后再接收存储盒4。这里，在该位置时，可以人工向第一运输车31上放存储盒4，还可以使用机械向第一运输车31上放存储盒4。可理解的是，该存储盒4中是存放有药品的。
步骤202：持续执行以下步骤，直至所有存储盒4均被放入其目的存储格中，所述步骤包括：获取第一运输车31中的未存放的第一存储盒对应的目的分支轨道和目的存储格，控制所述第一运输车31滑动到所述目的分支轨道的端部对应的位置，控制所述目的分支轨道上的第一机械手61抓取所述第一存储盒，并滑动到目的存储格的一侧，将第一存储盒放入目的存储格中。
这里，可以先将存储盒存储在第一运输车31中，然后控制第一运输车31沿着主干轨道3滑动，并滑动到目的分支轨道，之后，在通过第一机械手61将该第一存储盒放入到目的存储格中。
这里，每个药品存储架1都对应设置有唯一的分支轨道2，同时，也可以两个药品存储架1共用一个分支轨道2，此时，在该步骤中，第一机械手61就需要判断，该目的存储格位于第一机械手61的前侧还是后侧了。
这里，在该药库中，可以设置有一个药库管理系统，该药库管理系统会设置有数据库，该数据库中存储每个药品存储架1中的存储格的情况，至少包括：存储格中是否存放了存储盒，存储盒中存放的若干药品的药品类型，每个药品的存储数量等信息。当某个存储格中存放了新的存储盒或者存储盒被取走时，需要对数据库做相应的修改。
这里，在上述步骤中，可以为每个存储盒4都设置有一个唯一的识别码，且在该药库中，需要设置有多个传感器，在存储盒4中会设置一个存储设备，该存储设备中存储有该识别码，该传感器可以读取出该识别码，于是，就可以时刻获取该存储盒所处的位置。例如，该存储设备可以为二维码(该二维码中存储有该识别码)，而该传感器可以为摄像头；该存储设备可以NFC(Near Field Communication，近场通信)通信设备(该NFC通信设备中存储有该识别码)，而该传感器 可以为NFC读取设备。
本实施例中，所述“滑动到目的存储格的一侧，将第一存储盒放入目的存储格中”具体包括：滑动到目的存储格的一侧，在确定所述目的存储格包含有空的第二存储盒时，控制第一机械手61抓取第二存储盒，并滑动到目的分支轨道的所述端部，将第二存储盒抓取到主干轨道3中的第一运输车31中；之后，滑动到目的存储格的一侧，将第一存储盒放入目的存储格中。这里，如果目的存储格中存放有空的第二存储盒时，需要将该第二存储盒取走，然后，在将第一存储盒放入目的存储格中，然后，在由第一运输车31将该空的存储盒送走。
本实施例中，所述药库还包括：第二延伸轨道5B，所述第二延伸轨道5B上设置有能够沿着其滑动的第三运输车5B1，所述第三运输车5B1用于运输存储盒4，所述主干轨道3上设置有能够沿着所述主干轨道3滑动的第二机械手62；当第三运输车5B1滑动到第二延伸轨道5B的第三预设位置时，第二机械手62和第一运输车31位于主干轨道3的第四预设位置时，第二机械手62能够在第一、第三运输车之间挪动存储盒4；
所述控制方法还包括以下步骤：控制第二机械手62和第一运输车31滑动到主干轨道3的第四预设位置，并控制并控制第三运输车5B1沿着第二延伸轨道5B运输到第三预设位置，控制第二机械手62将第一运输车31空的存储盒4挪动到第三运输车5B1中。
这里，在该药库中，需要设置一个窗口，该窗口用户向该药库中送入装满药品的存储盒，并接走空的存储盒，但可能由于某种原因，该窗口与若干药品存储架1的不位于同一个位置，于是就需要设置有第二延伸轨道5B，该第二延伸轨道5B用于送走空的存储盒；这里，当第三运输车5B1装满空的存储盒4时，可以将第三运输车5B1滑动到一个预设的位置，然后由人工拿走空的存储盒。
这里，该第二延伸轨道5B可以为一个直的轨道(该轨道可以竖直放置)，该直的轨道的第一端部与主干轨道3接触，于是，第一端部即为第二延伸轨道5B的第三预设位置，而主干轨道3与第一端部接触的位置，即为第四预设位置。该第二延伸轨道5B可以为一个竖直放置的环形轨道，该环形轨道的最高位置与主干轨道3接触，于是，最高位置即为第二延伸轨道5B的第三预设位置，而主干轨道3与第一端部接触的位置，即为第四预设位置。
