CN115212113A

CN115212113A - Medicine dispensing robot, visual medicine dispensing method, medicine dispensing system and storage medium

Info

Publication number: CN115212113A
Application number: CN202110740647.8A
Authority: CN
Inventors: 黄晓庆; 钱海洋; 罗程
Original assignee: Lianda Times Nanjing Intelligent Technology Co ltd; Cloudminds Shanghai Robotics Co Ltd
Current assignee: Lianda Times Nanjing Intelligent Technology Co ltd; Cloudminds Shanghai Robotics Co Ltd
Priority date: 2021-06-30
Filing date: 2021-06-30
Publication date: 2022-10-21
Also published as: WO2023273523A1

Abstract

The embodiment of the invention relates to the field of robots, and discloses a medicine distribution robot, a visual medicine distribution method, a medicine distribution system and a storage medium. In some embodiments of the present application, the dispensing robot includes: a main shaft; the medicine distribution tray is connected with the main shaft and is provided with a longitudinal through hole; the medicine poking rod is arranged above the medicine distribution tray and connected with the main shaft; the first power module is connected with the medicine poking rod; and a control module connected to the first power module; the shooting module is connected with the control module; the shooting area of the shooting module comprises an area where the medicine distribution tray is located; and a medicine taking cup arranged below the medicine distribution tray. According to the technical scheme provided by the embodiment of the application, the medicine in the designated quantity can be dialed out to the medicine taking cup through the medicine dialing rod, so that a user can take the medicine.

Description

Medicine dispensing robot, visual medicine dispensing method, medicine dispensing system and storage medium

Technical Field

The embodiment of the invention relates to the field of robots, in particular to a medicine dispensing robot, a visual medicine dispensing method, a medicine dispensing system and a storage medium.

Background

The development of the medical health industry enables many diseases to be treated or controlled, greatly improves the health level of human beings, and prolongs the life of human beings. Many diseases that are originally difficult to cure become chronic diseases that can be treated for a long time. Meanwhile, the kinds of medicines and health products that people need to take medicine at the same time are also increasing. In the process of taking medicine by a patient, how to automatically separate the medicine is a problem to be solved.

Disclosure of Invention

The invention aims to provide a medicine dispensing robot, a visual medicine dispensing method, a medicine dispensing system and a storage medium.

To solve the above technical problem, in a first aspect, an embodiment of the present invention provides a dispensing robot, including: a main shaft; the medicine distribution tray is connected with the main shaft and is provided with a longitudinal through hole; the medicine poking rod is arranged above the medicine distribution tray and connected with the main shaft; the first power module is connected with the medicine poking rod; and a control module connected with the first power module; the shooting module is connected with the control module; the shooting area of the shooting module comprises an area where the medicine distribution tray is located; and a medicine taking cup arranged below the medicine distribution tray.

In a second aspect, an embodiment of the present invention provides a visual dispensing method, which is applied to the dispensing robot mentioned in the foregoing embodiment or an apparatus in communication connection with the dispensing robot mentioned in the foregoing embodiment, and the visual dispensing method includes: acquiring a target quantity of the medicine; shifting the medicines in the medicine storage cup of the medicine distribution robot to a medicine distribution tray of the medicine distribution robot; identifying the number of the dialed medicines based on the image shot by the shooting module; judging whether the number of the dialed medicines is less than or equal to the target number; if yes, controlling a medicine poking rod of the medicine distribution robot to poke the poked medicine to a first preset position; the first preset position is the position of a longitudinal through hole in the medicine distribution tray; judging whether the number of the dialed medicines is equal to the target number or not; if the quantity of the dialed medicines is not equal to the target quantity, returning to the step of acquiring the target quantity of the medicines; if the medicine is not taken, the front shifting lever and the rear shifting lever of the medicine shifting rod are controlled to move based on the image shot by the shooting module, and the medicine is taken from the medicine distribution tray.

In a third aspect, an embodiment of the present invention provides a dispensing system, including: the dispensing robot mentioned in the above embodiments, and a cloud end in communication connection with the dispensing robot, and/or a medical service providing device in communication connection with the dispensing robot.

In a fourth aspect, an embodiment of the present invention provides a computer-readable storage medium, which stores a computer program, and when the computer program is executed by a processor, the visual medicine dispensing method is implemented.

Compared with the prior art, the medicine distribution robot is provided with the shooting module, the shooting module is used for shooting the area where the medicine distribution tray is located, and the control module is connected with the shooting module, so that the control module can acquire the image of the medicine distribution tray through the shooting module and know the medicine distribution situation above the medicine distribution tray. The control module controls the medicine poking rod to poke the specified amount of medicines to the medicine fetching cup according to the medicine distribution condition so that a user can take the medicines conveniently. Compared with the method that the user takes the specified number of medicines with hands after pouring out the medicines, the medicine dispensing robot obtains the specified number of medicines, the pollution to the medicines which are not taken at this time is less, and the safety of the medicines is improved.

Drawings

One or more embodiments are illustrated by way of example in the accompanying drawings, which correspond to the figures in which like reference numerals refer to similar elements and which are not to scale unless otherwise specified.

FIG. 1 is a schematic diagram of a dispensing robot in one embodiment of the present application;

FIG. 2 is a schematic structural diagram of a dispensing robot in another embodiment of the present application;

FIG. 3 is a schematic diagram of a first pusher of the dispensing robot in one embodiment of the present application;

FIG. 4 is a schematic diagram of a first push rod of a dispensing robot in another embodiment of the present application;

FIGS. 5a to 5c are schematic views showing the structure of a connection part of a first pushing rod and a medicine storage cup in one connection mode of the first pushing rod and the medicine storage cup of the medicine dispensing robot according to one embodiment of the present application;

FIG. 6a is a schematic view of the medicine storage cup in another connection manner of the first pushing rod and the medicine storage cup of the medicine dispensing robot in one embodiment of the present application;

FIG. 6b is a schematic view of the first pushing rod of the dispensing robot in another connection manner with the medicine storage cup according to an embodiment of the present application;

FIG. 7 is a schematic structural diagram of a dispensing robot in yet another embodiment of the present application;

FIG. 8 is a schematic structural view of a dispensing robot in yet another embodiment of the present application;

FIG. 9a is a schematic structural diagram of a medicine poking rod when a front poking rod and a rear poking rod of the medicine dispensing robot are parallel in one embodiment of the application;

FIG. 9b is a schematic diagram illustrating a rear drug dispensing rod of the drug dispensing robot with a front drug dispensing rod rotating around a rear drug dispensing rod according to an embodiment of the present application;

figure 10 is a schematic view of another embodiment of a drug dialing rod according to the present application;

FIG. 11 is a schematic view of a dispensing robot with a light source in one embodiment of the present application;

FIG. 12 is a schematic illustration of the locations of a first power module, a second power module, a third power module, a fourth power module, and a fifth power module in one embodiment of the present application;

FIG. 13 is a schematic flow chart diagram of a visual dispensing method performed by a dispensing robot in accordance with an embodiment of the present application;

FIG. 14 is a schematic flow chart diagram of a visual dispensing method performed by a dispensing robot in accordance with another embodiment of the present application;

fig. 15a is a partial schematic structural view of a dispensing robot in a case where the rotary tray is located at a rotation position and the rotary tray is rotated to a second preset position in the visual dispensing method shown in fig. 14 of the present application;

FIG. 15b is a schematic view of a partial configuration of the dispensing robot shown in FIG. 15a when the rotary tray is raised to the dispensing position;

FIG. 15c is a schematic partial structural view of the dispensing robot shown in FIG. 15a of the present application in a situation where the first pushing rod pushes the movable bottom of the medicine storage cup to move upward;

FIGS. 16 a-16 d are schematic views illustrating the dispensing robot of FIG. 14 drawing a medicine from a medicine-poking rod to zone B in a visual dispensing method;

fig. 17a is a schematic view of a part of the structure of a dispensing robot in the case where the rotary tray is lowered to the rotary position in the visual dispensing method shown in fig. 14 of the present application;

fig. 17b is a partial schematic structural view of the dispensing robot in the case that the rotary tray is located at the rotation position and the rotary tray is rotated to the third preset position in the visual dispensing method shown in fig. 14 of the present application;

fig. 17c is a schematic view of a partial structure of the dispensing robot when the rotary tray is raised again to the dispensing position in the visual dispensing method shown in fig. 14 of the present application;

fig. 17d is a partial schematic structural view of the dispensing robot when the rotary tray is lowered to the rotary position again in the visual dispensing method shown in fig. 14 of the present application;

18 a-18 b are schematic diagrams of the process of dispensing medicine by the cooperation of the front deflector rod and the rear deflector rod in the visual medicine dispensing method shown in FIG. 14 of the present application;

FIGS. 19 a-19 c are schematic views illustrating the rotation of the poke rod to a first predetermined position along the direction of the remaining medicine in the visual medicine dispensing method of FIG. 14 according to the present application;

FIGS. 20 a-20 c are schematic views illustrating a process of rotating a medicine poking rod in a first direction to poke a medicine to a position of a longitudinal through hole in the visual medicine dispensing method of FIG. 14 according to the present application;

FIGS. 21 a-21 c are schematic views illustrating a process of rotating the drug-dialing rod in the second direction to dial the dialed drug to the position of the longitudinal through hole in the visual drug-dispensing method shown in FIG. 14 according to the present application;

FIG. 22 is a schematic flow chart diagram of a visual dispensing method performed by a dispensing robot in accordance with yet another embodiment of the present application;

FIG. 23 is a schematic diagram of the dispensing system in one embodiment of the present application;

fig. 24 is a schematic structural view of a dispensing system in another embodiment of the present application.

Detailed Description

To make the objects, technical solutions and advantages of the embodiments of the present invention more apparent, embodiments of the present invention will be described in detail below with reference to the accompanying drawings. However, it will be appreciated by those of ordinary skill in the art that numerous technical details are set forth in order to provide a better understanding of the present application in various embodiments of the present invention. However, the technical solution claimed in the present application can be implemented without these technical details and various changes and modifications based on the following embodiments. The following embodiments are divided for convenience of description, and should not constitute any limitation to the specific implementation manner of the present invention, and the embodiments may be mutually incorporated and referred to without contradiction.

In the description of the present disclosure, it is to be understood that the terms "first," "second," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance. In addition, in the description of the present disclosure, "a plurality" means two or more unless otherwise specified.

