CN108764789B - Pharmacy fault scanning method - Google Patents
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- CN108764789B CN108764789B CN201810481688.8A CN201810481688A CN108764789B CN 108764789 B CN108764789 B CN 108764789B CN 201810481688 A CN201810481688 A CN 201810481688A CN 108764789 B CN108764789 B CN 108764789B
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Abstract
The invention discloses a pharmacy fault scanning method which comprises warehousing fault scanning and ex-warehouse fault scanning, wherein the warehousing fault scanning step comprises the following steps: grabbing a medicine to be warehoused in a pharmacy, judging whether the medicine is normally grabbed, if so, normally executing warehousing operation, and if so, trying to grab repeatedly for many times; if the abnormal medicine box still exists after repeated grabbing for many times, locking the abnormal medicine box and acquiring the position information of the medicine box through scanning; judging whether the medicine box can be normally grabbed or not according to the position information of the medicine box, if so, normally executing warehousing operation, and if not, locking the medicine box to wait for manual processing; and judging whether other products to be warehoused exist or not, if so, returning to grab other medicines to be warehoused in the pharmacy, and if not, ending the operation. When the pharmacy breaks down, the warehouse entry and delivery tasks can be continuously executed, the integral operation of the pharmacy is not influenced, the manual processing efficiency can be improved, and the pharmacy can continuously and stably work.
Description
Technical Field
The invention relates to the field of pharmacy processing, in particular to a pharmacy fault scanning method.
Background
An automatic pharmacy is a mature technology in the pharmacy operation field internationally and is commonly applied in developed countries all over the world. The technology can greatly improve the storage and transportation efficiency of the drugs at the retail terminal, reduce the error rate, save the precious business area, further initiate the reconstruction of the business process of the retail enterprise and bring about the conversion of the business mode and the upgrade of the operation mode through artificial intelligence and machine transmission means.
At present, the management of medicines in pharmacies is generally finished by adopting a robot, namely when a medicine warehousing task or a medicine delivery task exists, the robot loads medicines onto a laminate inside the pharmacy or takes the medicines out of the pharmacy and places the medicines into a delivery port. However, when a fault occurs in the process of medicine feeding or medicine taking, the robot needs to enter the pharmacy to investigate medicine storage information in the pharmacy manually, after the fault is solved manually, the robot can continue to execute related medicine feeding and medicine taking actions, the time required for manual investigation is long, the pharmacy is difficult to normally operate for a long time, and normal operation is affected.
Disclosure of Invention
The invention provides a pharmacy fault scanning method, which aims to solve the technical problems in the prior art.
In order to solve the technical problem, the invention provides a pharmacy fault scanning method, which comprises warehousing fault scanning and ex-warehouse fault scanning, wherein the warehousing fault scanning step comprises the following steps:
grabbing a medicine to be warehoused in a pharmacy, judging whether the medicine is normally grabbed, if so, normally executing warehousing operation, and if so, trying to grab repeatedly for many times;
if the abnormal medicine box still exists after repeated grabbing for many times, locking the abnormal medicine box and acquiring the position information of the medicine box through scanning;
judging whether the medicine box can be normally grabbed or not according to the position information of the medicine box, if so, normally executing warehousing operation, and if not, locking the medicine box to wait for manual processing;
and judging whether other products to be warehoused exist or not, if so, returning to grab other medicines to be warehoused in the pharmacy, and if not, ending the operation.
Preferably, the step of scanning for the ex-warehouse fault includes:
grabbing the medicine on a storage layer plate in the pharmacy, judging whether the grabbing is normal or not, if so, normally executing warehouse-out operation, and if not, trying to grab for multiple times;
if the abnormal medicine box still exists after repeated grabbing for many times, locking the abnormal medicine box and acquiring the position information of the medicine box through scanning;
judging whether the medicine box can be grabbed or not according to the position information of the medicine box, if so, analyzing the information of the medicine box after grabbing, and taking the medicine box out of a warehouse; if not, locking the storage position laminate where the abnormal medicine box is located, carrying out three-dimensional modeling on the storage position laminate and the medicine box on the storage position laminate, and waiting for manual calling;
and judging whether other medicines to be delivered out of the warehouse exist or not, if so, returning to grab other medicines to be delivered out of the warehouse in the pharmacy, and if not, ending the operation.
