CN-121990353-A - Method and device for transferring medicine barrels, storage medium, electronic equipment and product

CN121990353ACN 121990353 ACN121990353 ACN 121990353ACN-121990353-A

Abstract

The application discloses a transfer method and a transfer device of a medicine barrel, a storage medium, electronic equipment and a product, and relates to the technical field of motion control of medical robots, wherein the method comprises the steps of monitoring working states of a plurality of sub-pipelines on a main pipeline in real time; for any one of the first sub-pipelines with the working state of blocking, the mechanical arm is controlled to transfer the first medicine barrel on the first sub-pipeline to the temporary storage area, and the operation on the first medicine barrel is continued in the temporary storage area, wherein the first medicine barrel is the first medicine barrel on the first sub-pipeline, and the mechanical arm is controlled to transfer the first medicine barrel to the first sub-pipeline again under the condition that the operation of the first medicine barrel in the temporary storage area is monitored. Therefore, the problem that in the related art, a plurality of medicine barrels are transmitted on the assembly line according to the order of work orders, and when the assembly line is delayed or operated for a long time due to the operation of the single medicine barrel, the assembly line is easy to block is solved.

Inventors

ZHOU JINGWEI
XIE JIA
WANG JINWEI
Cai Gu
JIAO YI
CHEN HONG

Assignees

成都宇亨智能科技有限公司

Dates

Publication Date: 20260508
Application Date: 20260320

Claims (10)

1. A method of transferring a drug cartridge, comprising: monitoring the working states of a plurality of sub-pipelines on a main pipeline in real time; For any first sub-assembly line with the working state being a blocking state in the plurality of sub-assembly lines, controlling a mechanical arm to transfer a first medicine barrel on the first sub-assembly line to a temporary storage area, and continuing to operate the first medicine barrel in the temporary storage area, wherein the first medicine barrel is the first medicine barrel on the first sub-assembly line; And under the condition that the first medicine barrel is monitored to finish operation in the temporary storage area, controlling the mechanical arm to transfer the first medicine barrel to the first sub-assembly line again.
2. The method of claim 1, wherein after monitoring the operating states of the plurality of sub-pipelines on the main pipeline in real time, the method further comprises: determining whether a plurality of first medicines in the first medicine barrel are in insufficient stock for a second sub-pipeline for supplementing medicines to the medicine barrel in the plurality of sub-pipelines, wherein the medicines of the plurality of first medicines are different in category; and determining that the first medicine barrel causes the second sub-assembly line to be in the blocking state under the condition that the second medicine inventory is insufficient in the plurality of first medicines.
3. The method of claim 1, wherein after monitoring the operating states of the plurality of sub-pipelines on the main pipeline in real time, the method further comprises: Determining first decoction time of a plurality of first medicines in the first medicine barrel and second decoction time of a plurality of third medicines in a second medicine barrel for a third sub-assembly line for first decoction of the medicines in the plurality of sub-assembly lines, wherein the second medicine barrel is the second medicine barrel on the third sub-assembly line, the first decoction time is total time for first decoction of the plurality of first medicines, and the second decoction time is total time for first decoction of the plurality of third medicines; And under the condition that the first decoction time is longer than the second decoction time and the time difference between the first decoction time and the second decoction time is longer than or equal to a preset threshold value, determining that the first medicine barrel causes the third sub-assembly line to be in the blocking state.
4. The method of claim 1, wherein after the controlling the robotic arm to transfer the first drug cartridge on the first sub-line to the staging area, the method further comprises: Modifying the operation state of the first medicine barrel into a temporary storage state, wherein the temporary storage state is used for indicating that the operation of the first medicine barrel is continued in the temporary storage area; And under the condition that the first medicine barrel is monitored to finish the operation in the temporary storage area, modifying the operation state into a finishing state.
5. The method of claim 1, wherein controlling the robotic arm to re-transfer the first drug cartridge to the first sub-pipeline comprises: Sending a control instruction to the mechanical arm, wherein the control instruction is used for instructing the mechanical arm to transfer the first medicine barrel from the temporary storage area to an outlet of the first sub-assembly line; determining whether the mechanical arm executes the control instruction within a preset time; and under the condition that the mechanical arm does not execute the control instruction within the preset time, sending the control instruction to the mechanical arm again so as to control the mechanical arm to transfer the first medicine barrel from the temporary storage area to the outlet of the first sub-assembly line.
6. The method of claim 1, wherein after controlling the robotic arm to re-transfer the first drug cartridge to the first sub-pipeline, the method further comprises: Modifying the operation state of the first medicine barrel into a state to be rechecked, wherein the state to be rechecked is used for indicating the rechecked of the operation completion condition of the first medicine barrel; and controlling the first medicine barrel to flow back to the main pipeline under the condition that the rechecking result of the first medicine barrel indicates that the first medicine barrel rechecks to pass.
7. A transfer device for a medicine cartridge, comprising: the monitoring module is used for monitoring the working states of a plurality of sub-pipelines on the main pipeline in real time; The first transfer module is used for controlling the mechanical arm to transfer a first medicine barrel on the first sub-assembly line to a temporary storage area for any first sub-assembly line with the working state being a blocking state in the plurality of sub-assembly lines, and continuing to operate the first medicine barrel in the temporary storage area, wherein the first medicine barrel is the first medicine barrel on the first sub-assembly line; and the second transfer module is used for controlling the mechanical arm to transfer the first medicine barrel to the first sub-assembly line again under the condition that the first medicine barrel is monitored to finish operation in the temporary storage area.
8. A computer-readable storage medium, characterized in that the computer-readable storage medium comprises a stored program, wherein the program when run performs the method of any one of claims 1 to 6.
9. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, characterized in that the processor implements the steps of the method of any of claims 1 to 6 when the computer program is executed.
10. A computer program product comprising a computer program, characterized in that the computer program, when executed by a processor, implements the steps of the method according to any one of claims 1 to 6.

