Method, device and storage medium for controlling transfer vehicle

Abstract

The present application relates to the technical field of medical supplies transfer, and discloses a method for controlling a transfer vehicle, including: obtaining the working status of each rack in response to user instructions; determining the target rack according to the working status of each rack and the user instructions; controlling the movement of the transfer storage device until the target rack moves to the loading and unloading port, so that the user can carry the transfer box. Upon receiving the user instruction, the present application determines the working status of each rack separately to distinguish between loaded racks and idle racks. Then, according to the user instruction, the target rack is determined to control the reasonable movement of the transfer storage device so that the target rack is automatically moved to the vicinity of the loading and unloading port. This makes it easier for users to carry the transfer box, reduces the amount of transportation by users, and helps improve the efficiency of warehousing. The present application also discloses a device for controlling a transfer vehicle, a transfer vehicle, and a storage medium.

Description

Technical Field

[0001] The present application relates to the technical field of medical supplies transportation, for example, to a method and device for controlling a transfer vehicle, a transfer vehicle, and a storage medium. Background Art

[0002] At present, when blood products such as plasma bags and red blood cell bags are transported between blood stations and hospitals and other medical institutions, the blood products are generally placed in special transfer boxes, and then multiple transfer boxes are placed in the compartment of a truck for transportation.

[0003] During the implementation of the embodiments of the present disclosure, it was found that at least the following problems exist in the related art:

[0004] The process of placing transfer boxes in and out of the train compartment relies on manual handling, and manual confirmation is also required when the transfer boxes are stacked in the train compartment. As a result, this related technology is time-consuming and labor-intensive, inconvenient for handling large numbers of transfer boxes, and has poor efficiency in warehousing and retrieval.

[0005] It should be noted that the information disclosed in the above background technology section is only used to enhance the understanding of the background of this application, and therefore may include information that does not constitute prior art known to ordinary technicians in this field. Summary of the Invention

[0006] In order to provide a basic understanding of some aspects of the disclosed embodiments, a brief summary is given below. The summary is not an extensive review, nor is it intended to identify key / critical elements or delineate the scope of protection of these embodiments, but rather serves as a prelude to the detailed description that follows.

[0007] The embodiments of the present disclosure provide a method, device, transfer vehicle, and storage medium for controlling a transfer vehicle, which can facilitate users in carrying transfer boxes and help improve warehousing efficiency.

[0008] In some embodiments, the transfer vehicle includes a vehicle body; a warehouse provided on the vehicle body, the warehouse being provided with a loading and unloading port; a transfer storage device provided in the warehouse, the transfer storage device being controllable to perform circular rotational motion, the transfer storage device including a plurality of racks, the racks being used for placing transfer boxes; the method including: obtaining a working status of each rack in response to a user instruction; the user instruction including an outbound instruction or an inbound instruction, the working status including a first state where no transfer box is placed or a second state where a transfer box is placed; determining a target rack based on the working status of each rack and the user instruction; and controlling the movement of the transfer storage device until the target rack moves to the loading and unloading port to facilitate the user in carrying the transfer box.

[0009] Optionally, in some embodiments, the rack is provided with an electromagnet module; and controlling the movement of the transfer storage device until the target rack moves to the loading and unloading port further includes: verifying the label information of the transfer box placed on the target rack; and controlling the working state of the electromagnet module on the target rack according to the user instructions and the verification results.

[0010] Optionally, in some embodiments, the user instruction includes a warehouse-out instruction or a warehouse-in instruction, and the verification result includes a verification success or a verification failure; the controlling the working state of the electromagnet module on the target rack according to the user instruction and the verification result includes: when the user instruction is a warehouse-in instruction and the verification result is a verification success, controlling the electromagnet module on the target rack to be energized so that the target rack and the transfer box placed on the target rack are attracted and connected; when the user instruction is a warehouse-in instruction and the verification result is a verification failure, controlling the electromagnet module on the target rack to be energized The electromagnet module on the rack is powered off, so that the target rack and the transfer box placed on the target rack are not attracted and connected; when the user instruction is a depot instruction and the verification result is a verification success, the electromagnet module on the target rack is controlled to be powered off, so that the target rack and the transfer box placed on the target rack are released from the attraction and connection; when the user instruction is a depot instruction and the verification result is a verification failure, the electromagnet module on the target rack is controlled to be powered on, so that the target rack and the transfer box placed on the target rack are maintained attracted and connected.