Preferably, the information on the cartridge position includes whether or not the cartridge is present, whether or not the cartridge is tilted, and a cartridge width.
Preferably, in the three-dimensional modeling operation, the storage position layer plate and all the medicine boxes on the storage position layer plate are dynamically stored, and the storage column where the abnormal medicine box is located is dynamically displayed.
Preferably, the step of analyzing the information of the cartridges after the capturing and the step of ex-warehouse comprise: and grabbing the medicine boxes and analyzing whether the medicine boxes meet the warehouse-out standard, if so, normally taking the medicine boxes out of the warehouse, and if not, transferring the medicine boxes to a default warehouse-out opening.
Preferably, the method further comprises the following steps: and all abnormal positions in the pharmacy are scanned regularly, and are compared with the inventory information of the pharmacy, and meanwhile, three-dimensional modeling is carried out.
Preferably, the position information of the medicine box is obtained by scanning the locked abnormal medicine box through a sensor on the robot.
Preferably, after the position information of the medicine box is acquired, whether the medicine box can be normally grabbed or not is judged through the inclination angle, the width and the distance between the medicine boxes of the medicine box.
Preferably, the warehousing fault scanning and the ex-warehouse fault scanning can be performed simultaneously.
Preferably, the step of scanning the sensor on the robot comprises:
scanning a target area and acquiring coordinate values of the target point;
recording coordinate values once every a fixed distance, and continuously recording 4-6 groups;
using the 4-6 groups of coordinate values as a queue;
continuously scanning and placing the obtained coordinate values to the tail of the queue, and simultaneously deleting the coordinate values of the head of the queue;
calculating the difference value between the tail of the queue and the head of the queue and recording the difference value every time the queue is updated;
judging the difference value, and if the difference value is changed, waiting until the difference value is not changed, taking a group of difference value data;
and calculating and acquiring the size and the position of the abnormal medicine box according to the acquired difference data.
Compared with the prior art, when the medicine storage fails or the medicine delivery fails, the failed area is scanned and analyzed, so that the re-grabbing judgment is carried out, other tasks in the storage and delivery can be continuously executed even if the medicine cannot be successfully grabbed, and the overall operation of the pharmacy cannot be influenced. Due to the fact that the abnormal medicine box information is locked, when manual troubleshooting is conducted, the abnormal medicine box can be found and processed quickly, compared with manual troubleshooting in the prior art, the processing efficiency is greatly improved, and the fact that a pharmacy can work continuously and stably is guaranteed.
Drawings
FIG. 1 is a schematic view of a process of warehousing fault scanning in the present invention;
FIG. 2 is a schematic view of the warehouse-out fault scanning process according to the present invention.
Detailed Description
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in detail below. It is to be noted that the drawings are in simplified form and are not to precise scale, which is provided for the purpose of facilitating and distinctly claiming the embodiments of the present invention.
The invention provides a pharmacy fault scanning method which is used for scanning and processing a fault area when a fault occurs in a pharmacy, and specifically comprises warehousing fault scanning and ex-warehouse fault scanning.
Referring to fig. 1, the step of scanning the warehousing fault includes:
the embodiment preferably adopts the conveyor belt to transmit the medicines to be warehoused into the pharmacy, certainly, before the medicines are transmitted, information scanning of the medicines is carried out, and the accuracy and the legality of the transmitted medicines are confirmed.
The robot grabs the medicine to be warehoused in the pharmacy, judges whether the medicine is normally grabbed or not, if the medicine is normal, the warehousing operation is normally executed, and if the medicine is abnormal, the robot tries to repeatedly grab the medicine for multiple times. It should be noted that, when the capturing is normal, it indicates that the number of the captured medicines is all matched with the number of the actually stored medicines, and when the capturing is abnormal, it indicates that the medicines are not captured or the number of the captured medicines does not correspond to the number of the actually stored medicines.
In this embodiment, it is preferable to repeatedly grasp three times, and if there is still an abnormality after three times of grasping, lock the abnormal medicine box and acquire the position information of the medicine box by scanning. Generally, both the conveyor belt and the robot carry sensors, and this embodiment preferably employs the robot to scan the position information of the abnormal medicine boxes, and calculates and obtains the position information of the medicine boxes by scanning data, where the position information specifically includes: whether there is the medicine box, if there is the medicine box, then judge the quantity of medicine box, whether there is the medicine box and take place the width that inclines and each medicine box.
