CN111846721A - Pharmacy robot device, method and system - Google Patents
Pharmacy robot device, method and system Download PDFInfo
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- CN111846721A CN111846721A CN202010679136.5A CN202010679136A CN111846721A CN 111846721 A CN111846721 A CN 111846721A CN 202010679136 A CN202010679136 A CN 202010679136A CN 111846721 A CN111846721 A CN 111846721A
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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
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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
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- B65G1/04—Storage devices mechanical
- B65G1/137—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
- B65G1/1371—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed with data records
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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
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- 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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- 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
- B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
- B65G2203/02—Control or detection
- B65G2203/0208—Control or detection relating to the transported articles
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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
- B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
- B65G2203/02—Control or detection
- B65G2203/0208—Control or detection relating to the transported articles
- B65G2203/0241—Quantity of articles
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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
- B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Medical Preparation Storing Or Oral Administration Devices (AREA)
- Medical Treatment And Welfare Office Work (AREA)
Abstract
The utility model provides a drugstore robot includes chassis, drug storage, push rod equipment, the conveyer belt, the induction door, carry out the medicine and mend goods, the shipment, the coil goods function, combine AI verification system and intelligent diagnosis system, realize that the drugstore is doctor's service promptly, the drugstore is pharmacist's service promptly and drugstore is medicine service promptly, according to the demand, a plurality of drugstore robot monomer adopt parallelly connected or series connection mode to link, increase and store medicine kind and quantity, the device simple structure, it is nimble to dispose and dispose, thereby reduce drugstore shop's operation cost.
Description
Technical Field
The invention relates to an intelligent pharmacy, in particular to a robot device, method and system for a pharmacy.
Background
Because of some common diseases, frequently encountered diseases and chronic diseases, people need to go to a hospital for a visit or a pharmacy for buying medicines frequently. In some situations, such as in smaller towns and rural areas, where the distance from the hospital is far and the drug stores are relatively rare, it may be inconvenient for the patient to obtain medical and medical services. The operation cost of the hospital is high, a large number of patients with common diseases, frequently encountered diseases and chronic diseases are received and diagnosed, the income is low, and the operation of the hospital is difficult to maintain for a long time. The store renting and labor cost of the pharmacy is high, the price of the medical service is increased, and the economic burden of the patient is increased.
Compared with difficult miscellaneous diseases and diseases needing operation treatment, the standard degree of diagnosis and treatment operations of common diseases, frequently-occurring diseases and chronic diseases is high, the medicines for symptomatic treatment are relatively constant, and the pharmacy robot with simple structure and functions of doctor visit, pharmacist audit, medicine distribution and medicine affair service can be closely configured to remote small towns and rural areas, so that the pharmacy robot can efficiently serve patients and reduce the operation cost of pharmacy stores.
Disclosure of Invention
The invention aims to provide a robot device for a pharmacy, which executes basic functions of the pharmacy, is combined with an AI (artificial intelligence) verification system and an intelligent diagnosis system, realizes the services of doctors as the pharmacy, pharmacists as the pharmacy and pharmacy as the pharmacy, efficiently services patients and reduces the operation cost of pharmacy stores.
In order to achieve the purpose, the invention adopts the technical scheme that:
a robot device for pharmacy comprises a chassis, a shell, a medicine warehouse, a push rod device, a conveyor belt, an induction door, a touch screen display, an intelligent sound box, a visual sensor, a central data storage processor, a wireless communication device, a cloud server and a medicine kiosk,
the chassis comprises a base, 4 universal wheels, a brake, a power supply and a power supply interface;
The drug storage device comprises a shell, a push rod device, a;
wherein, the medicine storehouse comprises 2 medicine cabinets, the medicine cabinets are fixed in a central shell, the length of the medicine cabinets is not less than 50cm, the width is not less than 30cm, the height is not less than 120cm, the gap distance between the medicine cabinets is not less than 15cm, the bottom of the gap is a conveyor belt, the medicine cabinets are further divided into a plurality of medicine boxes which are arranged vertically and horizontally, the length of the medicine boxes is equal to the width of the medicine cabinets, the width and the height of the medicine boxes are adjustable, the medicine boxes are horizontally arranged, each medicine box stores 1 medicine type, each medicine box can be positioned in a coordinate mode (X, Y), wherein, X is the number of horizontal grids, Y is the number of vertical grids, Z is the arranging ordinal number in the medicine box, after the current arranging ordinal number is taken out, the position of the ordinal number arranged behind is moved forward, the corresponding reordering is carried out, the two sides of the medicine boxes are opened, wherein, the side wall of the first opening near one side of the outer shell is provided with at least 5 diode lamp strips with chips and 1 first indicator lamp, the diode lamps comprise red light emitting lamp beads and green light emitting lamp beads, the number of the green light emitting lamp beads is the number of the existing medicines in the medicine box, the number of the red light emitting lamp beads is the number of the vacant medicines in the medicine box or the number of the medicine boxes required to be supplemented, the first indicator lamp is a shortage indicator lamp, and the replenishment personnel scans and identifies the medicines through a visual sensor, the first indicator light of the corresponding medicine chest lacking the medicine is on to guide the replenishment staff to find the medicine chest to be replenished in time, the number of the medicine to be replenished is known in time according to the number of the twinkling red light-emitting lamp beads, the integral multiple of the length diameter (cm) of the medicine box/the length diameter (cm) of the medicine packing box is the maximum number of the medicine boxes which can be accommodated by the medicine box, and the remainder is used for calculating the extra working distance of the push rod equipment;
Wherein, the push rod equipment comprises 2 cartesian robots, the cartesian robots are fixed on the two side edge shells through the frame, the end effector comprises a servo motor, a reducer, a controller, a gear, a rack and a guide rail, wherein, the gear and the rack adopt plastic teeth, the tooth height is not more than 5mm, the rack baseband adopts silica gel, the rack length is not less than 40cm, the thickness is not less than 8mm, the width is not less than 8mm, 2 tail ends of the rack are provided with pressure sensors for sensing whether to contact with the medicine box or not, sensing the resistance when the medicine box moves, judging whether to leave the medicine box or not, if necessary, assisting in judging blocking faults in the medicine box, wherein, the guide rail is in a semicircular groove structure, a plurality of miniature rollers are arranged in the groove, two tail ends of the guide rail are provided with blocking sheets for wrapping the gear and the rack, the cartesian robots move, when the rack moves along with the gear, the rack extends out from the tail end of the guide rail in the tangential direction, the rack is accurately inserted into a first opening of a specific medicine box and pushes a certain distance to push out the medicines in the medicine box, the medicines fall into the conveyor belt from a second opening, when a plurality of medicines need to be pushed out, a rectangular coordinate robot plans an advancing route according to a shortest running distance algorithm, wherein 2 tail ends of the rack can extend out and push into the medicine box along with the bidirectional rotation of the gear, the medicine box is divided into an upper medicine box and a lower medicine box according to the algorithm, when the medicines need to be pushed out and positioned in the upper medicine box, the tail end of the upper part of the rack extends out through the rotation of the gear, when the medicines need to be pushed out and positioned in the lower medicine box, a baffle plate at the tail end of the guide rail prevents the rack from being separated from the gear, wherein the rack is made, wherein, the positioning precision of the rectangular coordinate robot and the end effector thereof is less than 0.5 mm;
The conveying belt device comprises at least 2 conveying belt devices, so that the falling height of medicines is not more than 50cm, and the conveying belt device structurally comprises a driving wheel, a driven wheel, a crawler belt, a roller, a support, a driving motor, a first photoelectric sensor and a controller, wherein the driving wheel, the driven wheel, the crawler belt, the roller and the support are made of soft foamed plastics, so that the damage of the medicines caused by falling and collision of the medicines is reduced, the first photoelectric sensor is used for monitoring the quantity of the medicines reaching the conveying belt, the quantity of the medicines is compared with the quantity of the medicines specified by a prescription, the quantity of the medicines is reached, the driving motor works, and in order to further reduce the damage caused by falling and collision of the medicines, liquid medicines, glass bottled medicines and medicines with the weight exceeding 100g are selectively distributed;
the induction door consists of an adjacent storage concave disc, an automatic door, a second photoelectric sensor and a second indicator light, the set quantity of the induction door is consistent with the quantity of conveyor belt equipment, the conveyor belt conveys medicines to the adjacent storage concave disc, the second photoelectric sensor is used for collecting the quantity of the medicines in the adjacent storage concave disc, if the quantity of the medicines is consistent with the expected quantity of the medicines, the second indicator light is turned on to prompt medicine taking, the automatic door is opened, the medicine taking is completed, the second indicator light is turned off, the automatic door is closed, and if the medicine taking is not completed, the second indicator light is continuously turned on to prompt the completion of the medicine taking;
The visual sensor is used for scanning and identifying a medicine supervision code, a bar code or an outer package when first-time medicine feeding is carried out, medicine types, specifications, dosage forms, production dates and expiration dates are acquired by means of a central data storage processor, a cloud server or network retrieval, the medicine data are automatically added into a database of the central data storage processor, appropriate medicine boxes are distributed according to the weight, properties and the length, width and height of the outer package, the updated database is synchronously uploaded to the cloud server, when second-time medicine feeding and feeding are carried out, the supervision code, the bar code or the outer package of the medicine are scanned and identified, medicine data are synchronously mapped to the database and the cloud server of the central data storage processor, a first indicator lamp of the medicine box corresponding to the medicine is on, the number of the medicine lacking is displayed, and the replenishment personnel is guided to carry out the replenishment operation;
the wireless communication equipment comprises a near field communication assembly and a remote communication assembly, wherein the near field communication assembly is used for internal communication of the device and communication of a nearby patient mobile intelligent terminal, and the remote communication assembly is used for data uploading and downloading and remote diagnosis and treatment;
wherein, the central data storage processor comprises a control unit, an arithmetic unit and a storage unit, the control unit is used for the intelligent control of the internal controller of the device and comprises a diode lamp, a first indicator lamp, a second indicator lamp, a cartesian robot and an end effector thereof, a driving motor, a first photoelectric sensor, a second photoelectric sensor, a lifter driving motor and an automatic door, the arithmetic unit comprises a CPU, a GPU and an NPU, the system is used for executing an algorithm, the algorithm comprises medicine box coordinate positioning, medicine class identification and statistics, rectangular coordinate robot end effector advancing planning, sensor acquisition data processing, man-machine interaction data processing and cloud server operation data further processing, the storage unit comprises an internal storage and an external storage, for storing system software, applications, algorithms, temporary data, and short-term permanent data;
The cloud server is used for storing, backing up and operating data, executing a complex algorithm and managing a background database;
the medicine kiosk is characterized in that the medicine kiosk is manufactured into a closed or semi-closed structure by adopting partial areas of an existing building to be isolated or independently built, and at least comprises 1 door, a lock, a plurality of wall surfaces, a ceiling and a floor, and is provided with a stool, a ramp, a lighting lamp, an audio and video camera, a second touch screen display, a sound player, an emergency button, a sterilizing device and an air conditioner, wherein the area of the air conditioner at least contains 1 pharmacy robot device, 1 wheelchair and 1 stool, and the sterilizing device comprises an ultraviolet lamp and a disinfectant spraying device.