Description

Method and device for transferring medicine barrels, storage medium, electronic equipment and product Technical Field The application relates to the technical field of medical robot motion control, in particular to a medicine barrel transferring method and device, a storage medium, electronic equipment and a product. Background In the conventional operation of a drug-decocting center, a typical drug-decocting assembly line adopts a serial circulation mode, namely, after a drug barrel is loaded with a work order, specific drug-decocting steps are completed on the assembly line according to the sequence of the work order. However, in actual operation, a blockage tends to occur in certain specific sub-lines. For example, in a manual medicine supplementing area, if emergency conditions such as insufficient medicine inventory, delayed medicine supplementing ingredients and the like are met when a medicine barrel reaches a medicine supplementing station, medicine supplementing operation cannot be completed immediately, and queuing backlog of a sub-assembly line is caused. In the previous decoction area, because of large difference of the previous decoction time length of different medicine barrels, the medicine barrels decocted for a long time can continuously occupy the core station of the sub-assembly line, so that the short-time medicine barrels waiting at the rear cannot quickly execute the operation of the sub-assembly line, and the sub-assembly line is blocked. In the related art, a plurality of medicine barrels are transmitted on a production line according to the order of worksheets, when the production line is delayed or operated for a long time due to the operation of a single medicine barrel, the problem that the production line is blocked easily is solved, and no effective solution is proposed at present. Accordingly, there is a need for improvements in the related art to overcome the drawbacks of the related art. Disclosure of Invention The embodiment of the application provides a medicine barrel transferring method and device, a storage medium, electronic equipment and a product, which at least solve the problem that in the related art, a plurality of medicine barrels are transmitted on a production line according to the order of work orders, and when the production line is delayed or operated for a long time due to the operation of a single medicine barrel, the production line is easy to be blocked. According to one aspect of the embodiment of the application, a transfer method of a medicine barrel is provided, which comprises the steps of monitoring working states of a plurality of sub-pipelines on a main pipeline in real time, controlling a mechanical arm to transfer a first medicine barrel on the first sub-pipeline to a temporary storage area for continuing to operate the first medicine barrel on the temporary storage area, and controlling the mechanical arm to transfer the first medicine barrel to the first sub-pipeline when the first medicine barrel is monitored to finish operation in the temporary storage area. In an exemplary embodiment, after monitoring the working states of the sub-pipelines on the main pipeline in real time, the method further comprises determining whether a plurality of first medicines in the first medicine barrels are in shortage or not for a second sub-pipeline for supplementing medicines in the plurality of sub-pipelines, wherein the medicines of the plurality of first medicines are different in category, and determining that the first medicine barrels cause the second sub-pipeline to be in the blocking state under the condition that the second medicines in the plurality of first medicines are in shortage is determined. In an exemplary embodiment, after monitoring the working states of the plurality of sub-pipelines on the main pipeline in real time, the method further comprises determining, for a third sub-pipeline for pre-decocting the medicines in the plurality of sub-pipelines, a first pre-decoction time of the plurality of first medicines in the first medicine tank and a second pre-decoction time of the plurality of third medicines in the second medicine tank, wherein the second medicine tank is a second medicine tank on the third sub-pipeline, the first pre-decoction time is a total time for pre-decocting the plurality of first medicines, the second pre-decoction time is a total time for pre-decocting the plurality of third medicines, and determining that the first medicine tank causes the third sub-pipeline to be in the blocking state when the first pre-decoction time is greater than the second pre-decoction time and a time difference between the first pre-decoction time and the second pre-decoction time is greater than or equal to a preset threshold. In an exemplary embodiment, after the control mechanical arm transfers the first medicine barrel on the first sub-assembly line to the temporary storage area, the method further comprises the steps of modifying th