CN102673934B - Automated pharmacy drug storage control and management system - Google Patents

Abstract

The invention provides an automated pharmacy drug storage control and management system, which comprises a control subsystem and a management subsystem. The storage management subsystem is used for drug storage space distribution and storage space management and has two functions, i.e. a storage space management function and a storage space distribution function. The storage space management function is used for inquiry and modification of the drug storage space state, wherein the storage space state comprises three modes, i.e. occupied, idle and faulty. The storage space distribution function is used for distribution of storage space of newly added drugs and supplemented drugs. The storage control subsystem is used for controlling storage operations of a Cartesian coordinate robot and a cartridge clip type drug supply manipulator. The storage space can be distributed automatically according to drugs to be stored, drugs can be automatically delivered into specified storage tanks, the labor can be saved greatly, the labor intensity of pharmacists in storage operations can be reduced, and the system has good application prospects.

Description

Automatic pharmacy drug storage control and management system

technical field

The invention relates to the technical field of pharmacy drug storage operation, in particular to a system for management and control of pharmacy drug storage.

Background technique

At present, the warehousing of medicines in pharmacies is mostly done manually, that is, pharmacists replenish the corresponding medicines to the corresponding positions according to the shortage of medicines. This method is very inefficient and has a high error rate in medicine deployment. Therefore, by controlling the manipulator to send the required medicines in batches, automatically and accurately into the inclined medicine storage tank where the medicines are stored in the pharmacy, so as to reduce the labor intensity of the pharmacist, improve the efficiency of medicine feeding, and reduce the error rate of storage has become an urgent technology to be solved. question.

Contents of the invention

The purpose of the present invention is to provide a system for automatic pharmacy drug storage control and management. According to the drug storage list, automatically allocate storage positions and the storage quantity of the storage positions for the drugs to be stored, and control the manipulator to move the required The medicine is moved to the designated medicine storage tank, and finally the inventory quantity is updated according to the actual storage quantity of each storage location, so as to successfully complete the storage operation. The system has high reliability, simple operation, humanization, saves manpower, and greatly improves the efficiency of drug storage.

The purpose of the present invention is achieved through the following technical solutions:

An automated pharmacy drug storage control and management system, the system includes two parts: a storage management subsystem and a storage control subsystem; the storage management subsystem is responsible for drug storage allocation and storage storage management; The warehousing control subsystem is responsible for controlling the Cartesian coordinate robot and the magazine-type drug feeding manipulator to perform warehousing operations.

Further, the storage management subsystem has a storage location management system and a storage location distribution system. The storage location management system is used to inquire and modify the drug storage location status, and the storage location status includes three modes , that is, occupancy, idleness, and failure; the storage allocation system for storage is used for the storage allocation of new drugs and replenishment drugs.

Further, the warehousing control subsystem is used to control the Cartesian coordinate robot and the magazine-type medicine feeding manipulator to perform the medicine feeding operation according to the storage location coordinates and the warehousing quantity sent by the warehousing management subsystem.