Preferably, the base plate is also provided with an air conditioner for adjusting the temperature and humidity in the medicine warehouse.
Preferably, the chassis can be further provided with an ozone machine, and the generated ozone is connected to the medicine storage through a pipeline to sterilize the air in the medicine storage; the chassis can also be provided with a disinfectant storage tank, spraying equipment and pipelines, and the pipelines are respectively opened on the temporary storage concave disc, the touch screen display and the shell.
Preferably, the touch screen display is arranged on the central shell and used for man-machine interaction and information display.
Preferably, the smart sound box is disposed in the center housing and used for human-computer interaction and information playing of people with visual disabilities and people with upper limb disabilities.
Preferably, in the above technical solution, the rectangular coordinate robot and the end effector thereof have a positioning accuracy exceeding 0.05 mm.
Preferably, as the technical solution, the conveyor apparatus may further be coupled with an intelligently controlled elevator, so that when the end effector of the cartesian robot pushes out the medicine, the intelligently controlled elevator moves synchronously, so that the medicine falls onto the conveyor belt after leaving the medicine box, the impact force on the medicine is reduced, and when a plurality of medicines need to be pushed out, the rectangular robot and the intelligently controlled conveyor elevator plan the traveling route according to the algorithm with the shortest overall traveling distance.
As the optimization of the above technical scheme, the medicine kiosk can be further provided with an intelligent stethoscope, an intelligent percussion hammer, a full-automatic electrocardiograph, a self-service respiratory function tester, a self-service electroencephalogram tester, a self-service finger blood collecting device, a self-service blood glucose tester, a full-automatic blood routine analyzer and a full-automatic urine and feces analyzer, so that auscultation, percussion, electrocardiogram, respiratory function and electroencephalogram examination can be conveniently carried out by a patient in a self-service manner, finger blood can be collected in a self-service manner, and the device is used for rapid blood glucose detection and blood and urine and feces analysis.
A robot method for a pharmacy, which comprises the steps of selling medicine, supplementing medicine, coiling medicine, combining and gridding deployment,
wherein, the medicine selling method comprises the following steps,
(A) pharmacy-as-physician service
A1 field: the patient adopts biological identification to pass identity authentication, adopts an intelligent sound box voice interaction or touch screen input or video interaction mode to submit main appeal and symptoms, a visual sensor acquires face image information and tongue image information of the patient, an intelligent diagnosis and treatment system judges whether acute or chronic disease face exists, nutritional abnormality exists, emotional abnormality and mental abnormality, a medical history is supplemented and inquired, a recent paper or electronic version medical examination report exists, the examination report is prompted to be scanned and identified by the visual sensor or uploaded by a patient mobile intelligent terminal App, basic sign data such as body temperature, pulse, respiration, blood pressure, blood oxygen saturation and the like and blood sugar and blood rapid detection results are combined, the prior health data, medication history and allergy history of the patient are called through patient authorization, the intelligent diagnosis and treatment system infers primary clinical diagnosis, treatment suggestions are issued, an electronic prescription is opened, and when necessary, reminding the patient to go to the hospital for a visit;
a2 remote: the patient carries out voice or video interaction through the mobile intelligent terminal App, submits main appeal and symptoms, uploads basic sign data such as patient face information, tongue image information, sound information, body temperature, pulse, respiration, blood pressure, blood oxygen saturation and the like collected by the mobile intelligent terminal, if a recent paper or electronic medical examination report exists, uploads the basic sign data through the mobile intelligent terminal App, calls previous health data, a medication history and an allergy history through patient authorization, supplements and inquires the medical history, and the intelligent diagnosis and treatment system infers preliminary diagnosis, gives treatment advice, opens an electronic prescription and reminds the patient to visit a hospital if necessary;
A3 direct over-the-counter drug selection: the patient carries out man-machine interaction through the intelligent sound box or the touch screen display and directly submits the over-the-counter medicine purchasing requirement;
a4 direct selection of prescription drugs: a physician paper or electronic prescription needs to be provided, if not, the process enters an A1 field process;
(B) pharmacy instant pharmacist service
B1 electronic prescription: electronic prescriptions remotely obtained by a patient at the site of A1 and A2 or electronic prescriptions imported through a mobile intelligent terminal App are uploaded to and stored in a cloud server, face recognition is combined with social security card or identity card recognition, names, sexes, ages, heights, weights, contact ways, allergy histories, disease conditions and medical diagnosis of patients in the prescriptions are checked, medicines and doses are checked, and doctor signatures are checked, so that the prescriptions are complete, accurate and real, wherein the checking of the medicines and the doses comprises the steps of checking whether the medical diagnosis is consistent with the medicine taking, checking whether the dose is insufficient or excessive, and checking whether medicine compatibility taboos exist;
b2 paper prescription: the patient scans or takes a picture of a paper prescription, the paper prescription is led in through the mobile intelligent terminal App, the paper prescription can also be placed in a visual sensor scanning area of a pharmacy robot for data acquisition and prescription key information identification, human face identification is combined with social security card or identity card identification, the prescription, check diagnosis, medicine, dosage and doctor signature are checked, the completeness, accuracy and authenticity of the prescription are ensured, and the prescription is stored in a cloud server, so that the prescription is marked to be used in a database;
B3 over-the-counter medicine: the face recognition is combined with the social security card scanning, the patient is checked, and the medicine and the quantity of the patient are selected in a man-machine interaction mode;
b4 No drug: the patient can select a medicine arrival notification service through a man-machine interaction mode, or receive prompt information, purchase medicines at a nearby network where stock is stored, or select a third-party logistics medicine delivery service for going to the home;
(C) the patient confirms whether to purchase the medicine through man-machine interaction, if so, the next step is carried out, and if not, the service is terminated;
(D) paying the fee;
(E) the cartesian robot addresses the position of a medicine box where medicines are located, a rack of an end effector of the push rod device extends into the corresponding medicine box to push out the medicines, the medicines fall into the conveyor belt, the medicines are conveyed to the temporary storage concave disc by the conveyor belt, and a second indicator lamp of the induction door is turned on after all the medicines in a prescription enter the temporary storage concave disc, wherein when the medicine box is pushed in, a pressure sensor at the tail end of the rack senses a medicine packing box, and 1 box of medicines is pushed out every time when the length (cm) of the medicine packing box is pushed in until the required number of the medicine boxes is reached;
(F) the induction door is opened, the patient takes the medicine, the second photoelectric sensor monitors the temporary storage concave disc to judge whether the medicine is taken away completely, if not, the second indicator lamp is continuously lightened, the intelligent sound box carries out voice prompt, and if so, the next step is carried out;
(G) Pharmacy instant medicine service
G1 drug supply chain service: the method has the advantages that the method is shared with data of a drug manufacturer, so that the drug manufacturer can sense market demand change, adjust drug capacity in time and determine research and development directions; the third-party supply chain dynamically senses drug inventory and provides drug supplement, drug replacement close to expiration date and problem drug recall service through logistics;
g2 pharmaceutical services include:
g21 receiving the imported electronic prescription, and sending service information and the electronic prescription to the mobile intelligent terminal of the patient;
g22 electronic prescriptions and paper prescriptions are marked in a cloud server industry-wide shared database, and medicines are dispensed and taken in a prompting mode, so that the prescriptions cannot be used for repeatedly purchasing medicines;
g23 follow-up, which comprises sending medication cautions, indications, contraindications, how to take medicines and the like to the mobile intelligent terminal of the patient, reminding the patient to take medicines correctly on time, and identifying and processing abnormal conditions after medication;
g24 the medicines for chronic diseases are about to run out, the mobile intelligent terminal App is used for reminding the patient to purchase the medicines in advance, the mobile intelligent terminal App is used for reminding the patient to regularly check and evaluate the treatment effect and the life quality change, and the medicine dosage increment or decrement suggestion or the treatment scheme replacement suggestion is provided for the patient according to the check and evaluation results;
G3 pharmacy management: the method comprises the steps of counting medicine information of a medicine library in real time, monitoring whether medicine inventory of pharmacy robots of various network points is insufficient or not, if yes, sending a inventory supplementing request to a supply chain, supplementing inventory to pharmacy robots of corresponding network points by a supply chain platform according to the inventory supplementing request, predicting dynamic needs of medicines according to changes of seasonal variation disease spectrums, enabling the supply chain platform to increase the medicine classes according to the pre-prepared needs and timely off-shelf or reduce the medicine classes with atrophic needs;
the medicine feeding method comprises the following steps:
(A) the cloud server statistical data comprises the types, specifications, dosage forms, packaging sizes, medicine supervision codes of the medicines to be replenished, and the types and the quantity of the medicines approaching to expiration;
(B) the supply chain platform prepares goods according to the statistical data of the cloud server;
(C) the logistics platform conveys the replenishment drug to a pharmacy robot device network;
(D) unlocking a chassis brake, moving the robot device of the pharmacy to an open space, connecting and unlocking the edge shell and the central shell, exposing a medicine cabinet and a medicine chest, and supplementing the goods by adopting a manual supplementing method or a robot supplementing method,
d1 manual replenishment: the method comprises the following steps that a replenishment worker scans medicines through a mobile intelligent terminal App or a visual sensor, a first indicator light of a medicine box corresponding to the medicines is on, the medicine shortage state is displayed, the replenishment worker is guided to accurately find the medicine boxes with the medicines in time, the medicines with the medicines in shortage are replenished accurately according to the number of red light emitting lamps, and the operation is repeated so as to replenish all the medicine boxes with the medicines in shortage;
D2 robot replenishment: the mechanical arm of the replenishment robot is provided with a sucker and a visual sensor, the sucker is linked with the pharmacy robot device through a near-field wireless communication assembly, intelligent identification and intelligent control are realized, so that the sucker can accurately identify the to-be-replenished medicine and accurately place the to-be-replenished medicine into the medicine chest with the shortage of the medicine, the medicine is pushed by a proper distance, the distance is accurately calculated by an algorithm, and the operation is repeated in the way to replenish all the medicine chests with the shortage of the medicine;
(E) the edge shell is connected and locked with the central shell, the robot device of the pharmacy is moved and returned, and the chassis brake is locked;
the drug inventory method comprises inventory data acquisition and inventory data statistical analysis, wherein the inventory data comprises drug administration data, drug selling data and adjacent expiration date drug data, and the inventory data statistical analysis senses dynamic changes of drug types and quantities, submits replenishment requests in time and predicts future drug demand trends;
wherein, the conjunct method comprises series connection, parallel connection or series-parallel connection, in particular as follows,
(A) series connection: the robot device units of the plurality of drugstores are combined in a front-back arrangement mode, induction doors, touch screen displays, intelligent sound boxes, visual sensors and a central data storage processor are shared, and conveying belts, circuits and communication lines are communicated with one another;
(B) Parallel connection: the robot device units of the plurality of drugstores are combined in a left-right arrangement mode, a touch screen display, an intelligent sound box, a visual sensor and a central data storage processor of the robot device units share the touch screen display, the intelligent sound box, the visual sensor and the central data storage processor, and circuits and communication lines of the robot device units are communicated with one another;
(C) series-parallel connection: the plurality of pharmacy robot device units are combined in a front-back arrangement mode and a left-right arrangement mode, a touch screen display, an intelligent sound box, a visual sensor and a central data storage processor are shared, and circuits and communication lines of the plurality of pharmacy robot device units are communicated with one another;
the gridding deployment comprises site selection of network points, configuration of medicine kiosks, selection of single or conjuncted medicine types of pharmacy robot devices, data sharing between the network points in a service area and with other pharmacy, hospital pharmacy and suppliers, and convenience is brought to patients to obtain more medicine information, and medicines and services are obtained through various channels.