In the embodiment of the present application, the dispensing robot shown in fig. 1 includes: a main shaft 11; and a medicine distribution tray 12 connected with the main shaft 11, wherein the medicine distribution tray 12 is provided with a longitudinal through hole 120; the medicine poking rod 13 is arranged above the medicine distribution tray 12 and connected with the main shaft 11; and a first power module (not shown in fig. 1) connected to the drug-dialing rod 13; and, a control module (not shown in FIG. 1) connected to the first power module; and a photographing module 14 connected with the control module; the shooting area of the shooting module 14 comprises the area where the medicine distribution tray 12 is located; and a medicine taking cup 15 arranged below the medicine dispensing tray 12.

In the embodiment of the application, install among the medicine distribution robot and shoot module 14, shoot module 14 and be used for shooting and divide the medicine tray 12 region, control module with shoot module 14 and be connected for control module can acquire the image of dividing medicine tray 12 through shooting module 14, and learn the medicine distribution condition of dividing medicine tray 12 top based on the image. The control module controls the medicine poking rod 13 to poke a specified amount of medicines to the medicine taking cup according to the medicine distribution condition so that a user can take the medicines conveniently. For pouring out the medicine back user and taking appointed quantity's medicine with the hand, obtain appointed quantity's medicine through dividing the medicine robot, for the user who does not possess the ability of accurately taking out a certain amount of medicine because of the reason of disease provides the possibility that the manual operation made mistakes for the user service of dividing. In addition, the medicine dispensing robot is used for obtaining the medicine with the specified quantity, so that the pollution to the medicine not taken at this time is less, and the safety of the medicine is improved.

It should be noted that, as can be understood by those skilled in the art, the first power module may be disposed inside the main shaft to reduce a space occupied by the first power module, and may also be disposed at other positions, and the first power module may provide power for the medicine poking rod 13, and the disposed position of the control module is not limited in this embodiment.

It should be noted that, as can be understood by those skilled in the art, the control module may be disposed inside the main shaft, or may be disposed at other positions, and the control module may receive an image captured by the capturing module 14, and control the medicine poking rod 13 by controlling the first power module, and the present embodiment does not limit the disposition position of the control module.

It should be noted that, in fig. 1, the imaging module 14 is hung on the housing 21 for the dispensing robot as an example, and the structure of the dispensing robot is illustrated, and in practical applications, the imaging module 14 may be disposed at another position, for example, at the top end of the spindle, and this embodiment is merely an example, and does not limit the installation position of the imaging module 14.

In one embodiment, as shown in fig. 2, the dispensing robot further comprises: a rotary tray 16 connected with the main shaft 11, wherein the rotary tray 16 is arranged below the medicine distribution tray 12, and the medicine taking cup 15 is arranged on the rotary tray 16; the medicine storage cup 17 is arranged on the rotary tray 16, the medicine storage cup 17 comprises a medicine storage cup wall 171 and a medicine storage cup movable cup bottom 172, and the medicine storage cup movable cup bottom 172 is positioned in the medicine storage cup wall 171; and a second power module (not shown in fig. 2) connected to the rotating tray 16 for controlling the rotation of the rotating tray 16; the first push rod 18 is connected with the movable cup bottom 172 of the medicine storage cup; and a third power module (not shown in fig. 2) connected to the first push rod 18. Specifically, a rotary tray 16 is arranged below the medicine distribution tray 12 and used for placing a medicine storage cup 17 and a medicine taking cup 15. The rotating tray 16 is substantially parallel to the dispensing tray 12. The control module controls the rotation of the rotating tray 16 via the second power module. The medicine storage cup 17 is placed above the first push rod 18, and the first push rod 18 pushes the movable cup bottom 172 of the medicine storage cup 17 to push the medicine above the medicine distribution tray 12. When the medicine to be dispensed needs to be taken out, the control module controls the rotating tray 16 to rotate to the second preset position, so that the medicine storage cup 17 is positioned below the longitudinal through hole 120. The control module controls the first push rod 18 to push the medicine storage cup 17 through the third power module, so that the medicine is higher than the plane of the medicine distribution tray 12, and the medicine is conveniently taken by the medicine taking rod 13. When the medicine needs to be sent out, the control module controls the rotary tray 16 to rotate to a third preset position, so that the medicine taking cup 15 is located below the longitudinal through hole 120, the medicine poking rod 13 pokes the medicine to a first preset position, and the medicine falls into the medicine taking cup 15, wherein the first preset position is the position of the longitudinal through hole.

It should be noted that, for clarity of illustration, the embodiment is described by taking the example of controlling the whole rotation of the medicine storage cup 17 and the medicine taking cup 15, in practical applications, the medicine storage cup 17 and the medicine taking cup 15 may also be controlled to rotate separately, for example, one or more medicine storage cups 17 and medicine taking cups 15 are connected to separate rotating supports, and the second power module controls each separate rotating support to separately control the rotation of each medicine storage cup 17 or medicine taking cup 15, which is not limited in this embodiment.

It should be noted that the medicine storage cup 17 can be disposed at other positions by other means as will be understood by those skilled in the art. For example, the medicine storage cup 17 is hung above the dispensing tray 12 by a hanging rod. Specifically, divide medicine robot still includes the shell, and peg one end is fixed on the shell, and the other end is connected with the down tube of storage medicine cup 17 bottom. When medicine is required to be taken, the medicine is poured onto the medicine distribution tray 12 by controlling the inclination angle of the inclined rod. The person skilled in the art may also arrange the medicine cup 17 in other ways, which are not described in detail herein.

It should be noted that, in fig. 2, one medicine storage cup is taken as an example to illustrate the structure of the medicine dispensing robot, in practical applications, a plurality of medicine storage cups may be disposed in the medicine dispensing robot, the processing module stores position information of each medicine storage cup and types of medicines in the medicine storage cups, when medicine dispensing is required, the position information of the medicine storage cup storing the medicine which needs to be taken out at present is determined according to the type of the medicine which needs to be taken out at present, and the medicine storage cup is rotated to below the longitudinal through hole by controlling the rotation of the rotating tray.

It is worth mentioning that when a user needs to take various medicines, the complexity of manual operation increases linearly, the error probability increases, a plurality of medicine storage cups are arranged for the medicine distribution device, all medicines which the patient needs to take at one time can be taken to the medicine storage cups, medicine distribution service is provided for the patient who cannot accurately take out a certain amount of medicines due to diseases, and the possibility of manual operation errors is avoided.

The structure of the first push rod 18 in fig. 2 is exemplified below.

In one embodiment, as shown in FIG. 3, the first pushrod 18 includes a first pushrod branch 181 and a second pushrod branch 182, the first pushrod branch 181 and the second pushrod branch 182 are connected, and the second pushrod branch 182 is connected to the main shaft. The first and second

push rod branches

181 and 182 are L-shaped.

Alternatively, as shown in fig. 4, the first push rod 18 further includes a first push rod holder, and one end of the first push rod branch 181 is connected to the surface of the first push rod holder 183.

In one example, to provide the first push rod with a pushing action, the first push rod branch 181 includes a sleeve and a movable rod disposed inside the sleeve, one end of the movable rod is connected to the first push rod holder 183, and the other end of the movable rod is connected to the third power module. The third power module moves up and down in the sleeve by controlling the movable rod so as to move the first push rod support 183 up and down to push the medicine storage cup.

In another example, in order to provide the first push rod with a pushing function, the main shaft 11 is provided with a longitudinal opening, the third power module is arranged in the main shaft 11, and the second push rod branch 182 passes through the longitudinal opening to be connected with the third power module. The second push rod branch 182 can move up and down due to the longitudinal opening on the main shaft 11.

It should be noted that, as can be understood by those skilled in the art, the pushing action of the first push rod can also be achieved by other ways, which are not listed in this embodiment.

The manner in which the first ram 18 is connected to the drug reservoir cup is illustrated below.

In one example, as shown in fig. 5a, the connection of the drug storage cup 17 and the first push rod 18 is achieved by an electromagnet. Specifically, medicine storage cup 17 includes medicine storage cup wall 171, medicine storage cup activity bottom of cup 172 and the fixed bottom of cup 173 of medicine storage cup, and the fixed bottom of cup 173 of medicine storage cup is connected with medicine storage cup wall 171, and is located medicine storage cup activity bottom of cup 172 below for avoid medicine storage cup activity bottom of cup 172 to drop. A longitudinal through hole is arranged in the middle of the medicine storage cup fixing cup bottom 173 so that the first push rod 18 passes through the medicine storage cup fixing cup bottom 173 to be connected. The movable cup bottom 172 of the medicine storage cup 17 is made of a material that can be attracted by magnetic force, such as metal. The first plunger holder 183 on the first plunger 18 is an electromagnet, and the first plunger holder 183 and the movable cup bottom 172 of the medicine storage cup form a coupling device which ensures that the medicine storage cup 17 is placed in a fixed position. As shown in fig. 5b and fig. 5c, the electromagnet is energized, the first pushing rod 18 and the movable cup bottom 172 of the medicine storage cup are attracted together, and the first pushing rod 18 can push or pull the movable cup bottom 172 of the medicine storage cup. When the medicine storage cup 17 needs to be taken out, the electromagnet is powered off.

In another example, the movable bottom 172 of the medicine storage cup is provided with a first slide rail 174, as shown in fig. 6 a. The first push rod holder 183 is provided with a second slide rail 184, as shown in fig. 6 b. The first slide rail 174 is mated with the second slide rail 184 for coupling. The structure of the medicine storage cup 17 is similar to that shown in fig. 5a to 5c, but the material of the movable bottom 172 of the medicine storage cup can be any material.

It should be noted that, those skilled in the art can understand that the movable cup bottom 172 of the medicine storage cup and the first pushing rod 18 can also adopt other connection manners, the medicine storage cup 17 can be taken off from the first pushing rod holder 183, and the first pushing rod 18 and the movable cup bottom 172 of the medicine storage cup can be pushed and pulled after being connected, which does not limit the connection manner of the movable cup bottom 172 of the medicine storage cup and the first pushing rod 18.

Optionally, to further ensure that the medicine storage cup 17 is placed at a designated position, a set of positioning devices may be installed on the first pushing rod 18 and the movable cup bottom 172 of the medicine storage cup, and after detecting that the positioning devices are activated, subsequent operations such as dispensing medicine may be performed.