Further, the storage management subsystem specifically includes: before the drug storage, it is necessary to determine whether the drug entering the storage is a new type or a replenishment type; Enter the length, width and height of the drug in the warehouse this time, enter this data into the warehouse management subsystem, and enter the drug barcode number, warehouse time, production batch number, and manufacturer's information at the same time, and then click the Add button. Only the button related to the new operation can be used; the storage management subsystem allocates a suitable free drug storage tank for the drug entering the storage through the information entered above, and then the pharmacist calculates the storage quantity for this storage according to the system. The medicines to be put into the warehouse are placed on the pallet of the magazine-type medicine-feeding manipulator, and the medicine-feeding operation is confirmed; after the above steps are completed, the Cartesian coordinate robot will position the medicine-feeding manipulator to the accurate storage position number, and send the medicine into the storage place. In the medicine tank, finally feed back the quantity of medicines to the management system, and the management system updates the inventory table in the background database according to the actual quantity of medicines; and so on, the pharmacist puts all newly added medicines into the warehouse according to the above steps; If it is a replenishment product, first click the replenishment button. At this time, the operation buttons related to adding are unavailable; then use the barcode scanning device to confirm whether the drug is out of stock. If the drug is out of stock, the system will prompt the drug The out-of-stock quantity, and display the out-of-stock drug storage tanks on the operation interface. The displayed drug storage tanks are based on factors such as the number of out-of-stock drugs in the system, the proximity of drug batches, and the storage efficiency. The priority is arranged in descending order; after the pharmacist makes a selection according to the displayed medicine storage tank, the system will prompt the quantity of medicines that need to be stored in the medicine storage tank, and then the pharmacist will scan the medicines one by one according to the suggested storage quantity After the instrument scans the code for inspection, place the medicine on the manipulator to confirm the medicine feeding operation; after the above steps are completed, the Cartesian coordinate robot will position the medicine feeding manipulator to the accurate storage position number, send the medicine into the medicine storage tank, and finally Feedback the quantity of medicines supplied to the management system, and the management system updates the inventory table in the back-end database according to the actual quantity of medicines supplied; and so on, the pharmacist puts all out-of-stock medicines into the warehouse according to the above steps.

Further, the storage control subsystem is mainly composed of a multi-axis motion control card, an operating system terminal industrial computer, a barcode scanner and a barcode printer; the multi-axis motion control card is used to control the X-axis servo driver and the Y-axis servo driver , stepper motor driver, AC speed regulating motor and detection sensor; X-axis and Y-axis servo drivers are used to control the X-axis and Y-axis servo motors, and the above-mentioned servo motors are used to drive the horizontal and vertical movements of the X-Y type Cartesian coordinate robot; The stepping motor driver is used to control the feeding movement of the stepping motor, and the stepping motor is used to drive the lifting of the medicine feeding manipulator, and then realize the vertical feeding movement of the medicine. The distance of each feeding of the stepping motor is the The height of the medicines in the warehouse, the number of feeding times of the stepping motor is the quantity of medicines in the warehouse each time; the operation of the AC speed regulating motor is used to drive the movement of the lever, so as to realize the horizontal movement of medicines; Feed once in the direction, and the lever rotates for one week, so that a box of medicines is dialed into the medicine storage tank; a bunch of photoelectric sensors are installed at the front end of the manipulator, which is connected to the medicine storage tank, to record the number of times the medicines are put into the warehouse, and to detect them at the same time. Whether there is a drug stuck at the storage end of the storage tank; during the storage process, when a box of medicine does not enter the storage tank smoothly but is stuck at the storage end of the storage tank, the photoelectric sensor detects the fault , The level of the user enable signal terminal of the multi-axis control card will have a jump from high to low. After the monitoring program detects this jump, it will control the movement of the manipulator into the warehouse to stop, and send an alarm to prompt the staff for maintenance.

Compared with the prior art, the present invention has the following advantages:

The present invention comprehensively considers the in-warehouse situation, out-of-stock situation and outbound frequency of the medicines to be put into the warehouse, and automatically assigns the storage location and the quantity of the storage location for the medicines to be put into the warehouse, and controls the Cartesian coordinate robot and the medicine loading manipulator to transport the medicines. to the designated storage location, and finally update the drug inventory quantity in the database according to the actual storage quantity of the storage location. This control and management method greatly reduces the labor intensity of the pharmacist’s drug storage, improves the efficiency of drug storage, and maximizes the It satisfies the inventory of medicines, ensures the demand for medicines in the peak period, improves the service quality of hospital pharmacies, and significantly improves economic and social benefits.