A robot system for pharmacy comprises an operating system, software, an algorithm, a drug screening system, an AI checking system, an intelligent diagnosis and treatment system, a drug delivery system, a drug selling system, a drug affair management system, a third party support system, a database, a data encryption system, a medicine information sharing and supervision system, a drug circulation tracing system, an electronic prescription system, cloud service, 5G and a settlement system,
The medicine screening system screens the types and the quantity of medicines according to the disease pedigree and dynamic consumption data of service crowds in different seasons of a service area, properly increases the types and the quantity of certain medicines and timely reduces the quantity of medicines with atrophied demands;
the intelligent diagnosis and treatment system traverses the latest clinical diagnosis and treatment operation specifications and medical knowledge maps of human medicine, extracts characteristic values on the basis of structured, semi-structured and unstructured data such as main appeal, symptoms, physical signs, past medical history and examination results of patients, obtains clinical diagnosis by means of an artificial intelligence algorithm, and issues a treatment scheme;
after the prescription is checked to pass, the medicine selling system traverses the medicines in the medicine warehouse, if the medicines are in the warehouse, the Cartesian coordinate robot executes to carry out shipment, and if the medicines are not in the warehouse, the medicine selling system provides the arrival notification service for the patients, or informs a nearby network point with stored goods, or commissions a third-party logistics delivery service to the home.
Certainly, the medicines related to the invention comprise non-prescription medicines and prescription medicines, and also comprise health-care food, medical disinfectant, personal skin care products, and common medical equipment, such as masks, thermometers, sphygmomanometers, blood glucose meters and consumables, injectors, medical gauze, cotton swabs, band-aid, sanitary napkins, tampons, condoms, pregnancy sticks and the like.
The invention has the beneficial effects that: compared with the prior art, the invention has the following advantages:
(1) the medicines are stored more densely, the space utilization is more sufficient, for example, the maximum number of medicine boxes in a medicine warehouse of a single pharmacy robot device can reach 900, each medicine box can contain 5-10 boxes of medicines, at least 600 medicine classes are basically stored, at least 3000 boxes of medicines are stored, if a plurality of pharmacy robot device units are connected in series, in parallel or in series and parallel, the medicine warehouse can contain all common medicines and medical supplies;
(2) the robot device for the pharmacy has the advantages of complete overall function, simple structure, compact design, convenient maintenance, simple and durable coordinate robot and end effector, high reliability and good flexibility; for example, a chassis provided with universal wheels is adopted, so that the movement is convenient; the simple shell structure can be opened and closed, and is visual when replenishing goods;
(3) the robot device for the pharmacy has low cost, and the components of the robot device are sufficiently supplied in the market, for example, a coordinate robot with high cost, an end effector, a touch screen display and intelligent sound box equipment, and the market price is already as low as hundred yuan RMB;
(4) the functions of pharmacy-physician service, pharmacy-pharmacist service and pharmacy-emergency service are realized, so that the pharmacy is intelligently changed in quality, time and cost are saved for patients, and more comprehensive medical treatment, medicine and subsequent service are improved;
(5) The medicine kiosk is provided with simple and easy-to-use medical examination equipment such as an intelligent stethoscope, an intelligent percussion hammer, a full-automatic electrocardiograph, a self-service respiratory function examination instrument, a self-service electroencephalogram examination instrument, self-service finger blood collecting equipment, a self-service blood glucose examination instrument, a full-automatic blood routine analyzer, a full-automatic urine and feces analyzer and the like, so that patients can conveniently carry out auscultation, percussion, electrocardiogram, respiratory function, electroencephalogram examination, blood glucose detection and blood and urine and feces analysis in a self-service manner, and the boat and vehicle labor for hospital to see and examine is saved;
(6) the pharmacy robot device and the pharmacy kiosk are arranged and deployed, so that the difficulty is low, the threshold is low, social resources are saved, and the operating cost of the pharmacy is reduced.
Drawings
FIG. 1 is a schematic view of the exterior configuration of a pharmacy robotic device;
FIG. 2 is a schematic diagram of a pharmacy robot device drug library layout;
FIG. 3 is a schematic view of a pharmacy robotic device medicine chest configuration;
FIG. 4 is a schematic diagram of a Cartesian robot apparatus configuration for a pharmacy robot apparatus;
FIG. 5 is a schematic view of a pharmacy robotic device cartesian robot end effector configuration;
FIG. 6 is a schematic view of a pharmacy robotic device sensor door;
FIG. 7 is a schematic view of a kiosk layout arrangement;
FIG. 8 is a flowchart of a pharmacy robot medicine vending method;
FIG. 9 is a flowchart of a pharmacy-on-demand method for a pharmacy robot;
FIG. 10 is a flowchart of a pharmacy robot method of loading and restocking; (ii) a
FIG. 11 is a schematic view of a plurality of pharmacy robotic devices coupled in series;
FIG. 12 is a schematic view of a plurality of pharmacy robotic devices connected in parallel and in series;
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
It should be noted that the terms of orientation such as up, down, left, right, etc. in the present embodiment are only relative concepts or reference to the normal use state of the product, and should not be considered as limiting.
As shown in fig. 1, fig. 2, fig. 3, fig. 4, fig. 5, and fig. 6, the robot apparatus for pharmacy of the present invention includes a chassis 1, a housing 2, a drug library 3, a push rod device 4, a conveyor belt 5, an induction door 6, a touch screen display 7, a smart speaker 8, a visual sensor 9, a central data storage processor, a wireless communication device, and a cloud server, wherein the central data storage processor implements data linking and intelligent control of the chassis 1, the housing 2, the drug library 3, the push rod device 4, the conveyor belt 5, the induction door 6, the touch screen display 7, the smart speaker 8, the visual sensor 9, and the cloud server through the wireless communication device.
Referring to fig. 1, a chassis 1 includes a base 1-3, four universal wheels 1-1, a brake 1-2, and a power supply and power supply interface 1-4, wherein the power supply includes an external power supply and a storage battery for supplying power. The shell 2 comprises a central shell 2-1, a left side edge shell 2-2A and a right side edge shell 2-2B, a medicine storehouse 3 is arranged in the central shell 2-1, 1 set of push rod equipment 4 is respectively arranged in the left side edge shell 2-2A and the right side edge shell 2-2B, the left side edge shell 2-2A and the right side edge shell 2-2B are respectively connected with the central shell 2-1 at the rear side through a left rotating shaft 2-3A and a right rotating shaft 2-3B, the left side edge shell 2-2A and the right side edge shell 2-2B can respectively turn over along the left rotating shaft 2-3A and the right rotating shaft 2-3B, a left lock 2-4A and a right lock 2-4B are respectively arranged between the front sides of the left edge shell 2-2A and the right edge shell 2-2B and the front side of the central shell 2-1. The induction door 6, the touch screen display 7, the intelligent sound box 8 and the visual sensor 9 are arranged on the front side of the central shell 2-1.
Referring to fig. 2 and 3, the medicine warehouse 3 comprises a left side medicine cabinet 3-1 and a right side medicine cabinet 3-2, the left side medicine cabinet 3-1 and the right side medicine cabinet 3-2 are fixed in a central shell 2-1, the distance between the gap 3-3 between the left side medicine cabinet 3-1 and the right side medicine cabinet 3-2 is not less than 15cm, the bottom of the gap 3-3 is a conveyor belt 5, the conveyor belt 5 is fixed in the central shell 2-1, the front end of the conveyor belt 5 is a temporary storage concave disc 6-1 for receiving medicines, the temporary storage concave disc 6-1 is fixed in the central shell 2-1, the left side medicine cabinet 3-1 and the right side medicine cabinet 3-2 are further divided into a plurality of medicine boxes 3-4 arranged vertically and horizontally, the width and height of the medicine boxes 3-4 are adjustable, the medicine boxes 3-4 are arranged horizontally, and each medicine box 3-4 stores 1 medicine, each medicine box 3-4 can be located in a coordinate mode (X, Y), wherein X is the number of horizontal grids, Y is the number of vertical grids, and each box of medicines stored in each medicine box 3-4 can also be located in a coordinate mode (X, Y, Z), wherein X is the number of horizontal grids, Y is the number of vertical grids, Z is the arrangement ordinal number in the medicine box 3-4, after the medicines with the front arrangement ordinal number are taken out, the positions of the medicines with the rear arrangement ordinal number move forward, and corresponding reordering is carried out.
In this embodiment, please refer to fig. 3, taking a left-side medicine cabinet 3-1 as an example to illustrate the structural characteristics of a medicine box 3-4, two sides of the medicine box 3-4 are provided with openings, wherein a side wall of the first opening 3-4-1 near one side of a left-side outer shell 2-2A is provided with a first lamp strip 3-4-3 and 1 first indicator lamp 3-4-4, the diode lamp strip 3-4-3 comprises a red light emitting lamp bead and a green light emitting lamp bead, the number of the green light emitting lamp beads is the number of existing medicines, the number of the red light emitting lamp beads is the number of vacant medicines, or the number of medicine boxes needing to be replenished, the first indicator lamp 3-4-4 is a shortage indicator lamp, the replenishment worker scans and recognizes the medicines through a visual sensor 9, and the corresponding medicine box 3-4 of the shortage class of medicines is lighted by the first indicator lamp 3-4-4, and guiding the replenishment personnel to find the medicine boxes 3-4 to be replenished in time, knowing the number of replenishing the products in time according to the number of twinkling red light beads, wherein the second opening 3-4-2 close to the gap 3-3 is a medicine outlet box 3-4, the integer of the length diameter cm of the medicine boxes 3-4/the length diameter cm of the medicine packing boxes is the maximum value of the number of the medicine boxes which can be accommodated by the medicine boxes 3-4, and the remainder is used for calculating the extra working distance of the push rod equipment 4.