And judging whether the medicine box can be normally grabbed or not according to the position information of the medicine box obtained in the step, if so, normally executing warehousing operation, and if not, locking the medicine box to wait for manual processing. Because the position information of the abnormal medicine boxes is known, when the abnormal medicine boxes are processed manually, an operator can quickly find the abnormal area of the pharmacy and process the abnormality, the processing efficiency is improved, and the stable work of the pharmacy is ensured.
And judging whether other products to be warehoused exist or not, if so, returning to grab other medicines to be warehoused in the pharmacy, and if not, ending the operation. That is to say, when a medicine warehousing problem occurs in the warehousing process, the robot can continue to execute other tasks without waiting for manual handling of faults, and normal operation of the pharmacy is ensured.
Referring to fig. 2, the step of scanning the ex-warehouse failure includes:
and (3) grabbing the medicine on the storage laminate in the pharmacy by adopting the robot, judging whether the grabbing is normal, if so, normally executing warehouse-out operation, and if so, trying to grab repeatedly for multiple times. Similarly, if the grabbing is normal, the number of the grabbed medicines is matched with the actual inventory information, and if the grabbing is abnormal, the medicines are not grabbed or the number of the grabbed medicines is not corresponding to the actual inventory.
If the abnormal medicine box still exists after repeated grabbing for multiple times, the abnormal medicine box is locked, and the position information of the medicine box is obtained through scanning. Similarly, the robot is adopted to scan the position information of the abnormal medicine box, and the position information of the medicine box is obtained by calculating the scanning data, wherein the position information specifically comprises: the position of storage position plywood, whether the unusual region on this storage position plywood has the medicine box, if there is the medicine box, then judges the quantity of medicine box, whether have the medicine box to take place the width of slope and each medicine box.
And judging whether the medicine box can be grabbed or not according to the position information of the medicine box, if so, analyzing the information of the medicine box after grabbing, and taking the medicine box out of the warehouse. The method specifically comprises the following steps: and grabbing the medicine boxes and analyzing whether the medicine boxes meet the ex-warehouse standard, if so, normally discharging the medicine boxes, and if not, transferring the medicine boxes to a default ex-warehouse port, wherein the default ex-warehouse port is an abnormal medicine ex-warehouse port and is used for receiving abnormal medicines during troubleshooting and waiting for manual treatment.
If not, the storage position laminate where the abnormal medicine box is located is locked, three-dimensional modeling is carried out on the storage position laminate and the medicine boxes on the storage position laminate, and manual calling is waited. Furthermore, in the three-dimensional modeling operation, all the medicine boxes on the position storage layer plate and the position storage layer plate are dynamically stored, and the storage column where the abnormal medicine box is located is dynamically displayed. In this embodiment, the normal medicine boxes are fixedly displayed, and the storage column where the abnormal medicine boxes are located is set to be in an uplink moving mode, so that the staff can be reminded. Through three-dimensional modeling, a worker can observe abnormal situations of medicines inside the pharmacy outside the pharmacy and judge whether the medicines need to enter the pharmacy for processing according to the abnormal situations. When manual processing is needed, an operator can quickly find the corresponding storage layer plate according to the information in the three-dimensional model, then find the abnormal area and process the abnormality, so that the processing efficiency is improved, and the stable work of a pharmacy is ensured.
And judging whether other medicines to be delivered out of the warehouse exist or not, if so, returning to grab other medicines to be delivered out of the warehouse in the pharmacy, and if not, ending the operation. Like the warehousing fault scanning, when a problem occurs in the warehousing-out process, the robot can continue to execute other warehousing-out tasks without waiting for manual fault handling, so that the normal operation of the pharmacy is ensured.