[0011] Optionally, in some embodiments, the method further includes: controlling the working state of the transport storage device according to the verification result.

[0012] Optionally, in some embodiments, controlling the working state of the transfer storage device according to the verification result includes: when the verification result is a successful verification, controlling the transfer storage device to maintain a normal state; when the verification result is a failed verification, controlling the transfer storage device to enter a locked state; wherein, the transfer storage device in the normal state performs a circular rotation motion after being controlled, and the transfer storage device in the locked state does not perform a circular rotation motion after being controlled.

[0013] In some embodiments, the apparatus includes: a processor and a memory storing program instructions, wherein the processor is configured to execute the above-mentioned method for controlling a transfer vehicle when running the program instructions.

[0014] In some embodiments, the transfer vehicle includes: a vehicle body; a warehouse, which is provided on the vehicle body, and the warehouse is provided with a loading and unloading port; a transfer storage device, which is provided in the warehouse, and the transfer storage device can be controlled to perform circular rotation, and the transfer storage device includes multiple racks, which can be used to place transfer boxes; and the above-mentioned device for controlling the transfer vehicle is installed on the vehicle body.

[0015] In some embodiments, the storage medium stores program instructions, and when the program instructions are run, they execute the above-mentioned method for controlling the transfer vehicle.

[0016] The method, device, and storage medium for controlling a transfer vehicle provided by the embodiments of the present disclosure can achieve the following technical effects:

[0017] In this disclosed embodiment, upon receiving a user command, the operating status of each rack is determined to distinguish between loaded racks and idle racks. Based on the user command, the target rack is then determined to control the proper movement of the transfer storage device, automatically moving the target rack to the vicinity of the loading and unloading port. This facilitates user transport of transfer boxes, reduces the amount of lifting required, and improves storage efficiency.

[0018] The above general description and the following description are exemplary and explanatory only and are not intended to limit the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] One or more embodiments are exemplarily described by corresponding drawings. These exemplary descriptions and drawings do not limit the embodiments. Elements with the same reference numerals in the drawings are shown as similar elements. The drawings do not constitute a scale limitation. In addition,

[0020] Figure 1 It is a structural schematic diagram of a transfer vehicle provided by an embodiment of the present disclosure;

[0021] Figure 2 The embodiment of the present disclosure provides Figure 1 Schematic cross-sectional view of ;

[0022] Figure 3 is a structural schematic diagram of another transfer vehicle provided by an embodiment of the present disclosure;

[0023] Figure 4 is a structural schematic diagram of another transfer vehicle provided by an embodiment of the present disclosure;

[0024] Figure 5 is a structural diagram of a transport storage device provided by an embodiment of the present disclosure;

[0025] Figure 6is an exploded schematic diagram of a transport storage device provided by an embodiment of the present disclosure;

[0026] Figure 7 It is a partial structural diagram of a transport storage device provided by an embodiment of the present disclosure;

[0027] Figure 8 is a schematic structural diagram of a storage rack provided by an embodiment of the present disclosure;

[0028] Figure 9 is a schematic diagram of a method for controlling a transfer vehicle provided by an embodiment of the present disclosure;

[0029] Figure 10 is a schematic diagram of another method for controlling a transfer vehicle provided by an embodiment of the present disclosure;

[0030] Figure 11 is a schematic diagram of another method for controlling a transfer vehicle provided by an embodiment of the present disclosure;

[0031] Figure 12 is a schematic diagram of another method for controlling a transfer vehicle provided by an embodiment of the present disclosure;

[0032] Figure 13 is a schematic diagram of another method for controlling a transfer vehicle provided by an embodiment of the present disclosure;

[0033] Figure 14 is a schematic diagram of another method for controlling a transfer vehicle provided by an embodiment of the present disclosure;

[0034] Figure 15 is a schematic diagram of another method for controlling a transfer vehicle provided by an embodiment of the present disclosure;

[0035] Figure 16 It is a schematic diagram of a device for controlling a transfer vehicle provided by an embodiment of the present disclosure.