In one embodiment, as shown in fig. 7, the medicine taking cup 15 comprises a medicine taking cup wall 151 and a medicine taking cup movable cup bottom 152, wherein the medicine taking cup movable cup bottom 152 is located in the medicine taking cup wall 151; the medicine dispensing robot further comprises: a second push rod 19 connected with the movable cup bottom 152 of the medicine taking cup; and a fifth power module (not shown) connected to the second push rod 19. The connection between the second push rod 19 and the medicine taking cup 15 can refer to the connection between the medicine storage cup 17 and the first push rod 18, and the connection between the medicine taking cup 15 and the second push rod 19 is not described in detail herein.

It is worth mentioning that if the medicine taking cup 15 is fixed through the electromagnet, the medicine dispensing robot can control the on-off of the electromagnet according to the medicine taking time of a user so as to avoid the medicine from being taken by mistake. Specifically, at user's the time of taking medicine, the electro-magnet outage to the user takes up and gets medicine cup 15, so as to prevent that the person of taking medicine from taking medicine when should not take medicine, taking up and getting medicine cup 15, lead to the mistake and take medicine.

It should be noted that, as will be understood by those skilled in the art, the medicine storage cup 17 or the medicine taking cup 15 in the present embodiment is a circular cup, and in practice, may be designed in other shapes, for example, a fan-shaped cup. If set up a plurality of storage medicine cups 17 into with the fan-shaped cup of arc length, the dot coincidence of a plurality of storage medicine cups 17 constitutes circularly, perhaps, set up a plurality of medicines cups 15 into with the fan-shaped cup of arc length, a plurality of dot coincidences of medicines cups 15 constitute circularly, utilization space that can be more abundant.

In one embodiment, on the basis of the dispensing robot shown in fig. 7, the dispensing robot further includes: a waste cup disposed above the rotating tray 16. When the user does not take medicine on time, the medicine of avoiding this time to divide and getting is detained at the cup 15 of getting it filled, leads to taking by mistake next time, divides medicine machine robot control second push rod 19 to push up the cup bottom of the cup activity of getting it filled, gets the medicine in the cup 15 and passes vertical through-hole 120 to it dials out to dial medicine pole 13 will get the medicine in the cup 15. The medicine dispensing robot controls the second push rod 19 to pull the movable cup bottom of the medicine taking cup 15 back to the bottom end of the cup wall of the medicine taking cup. The medicine dispensing robot controls the rotary tray 16 to rotate to a fourth preset position, so that the waste medicine cup is located below the longitudinal through hole 120, and controls the medicine poking rod 13 to poke the medicine poked out of the medicine taking cup 15 to the longitudinal through hole 120, so that the medicine falls to the waste medicine cup.

In one embodiment, the dispensing robot further comprises: and the fourth power module is connected with the rotary tray 16 and is used for controlling the lifting of the rotary tray 16. Set up the rotatory tray 16 of control and set up fourth power module in dividing the medicine robot, when this rotatory tray 16 of needs rotation, reduce the position of rotatory tray 16, reduce the rotatory time of rotatory tray 16 and divide the friction between medicine tray 12 and medicine storage cup 17 and the cup 15 of getting it filled, postpone the life of dividing medicine tray 12, medicine storage cup 17 and the cup 15 of getting it filled, reduce maintenance cost. In this embodiment, for clarity of explanation, the highest position that the rotary tray can reach is referred to as an upper position or a medicine dispensing position, and the lowest position that the rotary tray can reach is referred to as a lower position or a rotary position.

In one embodiment, a cover or plug is arranged below the medicine distribution tray 12 and matched with the medicine storage cup 17; alternatively, the lower surface layer of the medicine dispensing tray 12 is a flexible layer. Through setting up lid or stopper in minute medicine tray 12 below, when need not to divide the medicine, control module controls rotatory tray 16 through second power module and rotates to the fifth preset position, through the fourth power module with rotatory tray 16 rise to the sixth preset position. When the rotatable tray 16 is in the sixth predetermined position, the drug storage cup 17 is positioned against the lid or stopper. The flow of air inside and outside the medicine storage cup 17 can be reduced by the lid or the stopper, and the sealing property and the drying property inside the medicine storage cup 17 can be maintained.

It should be noted that one skilled in the art can also appreciate that other measures can be used to improve the drying of the environment in which the drug is located, such as providing a drying module inside the dispensing robot (e.g., on the rotating tray 16) for placing a drying agent. For another example, the medicine dispensing robot is also provided with a bin gate, and the medicine storage cup and the medicine taking cup are taken out and put in the bin gate; or the medicine dispensing robot is provided with a bin gate respectively aiming at each position for placing the medicine storage cup and the medicine taking cup. The bin gate adopts the design of double door, and when the outer door was opened, the inner door remained and is sealed, and the air exchange with the external world when putting medicine and getting it filled like this is limited.

Optionally, the lid is sized to be larger than or equal to the size of the medication cup. The size of the stopper is equal to the size of the medicine storage cup.

It should be noted that, as will be understood by those skilled in the art, the number of the stoppers or the caps is set according to the number of the medicine storage cups, and the embodiment is not limited.

In one embodiment, as shown in fig. 8, the dispensing robot further includes: the annular baffle plate 121 is arranged above the medicine distribution tray 12, and the circle center of the annular baffle plate 121 is superposed with the main shaft 11; a transverse through hole is arranged on one side of the medicine poking rod 13 close to the medicine distribution tray 12, and the annular baffle plate 121 penetrates through the transverse through hole.

Specifically, the medicine dispensing tray 12 is provided with an annular fence 121. Alternatively, the annular fence 121 and the dispensing tray 12 are two concentric circles in a top view. The two concentric circles demarcate the dispensing workspace 122 in fig. 8. The dispensing work area 122 is a work area where the medicine poking rod 13 dispenses medicine. The medicine is confined in the dispensing work area 122 by the annular gate 121. The dispensing work area 122 can be divided into two areas, namely, an area a and an area B. Zone a is the area where the longitudinal through hole 120 is located, i.e. the drug outlet. The region B is a region other than the region a in the dispensing work area 122. Because the inner edge of the medicine distribution working area 122 is smooth and has no dead angle which can not be touched by the medicine poking rod 13, the situation that the medicine distributed at this time is remained in the medicine distribution working area 122 and is wrongly identified as the medicine distributed to the patient at the next time, so that the patient eats the medicine by mistake can be avoided.

Optionally, the transverse through hole is located in the rear shifter.

It should be noted that, those skilled in the art can understand that the annular barrier can also adopt other arrangement modes, for example, an annular slide rail is arranged on the medicine dispensing tray, and the annular barrier is connected with the annular slide rail so that the annular barrier can rotate along the annular slide rail; the annular breast board is provided with an opening, and the medicine poking rod is arranged in the opening. Wherein, the opening size with dial the medicine pole phase-match to avoid the medicine to pass this opening and reach annular breast board inside. The embodiment does not limit the arrangement mode of the annular breast board.

In one embodiment, as shown in fig. 9a, the drug-dialing rod 13 includes: a primary joint 131 connected to the first power module; and a rear shift lever 132 connected to the main joint 131; and, the auxiliary joint 133 connected with the rear shift lever 132; and a front shift lever 134 connected to the auxiliary joint 133; the main joint 131 drives the rear driving lever 132, the auxiliary joint 133 and the front driving lever 134 to integrally rotate, and the auxiliary joint 133 drives the front driving lever 134 to rotate. The rear shift lever 132 is connected to the main shaft 11 via the main joint 131.

Alternatively, the first power module connected to the main joint 131 may be minimized by a servo motor and a gear set that can rotate the main joint 131. The main joint 131 is a gear matched with the gear set of the first power module, and is driven by the gear set of the first power module to rotate.

Optionally, the minimum design of the auxiliary joint 133 is satisfied that the front shift lever 134 can rotate around the auxiliary joint 133.

For example, as shown in fig. 9a, the secondary joint 133 includes a rotating shaft, i.e., a front shift lever 134 and a rear shift lever 132 are connected by the rotating shaft. To enable the front shifter lever to rotate, the drug shifter lever further includes a bungee cord, and the front shifter lever 134 and the rear shifter lever 132 are hollow. The bungee cord passes through the front toggle 134 and is pulled straight but not under tension with the front and

rear toggles

134, 132 parallel, as shown in fig. 9 a. The elastic cord is connected to a servo motor, and the servo motor pulls the elastic cord by rotation, so that the front shift lever 134 rotates around the rear shift lever 132 under the tension, as shown in fig. 9 b. The servomotor rotates in the opposite direction, the bungee cord is released, and the tension in the bungee cord is released to return the front 134 and rear 132 levers to a straight line. By the mode, the servo motor of the auxiliary joint can be saved, and the cost is saved.

It should be noted that, as will be understood by those skilled in the art, the medicine-poking rod 13 may also be of other designs, for example, a servo motor for controlling the auxiliary joint 133 is disposed on the main shaft, and the medicine-poking rod 13 is controlled by the servo motor for controlling the main joint 131 and the servo motor for controlling the auxiliary joint 133, which is only illustrated in the embodiment.

In one embodiment, as shown in fig. 10, the front toggle 134 is serrated on a side adjacent to the dispensing tray 12. Specifically, in consideration of the fact that the distance between the small-sized medicines may be too small, and the front shift lever is difficult to be accurately inserted between the medicines, in the present embodiment, the front shift lever 134 is designed in a zigzag manner on the side close to the dispensing tray. This makes the small size medicine can be separated by the sawtooth, is convenient for preceding driving lever accurate insertion medicine.

Alternatively, the diameter of the drug < the serration spacing d < the diameter of the drug x 2.

It should be noted that, as can be understood by those skilled in the art, the front shift lever 134 may also adopt other designs, and the embodiment is not limited.

In one embodiment, as shown in fig. 10, the side of the front toggle lever away from the secondary joint is pointed. Specifically, the head portion of the front shift lever is referred to as a lever head. In order to improve the speed of the shifting rod head for separating the medicines, the shifting rod head can be made thinner so as to be inserted into the medicines.

The control module is illustrated below.

In one embodiment, the control module includes a processing sub-module having processing capabilities, and the capture module is coupled to the processing sub-module. The dispensing robot processes the images or other data shot by the shooting module through the processing submodule, and controls each structure in the dispensing robot to complete operations such as dispensing and the like based on the processing result.

In another embodiment, the control module comprises a processing sub-module and a communication sub-module, the shooting module is connected with the communication sub-module, and the communication sub-module is connected with the cloud, the terminal or the edge server. Specifically, the relevant programs of the medicine distribution robot for executing the medicine distribution and other operations are stored in the cloud, the terminal or the edge server, or distributed in the cloud, the edge server and the terminal as required. The medicine distribution robot sends the images shot by the shooting module to the cloud, the terminal or the edge server through the communication submodule, and the cloud, the terminal or the edge server analyzes the images to generate control instructions. The communication submodule receives the control instructions and transmits the communication submodule to the processing submodule so that the processing submodule controls structures in the dispensing robot to complete dispensing operations and the like based on the control instructions. The communication sub-modules include, but are not limited to, bluetooth, zigBee, wiFi, loRa, GSM, 3G, 4G, 5G, and the like.