It should be noted that, in the warehousing fault scanning and the ex-warehouse fault scanning, after the position information of the medicine boxes is acquired, whether the medicine boxes can be normally grabbed is judged according to the inclination angle, the width, the distance between the medicine boxes and the standard proportion of the medicine boxes. Specifically, the above parameters may be dynamically set, wherein in the three-dimensional model established after scanning, the inclination angle of the medicine box (corresponding to the data model block in the three-dimensional model) should be smaller than the maximum obtainable angle of the robot, the width should be smaller than the maximum obtainable width of the robot, and the distance should be larger than the conditions that the robot can accept, (the actual width-the theoretical width of the data model block in the three-dimensional model is also the actual width of the medicine box)/the theoretical width should be smaller than the standard ratio. In general, the error between the actual width and the theoretical width of the data model block in the three-dimensional model is usually small, and if the calculated ratio is larger than the standard ratio, it indicates that the cartridge size is wrong. In other words, this embodiment defines a standard ratio for determining whether the medicine box at the abnormal position is the medicine box that needs to be taken out of the warehouse.
Preferably, the warehousing fault scanning and the ex-warehouse fault scanning can be performed simultaneously, and when the warehousing fault scanning and the ex-warehouse fault scanning cannot be performed simultaneously, the ex-warehouse fault scanning is performed in priority to the warehousing fault scanning.
Further, in order to ensure the normal operation of the pharmacy, the invention can regularly and completely scan the interior of the pharmacy, compare the scanning result with the inventory information of the pharmacy, judge whether the actual inventory is matched with the stored inventory information, and simultaneously establish a three-dimensional model. And when the scanning result is different from the inventory information, dynamically displaying the scanning result to an operator or a worker through the three-dimensional model to obtain a fault area so that the worker can timely process the fault area.
It should be noted that the scanning step mentioned in the present invention includes:
scanning a target area, and acquiring coordinate values of the target point, wherein the target area can be an area where an abnormal medicine box is located, or can also be an area where a support or a laminate in a pharmacy is located, generally, when the medicine box, the support or the laminate is not scanned, a backboard of the pharmacy is generally scanned, and the obtained target point is farthest from the manipulator.
Recording coordinate values once every a fixed distance, and continuously recording 4-6 groups, preferably recording data once every 1mm in the embodiment, and continuously recording 5 groups;
taking the 4-6 groups of coordinate values as a queue, wherein the data at the head of the queue is the data recorded earliest, and the data at the tail of the queue is the data recorded latest;
and continuously scanning, placing the obtained coordinate values at the tail of the queue, and deleting the coordinate values at the head of the queue. That is, the queue data is updated every time a scan is performed according to the first-in-first-out principle.
Calculating the difference value between the tail of the queue and the head of the queue and recording the difference value every time the queue is updated;
and judging the difference value, and if the difference value is changed, waiting until the difference value is not changed, and taking a group of difference value data. Specifically, there are two cases of the difference, one is that the difference in the queue (relative to itself) gradually decreases, indicating that an object such as a medicine box or a stent appears, and when the difference gradually increases, the surface object disappears. When the difference value changes to be stable, a group of data is taken respectively.
According to the obtained difference data, two groups of adjacent data are calculated, so that the size, the position and the interval of the medicine box, the bracket or the laminate can be obtained.
In summary, when a failure occurs in the storage of a medicine or when a failure occurs in the delivery of a medicine, the failed area is scanned and analyzed, so that the re-grabbing judgment is performed, and even if the medicine cannot be successfully grabbed, other tasks in the storage and the delivery can be continuously executed, and the overall operation of a pharmacy cannot be influenced. Due to the fact that the abnormal medicine box information is locked, when manual troubleshooting is conducted, the abnormal medicine box can be found and processed quickly, compared with manual troubleshooting in the prior art, the processing efficiency is greatly improved, and the fact that a pharmacy can work continuously and stably is guaranteed.
It will be apparent to those skilled in the art that various changes and modifications may be made in the invention without departing from the spirit and scope of the invention. Thus, if such modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include such modifications and variations.