本实施例中，所述第一运输车31包含有N个存储位311，所述存储位311能够存放一个存储盒4，其中，N为自然数，且N≥2；所述“控制所述第一运输车31接收若干存储盒4”具体包括：控制所述第一运输车31接收至多N-1个存储盒4。这里，如果目的存储格包含有空的存储盒，则需要将空的存储盒放入到第一运输车31中，因此，第一运输车31中需要预先留出一个空的存储位311。
本实施例中，所述“获取第一运输车31中的未存放的第一存储盒对应的目的分支轨道和目的存储格”具体包括：获未处理的M个第二存储盒对应的目的分支轨道和目的存储格，所述M个第二存储盒对应相同的目的分支轨道，其中M为自然数，M≤N-1；
所述“控制所述第一运输车31滑动到所述目的分支轨道的端部对应的位置，控制所述目的分支轨道上的第一机械手61抓取所述第一存储盒，并滑动到目的存储格的一侧，将第一存储盒放入目的存储格中”具体包括：控制所述第一运输车31滑动到M个第二存储盒对应的目的分支轨道的端部对应的位置，之后，持续M次、从第一运输车31中抓取一个第二存储盒，并且对每个第二存储盒，均滑动到对应的目的存储格的一侧并将第二存储盒放入目的存储格中。这里，如果M个存储盒都对应到同一个目的分支轨道，则当第一运输车31滑动到该目的分支轨道的端部时，此时，可以将该M个存储盒都存放到对应的存储盒，从而能够减少第一运输车31的滑动，极大的提高效率。
本实施例中，所述药库还包括：第一延伸轨道5A，所述第一延伸轨道5A上设置有能够沿着其滑动的第二运输车5A1，所述第二运输车5A1用于运输存储盒4，所述主干轨道3上设置有能够沿着所述主干轨道3滑动的第二机械手62；当第二运输车5A1滑动到第一延伸轨道5A的第一预设位置时，第二机械手62和第一运输车31位于主干轨道3的第二预设位置时，第二机械手62能够在第一、第二运输车之间挪动存储盒4；
所述“控制所述第一运输车31接收若干存储盒4”具体包括：控制第二运输车5A1滑动到第一延伸轨道5A的第一预设位置，且第二机械手62和第一运输车31滑动到主干轨道3的第二预设位置，控制第二机械手62从第二运输车5A1中抓取若干存储盒4，并放入到第一运输车31中。
这里，可以在窗口和药库之间可以设置有第一延伸轨道5A，该第一延伸轨道5A用于接收用户放入的装满药品的存储盒；这里，当第二运输车5A1装有装满药品的存储盒4时，可以将第二运输车5A1滑动到一个预设的位置，然后有人工向该第二运输车5A1中放入存储盒。
这里，该第一延伸轨道5A可以为一个直的轨道(该轨道可以竖直放置)，该直的轨道的第一端部与主干轨道3接触，于是，第一端部即为第一延伸轨道5A的第一预设位置，而主干轨道3与第一端部接触的位置，即为第二预设位置。该第一延伸轨道5A可以为一个竖直放置的环形轨道，该环形轨道的最高位置与主干轨道3接触，于是，最高位置即为第一延伸轨道5A的第一预设位置，而主干轨道3与第一端部接触的位置，即为第二预设位置。
这里，在主干轨道3中，第一运输车31的数量可以为多个，第二机械手62的数量也可以为多个。在第一延伸轨道5A中，第二运输车5A1的数量可以为多个。在第二延伸轨道5B中，第三 运输车5B1的数量可以为多个。同样第一、第二延伸轨道的数量可以为多个。可选的，第一、第二延伸轨道均为一个环形轨道，且这两个环形轨道共同也构成一个环形轨道。在图1A所示的情形中，在主干轨道3中，第一运输车31的数量为两个，第二机械手62的数量为1个，且第二机械手62位于两个第一运输车31之间。
这里，在主干轨道3中，需要设置有若干传感器，该传感器能够探测第一运输车31和第二机械手62的位置。在第一延伸轨道5A中，需要设置有若干传感器，该传感器能够探测第二运输车5A1的位置。在第二延伸轨道5B中，需要设置有若干传感器，该传感器能够探测第三运输车5B1的位置。
本发明实施例二提供了一种药库的控制装置，所述药库包括：若干药品存储架1，所述药品存储架1被划分为若干用于存放存储盒4的存储格；在药品存储架1的一侧设置有分支轨道2，在每个分支轨道2上均滑动设置有第一机械手61，所述第一机械手61能够从任意的存储格中取走存储盒4、且能够将存储盒4放入到任意的存储格中；主干轨道3，主干轨道3与所有分支轨道2的一端部均接触，在主干轨道3上滑动设置有第一运输车31；当第一运输车31滑动到与任一分支轨道2的端部对应的位置时，所述分支轨道2中的第一机械手61能够抓取第一运输车31中的存储盒4、且能够将所抓取存储盒4放入第一运输车31中；包括以下模块：