In one embodiment, the camera module includes one or more cameras. The condition of the medicines in the medicine distribution working area can be seen through images shot by one or more cameras.

It should be noted that, as can be understood by those skilled in the art, the number and the installation position of the cameras may be determined according to the size of the dispensing robot, and the like, and are not limited herein.

In one embodiment, as shown in fig. 11, the dispensing robot further comprises a light source 20, and the light source 20 may be fixed to the housing 21. Because the light source 20 is arranged in the medicine distribution robot, the ambient brightness of the medicine distribution tray is improved, and the image shot by the shooting module is clearer.

It should be noted that fig. 11 illustrates the position of the light source 20 by taking the light source 20 as an example fixed on the housing 21, in practice, the light source 20 may be disposed at other positions such as the top end of the spindle, and the ambient brightness of the dispensing work area may be increased, which is not limited in this embodiment.

In one embodiment, the dispensing robot further comprises: and the reminding module is connected with the control module and is used for reminding the medicine taking. In particular, the development of medical health industry has allowed many diseases to be treated or controlled, greatly improving human health and extending human life. Many diseases that were originally difficult to cure have become chronic diseases that require long-term treatment. The problem that the medicine can not be taken on time is obvious in the long-term medicine taking process. Meanwhile, the kinds of medicines and health care products to be taken by human beings are increasing, and thus, a problem that the medicines to be taken cannot be taken correctly and completely is caused. Medication compliance refers to the behavior of the patient in compliance with the medication order. The reports of the world health organization show that 50% of the people in the world do not comply, causing huge losses. For example, the efficacy is not expected, and the course of the disease is prolonged; the doctor judges the curative effect wrongly, and the dosage is increased or the dressing is changed; the risk of toxic and side effects is increased; the patient pays a large additional expense; wasting valuable medical resources in society, etc. Each individual in the united states is not dependent on an additional medical expenditure resulting in $ 2100 per year. Cardiovascular disease causes an additional cost of $ 3000 billion per year. Death of 12.5 million people is caused each year because of non-compliance. Worldwide drug enterprises generate 6000 billion dollars of losses each year because of non-compliance. The reasons for the problems of taking medicine are various, and 70% of the reasons are related to the behavior factors of the patients who take the medicine. These behavioral factors also vary widely from person to person. For example, age is different, most of the reasons for old people are forgetting, most of the reasons for middle-aged and young people are busy, most of the reasons for children are careless careers or immature children, and the like. Therefore, the more extensive administration management includes a series of services such as medicine taking reminding, usage amount prompting, rational medicine taking, patient education, follow-up visits, consultation guidance and the like so as to achieve the purposes of improving compliance and improving curative effect, and is the very important last mile in treatment. In view of these problems, in this embodiment, the medicine dispensing robot can automatically dispense each medicine to be taken, remind the user of taking medicine, know whether the user takes medicine, and even access the therapy. The medicine dispensing robot is placed beside a medicine taking person, and like a home care worker, the compliance of the medicine taking person is improved, and the medicine taking risk is prevented.

It should be noted that, as can be understood by those skilled in the art, the dispensing robot may also provide other medical health-related services, such as medication instruction, meal management, lifestyle management, follow-up visit, patient education, remote inquiry, health management service recommendation, follow-up prescription, and the like, depending on the dispensing and medicine taking reminding capabilities, which are not listed in this embodiment.

In one example, the reminding module can be an indicator light, a display screen, a voice player and the like, so that the medicine dispensing robot reminds a user to take medicine by means of light, pictures, sound, video and the like.

It should be noted that the reminding module may also remind the user through other manners. For example, the reminding module is a communication module, the communication module establishes communication connection with a terminal of a user, and reminding is performed by means of information pushing, short message sending, telephone dialing, video calling and the like to the terminal of the user. For another example, the communication module is in communication connection with a third party (such as a medical care service provider), and the third party reminds the user so that the third party can follow up the medicine taking situation of the user. The embodiment is merely an example, and the implementation manner of the reminding module is not limited.

In one example, the dispensing robot performs the dispensing operation first and then performs the reminder operation. The medicine dispensing operation is finished firstly, the user is reminded to take the medicine, and the user does not need to wait for the medicine dispensing robot to finish the medicine dispensing operation.

In another example, the dispensing robot performs the reminding operation first, and then performs the dispensing operation after determining that the user has taken the medicine before through a camera or an infrared sensor. And the medicine is divided after the user is determined to take the medicine, so that the situation that the medicine is not taken by people after the medicine is divided can be reduced.

In one embodiment, as shown in FIG. 12, a first power module 31, a second power module 32, a third power module 33, a fourth power module 34, and a fifth power module 35 are all disposed on the main shaft. For example, the first power module 31 includes a first servo motor and a first gear set, the first gear set is connected to the main joint, the first servo motor drives the first gear set to rotate, and the first gear set drives the main joint to rotate, so that the medicine poking rod rotates. The second power module 32 includes a second servo motor that drives the rotating tray to rotate. The third power module 33 includes a third servo motor, a third gear set, and a first clutch, wherein the third servo motor is connected to the first clutch, and the first clutch is connected to each gear of the third gear set. The fourth power module 34 includes a fourth servo motor and a fourth gear set, the fourth servo motor drives the fourth gear set to rotate, and the fourth gear set is connected with the rotating tray to control the rotating tray to move up and down. The fifth power module 35 includes a fifth servo motor, a fifth gear set and a second clutch, the fifth servo motor is connected to the second clutch, and the second clutch is connected to each gear in the fifth gear set. Wherein, each gear train can include circular gear and linear gear, and servo motor drives circular gear, and circular gear drives linear gear to the equipment that drives linear gear connection reciprocates.

In one embodiment, the dispensing robot can be further equipped with devices such as a heart rate measuring detection module, a body temperature detection module, a blood pressure detection module, a blood sugar detection module and the like, so that more health and treatment services can be provided.

The above embodiments can be combined with each other and cited, for example, the following embodiments are examples after combination, but not limited to this; the embodiments can be arbitrarily combined into a new embodiment without contradiction.

It should be noted that, all the modules mentioned in the above embodiments are logical modules, and in practical applications, a logical unit may be a physical unit, may also be a part of a physical unit, and may also be implemented by a combination of multiple physical units. In addition, in order to highlight the innovative part of the present invention, the above-mentioned embodiments do not introduce elements that are not so closely related to solve the technical problems proposed by the present invention, but this does not indicate that there are no other elements in the above-mentioned embodiments.

The application also provides a visual medicine distribution method based on the visual system of the medicine distribution robot. The vision system includes a shooting module and a vision algorithm (such as an image recognition algorithm), wherein the vision algorithm may be set in the control module, or may be set in a cloud, a terminal, or an edge server. The following description will be given taking the example of the visual dispensing method performed by the dispensing robot as an example. As shown in fig. 13, the visual dispensing method performed by the dispensing robot includes the following steps.

Step 101: a target quantity of the drug is obtained.

Specifically, when dispensing medicine for the first time, the medicine dispensing robot can determine the quantity of the medicines required to be taken by the user based on the medicine taking plan of the user, and take the required quantity of the medicines as the target quantity of the medicines; alternatively, the dispensing robot takes the number of medicines to be taken, which is input by the user, as the target number of medicines. After the medicine is dispensed for the first time, the medicine dispensing robot calculates the target number according to the number of the medicines which need to be taken by the user and the number of the medicines falling to the medicine taking cup each time.

The manner in which the dispensing robot acquires the medication plan will be described below by way of example.

The administration plan includes what drugs are taken, the usage amount of the drugs, the administration time, and the like. The medicine taking plan can be input into the medicine dispensing robot by a user, or can be actively sent to the medicine dispensing robot or a cloud end connected with the medicine dispensing robot by a medical service or health service provider of the user at the cloud end, or a request can be sent to the medical service or health service provider of the user by the medicine dispensing robot or the cloud end, and the medical service or health service provider of the user sends the request to the medicine dispensing robot or the cloud end after receiving the request.

In one example, the manner in which the user enters the medication plan into the dispensing robot includes, but is not limited to:

mode 1: the user puts the identification code on the medicine bottle (can be in any place of the medicine bottle) in the shooting area of the external camera of the medicine dispensing robot. The external camera of the medicine dispensing robot scans the identification code attached to the medicine bottle (which can be anywhere on the medicine bottle) to obtain the medicine taking plan. The external camera is a camera located outside the medicine dispensing robot in a shooting area. The identification code may be a two-dimensional code, a bar code, or the like.

Mode 2: the user places the paper material for recording the medicine taking plan in a shooting area of an external camera of the medicine dispensing robot. The dispensing robot recognizes the medication plan on the paper material using OCR (Optical Character Recognition) technology.

Mode 3: the user interacts with the medicine dispensing robot through a language or a keyboard, and the medicine taking plan is input into the medicine dispensing robot.

Mode 4: the user inputs the medicine taking plan into the terminal, the terminal transmits the medicine taking plan to the medicine distributing robot, or the terminal transmits the medicine taking plan to the cloud, and the cloud issues the medicine taking plan to the medicine distributing robot.

Step 102: the medicine in the medicine storage cup of the medicine distribution robot is pushed to the medicine distribution tray of the medicine distribution robot.

Specifically, the user or the care giver of the user separately and independently loads each medicine (or health care product) to be taken into the medicine storage cup of the medicine dispensing robot.

The manner in which the dispensing robot moves the medicine to the dispensing tray is exemplified below.

In one example, a dispensing robot includes: a main shaft; the medicine distribution tray is connected with the main shaft and is provided with a longitudinal through hole; the medicine poking rod is arranged above the medicine distribution tray and connected with the main shaft; the first power module is connected with the medicine poking rod; and a control module connected to the first power module; the shooting module is connected with the control module; the shooting area of the shooting module comprises an area where the medicine distribution tray is located; the medicine taking cup is arranged below the medicine distribution tray; the rotary tray is connected with the main shaft, the rotary tray is arranged below the medicine distribution tray, and the medicine taking cup is arranged on the rotary tray; the medicine storage cup comprises a medicine storage cup wall and a medicine storage cup movable cup bottom, and the medicine storage cup movable cup bottom is positioned in the medicine storage cup wall; the second power module is connected with the rotating tray and is used for controlling the rotating tray to rotate; the first push rod is connected with the movable cup bottom of the medicine storage cup; and the third power module is connected with the first push rod. The medicine dispensing robot controls the medicine dispensing rod to rotate, and medicines are dispensed from the medicines taken out of the medicine storage cup to the medicine dispensing tray.