Description of drawings

Fig. 1 is the storage operation management interface of the present invention;

Fig. 2 is the storage operation control flowchart of the present invention;

Fig. 3 is a control and management system hardware architecture diagram of the present invention;

Fig. 4 is the visualized operation interface of the storage position management of the present invention;

Fig. 5 is the location information management operation interface of the present invention;

Fig. 6 is the storage type management operation interface of the present invention.

Detailed ways

The technical solution of the present invention will be further described below in conjunction with the accompanying drawings.

Pharmacy drug storage management and control system, the storage operation management interface is shown in Figure 1. Before the drug is put into the warehouse, it is necessary to determine whether the drug to be put into the warehouse is a new type or a replenishment type. If it is a newly added variety, first measure the length, width and height of the drug entering the warehouse through the three-dimensional size detection device of the drug, and enter this data into the management system, and at the same time enter the drug barcode number, storage time, production batch number, production Manufacturer and other information, and then click the Add button. Only the buttons related to the Add operation can be used at this time. The management system allocates suitable free drug storage tanks for the medicines entering the warehouse this time through the information entered above, and then the pharmacist places the medicines to be warehoused on the tray of the magazine-type drug feeding manipulator according to the quantity calculated by the system for this time. On the board, confirm the drug application operation. After the above steps are completed, the Cartesian coordinate robot will position the drug feeding manipulator to the accurate storage position number, send the drug into the drug storage tank, and finally feed back the amount of drug applied to the management system. Update the inventory table in the backend database. By analogy, the pharmacist puts all newly added drugs into the warehouse according to the above steps.

If it is a replenishment type, click the supplement button first, and the operation buttons related to adding are unavailable at this time. Then use the barcode scanning device to confirm whether the medicine is out of stock. If the medicine is out of stock, the system will prompt the out-of-stock quantity of the medicine, and display the out-of-stock medicine storage tank on the operation interface. Based on factors such as the out-of-stock quantity of the incoming drugs, the proximity of drug batches, and storage efficiency, the system arranges them in descending order of priority. After the pharmacist makes a selection based on the displayed medicine storage tank, the system will prompt the quantity of medicines that need to be stored in the medicine storage tank, and then the pharmacist will scan the medicines through the scanner to check the medicines according to the quantity that is prompted, and then place the medicines in the On the manipulator, confirm the medicine feeding operation. After the above steps are completed, the Cartesian coordinate robot will position the drug feeding manipulator to the accurate storage position number, send the drug into the drug storage tank, and finally feed back the amount of drug applied to the management system. Update the inventory table in the backend database. By analogy, the pharmacist puts all out-of-stock medicines into the warehouse according to the above steps.

Fig. 2 is a flow chart of storage operation control of the present invention. The process of warehousing operation control is as follows: first, initialize, including the X-axis and Y-axis of the Cartesian robot and the return of the drug-feeding manipulator to zero. The control program inquires whether there is any information in the task table sent by the storage management system to the control system. If there is information about feeding medicine, the manipulator moves to the feeding port, that is, the storage port. The monitoring program checks whether there is a motion protection signal. Here, the motion protection The signal is that the photoelectric sensor detects whether there is medicine stuck in the storage end of the medicine storage tank. If any medicine is stuck at the storage end of the medicine storage tank, the motion protection signal will prevent all storage operations, and an alarm will prompt the operator to stand by for inspection. The monitoring program also needs to query the zero return signal of the manipulator and the pallet of the manipulator, where the zero return signal of the manipulator is the signal fed back by the zero position sensor of the manipulator. The pallet zero return signal of the manipulator is the signal fed back by the zero position sensor of the lifting pallet of the manipulator. If both the manipulator and the lifting pallet of the manipulator are at the zero position, the pharmacist will move the medicines in storage to the manipulator pallet through the conveyor, and then the manipulator will be positioned according to the data such as the position of the storage tank and the quantity of the medicine sent to the control system by the management system. When the position of the designated medicine storage tank is reached, the pallets of the manipulator are raised in turn, and each time the pallet is raised, the lever of the manipulator moves the medicine once to send the medicine into the medicine storage tank. The number of times the pallet rises is the quantity of medicines to be put into storage, and the height of each rise of the pallet is the height of the medicines to be put into storage in the medicine storage tank. During the shifting process of the lever, it is necessary to monitor the signal of the manipulator protection sensor in real time. The signal is used to detect whether the medicines that are dialed each time are put into the warehouse smoothly. The operator is on standby for inspection. After the warehousing is completed, the manipulator returns to the zero position and waits for the next warehousing operation. At the same time, the actual quantity of the medicines put into the warehouse is fed back to the management system to update the inventory data.