In this embodiment, 1 set of push rod device 4 is respectively built in the left edge shell 2-2A and the right edge shell 2-2B, please refer to fig. 4, the push rod device 4 built in the left edge shell 2-2A is taken as an example to explain the structural composition and the working principle thereof, the main structure of the push rod device 4 is a cartesian robot, the cartesian robot is fixed on the left edge shell 2-2A through the left vertical frame Y axis 4-1A, the right vertical frame Y axis 4-1B and the horizontal frame X axis 4-2, the left vertical frame Y axis 4-1A, the right vertical frame Y axis 4-1B and the horizontal frame X axis 4-2 simultaneously have the function of sliding rails, and the left intelligently controlled driving motor 4-3A and the right intelligently controlled driving motor 4-3B respectively follow the left vertical frame Y axis 4-1A, the left intelligent controlled driving motor 4-3B, The lead screw of the Y axis 4-1B of the right vertical frame moves in the vertical direction, the middle intelligent control driving motor 4-4 moves left and right along the lead screw of the X axis 4-2 of the horizontal frame, and the Z axis direction is the end effector 4-5.
As shown in figure 5, an end effector 4-5 is connected with a middle intelligent control drive motor 4-4 through a fixing part 4-6, the end effector 4-5 comprises a servo motor 4-5-1, a speed reducer, a controller, a gear 4-5-2, a rack 4-5-3 and a guide rail 4-5-4, wherein the gear 4-5-2 and the rack 4-5-3 are made of plastic teeth, the tooth height is not more than 5mm, a base band of the rack 4-5-3 is made of silica gel, the silica gel is medical grade silica gel, the hardness is 30-60 degrees, the length of the rack 4-5-3 is not less than 40cm, the thickness is not less than 8mm, the width is not less than 8mm, and an upper pressure sensor 4-5-3-1A and a lower end 4-5-3-1B of the rack 4-5-3 are respectively provided with an upper pressure sensor 4-5 3-2A and a lower pressure sensor 4-5-3-2B, wherein the guide rail 4-5-4 is in a semicircular groove structure, a plurality of miniature rollers 4-5-4-1 are arranged in the groove, the tail end of the guide rail 4-5-4-2A and a lower baffle 4-5-4-2B are respectively arranged at the tail end of the guide rail 4-5-4, the guide rail 4-5-4 surrounds the gear 4-5-2 and the rack 4-5-3, the rectangular coordinate robot advances to a corresponding coordinate address according to an algorithm, when the rack 4-5-3 moves along with the gear 4-5-2, the rack 4-5-4 extends out from the upper tail end 4-5-3-1A or the lower tail end 4-5-3-1B of the guide rail 4-5-4 in a tangential direction, accurately inserting the first opening 3-4-1 of a specific medicine box 3-4, advancing for a certain distance, pushing out the medicines in the medicine box 3-4, enabling the medicines to fall into the conveyor belt 5 from the second opening 3-4-2, and planning a traveling route by a cartesian robot according to a shortest running distance algorithm when a plurality of medicines are required to be pushed out, wherein the upper tail end 4-5-3-1A and the lower tail end 4-5-3-1B of the rack 4-5-3 can be extended and inserted into the medicine box 3-4 to advance along with the bidirectional rotation of the gear 4-5-2, wherein the medicine box 3-1 is equally divided into an upper medicine box 3-4 and a lower medicine box 3-4 according to the algorithm, and when the medicines required to be pushed out are positioned in the upper medicine box 3-4, the gear 4-5-2 rotates to enable the upper tail end 4 of the rack 4-5-3 to contain other medicines 5-3-1A extends, when the medicine to be pushed out is positioned at the lower medicine chest 3-4, the gear 4-5-2 rotates to enable the lower tail end 4-5-3-1B of the rack 4-5-3 to extend, the upper baffle 4-5-4-2A and the lower baffle 4-5-4-2B of the guide rail 4-5-4 prevent the rack 4-5-3 from separating from the gear 4-5-2, when a plurality of medicines are required to be pushed out, a traveling route is planned according to a running algorithm of the shortest distance of the rectangular coordinate robot and the intelligent elevator of the conveyor belt 5, wherein the positioning accuracy of the rectangular coordinate robot and the tail end actuator 4-5 thereof is less than 0.5 mm.
In this embodiment, referring to fig. 2, the medicine storage 3 is spaced at a certain distance, and a conveyor belt 5 is disposed in the gap 3-3 to ensure that the falling height of the medicine is not more than 50 cm. The structure of the conveying belt 5 comprises a driving wheel, a driven wheel, a crawler belt, a roller, a support, a second driving motor, a first photoelectric sensor and a controller, wherein the driving wheel, the driven wheel, the crawler belt, the roller and the support are all made of soft foamed plastics, and the damage of medicines caused by falling and collision of the medicines is reduced, wherein the first photoelectric sensor is used for monitoring the quantity of the medicines reaching the conveying belt, the quantity of the medicines is compared with the quantity of the medicines specified by a prescription to achieve the quantity of dispensed medicines, the second driving motor works, and in order to further reduce the damage caused by falling and collision of the medicines, liquid medicines, glass bottled medicines and medicines with the weight exceeding 100g are selectively distributed to the medicine boxes 3-4 close to the upper side of the conveying.
In other embodiments of the invention, the conveyor belt 5 is connected with an intelligently controlled elevator, so that when the end effector 4-5 of the cartesian robot pushes out the medicines, the intelligently controlled elevator moves synchronously, so that the medicines leave the medicine boxes 3-4 and fall on the conveyor belt 5, the impact force on the medicines is reduced, when a plurality of medicines need to be pushed out, the traveling route of the cartesian robot and the intelligently controlled elevator of the conveyor belt 5 is planned according to the algorithm with the shortest running distance, and the intelligently controlled elevator selects to adopt a screw system or a pulley block system.
In this embodiment, referring to fig. 2 and 6, the induction door 6 includes a temporary storage concave tray 6-1, an automatic door 6-4, a second photosensor 6-5, a second light strip 6-2 composed of diode lights, and a second indicator light 6-3, the automatic door 6-4 adopts a mode that a left door 6-4A and a right door 6-4B are opened, and the number of the induction doors 6 is the same as the number of the conveyor belts 5. The conveying belt 5 conveys medicines to the temporary storage concave disc 6-1, the second photoelectric sensor 6-5 collects the number information of the medicines in the temporary storage concave disc 6-1, the number of the second lamp strips 6-2 which are lighted is used for dynamically displaying the number of the medicines reaching the temporary storage concave disc 6-1, if the number of the medicines is consistent with the number of the medicines which are predicted to reach, the second indicator lamp 6-3 is lighted to prompt medicine taking, the automatic door 6-4 is opened, the medicine taking is completed, the automatic door 6-4 is closed, the second indicator lamp 6-3 is turned off, if the medicine taking is not completed, the automatic door 6-4 is closed, the second indicator lamp 6-3 is continuously lighted to prompt the completion of the medicine taking, and the number of the second lamp strips 6-2 which are lighted prompts that a plurality of boxes of medicines are not taken.
In this embodiment, referring to fig. 1, when a medicine is first loaded, the visual sensor 9 is configured to scan and identify a monitor code, a barcode, or an outer package of the medicine, obtain a medicine type, a specification, a dosage form, a production date, and an expiration date by means of a central data storage processor, a cloud server, or network search, automatically add the medicine data to a database of the central data storage processor, allocate an appropriate medicine box 3-4 according to a weight, a property, and a length, a width, and a height of the outer package of the medicine, and if there is no appropriate medicine box 3-4, prompt a person who loads the medicine to adjust the length, the width, and the height of the medicine box 3-4, store the medicine type, and synchronously upload an updated database to the cloud server; when replenishing and loading the medicine again, the visual sensor 9 scans and identifies a supervision code, a bar code or an outer package of the medicine, the data of the medicine is synchronously mapped to a database and a cloud server of the central data storage processor, a first indicator lamp 3-4-4 corresponding to the medicine is on, a first lamp strip 3-4-3 consisting of diode lamps displays the number of the medicine lacking, and the replenishing personnel is guided to implement replenishing operation; when the patient is in a visit, the vision sensor 9 is used for scanning and identifying the identity of the patient, identifying an identity card, a medical insurance card and a credit card, scanning the facial and body characteristics of the patient and assisting diagnosis.
In the embodiment, a body temperature detection sensor, a pulse detection sensor, a respiratory motion sensor, a blood pressure detection sensor and a blood oxygen saturation detection sensor are arranged on the front side of the central shell 2-1, and the body temperature detection sensor, the pulse detection sensor, the respiratory motion sensor, the blood pressure detection sensor and the blood oxygen saturation detection sensor are used for self-help physical examination of a patient by combining human-computer interaction provided by the touch screen display 7 and the intelligent sound; the wireless communication equipment arranged in the right side edge shell 2-2B comprises a near field communication component and a remote communication component, wherein the near field communication component is used for internal communication of the device and communication of a nearby patient mobile intelligent terminal, and the remote communication component is used for data uploading and downloading and remote diagnosis and treatment; the central data storage processor arranged in the right edge shell 2-2B comprises a control unit, an operation unit and a storage unit, wherein the control unit is used for intelligently controlling a controller in the device and comprises a first diode lamp strip 3-4-3, a second diode lamp strip 6-2, a first indicator lamp 3-4-4, a second indicator lamp 6-3, a rectangular coordinate robot, an end effector 4-5 of the rectangular coordinate robot, a servo motor 4-5-1 of the rectangular coordinate robot, a first photoelectric sensor, a second photoelectric sensor 6-5, a lifter driving motor and an automatic door 6-4, the operation unit comprises a CPU, a GPU and an NPU and is used for executing an algorithm, and the algorithm comprises a medicine box 3-4 coordinate positioning (X, Y), a medicine coordinate positioning (X, Y, X), medicine class identification and statistics The robot end effector system comprises a cartesian robot end effector 4-5, a memory unit, a sensor, a cloud server, a storage unit and a control unit, wherein the memory unit comprises an internal memory and an external memory and is used for storing system software, application programs, algorithms, temporary data and short-time storage permanent data.