In another example, a dispensing robot includes: a main shaft; the medicine distribution tray is connected with the main shaft and is provided with a longitudinal through hole; the medicine poking rod is arranged above the medicine distribution tray and connected with the main shaft; the first power module is connected with the medicine poking rod; and a control module connected with the first power module; the shooting module is connected with the control module; the shooting area of the shooting module comprises an area where the medicine distribution tray is located; the medicine taking cup is arranged below the medicine distribution tray; and, a housing; and the hanging rod and the medicine storage cup, one end of the hanging rod is fixed on the shell, and the other end of the hanging rod is connected with the inclined rod at the bottom of the medicine storage cup. When medicine needs to be taken, the control module of the medicine dispensing robot controls the inclination angle of the inclined rod to pour the medicine onto the medicine dispensing tray 12.

It should be noted that, as can be understood by those skilled in the art, in practical applications, the medicine in the medicine storage cup may also be obtained in other manners, which are not listed in this embodiment.

Step 103: the number of the dialed medicines is identified based on the image photographed by the photographing module.

Step 104: and judging whether the number of the dialed medicines is less than or equal to the target number.

Specifically, if it is determined that the number of medicines to be dialed is equal to or less than the target number, step 105 is executed, otherwise, step 107 is executed.

Step 105: the medicine poking rod of the medicine distribution robot is controlled to poke the poked medicine to a first preset position. The first preset position is the position of the longitudinal through hole.

Step 106: it is determined whether the number of medicines dialed is equal to the target number.

Specifically, if it is determined that the number of the medicines to be dialed is equal to the target number, the medicine dispensing process is ended, and if it is determined that the number of the medicines to be dialed is not equal to the target number, the step 101 is executed again. That is, if the number of the medicines dialed by the medicine dialing rod is exactly equal to the target number, the medicine distributing robot controls the medicine dialing rod to continue rotating until all the medicines are pushed into the medicine taking cup. If the number of the separated medicines is smaller than the target number, the medicine distributing robot controls the medicine poking rod to continue rotating until the medicines are pushed into the medicine taking cup. The medicine dispensing robot continues the next medicine dispensing process. In the next medicine dispensing process, when the medicine dispensing robot acquires the target quantity of the medicines, acquiring the target quantity of the medicines = the quantity of the medicines which need to be taken by the user-the sum of the quantity of the medicines which are divided into medicine taking cups each time; alternatively, the target number of drugs = target number in the previous dispensing process-number of drugs dispensed to the dispensing cup in the previous dispensing process.

Step 107: based on the image of shooting the module shooting, the preceding driving lever and the back driving lever of control group medicine pole remove, draw from dividing medicine tray and get the medicine. Step 105 is then performed.

Through the operation, the medicine dispensing robot can dispense the medicines of the quantity required to be taken by a user to the medicine taking cup by controlling the medicine dispensing rod so as to realize automatic medicine dispensing.

Optionally, the visual dispensing method further comprises: and sending reminding information, wherein the reminding information is used for reminding the medicine taking.

Optionally, the visual dispensing method further comprises: and judging whether the medicine taking cup is in a condition state or not, and if so, recording the medicine taking record of this time so as to record and count the medicine taking condition of the user. The administration record may include the time the medication was taken, the type of medication taken, and the number of medications taken.

Optionally, the medicine taking record of the current time is uploaded to the cloud, so that the cloud can record and count the medicine taking condition of the user conveniently.

In one embodiment, as shown in fig. 14, a visual dispensing method performed by a dispensing robot includes the following steps. Step 201, step 207, step 208, step 209 to step 211 are substantially the same as step 101, step 103, step 104, step 106 and step 107 shown in fig. 13, and the same parts are not repeated herein, and differences are mainly introduced below.

Step 201: a target quantity of the drug is obtained.

Step 202: the rotary tray of the medicine distribution robot is controlled to rotate to a second preset position, and a first push rod of the medicine distribution robot is controlled to push the movable cup bottom of the medicine storage cup to move upwards.

Specifically, when the rotary tray is located at the second preset position, the medicine storage cup of the medicine distribution robot is located below the longitudinal through hole.

Optionally, before the first push rod is controlled to push the movable cup bottom of the medicine storage cup to move upwards, the medicine dispensing robot determines that the rotary tray is located at the rotary position, the rotary tray is controlled to rotate to a second preset position, and when the rotary tray rotates to the second preset position, the medicine storage cup is located below the longitudinal through hole, as shown in fig. 15 a. When the rotary tray is positioned at the second preset position, the medicine storage cup for storing the required medicines is positioned below the longitudinal through hole. The dispensing robot controls the rotary tray to ascend to the dispensing position as shown in fig. 15 b. The medicine dispensing robot controls the first push rod to push the movable cup bottom of the medicine storage cup to move upwards, so that the medicines in the medicine storage cup pass through the longitudinal through hole and reach the upper part of the medicine dispensing tray, as shown in fig. 15 c.

Optionally, divide medicine machine robot control first push rod to promote the medicine storage cup activity bottom of cup rebound, include: determining a first moving distance according to the number of the targets; the first push rod is controlled to push the movable cup bottom to move upwards for a first moving distance. Specifically, when the lifting height of the movable cup bottom of the medicine storage cup is too low, the medicine poked by the medicine poking rod is too small, and the quantity of the needed medicines is not enough; the movable cup bottom of the medicine storage cup is too high in lifting height, so that too many medicines are pulled out by the medicine pulling rod, and the difficulty of pulling out the medicines of a target quantity by the medicine pulling rod is increased. Therefore, the medicine distributing efficiency is affected by the fact that the movable cup bottom of the medicine storage cup rises too high or too low. In order to improve the medicine distribution efficiency, the control module controls the rising height of the movable cup bottom of the medicine storage cup to control the amount of the medicines to be dispensed according to the obtained target quantity, and excessive or insufficient medicines are prevented from being dispensed.

The following exemplifies a manner of determining the first movement distance based on the number of targets.

In a first example, the dispensing robot calculates the first movement distance based on the number of targets and a first constraint relationship between the number of targets and the first movement distance. Optionally, the medicine dispensing robot continuously adjusts the first constraint relation based on the first constraint relation initially set by the research and development personnel and a subsequent medicine dispensing process, so as to improve the accuracy of the first constraint relation.

For example, the medicine dispensing robot adjusts the parameter in the first constraint relationship according to the determination result after determining whether the number of the medicines to be dispensed is equal to or less than the target number. Specifically, the determination result indicates a magnitude relationship between the number of medicines dialed and the target number. If the number of the dialed medicines is larger than the target number, adjusting parameters in the first constraint relation, so that the first moving distance calculated based on the adjusted first constraint relation is smaller than the first moving distance calculated based on the first constraint relation before adjustment aiming at the same target number. If the number of dialed drugs is equal to the target number, the first constraint relationship is not adjusted. If the number of the dialed medicines is smaller than the target and the number, adjusting parameters in the first constraint relation, so that the first moving distance calculated based on the adjusted first constraint relation is larger than the first moving distance calculated based on the first constraint relation before adjustment aiming at the same target number.

For another example, after determining whether the number of the medicines to be dispensed is less than or equal to the target number, the medicine dispensing robot calculates a difference between the number of the medicines to be dispensed and the target number, and adjusts a parameter in the first constraint relation according to the calculated difference. If the difference is greater than 0, for the same target number, the first movement distance calculated based on the adjusted first constraint relationship is smaller than the first movement distance calculated based on the first constraint relationship before adjustment. If the difference is equal to 0, the first constraint relationship is not adjusted. If the difference is smaller than 0, adjusting parameters in the first constraint relationship so that the first moving distance calculated based on the adjusted first constraint relationship is larger than the first moving distance calculated based on the first constraint relationship before adjustment for the same target number.

It should be noted that, as can be understood by those skilled in the art, the first constraint relationship may be a fixed constraint relationship preset by a developer, and the embodiment is not limited.

In a second example, the dispensing robot determines the first movement distance based on the target quantity, information of the medicine, and a second constraint relationship between the target quantity, the information of the medicine, and the first movement distance. Specifically, the information of the medicine includes information such as a volume of the medicine. Due to the fact that different medicines are different in size and the like, for different medicines, when the same target quantity is to be obtained, the heights of the medicines which need to be higher than the dispensing tray are different, namely the first moving distances are different. Therefore, the medicine dispensing robot can store the first moving distance in advance, and the medicine dispensing robot calculates the first moving distance according to the target number, the medicine information and the second constraint relation.

For example, after determining whether the number of the dispensed drugs is equal to or less than the target number, the dispensing robot adjusts the parameters in the second constraint relationship according to the determination result. Specifically, the determination result indicates a magnitude relationship between the number of medicines dialed and the target number. If the number of the medicines to be dialed is larger than the target number, adjusting parameters in the second constraint relationship so that the first moving distance calculated based on the adjusted second constraint relationship is smaller than the first moving distance calculated based on the second constraint relationship before adjustment for the same target number. If the number of the medicines dialed is equal to the target number, the second constraint relationship is not adjusted. If the number of the dialed medicines is smaller than the target and the number, adjusting parameters in the second constraint relation, so that the first moving distance calculated based on the adjusted second constraint relation is larger than the first moving distance calculated based on the second constraint relation before adjustment aiming at the same target number.

For another example, after determining whether the number of the dispensed drugs is less than or equal to the target number, the drug dispensing robot calculates a difference between the number of the dispensed drugs and the target number, and adjusts the parameter in the second constraint relationship according to the calculated difference. If the difference is greater than 0, for the same target number, the first movement distance calculated based on the adjusted second constraint relationship is smaller than the first movement distance calculated based on the second constraint relationship before adjustment. If the difference is equal to 0, the second constraint relationship is not adjusted. If the difference is smaller than 0, adjusting parameters in the second constraint relationship so that the first moving distance calculated based on the adjusted second constraint relationship is larger than the first moving distance calculated based on the second constraint relationship before adjustment for the same target number.

It should be noted that, as can be understood by those skilled in the art, the second constraint relationship may be a fixed constraint relationship preset by a developer, and the embodiment is not limited.