Pharmacy drug storage management and control system, the control system architecture diagram is shown in Figure 3. It is mainly composed of multi-axis motion control card, operating system terminal industrial computer, barcode scanner and barcode printer. The multi-axis motion control card is used to control the x-axis servo driver, y-axis servo driver, stepper motor driver, AC speed control motor and detection sensor. The x-axis and Y-axis servo drivers are used to control the x-axis and Y-axis servo motors, and the above-mentioned servo motors are used to drive the horizontal and vertical movements of the X-Y type Cartesian robot. The stepping motor driver is used to control the feeding movement of the stepping motor, and the stepping motor is used to drive the lifting of the medicine feeding manipulator, and then realize the vertical feeding movement of the medicine. The distance of each feeding of the stepping motor is the The height of the medicines in storage and the number of times the stepper motor feeds is the quantity of medicines in storage each time. The operation of the AC speed regulating motor is used to drive the movement of the lever, so as to realize the horizontal feeding movement of the medicine. The supporting plate of the manipulator is fed once in the vertical direction, and the driving lever rotates one circle, thereby dialing a box of medicine into the medicine storage tank. At the front end of the manipulator, a bunch of photoelectric sensors are installed at the junction with the medicine storage tank, which are used to record the number of times the medicines are put into storage, and at the same time to detect whether there is any medicine stuck at the storage end of the medicine storage tank. During the storage process, when a box of medicines does not enter the drug storage tank smoothly and gets stuck at the storage end of the storage tank, the photoelectric sensor detects the fault, and the level of the user enable signal terminal of the multi-axis control card There will be a jump from high to low. After the monitoring program detects this jump, it will control the movement of the manipulator into the warehouse to stop, and an alarm will be issued to prompt the staff for maintenance.

The two axes of the X-Y Cartesian coordinate robot are respectively equipped with upper, lower, left and right limit sensors and 2 zero sensors, a total of 6 limit sensors, and 2 sensors are placed on the vertical movement axis of the medicine feeding manipulator pallet, namely Lower and upper limit sensors. A zero position sensor is placed on the horizontal movement axis of the lever of the medicine-feeding manipulator. The signals of the above sensors are all collected by the multi-axis motion control card, and the movement of the motor is controlled by the signals of these sensors.

The functions of the limit and zero sensors placed on the two axes of the X-Y type Cartesian robot are as follows: The X-axis of the Cartesian robot is equipped with three sensors: left limit, right limit and zero. The left and right limit sensors are used for Limit the left and right extreme travel of the robot, and the signal of the zero position sensor is used as a mark for the robot to return to the zero position of the X axis. The Y axis of the Cartesian robot is equipped with three sensors: upper limit, lower limit and zero position. The upper and lower limit sensors are used to limit the limit stroke of the robot's up and down movement. The signal of the zero position sensor is used as the robot to return to the zero position of the Y axis. markup. Lower limit and upper limit sensors are installed on the vertical motion axis of the medicine feeding manipulator pallet. The lower limit sensor is used to limit the initial lowest position of the pallet of the medicine loading manipulator, and the pallet is lowered to the lowest position, and the pharmacist places the medicines in storage on the pallet. The upper limit sensor is used to limit the top limit position of the lifting of the medicine feeding manipulator pallet, so as to prevent the manipulator pallet from hitting the frame. The zero position sensor placed on the horizontal movement axis of the medicine dialing lever of the medicine feeding manipulator is used to return the dialing lever to the zero position. bit. The multi-axis motion control card controls the coordinated and orderly movement of each axis by detecting the signals of the above sensors, and then completes the drug storage operation.