In this embodiment, referring to fig. 7, the kiosk 10 is constructed by isolating a part of the existing building or using an independent building to make a closed or semi-closed space structure, the kiosk 10 is powered on, water-through, air-through, and 5G, the kiosk 10 includes at least one door 10-1, a lock, a plurality of walls, a ceiling, a floor, and a pharmacy robot placement area 10-11, and includes a stool 10-3, a ramp, an illumination lamp 10-4, an audio/video camera 10-5, a second touch screen display 10-6, a sound player 10-7, an emergency button 10-8, a sterilizing device, and an air conditioner, and the area of the sterilizing device at least accommodates 1 pharmacy robot device placement area 10-11, at least 1 wheelchair, and 1 stool 10-3, wherein the sterilizing device includes an ultraviolet lamp and a disinfectant sprayer.
In other embodiments of the invention, referring to fig. 7, the kiosk 10 may further include a hand washing station 10-2, a medical equipment station 10-9, and a toilet 10-10, wherein the medical equipment station 10-9 includes an intelligent stethoscope, an intelligent percussion hammer, a full-automatic electrocardiograph, a self-service respiratory function tester, a self-service electroencephalograph tester, a self-service finger blood collecting device, a self-service blood glucose tester, and a full-automatic blood routine analyzer, and the toilet 10-10 includes an intelligent toilet 10-10-1 equipped with the full-automatic urine and feces analyzer, so as to facilitate self-service auscultation, percussion, electrocardiogram, respiratory function, electroencephalogram test, and self-service finger blood collection of patients for rapid blood glucose detection, blood and urine and feces analysis.
In this embodiment, the kiosk 10 is usually installed in a remote small town or rural area or a nearby community lacking hospitals, the kiosk 10 is isolated, and the nearby residents are served 24 hours a day; or a self-service area can be set up inside or outside the pharmacy to isolate the medicine kiosk 10 and provide services 24 hours a day; the medicine dispensing kiosk 10 can be isolated in a self-service area of a hospital outpatient service, and service can be provided 24 hours all day; of course, public gathering places such as service halls in commercial districts, stations, airports, passenger ships and docks isolate the kiosk 10 to provide medical and medical services 24 hours a day.
In other embodiments of the invention, an air conditioner is arranged in the chassis 1 to adjust the temperature and humidity in the medicine storehouse, an ozone generator is arranged in the chassis 1, generated ozone is connected to the medicine storehouse 3 through a pipeline to sterilize the air in the medicine storehouse 3, the chassis 1 is provided with a disinfectant storage tank, spraying equipment and a pipeline, and the pipeline is respectively provided with an opening adjacent to the storage concave disc 6-1, the touch screen display 7 and the shell 2.
A robot method for pharmacy comprises the steps of selling medicines, supplementing medicines, coiling the medicines, connecting and gridding deployment.
In this embodiment, as shown in fig. 8, the steps of the method 100 for selling medicine are as follows,
110: a pharmacy-as-physician service comprising:
112: the method comprises the steps that a patient scans by a visual sensor 9 on site, biological identification is carried out, identity authentication is carried out, main appeal and symptoms are submitted by adopting a voice interaction mode of an intelligent sound box 8 or a touch screen display 7 or a video interaction mode, the visual sensor 9 collects face image information and tongue image information of the patient, an intelligent diagnosis and treatment system judges whether acute or chronic face appearance, nutritional abnormality, emotional abnormality and mental abnormality exist or not, inquiry history is supplemented, a recent paper or electronic medical examination report exists, the examination report is prompted to be scanned and identified by the visual sensor 9 or uploaded by a mobile intelligent terminal App of the patient, basic sign data such as body temperature, pulse, respiration, blood pressure, blood oxygen saturation and the like and blood sugar and blood rapid detection results are combined, the authorization of the patient is carried out, the previous health data, the medication history and the allergy history of the patient are called, and preliminary clinical diagnosis is deduced by the intelligent diagnosis and treatment system, the method comprises the steps of providing a treatment suggestion, issuing an electronic prescription, reminding a patient to go to a hospital for a visit if necessary, wherein the patient authorizes an intelligent contract signed by the patient to embody the willingness of the patient, and storing the past health data, the medication history and the allergy history data of the patient in a public cloud or an industry private cloud server by adopting a block chain encryption technology;
114: the patient remotely carries out voice or video interaction through the mobile intelligent terminal App, submits main appeal and symptoms, uploads basic sign data such as face image information, tongue image information, sound information, body temperature, pulse, respiration, blood pressure, blood oxygen saturation and the like of the patient collected by the mobile intelligent terminal, if the basic sign data is a recent paper or electronic medical examination report, uploads the basic sign data through the mobile intelligent terminal App, calls previous health data, a medication history and an allergy history through patient authorization, supplements and inquires the medical history, and an intelligent diagnosis and treatment system infers preliminary diagnosis, gives treatment advice, opens an electronic prescription and reminds the patient to visit a hospital if necessary;
116: the patient directly chooses to purchase the non-prescription medicine, human-computer interaction can be carried out through the intelligent sound box 8 or the touch screen display 7, and the non-prescription medicine choosing and purchasing requirement is directly submitted;
118: if the patient directly purchases the prescription medicine, the paper or electronic prescription issued by the doctor needs to be provided, and if the prescription does not exist, the field flow of the step 112 is entered;
120: a pharmacy prompt-drug service comprising:
122: the electronic prescription obtained by the patient in the steps 112 and 114 or the electronic prescription imported by the mobile intelligent terminal App is uploaded and stored to a cloud server, the face, social security card or identity card is identified, the name, sex, age, height, weight, contact way, allergy history, disease condition and medical diagnosis of the patient are checked, the medicine and dosage are checked, and the signature of a doctor is checked to ensure that the prescription is complete, accurate and real, wherein the checking of the medicine and dosage comprises the checking of whether the medical diagnosis is consistent with the medication, whether the dosage is insufficient or excessive and whether the medicine is contraindicated, and the checking of the signature of the doctor is realized by calling the data base of the medical qualification data, the electronic signature or the electronic seal record data;
124: a patient scans or takes a picture of a paper prescription, the paper prescription is guided in through a mobile intelligent terminal App, the paper prescription can also be placed in a scanning area of a vision sensor 9 of a pharmacy robot for data acquisition and prescription key information identification, human face identification is combined with social security card or identity card identification, the prescription, check diagnosis, medicine, dosage and doctor signature are checked, the completeness, accuracy and authenticity of the prescription are ensured, the prescription is encrypted through a block chain technology and is stored in a cloud server, and the prescription is marked to be used in a database;
126: the patient purchases the non-prescription medicine, only needs the face recognition and the social security card scanning to check the patient, and directly selects the medicine type and quantity by the human-computer interaction mode;
128: the pharmacy has no medicine, and the processing method comprises the following steps:
128-1: the patient can select the medicine arrival notification service through a man-machine interaction mode, or
128-2: receive prompt information, purchase medicine to a nearby store or pharmacy, or
128-3: selecting a third-party logistics medicine delivery and gate-serving service;
130: the patient confirms whether to purchase the medicine through man-machine interaction, if so, the operation enters 140, and if not, the service is terminated;
140: paying the fee;
150: the cartesian robot addresses the position 3-4 of a medicine box where the medicines are located, the push rod device end effector 4-5, the rack 4-5-3 extends into the corresponding medicine box 3-4 to push out the medicines, the medicines fall into the conveyor belt 5, the conveyor belt 5 conveys the medicines to the temporary storage concave disc 6-1, after all the medicines in the prescription enter the temporary storage concave disc 6-1, the second indicator lamp 6-3 of the induction door 6 is lighted, and simultaneously, the number of the lighted lamps of the second lamp row 6-2 of the diode lamp is consistent with the number of all the medicines, wherein when the rack 4-5-3 is pushed in the medicine box 3-4, the length (cm) of each pushed medicine box is 1 after the upper pressure sensor 4-5-3-2A or the lower pressure sensor 4-5-3-2B at the tail end of the rack 4-5-3 senses the medicine box, pushing out 1 box of medicine until reaching the required number of medicine boxes;
160: a left side door 6-4A and a right side door 6-4B of the induction door 6 are opened oppositely, a patient takes a medicine, the second photoelectric sensor 6-5 monitors the temporary storage concave disc 6-1, whether the medicine is taken completely is judged, if not, the second indicating lamp 6-3 is continuously turned on, the number of the second lamp row 6-2 of the diode lamp is consistent with the number of the medicine which is not taken by the temporary storage concave disc 6-1, voice interaction is carried out through the intelligent sound box 8 or the touch screen display 7 prompts, and if yes, the step 200 is carried out;
in this embodiment, as shown in fig. 9, the content of the pharmacy instant medicine service 200 is as follows:
210: the drug supply chain service comprises data sharing with drug manufacturers, so that the drug manufacturers can sense the change of market demands, adjust drug capacity in time and define the research and development direction; the third-party supply chain dynamically senses drug inventory and provides drug supplement, drug replacement close to expiration date and problem drug recall service through logistics;
220: pharmaceutical services include the following:
222: receiving the imported electronic prescription, and sending service information and the electronic prescription to a mobile intelligent terminal of a patient;
224: electronic prescriptions and paper prescriptions are marked in a cloud server industry-wide shared database, and the medicines are dispensed and taken, so that the prescriptions cannot be used for repeatedly purchasing medicines;
226: follow-up, which comprises sending medication cautions, indications, contraindications, how to take medicines and the like to the mobile intelligent terminal of the patient, reminding the patient to take medicines correctly on time in due time, and identifying and processing abnormal conditions after medication;
228: the method comprises the following steps that (1) chronic disease medicines are about to be used up, a patient is reminded to purchase medicines in advance through a mobile intelligent terminal App, the patient is reminded to regularly check and evaluate treatment effects and life quality changes through the mobile intelligent terminal App, and medicine dose increment or decrement suggestions or treatment scheme replacement suggestions are provided for the patient according to check and evaluation results;
230: the pharmacy management comprises the following steps: the method comprises the steps of counting medicine information of a medicine library in real time, monitoring whether medicine inventory of pharmacy robots of various network points is insufficient or not, if yes, sending a inventory supplementing request to a supply chain, supplementing inventory to pharmacy robots of corresponding network points by a supply chain platform according to the inventory supplementing request, predicting dynamic needs of medicines according to changes of seasonal variation disease spectrums, enabling the supply chain platform to increase medicine types according to the pre-prepared needs and timely off-shelf or reduce the shrinkage medicine types of needs.