It should be noted that, as can be understood by those skilled in the art, the dispensing robot may also calculate the first moving distance based on other manners, which are not described herein again.

Step 203: the medicine poking rod is controlled to rotate along the first direction.

Specifically, as shown in fig. 16a to 16d, the medicine dispensing robot drives the rear shifting lever, the auxiliary joint and the rear shifting lever to rotate by controlling the main joint, so as to dispense a certain amount of medicines from the medicine storage cup to the B area of the medicine dispensing working area.

Optionally, the start point of the drug-dialing rod is located at one side of the area a when the drug-dialing rod rotates, so as to ensure that the drug-dialing rod sweeps the whole area a. The medicine poking rod integrally rotates along a first direction in a straight line. The medicine poking rod pokes the medicines with proper quantity from the area A of the medicine distribution working area to the area B of the medicine distribution working area. The first direction may be a clockwise direction or a counterclockwise direction, which is not limited herein.

In one example, before the medicine dispensing robot controls the medicine poking rod to rotate along the first direction, the medicine poking speed of the medicine poking rod is determined according to the type of the medicine. Specifically, considering that the shape, weight, external material and friction of each medicine are different, the medicine poking rod can poke the medicine at different medicine poking speeds according to different medicines, so that the medicines are arranged in a preset shape.

Step 204: and judging whether the dialed medicine is arranged in a preset shape.

Specifically, if the dispensing robot determines that the medicines are not arranged in the preset configuration, for example, a straight line, step 205 is performed, and if the dispensing robot determines that the medicines are arranged in the preset configuration, step 206 is performed.

Step 205: and judging whether the medicine poking rod reaches the rotation stop position.

Specifically, owing to be equipped with vertical through-hole in dividing the medicine workspace, when dialling the medicine pole and turning back to vertical through-hole, can lead to the medicine of dialling to drop from vertical through-hole. Therefore, in order to avoid the falling of the medicine, the medicine distribution robot is marked with a rotation stop position in the medicine distribution working area. If the medicine poking rod reaches the rotation stop position, step 206 is executed, and if the medicine poking rod does not reach the rotation stop position, step 203 is continuously executed.

It should be noted that, as can be understood by those skilled in the art, the medicine dispensing robot may learn the rotation stop position of the medicine dispensing working area by learning the image of the medicine dispensing working area with the mark, or may learn the rotation stop position of the medicine dispensing working area by recognizing the mark made on the medicine dispensing working area, which is not listed in this embodiment.

It should be noted that, due to the reasons such as the friction among the medicines, the friction between the medicines and the medicine distribution tray, the shapes of the medicines and the like, when the medicine poking rod rotates to the rotation stop position, the medicines cannot be arranged in a preset shape, however, whether the medicines are arranged in the preset shape or not, the medicines can be arranged in order relatively through poking of the medicine poking rod, and the difficulty of recognizing the quantity of the medicines by a visual system is greatly reduced. For arrangement modes with different forms, the artificial intelligence algorithm can accumulate the experience of finding the optimal entry point through continuous learning and is realized through the matching of the front driving lever and the rear driving lever.

It should be noted that, as will be understood by those skilled in the art, step 204 and step 205 in this embodiment may be selectively implemented, and are not essential steps in this embodiment.

Step 206: the medicine poking rod is controlled to stop rotating.

Step 207: the number of the dialed medicines is identified based on the image photographed by the photographing module.

Step 208: and judging whether the number of the dialed medicines is less than or equal to the target number.

Specifically, if it is determined that the number of medicines to be dialed is equal to or less than the target number, step 209 is executed, otherwise, step 211 is executed.

Step 209: the rotary tray is controlled to rotate to a third preset position, and a medicine poking rod of the medicine distribution robot is controlled to poke the poked medicine to the first preset position. When the rotating tray rotates to a third preset position, the medicine taking cup is positioned below the longitudinal through hole; the first preset position is the position of the longitudinal through hole.

Optionally, before controlling the medicine dispensing rod of the medicine dispensing robot to dispense the dispensed medicine to the first preset position, the method further includes: controlling the rotating tray to rotate to a third preset position; when the rotary tray is located at the third preset position, the medicine taking cup of the medicine distribution robot is located below the longitudinal through hole.

Specifically, the dispensing robot controls the rotary tray to descend to the rotation position, as shown in fig. 17 a. The medicine dispensing robot controls the rotary tray to rotate to a third preset position, and when the rotary tray is located at the third preset position, the medicine taking cup is located below the longitudinal through hole, as shown in fig. 17 b. The dispensing robot controls the rotary tray to ascend to the dispensing position as shown in fig. 17 c. The medicine poking rod pokes the separated medicines to the position of the longitudinal through hole, so that the separated medicines fall into the medicine taking cup. After dispensing is completed, the dispensing robot controls the rotary tray to descend to the rotating position, as shown in fig. 17 d.

It should be noted that, in fig. 17a to 17d, the lifting process of the medicine storage cup and the medicine taking cup is illustrated by taking the medicine taking cup and the medicine storage cup as an example, and in practice, the lifting of the medicine storage cup or the medicine taking cup may be controlled independently.

Step 210: it is determined whether the number of medicines dialed is equal to the target number. If the number of the medicines to be dialed is determined to be equal to the target number, the medicine distribution process is ended, and if the number of the medicines to be dialed is determined not to be equal to the target number, the step 201 is executed again.

Step 211: based on the image of shooting the module shooting, the preceding driving lever and the back driving lever of control group medicine pole remove, draw from dividing medicine tray and get the medicine.

In one example, the medicine dispensing robot determines a first angle and a second angle based on an image shot by the shooting module; controlling the medicine poking rod to rotate by a first angle along a second direction; wherein the second direction is opposite to the first direction; the front shifting rod of the medicine shifting rod is controlled to rotate a second angle along the first direction; the medicine poking rod is controlled to rotate along the first direction to scratch and take the medicine. If the first direction is clockwise, the second direction is anticlockwise; if the first direction is counterclockwise, the second direction is clockwise.

Specifically, if the number of medicines dialed by the medicine dialing rod is larger than the target number, the front dialing rod and the rear dialing rod are matched to dispense medicines. As shown in fig. 18a, under the guidance of the vision system, the front shift lever and the rear shift lever are first rotated by a first angle along a second direction, i.e. the current rotation direction is opposite to the rotation direction of the medicine-dialing rod during the medicine-dialing process described in step 203. Then, the auxiliary joint drives the front shifting lever to rotate by a second angle along the first direction, that is, the rotation direction is the same as the rotation direction of the medicine-poking rod in the medicine-poking process described in step 203, so that the front shifting lever and the rear shifting lever form a certain angle. Finally, the secondary joint is immobilized and the primary joint is rotated in the forward direction to complete the dispensing, as shown in FIG. 18 b.

Alternatively, determining the first angle and the second angle based on the image photographed by the photographing module includes: determining medicine dialing information according to the image shot by the shooting module; the medicine dialing information comprises any one or any combination of a distribution area of the medicines, a volume of the medicines, the number of the medicines and a target number; determining a first angle according to the medicine dialing information and a third constraint relation between the medicine dialing information and the first angle; and determining the second angle according to the medicine dialing information and the fourth constraint relation between the medicine dialing information and the second angle. For example, a third constraint relation between the medicine dialing information and the first angle is established in advance, and the medicine dispensing robot calculates the first angle based on the third constraint relation and the medicine information. Calculate first angle based on dialling medicine information for first angle is more applicable to the present medicine of segmentation, improves branch medicine efficiency.

It should be noted that, as can be understood by those skilled in the art, the first angle may also be a preset angle, and the embodiment is not limited.

It should be noted that, in the process of dispensing, the vision system may command the main joint and the auxiliary joint to perform fine adjustment according to the condition of the medicine on the dispensing work area, so as to find a better cutting angle.

Step 212: and controlling the rotary tray to rotate to a second preset position or a fourth preset position, and controlling the medicine poking rod to rotate to a first preset position along the direction of the rest medicines. Step 209 is then performed.

Specifically, when the rotary tray is located at the fourth preset position, the waste medicine cup of the medicine distribution robot is located below the longitudinal through hole. The auxiliary joint drives the front driving lever to rotate along a second direction, so that the front driving lever and the rear driving lever return to a straight line again. As shown in fig. 19 a. Then, the main joint drives the drug-pulling rod to rotate along the second direction, and the redundant drugs are pulled back to the drug storage cup, as shown in fig. 19b and 19 c. And finally, the control module controls the rotary tray to rotate to a third preset position, and controls the medicine poking rod to poke the poked medicine to the position of the longitudinal through hole. For example, as shown in fig. 20 a-20 c, the drug-dialing rod is rotated in a first direction to dial the dialed medicine to the location of the longitudinal through hole. For another example, as shown in fig. 21a to 21c, the drug-dialing rod rotates along the second direction to dial the dialed medicine to the position of the longitudinal through hole.

Optionally, before the medicine poking rod is controlled to rotate to the first preset position along the direction of the rest medicines, the medicine distribution robot controls the front poking rod to rotate by a second angle along the second direction.

It should be noted that, as those skilled in the art can understand, step 212 in this embodiment can be selectively implemented, and step 212 is not a necessary step of this embodiment. If step 212 is not performed, after step 211 is not performed, step 209 is performed.

In one embodiment, as shown in fig. 22, a visual dispensing method performed by a dispensing robot includes the following steps. Wherein, steps 301 to 312 are substantially the same as steps 201 to 212 of the visual medicine dispensing method shown in fig. 14, and are not repeated here.

Step 301: a target quantity of the drug is obtained.

Step 302: the rotary tray of the medicine distribution robot is controlled to rotate to a second preset position, and the first push rod is controlled to push the movable cup bottom of the medicine storage cup to move upwards.

Step 303: the medicine poking rod is controlled to rotate along the first direction.

Step 304: and judging whether the dialed medicine is arranged in a preset shape.

Specifically, if the control module determines that the medicine is not arranged in the predetermined configuration, for example, a straight line, step 305 is performed, and if the control module determines that the medicine is arranged in the predetermined configuration, step 306 is performed.

Step 305: and judging whether the medicine poking rod reaches the rotation stop position.

Specifically, if the drug-dialing rod reaches the rotation stop position, step 306 is executed, and if the drug-dialing rod does not reach the rotation stop position, step 303 is executed.

Step 306: the medicine poking rod is controlled to stop rotating.

Step 307: the number of medicines dialed out is identified based on the image taken by the camera module.

Step 308: and judging whether the number of the dialed medicines is less than or equal to the target number.