Pharmacy drug storage management and control system, storage management functions include storage information management, storage status management and storage visualization management. They are shown in Figure 4-6 respectively. Through the above operation interface, you can query and modify the use of drug storage locations, including checking the storage location occupancy, storage location idleness, and storage location failure. When medicine is stored in the medicine storage tank, the status of the medicine storage tank will be displayed on the interface as occupied. When the medicine storage tank is not in use, the status of the medicine storage tank is displayed as idle. When the medicine storage tank fails, the state of the medicine storage tank is maintenance. At the same time, through this interface, you can manually modify the status of the storage position. When a storage location fails, the status of the storage location can be changed to maintenance, and then the storage location is closed, and the closed storage location will be excluded when the medicine is in or out of the warehouse, so as to facilitate maintenance by engineers. When the number of commonly used medicines in a pharmacy is small in a certain period, the operation of closing some medicine storage tanks far away from the entrance and exit can be adopted, and the medicines should be placed in the medicine storage tanks closer to the entrance and exit of the warehouse as far as possible, thereby improving The efficiency of medicines in and out of the warehouse.

It can be shown that the present invention greatly reduces the labor intensity of the pharmacist in the storage of medicines, improves the efficiency of the storage of medicines, satisfies the inventory of medicines to the greatest extent, ensures the demand for medicines in peak periods, and improves the service of hospital pharmacies Quality, significantly improved economic and social benefits. The above are only specific application examples of the present invention, and do not constitute any limitation to the protection scope of the present invention. All technical solutions formed by equivalent transformation or equivalent replacement fall within the protection scope of the present invention.

Claims (1)