Claims (5)
1. A pharmacy fault scanning method is characterized by comprising warehousing fault scanning and ex-warehouse fault scanning, wherein the warehousing fault scanning step comprises the following steps:
grabbing a medicine to be warehoused in a pharmacy, judging whether the medicine is normally grabbed, if so, normally executing warehousing operation, and if so, trying to grab repeatedly for many times;
if the abnormal medicine box still exists after repeated grabbing for multiple times, locking the abnormal medicine box and acquiring the position information of the medicine box through scanning;
judging whether the medicine box can be normally grabbed or not according to the position information of the medicine box, if so, normally executing warehousing operation, and if not, locking the medicine box to wait for manual processing;
judging whether other products to be warehoused exist or not, if so, returning to grab other medicines to be warehoused in the pharmacy, and if not, ending the operation;
the ex-warehouse fault scanning step comprises the following steps:
grabbing the medicine on a storage layer plate in the pharmacy, judging whether the grabbing is normal or not, if so, normally executing warehouse-out operation, and if not, trying to grab for multiple times;
if the abnormal medicine box still exists after repeated grabbing for many times, locking the abnormal medicine box and acquiring the position information of the medicine box through scanning;
judging whether the medicine box can be grabbed or not according to the position information of the medicine box, if so, analyzing the information of the medicine box after grabbing, and taking the medicine box out of a warehouse; if not, locking the storage position laminate where the abnormal medicine box is located, carrying out three-dimensional modeling on the storage position laminate and the medicine box on the storage position laminate, and waiting for manual calling;
the steps of analyzing the information of the medicine boxes after grabbing and delivering the medicine boxes out of the warehouse comprise: grabbing the medicine boxes and analyzing whether the medicine boxes meet the ex-warehouse standard or not, if so, normally ex-warehouse the medicine boxes, and if not, transferring the medicine boxes to a default ex-warehouse port;
judging whether other medicines to be delivered out of the warehouse exist or not, if so, returning to grab other medicines to be delivered out of the warehouse in the pharmacy, and if not, ending the operation;
in the three-dimensional modeling operation, the storage position laminate and all the medicine boxes on the storage position laminate are dynamically stored, and meanwhile, the storage columns where the abnormal medicine boxes are located are dynamically displayed;
the position information of the medicine box is obtained by scanning the locked abnormal medicine box through a sensor on the robot;
the step of scanning the sensors on the robot comprises:
scanning a target area and acquiring coordinate values of the target point;
recording coordinate values once every a fixed distance, and continuously recording 4-6 groups;
using the 4-6 groups of coordinate values as a queue;
continuously scanning and placing the obtained coordinate values to the tail of the queue, and simultaneously deleting the coordinate values of the head of the queue;
calculating the difference value between the tail of the queue and the head of the queue and recording the difference value every time the queue is updated;
judging the difference value, and if the difference value is changed, waiting until the difference value is not changed, taking a group of difference value data;
and calculating and acquiring the size and the position of the abnormal medicine box according to the acquired difference data.
2. The pharmacy trouble scan method of claim 1, wherein the information on the cassette location includes whether a cassette is present, whether a cassette is tilted, and a cassette width.
3. The pharmacy trouble-scan method of claim 1, further comprising: and all abnormal positions in the pharmacy are scanned regularly, and are compared with the inventory information of the pharmacy, and meanwhile, three-dimensional modeling is carried out.
4. The pharmacy fault scanning method as claimed in claim 1, wherein after the position information of the medicine boxes is obtained, whether the medicine boxes can be normally grabbed is judged according to the inclination angle, the width and the interval of the medicine boxes.
5. The pharmacy trouble-scan method of claim 1, wherein the warehousing trouble-scan and the ex-warehouse trouble-scan can be performed simultaneously.
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| CN100352623C (en) * | 2005-04-11 | 2007-12-05 | 中国科学院自动化研究所 | Control device and method for intelligent mobile robot capable of picking up article automatically |
| US9394107B1 (en) * | 2011-03-04 | 2016-07-19 | Express Scripts, Inc. | Systems and methods for manual handling |
| EP2631201B1 (en) * | 2012-02-22 | 2014-06-18 | CareFusion Germany 326 GmbH | Method for determining when medicine packages are positioned incorrectly |
| CN104646298B (en) * | 2013-11-25 | 2017-05-03 | 比亚迪股份有限公司 | Drug sorting method |
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| Title |
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| "The application of information technology in the hospital pharmacy management based on HIS";Tie Hong; Man Dong; Jing Zhao; Xiujuan Fu; Yadan Chen;《2012 International Symposium on Information Technologies in Medicine and Education》;20120831;全文 * |
| "网络故障时门诊药房紧急行动预案探讨";丁光超;《西北药学杂志》;20071228;全文 * |
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