Specifically, if it is determined that the number of medicines to be dialed is equal to or less than the target number, step 309 is executed, otherwise, step 311 is executed.

Step 309: the rotary tray is controlled to rotate to a third preset position, and a medicine poking rod of the medicine distribution robot is controlled to poke the poked medicine to the first preset position. When the rotating tray rotates to a third preset position, the medicine taking cup is positioned below the longitudinal through hole; the first preset position is the position of the longitudinal through hole.

Step 310: it is determined whether the number of medicines dialed is equal to the target number. If the number of the medicines to be dialed is determined to be equal to the target number, the medicine distribution process is ended, and if the number of the medicines to be dialed is determined not to be equal to the target number, the step 301 is executed again.

Step 311: based on the image of shooting the module shooting, the preceding driving lever and the back driving lever of control group medicine pole remove, draw from dividing medicine tray and get the medicine.

Step 312: and controlling the rotary tray to rotate to a second preset position, and controlling the medicine poking rod to rotate to a first preset position along the direction of the rest medicines.

Step 313: the number of the scribed medicines is identified based on the image photographed by the photographing module.

Step 314: it is determined whether the number of scribed drugs is equal to the target number.

Specifically, if the dispensing robot determines that the number of the medicines drawn is equal to the target number, step 315 is performed, otherwise, step 316 is performed.

Step 315: and controlling the rotary tray to rotate to a third preset position, and controlling the medicine poking rod to poke the scratched medicine to the first preset position. The flow is then ended.

Step 316: it is determined whether the number of the drawn medicines is smaller than the target number.

Specifically, the control module performs step 317 if it is determined that the number of the medicines to be drawn is less than the target number, otherwise, performs step 311.

Step 317: and controlling the rotary tray to rotate to a third preset position, and controlling the medicine poking rod to poke the scratched medicine to the first preset position. Step 301 is then performed.

It should be noted that steps 301 to 317 are a dispensing process, and when the step 317 is returned to execute step 301, the dispensing robot starts the next dispensing process of the current medicine. At this time, the medicine dispensing robot acquires the target number of medicines = the sum of the number of medicines that the user needs to take-the number of medicines that are drawn to the medicine taking cup each time; alternatively, the target number of drugs = target number in the previous dispensing process-number of drugs dispensed to the dispensing cup in the previous dispensing process.

In this embodiment, the concept of "divide-and-conquer" used in the embodiment can make up for the inaccuracy of the dispensing result caused by the low precision of the hardware of the dispensing robot. Namely, the accuracy of the dispensing result is improved by continuous repetition.

In one embodiment, the vision system, including the camera and vision algorithms, may also perform operations including, but not limited to:

operation 1: and (5) identifying the medicine. Specifically, when the medicine is filled into the medicine storage cup, the visual system can confirm that the filled medicine is correct by comparing the appearance, the color and the like of the medicine.

It should be noted that the drug identification can also be performed in other ways, for example, by a precise detection instrument, such as a raman spectroscopy detector.

Operation 2: and (5) detecting the medicine residual quantity. Specifically, the vision system detects the medicine in the medicine storage cup. When the number of the medicines is less than a certain preset interval, the visual system can inform a user (a medicine taking person or a nursing person) to supplement the medicines, and can also directly send a follow-up order to a pharmacy.

Operation 3: and detecting the height of the medicine in the medicine distribution working area. Specifically, when pushing up the medicine, vision system can shoot the image of branch medicine workspace to send to control module or high in the clouds, control module or high in the clouds can predict the quantity that exceeds the planar medicine of branch medicine tray place according to the shape and the accumulational form of the medicine in the image, and control module or high in the clouds is based on the quantity of the planar medicine of branch medicine tray place, and the first push rod of control stops promoting.

And operation 4: the vision system shoots the image of the interior of the medicine taking cup and confirms whether the number of the taken medicines is correct or not based on the image of the interior of the medicine taking cup. Alternatively, the image of the interior of the medication cup may be saved as a record.

Operation 5: in the first medicine distributing process, before the dialed medicine is placed in the medicine taking cup, whether the medicine taking cup is empty or not is confirmed. If the medicine taking cup is not empty, the medicine which is separated last time may not be eaten, and the medicine taking cup is emptied by operating the second push rod and the medicine poking rod.

And operation 6: the vision system has a medicine identification function. When the medicines in the medicine taking cup are not taken, the medicines in the medicine taking cup can be pushed to the medicine distribution tray, and then the medicines are identified based on the characteristics of the medicines such as shape and color. Optionally, in order to improve the recognition efficiency, other medicine detection efforts, such as a raman spectrum detector, can be added in the medicine dispensing robot. Based on the identification result, the medicine is separated out through the medicine poking rod and is respectively poked into the corresponding medicine storage cups.

The present application further provides a dispensing system, as shown in fig. 23, the dispensing system including: the dispensing robot 41, a cloud 42 connected to the dispensing robot 41 in communication, and a medical service providing device 43 connected to the dispensing robot 41 in communication. The dispensing robot 41 is an executing mechanism for dispensing and reminding, and provides the dispensing and reminding services mentioned in the above embodiments. The cloud 42 is responsible for training the dispensing robot, providing customized reminder capabilities, and providing medical services to the device 43. The medical service providing apparatus 43 provides information on the medication. Because the dispensing robot 41 is connected with the cloud 42, a more complex program can be transferred to the cloud 42 for execution, the medicine taking records of the user can be stored through the cloud, and external information can be acquired through the cloud 42. Since the dispensing robot 41 is connected to the medical service providing device 43, the dispensing robot 41 can adjust the dispensing service in time based on the information of the medical service provider.

It should be noted that, in the above embodiment, the dispensing system includes the cloud 42 and the medical service providing device 43 as an example, and in practical application, the dispensing system may also include the cloud 42 or the medical service providing device 43, which is not limited in this embodiment.

It should be noted that, in fig. 23, the dispensing robot 41 and the medical service providing device 43 are described as an example of direct communication connection, in practical applications, the dispensing robot 41 may also be connected to the medical service providing device 43 through the cloud 42 in a communication manner, and after dispensing, the yellow paper 41, the cloud 42, and the medical service providing device 43 may also be connected to each other in a communication manner, which is not limited in this embodiment.

In one embodiment, as shown in fig. 24, a dispensing system includes: a dispensing robot 41, a cloud 42, a user terminal 44 and a medical service providing device 43. The dispensing robot 41 is an executing mechanism for dispensing and reminding, and provides the dispensing and reminding services mentioned in the above embodiments. The cloud 42 is responsible for training the dispensing robot, providing customized reminder capabilities, connecting the user terminal 44 and the medical service providing device 43. The user terminal 44 (e.g. APP, sms, phone call on the patient side) is the execution mechanism for the reminder and the input mechanism for the information related to taking medicine. The medical service providing apparatus 43 provides information on the medication.

The interaction of each end within the dispensing system is illustrated below.

In a first example, when the remaining amount of the medicine in the medicine cup of the dispensing robot 41 is smaller than a predetermined interval, that is, when the medicine of the user is about to be consumed, the dispensing robot 41 notifies the cloud 42. The cloud 42 notifies the pharmacy terminal of the medical service providing device 43 to realize automatic prescription continuation.

In the second example, after the user's examination result comes out, the dispensing robot 41 transmits the examination result to the cloud 42, the cloud 42 determines whether to notify the doctor of the examination result according to the user instruction or a preset examination result transmission rule, and transmits the examination result to the doctor terminal of the medical service providing device 43 if necessary, so that the doctor can determine the treatment effect and decide whether to adjust the treatment plan.

In one embodiment, the dispensing robot may interact with other service robots, connected via short-range network technologies such as bluetooth and WiFi, or connected via wide-area network technologies such as cellular network. For example, the dispensing robot may cooperate with a care robot to care for the patient. For another example, after the dispensing robot dispenses the medicine, the dispensing robot picks up the dispensed medicine and delivers it to the user, or even the dispensing robot can be placed in the body of the dispensing robot. As another example, the dispensing robot may share the voice conversation capabilities of other service robots. The interaction modes of the dispensing robot and other service robots are not listed.

In one embodiment, the connection of the user terminal, the dispensing robot, the medical service providing device and the cloud may be achieved through various wide area network technologies. For example, the method is realized through a 5G network, and when the method is realized through a 5G slicing private network, privacy protection and safety of key data such as medical health and the like can be realized, and quality of service (QoS) is guaranteed.

In one embodiment, because the dispensing robot is connected to the medical service providing device, the dispensing robot may have functions including, but not limited to, the following in addition to dispensing and reminding of taking medicine.

Function 1: and the medicine dispensing robot stops providing the medicine indicated by the medicine stopping instruction for the user according to the medicine stopping instruction of the medical service providing device or the medicine enterprise. Specifically, due to the medicine itself or some problems occurring during the treatment process, the medical service providing device or the medicine enterprise needs to ensure that the user stops taking the medicine, and then a medicine stopping instruction can be sent to the medicine dispensing robot.

Function 2: the medicine dispensing robot can assist in completing medicine prescription continuation. Specifically, when the user is about to eat up the medicines, the medicine dispensing robot informs the user according to prescription information, and the user selects a medicine purchase service provider according to a prompt to complete a follow-up; or according to the setting of the user, a certain medicine purchase service provider is informed to automatically continue the prescription.

Function 3: the dispensing robot assists the medical provider in communicating with the user. Specifically, when the medical service providing device needs to communicate with the user, for example, the user needs to complete a certain scale, the user needs to follow up, the user needs to perform video communication with the user once, or the user needs to be prompted to measure a biological index, and the like, the dispensing robot can complete the communication through its own interactive interface.

The medicine dispensing robot provided by the embodiment of the application has good application in CRO clinical tests. Firstly, the medicine dispensing robot can remind people to take medicine on time, so that the cost is saved, the compliance is improved, and the accuracy of a test result is ensured. Secondly, the robot can record the medicine taking behaviors of the testee, on one hand, the visual system of the medicine distributing robot confirms whether the testee takes medicine or not, on the other hand, the medicine taking behaviors of the testee are recorded as evidence data records, and the evidence data records are stored in the cloud end in an encrypted or unencrypted mode according to needs. Thirdly, the medicine dispensing robot provides strong interaction capability with the subject, such as voice interaction capability based on NLP, video conference capability provided by a screen and a camera, input and output capability provided by the screen, and the like, and can meet the requirements of follow-up visits, scales, data records and the like of clinical tests based on OCR, image recognition, character and picture recognition capability of the camera, and the like. The fourth, it need not artificial intervention to divide medicine robot, can continuously observe the patient, can let the experimenter accomplish the experiment at home, has improved clinical experiment's ductility greatly, the cost is reduced.