In the embodiment of the present invention, as shown in fig. 10, the method 300 for applying the medicine comprises the following steps:
310: the cloud server statistical data comprises the types, specifications, dosage forms, packaging sizes, medicine supervision codes of the medicines to be replenished, and the types and the quantity of the medicines approaching to expiration;
320: the supply chain platform prepares goods according to the statistical data of the cloud server; s330: the logistics platform conveys the replenishment drug to a pharmacy robot device network;
340: a brake 1-2 of a chassis 1 is unlocked, a robot device of a pharmacy is moved to a wide space, a connection between an edge shell 2-2 and a central shell 2-1 is unlocked, a left medicine cabinet 3-1, a right medicine cabinet 3-2 and a medicine box 3-4 are exposed, the replenishment adopts a manual replenishment method or a robot replenishment method,
342: the manual replenishment method comprises the steps that replenishment personnel scan medicines through a mobile intelligent terminal App or a visual sensor 8, first indicator lamps 3-4-4 of medicine boxes 3-4 corresponding to the medicines are on, the medicine shortage state is displayed, the replenishment personnel are guided to accurately find the medicine boxes 3-4 with the medicine shortage in time, the medicine boxes 3-4 with the medicine shortage are replenished accurately according to the number of red light emitting lamps, the operation is repeated, and all the medicine boxes 3-4 with the medicine shortage are replenished;
344: the robot replenishment method comprises the steps that a mechanical arm of a replenishment robot is provided with a sucker and computer vision equipment, a near-field wireless communication assembly is connected with a pharmacy robot device, intelligent identification and intelligent control are carried out, so that the sucker can accurately identify and accurately place replenishment medicines into medicine boxes 3-4 with medicine shortage, the medicines are pushed to a proper distance, the distance is accurately calculated by an algorithm, and the operation is repeated in the way, and all the medicine boxes 3-4 with the medicine shortage are replenished;
350: the edge shell 2-2 is coupled and locked with the central shell 2-1, the pharmacy robot device is moved and returned, and the brake 1-2 of the chassis 1 is locked.
In this embodiment, the drug inventory method includes inventory data collection and inventory data statistical analysis, the inventory data includes drug administration data, drug selling data, and drug data of adjacent expiration date, and the inventory data statistical analysis senses dynamic changes of drug types and quantities, submits replenishment requests in time, and predicts future drug demand trends.
In this embodiment, as shown in fig. 11 and 12, the pharmacy robot device connection method includes serial connection, parallel connection, or serial and parallel connection, and specifically, what connection method is adopted needs to be combined with actual requirements and comprehensive planning of the kiosk structure. Referring to fig. 11, a coupling method is illustrated by taking an example that 3 pharmacy robot units are connected in series, in practical applications, 2, 4 or more pharmacy robot units may be connected in series, 3 pharmacy robot units are connected in series in a front-rear arrangement manner, a chassis 1, a drug storage 3, a left side edge shell 2-2A and a right side edge shell 2-2B, a push rod device 4 and a conveyor belt 5 of the 3 pharmacy robot units are independently arranged, an induction door 6, a touch screen display 7, an intelligent sound box 8, a visual sensor 9 and a central data storage processor are shared, the conveyor belt 5, a circuit and a communication line are communicated with each other, wherein a rear side of a central shell 2-1 of a first pharmacy robot unit, a front side and a rear side of a central shell 2-1 of a second pharmacy robot unit and a front side of a central shell 2-1 of a third pharmacy robot unit are provided with openings corresponding to the induction door 6, the conveyor belts 5 of the three pharmacy robot devices are connected in a seamless mode, medicines pushed out by any medicine box 3-4 are conveyed to the shared temporary storage concave disc 6-1, and therefore the types and the number of the medicines stored in the conjoined medicine storehouse 3 are greatly increased. Referring to fig. 12, taking parallel connection of 3 pharmacy robot units as an example to explain the method of the integrated unit, in practical application, different numbers of pharmacy robot units may be adopted and connected in parallel, the 3 pharmacy robot units are connected in parallel in a left-right arrangement manner, the chassis 1, the drug storage 3, the central shell 2-1, the left side edge shell 2-2A, the right side edge shell 2-2B, the induction door 6, the push rod device 4, and the conveyor belt 5 of the 3 pharmacy robot units are independently arranged, the touch screen display 7, the intelligent sound box 8, the visual sensor 9, and the central data storage processor are shared, and the circuits and the communication lines are communicated with each other to increase the types and the numbers of the drugs stored in the drug storage 3. In addition, a plurality of pharmacy robot device units are arranged in series and parallel in a front-back arrangement mode and a left-right arrangement mode, the touch screen display 7, the intelligent sound box 8, the visual sensor 9 and the central data storage processor are shared, and circuits and communication lines of the pharmacy robot device units are communicated with one another, so that the types and the number of medicines and medical equipment are increased more.
In this embodiment, the grid deployment includes site selection of network nodes, configuration of medicine kiosks, selection of medicine types whether a pharmacy robot device is a single body or a conjuncted body, wherein data sharing is performed among network nodes in a service area and with other pharmacies, hospital pharmacies and suppliers, so that a patient can conveniently obtain more medicine information, and medicines and services can be obtained through various channels.
A robot system for pharmacy comprises an operating system, software, an algorithm, a drug screening system, an AI checking system, an intelligent diagnosis and treatment system, a drug delivery system, a drug selling system, a drug affair management system, a third party support system, a database, a data encryption system, a medicine information sharing and supervision system, a drug circulation tracing system, an electronic prescription system, cloud service, 5G and a settlement system,
the operating system comprises a pharmacy robot device and a cartesian robot operating system, the software comprises the pharmacy robot device, cartesian robot software and a mobile intelligent terminal application program, and the algorithm comprises a cartesian robot operation algorithm, a control algorithm, a drug big data analysis and prediction algorithm and an intelligent diagnosis and treatment depth machine learning algorithm;
the medicine screening system screens the types and the quantity of medicines according to the disease pedigree and dynamic consumption data of service crowds in different seasons of a service area, properly increases the types and the quantity of certain medicines and timely reduces the quantity of medicines with atrophied demands;
The AI checking system is used for checking the types and the forms of the medicines, checking the prescription, filling the medicines and replenishing the goods and pushing out the medicines;
the intelligent diagnosis and treatment system traverses the latest clinical practice diagnosis and treatment operation specifications and medical knowledge maps of human medicine, extracts characteristic values on the basis of structured, semi-structured and unstructured data such as main appeal, symptoms, physical signs, past medical history and examination results of patients, obtains clinical diagnosis by means of an artificial intelligence algorithm, and issues a treatment scheme;
the medicine feeding system comprises medicine monitoring, database data calling, human-computer interaction or machine-computer interaction;
the data encryption system writes patient data and drug data into blocks by adopting a block chain technology and issues the patient data and the drug data to a public cloud server or a private cloud server;
the drug affair management system comprises drug supply chain management, pharmacy management and pharmacy management;
after the prescription is checked to pass, the medicine selling system traverses the medicines in the medicine library, if the medicines are in the medicine library, the rectangular coordinate robot executes to carry out shipment, and if the medicines are not in the medicine library, the rectangular coordinate robot provides a medicine arrival notification service for a patient, or notifies a nearby network point with stored goods, or commissions a third-party logistics delivery service to go to the home;
The third-party support system comprises a drug manufacturer, a drug circulation provider, a logistics, a drug supervision mechanism, a communication service provider and third-party equipment maintenance;
the medicine circulation tracing system adopts a block chain technology, and all links of medicine circulation are monitored in real time until a patient takes the medicine.
The above description is only exemplary of the present invention and is not intended to limit the technical scope of the present invention, so that any minor modifications, equivalent changes and modifications made to the above exemplary embodiments according to the technical spirit of the present invention are within the technical scope of the present invention. Those skilled in the art will recognize that the skilled in the art may use different methods to implement the described functionality for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention.