1. A system for the storage control and management of medicines in an automated pharmacy, characterized in that: the system includes two parts, a storage management subsystem and a storage control subsystem; the storage management subsystem is responsible for drug storage distribution, Warehousing and storage location management; the warehouse-in control subsystem is responsible for controlling the Cartesian coordinate robot and the magazine-type drug feeding manipulator for warehouse-in operation; The warehousing management subsystem has a storage location management system and a storage location allocation system. The storage location management system is used to inquire and modify the storage location status of medicines. The storage location status includes three modes, namely occupied , idle, failure; the warehouse-in storage allocation system is used for the storage allocation of new drugs and replenishment drugs; The warehousing control subsystem is used to control the Cartesian coordinate robot and the magazine-type medicine feeding manipulator to perform the medicine feeding operation according to the storage position coordinates and the warehousing quantity sent by the warehousing management subsystem; The warehousing management subsystem specifically includes: before the medicines are put into the warehouse, it is necessary to determine whether the medicines to be put into the warehouse are new varieties or replenishment varieties; Enter the length, width and height of the drug into the warehouse, enter this data into the warehouse management subsystem, and enter the drug barcode number, warehouse time, production batch number, and manufacturer information at the same time, and then click the Add button. At this time, only and The newly added operation-related buttons can be used; the storage management subsystem allocates appropriate free drug storage tanks for the medicines entering the storage through the information entered above, and then the pharmacist will wait for the storage according to the quantity calculated by the system for this storage. Place the medicine on the pallet of the clip-type medicine feeding manipulator, and confirm the medicine feeding operation; after the above steps are completed, the Cartesian coordinate robot will position the medicine feeding manipulator to the accurate storage position number, and send the medicine into the medicine storage tank , and finally feed back the quantity of medicines to the management system, and the management system will update the inventory table in the background database according to the actual quantity of medicines to be supplied; and so on, the pharmacist will put all the newly added medicines into the warehouse according to the above steps; For the type of goods, click the supplement button first, and the operation buttons related to adding are unavailable at this time; then use the barcode scanning device to confirm whether the drug is out of stock. If the drug is out of stock, the system will prompt that the drug is out of stock Quantity, and display the out-of-stock drug storage tanks on the operation interface. The displayed drug storage tanks are based on the factors of the out-of-stock quantity of the incoming drugs, the proximity of the drug batches, and the storage efficiency, according to the priority. Arranged from large to small; after the pharmacist selects according to the displayed medicine storage tank, the system will prompt the quantity of medicines that need to be stored in the medicine storage tank, and then the pharmacist will scan the codes of the medicines through the scanner in turn according to the prompted storage quantity After the inspection, place the medicine on the manipulator to confirm the medicine feeding operation; after the above steps are completed, the Cartesian coordinate robot will position the medicine feeding manipulator to the accurate storage position number, send the medicine into the medicine storage tank, and finally put the medicine on Feedback the quantity of the medicine to the management system, and the management system will update the inventory table in the background database according to the actual quantity of the medicine; and so on, the pharmacist will put all the medicines out of stock into the warehouse according to the above steps; The storage control subsystem is mainly composed of a multi-axis motion control card, an operating system terminal industrial computer, a barcode scanner and a barcode printer; the multi-axis motion control card is used to control the X-axis servo driver, the Y-axis servo driver, the stepper Motor driver, AC speed regulating motor and detection sensor; X-axis and Y-axis servo drivers are used to control X-axis and Y-axis servo motors, and the above-mentioned servo motors are used to drive the horizontal and vertical movements of X-Y type Cartesian coordinate robots; stepping motors The driver is used to control the feeding movement of the stepping motor, and the stepping motor is used to drive the lifting and lowering of the pallet of the drug feeding manipulator, so as to realize the vertical feeding movement of the medicine. The distance of each feeding of the stepping motor is equal to the The height of the stepping motor is the number of medicines that are put into the warehouse each time; the operation of the AC speed regulating motor is used to drive the movement of the lever, so as to realize the horizontal medicine feeding movement of the medicine; the manipulator pallet is fed every vertical direction Once, the lever rotates for one week, so that a box of medicine is dialed into the medicine storage tank; a bunch of photoelectric sensors are installed at the front end of the manipulator at the junction with the medicine storage tank, which are used to record the number of times the medicine is put into the warehouse, and at the same time to detect whether there is medicine Stuck at the storage end of the medicine storage tank; during the storage process, when a box of medicines does not enter the medicine storage tank smoothly but gets stuck at the storage end of the medicine storage tank, the photoelectric sensor detects the fault, and the multi-axis The level of the user enable signal terminal of the control card will have a jump from high to low. After the monitoring program detects this jump, it will control the movement of the manipulator into the warehouse to stop, and send an alarm to remind the staff to repair; Pharmacy drug storage management and control system, storage management functions include storage information management, storage status management, and storage visualization management, through the above operation interface, you can query and modify the use of drug storage, including checking the occupancy of storage , storage position idle status and storage position fault condition, when the medicine storage tank has stored medicine, the interface will display the state of the medicine storage tank as occupied, and when the medicine storage tank is not in use, the status of the medicine storage tank will be displayed The status of the drug storage tank is idle. When the drug storage tank fails, the status of the drug storage tank is maintenance. At the same time, the status of the storage position can be manually modified through this interface. When a certain storage position fails, you can modify the status of the storage position For maintenance, after this storage position is closed, the closed storage position will be excluded when the medicine is in or out of the warehouse, so as to facilitate maintenance by engineers. When the number of commonly used medicines in a pharmacy is small in a certain period, it can be Close the operation of some medicine storage tanks that are far away from the entrance of the warehouse, and try to place the medicines in the medicine storage tanks that are closer to the entrance of the warehouse, so as to improve the efficiency of medicines in and out of the warehouse.