获取模块，用于接收到存放若干存储盒4的指令，控制所述第一运输车31接收若干存储盒4；
执行模块，用于持续执行以下步骤，直至所有存储盒4均被放入其目的存储格中，所述步骤包括：获取第一运输车31中的未存放的第一存储盒对应的目的分支轨道和目的存储格，控制所述第一运输车31滑动到所述目的分支轨道的端部对应的位置，控制所述目的分支轨道上的第一机械手61抓取所述第一存储盒，并滑动到目的存储格的一侧，将第一存储盒放入目的存储格中。
本实施例中，所述执行模块还用于：滑动到目的存储格的一侧，在确定所述目的存储格包含有空的第二存储盒时，控制第一机械手61抓取第二存储盒，并滑动到目的分支轨道的所述端部，将第二存储盒抓取到主干轨道3中的第一运输车31中；之后，滑动到目的存储格的一侧，将第一存储盒放入目的存储格中。
本发明实施例三提供了一种药库的控制装置，包括存储器、处理器及存储在存储器上并可在处理器上运行的计算机程序，所述处理器执行所述程序时实现实施例一中的方法的步骤。
本发明实施例四提供了一种计算机可读存储介质，其上存储有计算机程序，所述计算机程序被处理器执行时实现实施例一中的方法的步骤。
以上所述，仅为本发明的具体实施方式，但本发明的保护范围并不局限于此，任何熟悉本技 术领域的技术人员在本发明揭露的技术范围内，可轻易想到变化或替换，都应涵盖在本发明的保护范围之内。因此，本发明的保护范围应以所述权利要求的保护范围为准。

Claims (10)

  1. 一种药库的控制方法，所述药库包括：若干药品存储架(1)，所述药品存储架(1)被划分为若干用于存放存储盒(4)的存储格；在药品存储架(1)的一侧设置有分支轨道(2)，在每个分支轨道(2)上均滑动设置有第一机械手(61)，所述第一机械手(61)能够从任意的存储格中取走存储盒(4)、且能够将存储盒(4)放入到任意的存储格中；主干轨道(3)，主干轨道(3)与所有分支轨道(2)的一端部均接触，在主干轨道(3)上滑动设置有第一运输车(31)；当第一运输车(31)滑动到与任一分支轨道(2)的端部对应的位置时，所述分支轨道(2)中的第一机械手(61)能够抓取第一运输车(31)中的存储盒(4)、且能够将所抓取存储盒(4)放入第一运输车(31)中；其特征在于，包括以下步骤：
    接收到存放若干存储盒(4)的指令，控制所述第一运输车(31)接收若干存储盒(4)；
    持续执行以下步骤，直至所有存储盒(4)均被放入其目的存储格中，所述步骤包括：获取第一运输车(31)中的未存放的第一存储盒对应的目的分支轨道和目的存储格，控制所述第一运输车(31)滑动到所述目的分支轨道的端部对应的位置，控制所述目的分支轨道上的第一机械手(61)抓取所述第一存储盒，并滑动到目的存储格的一侧，将第一存储盒放入目的存储格中。
  2. 根据权利要求1所述的控制方法，其特征在于，所述“滑动到目的存储格的一侧，将第一存储盒放入目的存储格中”具体包括：
    滑动到目的存储格的一侧，在确定所述目的存储格包含有空的第二存储盒时，控制第一机械手(61)抓取第二存储盒，并滑动到目的分支轨道的所述端部，将第二存储盒抓取到主干轨道(3)中的第一运输车(31)中；之后，滑动到目的存储格的一侧，将第一存储盒放入目的存储格中。
  3. 根据权利要求2所述的控制方法，其特征在于，
    所述药库还包括：第二延伸轨道(5B)，所述第二延伸轨道(5B)上设置有能够沿着其滑动的第三运输车(5B1)，所述第三运输车(5B1)用于运输存储盒(4)，所述主干轨道(3)上设置有能够沿着所述主干轨道(3)滑动的第二机械手(62)；当第三运输车(5B1)滑动到第二延伸轨道(5B)的第三预设位置时，第二机械手(62)和第一运输车(31)位于主干轨道(3)的第四预设位置时，第二机械手(62)能够在第一、第三运输车之间挪动存储盒(4)；
    所述控制方法还包括以下步骤：控制第二机械手(62)和第一运输车(31)滑动到主干轨道(3)的第四预设位置，并控制并控制第三运输车(5B1)沿着第二延伸轨道(5B)运输到第三预设位置，控制第二机械手(62)将第一运输车(31)空的存储盒(4)挪动到第三运输车(5B1)中。
  4. 根据权利要求2所述的控制方法，其特征在于：