Claims (10)
1. A robot device for a pharmacy is characterized by comprising a chassis, a shell, a medicine warehouse, a push rod device, a conveyor belt, an induction door, a touch screen display, an intelligent sound box, a visual sensor, a central data storage processor, a wireless communication device, a cloud server and a medicine kiosk,
the chassis comprises a base, 4 universal wheels, a brake, a power supply and a power supply interface;
The shell comprises 1 central shell and 2 edge shells, a medicine warehouse is arranged in the central shell, the edge shells are arranged on two sides of the central shell, push rod equipment is arranged in the edge shells, the rear sides of the edge shells are connected with the rear sides of the central shell through a rotating shaft, the edge shells can turn over along the rotating shaft, and a lock is arranged between the front sides of the edge shells and the central shell;
the medicine warehouse comprises 2 medicine cabinets, the medicine cabinets are fixed in a central shell, the length of each medicine cabinet is not less than 50cm, the width of each medicine cabinet is not less than 30cm, the height of each medicine cabinet is not less than 120cm, the gap distance between each medicine cabinet and each medicine cabinet is not less than 15cm, a conveyor belt is arranged at the bottom of the gap between each medicine cabinet and each medicine cabinet, each medicine cabinet is further divided into a plurality of medicine boxes which are arrayed vertically and horizontally, the length of each medicine box is equal to the width of each medicine cabinet, the width and the height of each medicine box can be adjusted, the medicine boxes are horizontally arranged, each medicine box stores 1 medicine type, each medicine box can be positioned in a coordinate mode (X, Y and Z), wherein X is the number of horizontal grids, Y is the number of vertical grids, Z is the number of rows in the medicine boxes, openings are formed in two sides of the medicine boxes, a lamp strip with a chip and 1 first indicator lamp strip are arranged on the side wall of a first opening close to one side of an outer shell, the diode lamp comprises red light emitting lamp beads and green light emitting lamp beads, the number of the green light emitting lamp beads is the number of existing medicines, the number of the red light emitting lamp beads is the number of vacant medicines or the number of medicine boxes needing to be supplemented, the first indicator lamp is a shortage indicator lamp, and a replenishing worker scans and identifies the medicines through a visual sensor, so that the first indicator lamp of the corresponding medicine box lacking medicines is turned on, the replenishing worker is guided to find the medicine box to be replenished in time, the number of the replenished medicines is known in time according to the number of the red light emitting lamp beads, wherein the integral multiple of the length (cm) of the medicine box/the length (cm) of the medicine packing box is the maximum value of the number of the medicine boxes contained in the medicine box, and the remainder is used for calculating the extra working;
The push rod equipment comprises 2 cartesian robots which are fixed on two side edge shells through a frame, and an end effector comprises a servo motor, a speed reducer, a controller, a gear, a rack and a guide rail, wherein the gear and the rack are made of plastic teeth, the tooth height is not more than 5mm, the rack baseband is made of silica gel, the length of the rack is not less than 40cm, the thickness of the rack is not less than 8mm, the width of the rack is not less than 8mm, 2 tail ends of the rack are provided with pressure sensors for sensing whether the rack contacts a medicine box or not, sensing the resistance when the medicine box moves, judging whether the medicine box leaves the medicine box or not and assisting in judging the blocking fault in the medicine box, wherein the guide rail is a semicircular groove structure surrounding the gear and the rack, a plurality of miniature rollers are arranged in the groove, two tail ends of the guide rail are provided with blocking sheets, the cartesian, the robot extends out from the tail end of the guide rail in a tangential direction, is accurately inserted into a first opening of a specific medicine box and advances for a certain distance to push out medicines in the medicine box, the medicines fall into a conveyor belt from a second outlet of the medicine box, when a plurality of medicines are required to be pushed out, a travelling route is planned by the cartesian robot according to a shortest running distance algorithm, wherein 2 tail ends of a rack can extend out and can be inserted into the medicine box to advance along with bidirectional rotation of a gear, the medicine box is divided into an upper medicine box and a lower medicine box according to the algorithm, when the medicines required to be pushed out are positioned in the upper medicine box, the tail end of the upper part of the rack extends out through rotation of the gear, when the medicines required to be pushed out are positioned in the lower medicine box, the tail end of the rack extends out through rotation of the gear, and a baffle plate at the; the conveying belt equipment is provided with at least 2 conveying belt devices to ensure that the falling height of the medicines is not more than 50cm, and each conveying belt device comprises a driving wheel, a driven wheel, a crawler belt, a roller, a support, a driving motor, a first photoelectric sensor and a controller, wherein the driving wheel, the driven wheel, the crawler belt, the roller and the support are made of soft foamed plastics, so that the damage of the medicines caused by falling collision is reduced, the first photoelectric sensor is used for monitoring the number of the medicines reaching the conveying belt, and the number of the medicines is compared with the number of the medicines specified by a prescription to reach the dispensing number;
The induction door consists of an adjacent storage concave disc, an automatic door, a second photoelectric sensor and a second indicator light, the conveying belt conveys the medicines to the adjacent storage concave disc, the second photoelectric sensor collects the number of the medicines, if the number of the medicines is consistent with the number of the medicines expected to arrive, the second indicator light is on, the automatic door is opened to prompt the medicine taking, the medicine taking is completed, and the automatic door is closed;
the visual sensor is used for scanning and identifying a medicine supervision code, a bar code or an outer package when the medicine is loaded for the first time, acquiring the medicine class, specification, dosage form, production date and expiration date by means of a central data storage, a cloud server or network retrieval, automatically adding the medicine data into a central data storage processor database, distributing a proper medicine box according to the weight, property, outer package length, width and height of the medicine, prompting a medicine loader to adjust the length, width and height of the medicine box if the proper medicine box does not exist, storing the class, synchronously uploading the updated database to the cloud server, scanning and identifying the medicine supervision code, the bar code or the outer package when the medicine is loaded again, synchronously mapping the medicine data to the central data storage processor database and the cloud server, lighting a first indicator lamp corresponding to the medicine box and displaying the number of medicine shortage, guiding replenishment personnel to implement accurate replenishment operation;
The medicine kiosk adopts partial areas of buildings to be isolated or adopts independent buildings to manufacture a closed or semi-closed space structure, the medicine kiosk comprises at least 1 door, a lock, a plurality of wall surfaces, a ceiling and a floor, a stool, a lighting lamp, an audio and video camera, a display screen, a sound player, an emergency button, a sterilizing device and an air conditioner are arranged, and the area of the medicine kiosk at least contains a pharmacy robot device, 1 wheelchair and 1 stool.
2. The pharmacy robotic device of claim 1, wherein said base further comprises an air conditioner to regulate the temperature and humidity within the pharmacy.
3. The pharmacy robot device as claimed in claim 1, wherein said base further comprises an ozone generator, wherein ozone is connected to said drug storage via a pipeline for sterilizing the interior of said drug storage; the chassis can also be provided with a disinfectant storage tank, spraying equipment and pipelines, and the pipelines are respectively opened on the temporary storage concave disc, the touch screen display and the shell and are used for disinfecting the outer surface.
4. The pharmacy robot device as claimed in claim 1, wherein said touch screen display is disposed on the front side of said center housing for human-computer interaction and information presentation; the intelligent sound box is arranged on the front side of the central shell and used for man-machine interaction and information playing of people with visual disabilities and people with upper limb disabilities.
5. The pharmacy robot apparatus as claimed in claim 1, wherein said conveyor means is further coupled to an intelligent controlled elevator, such that when the cartesian robot end effector ejects a drug, the intelligent controlled elevator moves synchronously, the drug drops onto the conveyor away from the drug box, the impact force on the drug is reduced, and when a plurality of drugs are ejected, the cartesian robot and the intelligent controlled conveyor elevator plan a path of travel according to the shortest travel distance algorithm.
6. The pharmacy robot device as claimed in claim 1, wherein said kiosk further comprises an intelligent stethoscope, an intelligent percussion hammer, a fully automatic electrocardiograph, a self-service respiration tester, a self-service electroencephalograph, a self-service finger blood collection device, a self-service blood glucose tester, a fully automatic blood routine analyzer, and a fully automatic urine and feces analyzer, so as to facilitate self-service auscultation, percussion, electrocardiography, respiration, electroencephalograph examination, rapid blood glucose detection, blood and urine and feces analysis by the patient.
7. A robot method for pharmacy is characterized by comprising a medicine selling method, a medicine supplementing method, a medicine coiling method, a conjoined method and a gridding deployment method,
The medicine selling method comprises the following flows:
(A) a pharmacy-as-physician service comprising:
(A-1) carrying out on-site biological recognition, intelligent sound box voice interaction or touch screen recording or video interaction on a patient, submitting main appeal and symptoms, collecting facial image information and tongue image information by a visual sensor, judging whether acute or chronic diseases exist by an intelligent diagnosis and treatment system, judging whether nutritional abnormality exists, emotional abnormality and mental abnormality exist, supplementing and inquiring medical history, if a recent paper or electronic examination report exists, prompting a patient to scan and identify the examination report through a visual sensor or upload the examination report through a mobile intelligent terminal App, combining the basic body such as the body temperature, the pulse, the respiration, the blood pressure, the blood oxygen saturation and the like and the conventional quick detection results of the blood sugar and the blood, calling the previous health data, the medication history and the allergy history of the patient through the authorization of the patient, deducing a preliminary diagnosis by an intelligent diagnosis and treatment system, providing a treatment suggestion, issuing an electronic prescription, and reminding the user to visit a hospital if necessary;
(A-2) the patient remotely submits main appeal and symptoms through mobile intelligent terminal App voice or video interaction, if a recent paper or electronic examination report exists, the report is uploaded through the mobile intelligent terminal App, and the past health data, the medication history and the allergy history of the patient are called through user authorization, an intelligent diagnosis and treatment system deduces preliminary diagnosis, a treatment suggestion is issued, an electronic prescription is made, and the user is reminded to visit a hospital if necessary;
(A-3) directly selecting an over-the-counter medicine by the patient through voice interaction of an intelligent sound box or touch screen recording or video interaction;
(A-4) directly purchasing prescription drugs by a patient, providing a doctor prescription, and if not, entering an A-1 process;
(B) a pharmacy prompt-drug service comprising:
(B-1) a patient remotely obtains an electronic prescription at the site of A-1 and the site of A-2, or introduces the electronic prescription through a mobile intelligent terminal App, uploads and stores the electronic prescription to a cloud server, and the face of the patient is identified by combining a social security card or an identity card, so that the prescription, the allergy history, the disease condition and medical diagnosis are checked, the medicine and the dosage are checked, the signature of a doctor is checked, and the completeness, accuracy and trueness of the prescription are ensured;
(B-2) the patient scans or takes a picture of a paper prescription, introduces the paper prescription through a mobile intelligent terminal App, and can also place the paper prescription in a vision sensor scanning area of a pharmacy robot device for data acquisition and prescription key information identification, wherein the face identification is combined with social security card or identity card identification to check the prescription, check diagnosis, check medicines, check dosage and check doctor signature, the completeness, accuracy and authenticity of the prescription are ensured, and the prescription is stored in a cloud server, so that the prescription is marked to be used in a database;
(B-3) checking the patient by combining face recognition with social security card scanning, and selecting non-prescription medicines and the quantity of the medicines by the patient in a man-machine interaction mode;