An embodiment of the present application further provides a computer-readable storage medium storing a computer program. The computer program realizes the above-described method embodiments when executed by a processor.

It will be understood by those of ordinary skill in the art that the foregoing embodiments are specific examples for carrying out the invention, and that various changes in form and details may be made therein without departing from the spirit and scope of the invention in practice.

Claims

1. A dispensing robot, comprising:

a main shaft; and the number of the first and second groups,

the medicine distribution tray is connected with the main shaft and is provided with a longitudinal through hole; and the number of the first and second groups,

the medicine poking rod is arranged above the medicine distribution tray and connected with the main shaft; and the number of the first and second groups,

the first power module is connected with the medicine poking rod; and the number of the first and second groups,

a control module connected with the first power module; and the number of the first and second groups,

the shooting module is connected with the control module; the shooting area of the shooting module comprises the area where the medicine distribution tray is located; and the number of the first and second groups,

the medicine taking cup is arranged below the medicine distribution tray.

2. The dispensing robot of claim 1, further comprising:

the rotary tray is connected with the main shaft, the rotary tray is arranged below the medicine distribution tray, and the medicine taking cup is arranged on the rotary tray; and (c) a second step of,

the medicine storage cup comprises a medicine storage cup wall and a medicine storage cup movable cup bottom, and the medicine storage cup movable cup bottom is positioned in the medicine storage cup wall; and (c) a second step of,

the second power module is connected with the rotating tray and is used for controlling the rotating tray to rotate; and the number of the first and second groups,

the first push rod is connected with the movable cup bottom of the medicine storage cup; and the number of the first and second groups,

and the third power module is connected with the first push rod.

3. The dispensing robot of claim 2, further comprising: and the fourth power module is connected with the rotary tray and is used for controlling the rotary tray to ascend and descend.

4. The dispensing robot of claim 3, wherein a cover or plug is provided under the dispensing tray to mate with the medicine storage cup; or the lower surface layer of the medicine distribution tray is a flexible layer.

5. The dispensing robot of claim 2, wherein the medicine taking cup comprises a medicine taking cup wall and a movable medicine taking cup bottom, and the movable medicine taking cup bottom is located in the medicine taking cup wall;

the dispensing robot further comprises:

the second push rod is connected with the movable cup bottom of the medicine taking cup; and the number of the first and second groups,

and the fifth power module is connected with the second push rod.

6. The dispensing robot of claim 5, further comprising: a waste medicine cup arranged above the rotary tray.

7. The dispensing robot of claim 1, wherein the dial bar comprises:

a primary joint connected with the first power module; and (c) a second step of,

the rear deflector rod is connected with the main joint; and the number of the first and second groups,

the auxiliary joint is connected with the rear deflector rod; and (c) a second step of,

the front deflector rod is connected with the auxiliary joint;

the main joint drives the rear driving lever, the auxiliary joint and the front driving lever to integrally rotate, and the auxiliary joint drives the front driving lever to rotate.

8. The dispensing robot of claim 7, wherein the front shifter lever is serrated on a side thereof adjacent to the dispensing tray.

9. The dispensing robot of claim 1, further comprising: an annular breast plate;

the annular breast board is arranged above the medicine distribution tray, and the circle center of the annular breast board is superposed with the main shaft; a transverse through hole is formed in one side, close to the medicine distribution tray, of the medicine poking rod, and the annular baffle plate penetrates through the transverse through hole; or,

the medicine distribution tray is provided with an annular slide rail, and the annular breast board is connected with the annular slide rail so as to be convenient for the annular breast board to rotate along the annular slide rail; the annular breast board is provided with an opening, and the medicine poking rod is arranged in the opening.

10. The dispensing robot of claim 1, further comprising: and the reminding module is connected with the control module and used for reminding the medicine dispensing robot to take medicine.

11. A visual dispensing method applied to the dispensing robot or the device communicatively connected to the dispensing robot according to any one of claims 1 to 10, the visual dispensing method comprising:

acquiring a target quantity of the medicine;

the medicines in the medicine storage cup of the medicine distribution robot are pushed to a medicine distribution tray of the medicine distribution robot;

identifying the number of the dialed medicines based on the image shot by the shooting module;

judging whether the number of the dialed medicines is less than or equal to the target number;

if yes, controlling a medicine poking rod of the medicine distribution robot to poke the poked medicine to a first preset position; the first preset position is the position of a longitudinal through hole in the medicine distribution tray; judging whether the number of the dialed medicines is equal to the target number or not; if the quantity of the dialed medicines is not equal to the target quantity, returning to the step of acquiring the target quantity of the medicines;

if the medicine dispensing tray is determined not to be the medicine dispensing tray, the front shifting lever and the rear shifting lever of the medicine dispensing rod are controlled to move based on the image shot by the shooting module, and medicines are dispensed from the medicine dispensing tray.

12. The visual medicine dispensing method of claim 11, wherein before the identifying the number of the medicines dialed based on the image captured by the capturing module, further comprising:

judging whether the dialed medicine is arranged into a preset shape or not;

if yes, executing the step of identifying the number of the dialed medicines based on the image shot by the shooting module;

if not, judging whether the medicine poking rod reaches a rotation stop position, if so, controlling the medicine poking rod to stop rotating, and executing the step of recognizing the number of the poked medicines based on the image shot by the shooting module; if the determination is not yes, the medicine poking rod is controlled to rotate along the first direction.

13. The visual dispensing method of claim 12, further comprising, before the controlling the rotation of the paddle in the first direction:

and determining the medicine drawing speed of the medicine drawing rod according to the type of the medicine.

14. The visual medicine dispensing method of claim 11, wherein the dialing the medicine in a medicine storage cup of the medicine dispensing robot to a medicine dispensing tray of the medicine dispensing robot comprises:

controlling the rotary tray of the medicine dispensing robot to rotate to a second preset position; when the rotary tray is located at the second preset position, the medicine storage cup of the medicine distribution robot is located below the longitudinal through hole;

a first push rod of the medicine distribution robot is controlled to push the movable cup bottom of the medicine storage cup to move upwards;

the medicine poking rod is controlled to rotate along the first direction so as to poke out the medicines in the medicine storage cup.

15. The visual medicine dispensing method of claim 14, wherein before the controlling a medicine dispensing rod of the medicine dispensing robot to dispense the dispensed medicine to a first preset position, the method further comprises:

controlling the rotating tray to rotate to a third preset position; when the rotary tray is located at the third preset position, the medicine taking cup of the medicine distribution robot is located below the longitudinal through hole.

16. The visual medicine dispensing method of claim 15, wherein after the medicine is dispensed from the medicine dispensing tray by controlling a front lever and a rear lever of the medicine dispensing rod to move based on the image photographed by the photographing module, the method further comprises:

controlling the rotating tray to rotate to a second preset position or a fourth preset position; when the rotary tray is located at the fourth preset position, the waste medicine cup of the medicine distribution robot is located below the longitudinal through hole;

and controlling the medicine poking rod to rotate to the first preset position along the direction of the rest medicines.

17. The visual medicine dispensing method of claim 16, wherein after the controlling the medicine poking rod to rotate to the first preset position along the direction of the remaining medicine, the method further comprises:

identifying the number of the drawn medicines based on the image shot by the shooting module;

judging whether the number of the drawn medicines is equal to the target number or not;

if yes, controlling the rotary tray to rotate to a third preset position, and controlling the medicine poking rod to poke the scratched medicine to the first preset position;

if not, judging whether the number of the drawn medicines is smaller than the target number; if the number of the scratched medicines is determined to be smaller than the target number, controlling the rotary tray to rotate to the third preset position, controlling the medicine poking rod to poke the scratched medicines to the first preset position, and returning to the step of acquiring the target number of the medicines; and if the number of the scratched medicines is determined to be larger than the target number, returning to execute the step of scratching the medicines from the medicine distributing tray based on the image shot by the shooting module, controlling the front poking rod and the rear poking rod of the medicine poking rod to move.

18. The visual medicine dispensing method of claim 14, wherein the controlling the first push rod of the medicine dispensing robot to push the movable cup bottom of the medicine storage cup to move upwards comprises:

determining a first moving distance according to the target number;

and controlling the first push rod to push the movable cup bottom to move upwards for the first movement distance.

19. The visual medicine distribution method of claim 18, wherein the determining a first movement distance according to the target number comprises:

calculating the first moving distance according to the target number and a first constraint relation between the target number and the first moving distance; or,

determining the first moving distance according to the target quantity, the information of the medicines and a second constraint relation between the target quantity, the information of the medicines and the first moving distance; the information of the drug includes a volume of the drug.

20. The visual medicine dispensing method of claim 19, wherein after the determining whether the number of the dialed medicine is less than or equal to the target number, further comprising:

adjusting parameters in the first constraint relation or the second constraint relation according to a judgment result; or,

calculating the difference between the number of the dialed medicines and the target number; and adjusting parameters in the first constraint relation or the second constraint relation according to the calculated difference.

21. The visual medicine dispensing method of claim 11, wherein the controlling a front shifter and a rear shifter of the medicine dispensing rod to move based on the image photographed by the photographing module to dispense the medicine from the medicine dispensing tray comprises:

determining a first angle and a second angle based on the image shot by the shooting module;

controlling the medicine poking rod to rotate by the first angle along a second direction;

controlling a front shifting rod of the medicine shifting rod to rotate a second angle along a first direction;

controlling the medicine poking rod to rotate along a first direction to scratch and fetch medicines; wherein the first direction and the second direction are opposite in direction.

22. The visual medicine distribution method of claim 21, wherein the determining a first angle and a second angle based on the image captured by the capture module comprises:

determining medicine dialing information according to the image shot by the shooting module; the medicine dialing information comprises any one or any combination of a distribution area of the medicines, a volume of the medicines, the number of the medicines and the target number;

determining a first angle according to the medicine dialing information and a third constraint relation between the medicine dialing information and the first angle;

and determining the second angle according to the medicine dialing information and a fourth constraint relation between the medicine dialing information and the second angle.

23. A dispensing system, comprising: the dispensing robot of any one of claims 1-10, and a cloud in communication with the dispensing robot, and/or a medical service providing device in communication with the dispensing robot.

24. A computer-readable storage medium, in which a computer program is stored, which, when being executed by a processor, carries out a visual medication dispensing method according to any one of claims 11 to 12.