    所述第一运输车(31)包含有N个存储位(311)，所述存储位(311)能够存放一个存储盒(4)，其中，N为自然数，且N≥2；
    所述“控制所述第一运输车(31)接收若干存储盒(4)”具体包括：控制所述第一运输车(31)接收至多N-1个存储盒(4)。
  5. 根据权利要求3所述的控制方法，其特征在于，
    所述“获取第一运输车(31)中的未存放的第一存储盒对应的目的分支轨道和目的存储格”具体包括：获未处理的M个第二存储盒对应的目的分支轨道和目的存储格，所述M个第二存储盒对应相同的目的分支轨道，其中M为自然数，M≤N-1；
    所述“控制所述第一运输车(31)滑动到所述目的分支轨道的端部对应的位置，控制所述目的分支轨道上的第一机械手(61)抓取所述第一存储盒，并滑动到目的存储格的一侧，将第一存储盒放入目的存储格中”具体包括：控制所述第一运输车(31)滑动到M个第二存储盒对应的目的分支轨道的端部对应的位置，之后，持续M次、从第一运输车(31)中抓取一个第二存储盒，并且对每个第二存储盒，均滑动到对应的目的存储格的一侧并将第二存储盒放入目的存储格中。
  6. 根据权利要求1所述的控制方法，其特征在于，
    所述药库还包括：第一延伸轨道(5A)，所述第一延伸轨道(5A)上设置有能够沿着其滑动的第二运输车(5A1)，所述第二运输车(5A1)用于运输存储盒(4)，所述主干轨道(3)上设置有能够沿着所述主干轨道(3)滑动的第二机械手(62)；当第二运输车(5A1)滑动到第一延伸轨道(5A)的第一预设位置时，第二机械手(62)和第一运输车(31)位于主干轨道(3)的第二预设位置时，第二机械手(62)能够在第一、第二运输车之间挪动存储盒(4)；
    所述“控制所述第一运输车(31)接收若干存储盒(4)”具体包括：控制第二运输车(5A1)滑动到第一延伸轨道(5A)的第一预设位置，且第二机械手(62)和第一运输车(31)滑动到主干轨道(3)的第二预设位置，控制第二机械手(62)从第二运输车(5A1)中抓取若干存储盒(4)，并放入到第一运输车(31)中。
  7. 一种药库的控制装置，所述药库包括：若干药品存储架(1)，所述药品存储架(1)被划分为若干用于存放存储盒(4)的存储格；在药品存储架(1)的一侧设置有分支轨道(2)，在每个分支轨道(2)上均滑动设置有第一机械手(61)，所述第一机械手(61)能够从任意的存储格中取走存储盒(4)、且能够将存储盒(4)放入到任意的存储格中；主干轨道(3)，主干轨道(3)与所有分支轨道(2)的一端部均接触，在主干轨道(3)上滑动设置有第一运输车(31)；当第一运输车(31)滑动到与任一分支轨道(2)的端部对应的位置时，所述分支轨道(2)中的第一 机械手(61)能够抓取第一运输车(31)中的存储盒(4)、且能够将所抓取存储盒(4)放入第一运输车(31)中；其特征在于，包括以下模块：
    获取模块，用于接收到存放若干存储盒(4)的指令，控制所述第一运输车(31)接收若干存储盒(4)；
    执行模块，用于持续执行以下步骤，直至所有存储盒(4)均被放入其目的存储格中，所述步骤包括：获取第一运输车(31)中的未存放的第一存储盒对应的目的分支轨道和目的存储格，控制所述第一运输车(31)滑动到所述目的分支轨道的端部对应的位置，控制所述目的分支轨道上的第一机械手(61)抓取所述第一存储盒，并滑动到目的存储格的一侧，将第一存储盒放入目的存储格中。
  8. 根据权利要求7所述的控制装置，其特征在于，所述执行模块还用于：滑动到目的存储格的一侧，在确定所述目的存储格包含有空的第二存储盒时，控制第一机械手(61)抓取第二存储盒，并滑动到目的分支轨道的所述端部，将第二存储盒抓取到主干轨道(3)中的第一运输车(31)中；之后，滑动到目的存储格的一侧，将第一存储盒放入目的存储格中。
  9. 一种药库的控制装置，包括存储器、处理器及存储在存储器上并可在处理器上运行的计算机程序，其特征在于，所述处理器执行所述程序时实现权利要求1至6任一项所述方法的步骤。
  10. 一种计算机可读存储介质，其上存储有计算机程序，其特征在于，所述计算机程序被处理器执行时实现权利要求1至6任一项所述方法的步骤。
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