(B-4) the robot device of the pharmacy has no medicine, and the patient can select a medicine arrival notification service or receive prompt information to purchase medicine at a nearby network where stock is stored or select a third-party logistics medicine delivery service for going to the home through a man-machine interaction mode;
(C) confirming that the human-computer interaction reminds the patient whether to purchase the medicine, if so, entering the next step;
(D) paying the fee;
(E) the cartesian robot addresses the position of a medicine box where medicines are located, a rack of an end effector of the push rod device extends into the corresponding medicine box to push out the medicines, the medicines fall into the conveyor belt, the medicines are conveyed to the temporary storage concave disc by the conveyor belt, and a second indicator lamp of the induction door is turned on after all medicines in a prescription enter the temporary storage concave disc, wherein when the medicine box is pushed in, a pressure sensor at the tail end of the rack senses a medicine packing box, 1 box of medicines is pushed out every time when the length (cm) of 1 medicine packing box is pushed in, until the required number of the medicine boxes is reached;
(F) the induction door is opened, the patient takes the medicine, the second photoelectric sensor monitors the temporary storage concave disc to judge whether the medicine is taken away completely, if not, the second indicator lamp is continuously lightened, the intelligent sound box carries out voice prompt, and if so, the next step is carried out;
(G) A pharmacy point-of-care service comprising:
(G-1) drug supply chain services: the method has the advantages that the method is shared with data of a drug manufacturer, so that the drug manufacturer can sense market demand change, adjust drug capacity in time and determine research and development directions; the third-party supply chain dynamically senses drug inventory and provides drug supplement, drug replacement close to expiration date and problem drug recall service through logistics;
(G-2) the pharmaceutical services include:
(G-21) receiving the imported electronic prescription, and transmitting service information and the electronic prescription to the patient mobile intelligent terminal;
(G-22) the electronic prescription and the paper prescription share database labels in the cloud server industry-wide to prompt that the medicine has been dispensed and taken so that the prescription is not used for repeated medicine purchase;
(G-23) follow-up, which comprises the steps of sending medication cautions, indications, contraindications, how to take medicines and the like to the mobile intelligent terminal of the patient, reminding the patient to take medicines correctly on time in due time, and announcing the identification and the processing of abnormal conditions after the medicines are taken;
(G-24) reminding the patient to purchase the medicine in advance through the mobile intelligent terminal App when the medicine for the chronic disease is about to run out, reminding the patient to regularly check and evaluate the treatment effect and the life quality through the mobile intelligent terminal App, and providing a medicine dose increment or decrement suggestion or a treatment scheme replacement suggestion for the patient according to the check and evaluation result;
(G-3) pharmacy management: the method comprises the steps of counting medicine information of a medicine library in real time, monitoring whether medicine inventory of pharmacy robots of various network points is insufficient or not, if yes, sending a inventory supplementing request to a supply chain, supplementing inventory to pharmacy robots of corresponding network points by a supply chain platform according to the inventory supplementing request, predicting dynamic needs of medicines according to changes of seasonal variation disease spectrums, enabling the supply chain platform to increase the medicine classes according to the pre-prepared needs and timely off-shelf or reduce the medicine classes with atrophic needs;
the medicine feeding method comprises the following steps:
(a) the cloud server statistical data comprises the types, specifications, dosage forms, packaging sizes, medicine supervision codes of the medicines to be replenished, and the types and the quantity of the medicines approaching to expiration;
(b) the supply chain platform prepares goods according to the statistical data of the cloud server;
(c) the logistics platform conveys the replenishment drug to a pharmacy robot device network;
(d) unlocking a chassis brake, moving the pharmacy robot device to an open space, connecting and unlocking the edge shell and the central shell, and exposing the medicine warehouse, the medicine cabinet and the medicine chest;
(e) the method comprises the following steps that a replenishment worker scans medicines through a mobile intelligent terminal App or a visual sensor, a first indicator light of a medicine box corresponding to the medicines is on, the medicine shortage state is displayed, the replenishment worker is guided to accurately find medicine boxes lacking medicines in time, the deficient medicines are accurately replenished according to the number of red light emitting lamps, the operation is repeated, and all the medicine boxes lacking the medicines are replenished;
(f) The edge shell is connected and locked with the central shell, the robot device of the pharmacy is moved and returned, and the chassis brake is locked;
the drug inventory method comprises inventory data acquisition and inventory data statistical analysis, wherein the inventory data comprises drug loading data, drug selling data and adjacent expiration date drug data, and the inventory data statistical analysis senses dynamic changes of drug types and quantities, submits replenishment requests in time and predicts future demand changes of the drugs;
the conjoined method comprises serial connection or parallel connection, wherein the serial connection is realized by arranging and combining a plurality of pharmacy robot device monomers in a front-back manner, an induction door, a touch screen display, an intelligent sound box, a visual sensor and a central data storage processor are shared, and a conveyor belt, a circuit and a communication line are communicated with each other and used for increasing the types and the number of the medicines stored in the medicine warehouse; the parallel connection is realized by arranging and combining a plurality of pharmacy robot device monomers from left to right, and a touch screen display, an intelligent sound box, a visual sensor and a central data storage processor of the pharmacy robot device monomers are shared;
the gridding deployment method comprises site selection of network points, configuration of medicine kiosks, selection of single or conjuncted medicine types of pharmacy robot devices, and data sharing between the network points in a service area, other pharmacy, hospital pharmacy and suppliers, so that a patient can conveniently acquire more medicine information, and medicines and services can be acquired through various channels.
8. The pharmacy robot method as claimed in claim 7, wherein the replenishment process of the replenishment staff is further implemented by a replenishment robot, a mechanical arm of the replenishment robot is provided with a sucking disc and a computer vision sensor, a link is established with the pharmacy robot device through a near-field wireless communication assembly, intelligent recognition and intelligent control enable the sucking disc to accurately recognize and accurately place the replenishment medicines into the medicine shortage boxes, the medicines are pushed by an appropriate distance, the distance is accurately calculated by an algorithm, and the movement is repeated so as to replenish all the medicine boxes in shortage.
9. The pharmacy robot method as claimed in claim 7, wherein said conjoined body further comprises serial and parallel connection, which is combined by a plurality of pharmacy robot units in serial and parallel connection, and the touch screen display, the smart speaker, the vision sensor, and the central data storage processor are shared, and the circuit and the communication line are connected with each other for increasing the types and the quantities of the drugs stored in the drug storage warehouse.
10. A robot system for pharmacy is characterized by comprising a drug screening system, an AI checking system, an intelligent diagnosis and treatment system, a drug delivery system, a drug selling system, a drug affair management system, a third party support system, a database management system, a data encryption system, a medicine information sharing and supervision system, a drug circulation tracing system, an electronic prescription system, cloud service, 5G and a settlement system,
The medicine screening system analyzes disease pedigrees and dynamic consumption data of service crowds of the network service area in different seasons, screens medicine types and quantity, properly increases certain medicine types and quantity, and timely reduces quantity of shrinkage medicines;
the intelligent diagnosis and treatment system traverses the latest clinical diagnosis and treatment operation specification and the medical knowledge graph of human medicine, extracts characteristic values on the basis of structured, semi-structured and unstructured data such as main appeal, symptoms, physical signs, past medical history, examination results and the like of patients, obtains preliminary clinical diagnosis by means of an artificial intelligence algorithm, and issues a treatment scheme;
and after the prescription is checked to pass, the medicine selling system traverses the medicines in the medicine library, if the medicines are in the medicine library, the rectangular coordinate robot executes delivery, and if the medicines are not in the medicine library, the rectangular coordinate robot provides a medicine arrival notification service for the patient, or informs a nearby network point with stored stock, or orders a third-party logistics to deliver the medicines to a home service.
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| CN202010679136.5A CN111846721B (en) | 2020-07-06 | 2020-07-06 | Pharmacy robot device, method and system |
| PCT/CN2021/078173 WO2022007421A1 (en) | 2020-07-06 | 2021-02-26 | Pharmacy robot apparatus, method, and system |
| US18/015,052 US20230274827A1 (en) | 2020-07-06 | 2021-02-26 | Pharmacy robot device, method and system thereof |
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Cited By (22)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112754183A (en) * | 2020-12-22 | 2021-05-07 | 苏州优点优唯医疗科技有限公司 | Medicine taking and placing cabinet |
| CN112919126A (en) * | 2021-05-10 | 2021-06-08 | 佛山市恒灏科技有限公司 | Food storage method and device |
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| WO2022007421A1 (en) * | 2020-07-06 | 2022-01-13 | 厦门波耐模型设计有限责任公司 | Pharmacy robot apparatus, method, and system |
| CN114590578A (en) * | 2020-12-07 | 2022-06-07 | 深南电路股份有限公司 | a transfer device |
| CN112754183A (en) * | 2020-12-22 | 2021-05-07 | 苏州优点优唯医疗科技有限公司 | Medicine taking and placing cabinet |
| CN113110325A (en) * | 2021-04-12 | 2021-07-13 | 谈斯聪 | Multi-arm sorting operation mobile delivery device, and optimized management system and method |
| CN112919126A (en) * | 2021-05-10 | 2021-06-08 | 佛山市恒灏科技有限公司 | Food storage method and device |
| CN113409910A (en) * | 2021-06-28 | 2021-09-17 | 北京百度网讯科技有限公司 | Prescription processing method, prescription processing device, electronic apparatus, and storage medium |
| CN113409910B (en) * | 2021-06-28 | 2024-05-17 | 北京百度网讯科技有限公司 | Prescription processing method, prescription processing device, electronic device and storage medium |
| CN114066368A (en) * | 2021-11-23 | 2022-02-18 | 宜阳县中医院 | Traditional chinese medicine institute drugstore medicinal material is deposited and automatic feed system |
| CN114145597A (en) * | 2021-12-24 | 2022-03-08 | 天津市第四中心医院 | An intelligent medicine storage and dispensing machine |
| CN114272051A (en) * | 2021-12-24 | 2022-04-05 | 胡蓉 | 5G remote medical service intelligent terminal |
| CN114431631A (en) * | 2022-01-24 | 2022-05-06 | 郑州大学 | Support identity discernment and accurate intelligent medicine cabinet device who examines side |
| CN115248575A (en) * | 2022-02-15 | 2022-10-28 | 郑州大学第一附属医院 | A kind of AGV control system and method for pharmacy |
| CN114581003A (en) * | 2022-02-28 | 2022-06-03 | 国网河南省电力公司直流运检分公司 | A system and method for in-out storage management of substation board card spare parts based on blockchain |
| CN114537935A (en) * | 2022-03-24 | 2022-05-27 | 滁州市法莫希智能科技有限公司 | Traditional chinese medicine intelligence delivery case based on robot |
| CN114803259A (en) * | 2022-06-01 | 2022-07-29 | 彭小华 | Intelligence reagent access warehouse |
| CN114770563A (en) * | 2022-06-13 | 2022-07-22 | 首都儿科研究所 | AI intelligence medicine robot that send |
| CN114770563B (en) * | 2022-06-13 | 2022-09-09 | 首都儿科研究所 | AI intelligence medicine robot that send |
| CN115050142A (en) * | 2022-07-05 | 2022-09-13 | 成都世纪美扬科技有限公司 | Chemical medicine management system based on artificial intelligence and Internet of things technology and use method thereof |
| CN115148321A (en) * | 2022-08-03 | 2022-10-04 | 创智和宇信息技术股份有限公司 | Prescription platform and prescription supervision method thereof |
| CN115148321B (en) * | 2022-08-03 | 2023-03-21 | 创智和宇信息技术股份有限公司 | Prescription platform and prescription supervision method thereof |
| CN115352729A (en) * | 2022-08-17 | 2022-11-18 | 浪潮金融信息技术有限公司 | Intelligent labeling device, method and medium for medicine box prescription label |
| CN115330317A (en) * | 2022-10-11 | 2022-11-11 | 北京京东拓先科技有限公司 | Inventory data processing method and device |
| CN115331795A (en) * | 2022-10-13 | 2022-11-11 | 南京大经中医药信息技术有限公司 | Traditional Chinese medicine central pharmacy management system |
| CN115331795B (en) * | 2022-10-13 | 2023-02-10 | 南京大经中医药信息技术有限公司 | Traditional Chinese medicine central pharmacy management system |
| CN119238485A (en) * | 2024-12-03 | 2025-01-03 | 中国人民解放军总医院 | A computer-controlled intelligent medicine dispensing robot |
| CN119238485B (en) * | 2024-12-03 | 2025-03-28 | 中国人民解放军总医院 | A computer-controlled intelligent medicine dispensing robot |
| CN119704218A (en) * | 2024-12-24 | 2025-03-28 | 清能德创电气技术（北京）有限公司 | Medicine dispensing service robot system based on modularized design |
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