[0036] Reference numerals:

[0037] 1: Transfer storage device, 10: Bracket, 20: Driving unit, 21: Motor, 22: Main shaft, 23: First driving wheel, 30: First rotary transmission unit, 301: First driving wheel, 302: First driven wheel, 303: First transmission member, 31: Second rotary transmission unit, 311: Second driving wheel, 312: Second driven wheel, 313: Second transmission member, 40: Storage rack, 41: Bottom plate, 411: First groove, 412: Second groove, 42: First side plate, 43: Second side plate, 44: Connecting shaft, 50: Electromagnet module, 61: Induction module, 62: Identification module, 63: Reading module, 7: Carriage compartment, 71: Accommodation space, 711: First accommodation space, 712: Second accommodation space, 72: Accommodating cavity, 73: loading and unloading port, 8: refrigeration system, 81: compressor, 82: condenser, 83: condensing fan, 84: evaporator, 85: evaporating fan, 86: air inlet duct, 861: first air inlet duct, 8611: first air inlet, 862: second air inlet duct, 8621: second air inlet, 87: air outlet duct, 871: first air outlet, 8711: first air outlet, 872: second air outlet duct, 8721: second air outlet, 88: solenoid valve, 881: first solenoid valve, 882: second solenoid valve, 883: third solenoid valve, 884: fourth solenoid valve, 9: device for controlling the transfer vehicle, 901: processor, 902: memory, 903: communication interface, 904: bus. DETAILED DESCRIPTION

[0038] In order to be able to understand the features and technical content of the embodiments of the present disclosure in more detail, the implementation of the embodiments of the present disclosure is described in detail below in conjunction with the accompanying drawings. The accompanying drawings are for reference only and are not used to limit the embodiments of the present disclosure. In the following technical description, for the sake of convenience of explanation, a full understanding of the disclosed embodiments is provided through multiple details. However, one or more embodiments can still be implemented without these details. In other cases, to simplify the drawings, well-known structures and devices can be simplified for display.

[0039] In the description and claims of the embodiments of the present disclosure, as well as in the accompanying drawings, the terms "first," "second," and the like are used to distinguish similar items and are not necessarily used to describe a particular order or precedence. It should be understood that the terms used in this manner are interchangeable where appropriate to describe the embodiments of the present disclosure herein. In addition, the terms "including," "having," and any variations thereof are intended to cover non-exclusive inclusions.

[0040] Unless otherwise stated, the term "plurality" means two or more.

[0041] In the embodiment of the present disclosure, the character " / " indicates that the preceding and following objects are in an "or" relationship. For example, A / B means: A or B.

[0042] The term "and / or" describes an association between objects, indicating that three relationships can exist. For example, A and / or B means: A or B, or A and B.

[0043] The term "correspondence" may refer to an association relationship or a binding relationship. The correspondence between A and B means that there is an association relationship or a binding relationship between A and B.

[0044] Combine Figure 1-4 As shown, an embodiment of the present disclosure provides a transfer vehicle, comprising a vehicle body, a compartment 7, a transfer storage device 1, and a device 9 for controlling the transfer vehicle. The compartment 7 is disposed within the vehicle body. The transfer storage device 1 is disposed within the compartment 7 and is controllably capable of circular rotation. The transfer storage device 1 includes a plurality of racks 40 for accommodating transfer boxes. The device 9 for controlling the transfer vehicle is mounted on the vehicle body.

[0045] The transfer vehicle provided by the disclosed embodiment has a transfer storage device 1 installed within the vehicle compartment 7. This device is equipped with multiple racks 40 for placing transfer boxes. When the transfer storage device 1 is controlled to perform circular rotational motion, the multiple racks 40 are driven by it to move in an orderly manner along the motion trajectory. By controlling the movement of the transfer storage device 1 in a reasonable manner, the disclosed embodiment can automatically move the target rack 40 to the vehicle compartment door, facilitating the user's transfer of transfer boxes. This reduces the amount of material users have to carry, improving storage and retrieval efficiency.

[0046] Optionally, the transport vehicle also includes a refrigeration system 8. This refrigeration system 8 can be controlled to regulate the temperature within the transport box. By controlling the operation of the refrigeration system 8, the disclosed embodiment can cool the vehicle compartment 7 and the transport box within it, creating a suitable interior environment. This can meet the storage temperature requirements during the transportation of blood products.

[0047] Optionally, the compartment 7 defines a storage space 71 and a storage cavity 72, with the storage space 71 and the storage cavity 72 being connected via a ventilation duct. The transfer storage device 1 is disposed within the storage space 71. The refrigeration system 8 is disposed within the storage cavity 72. In this manner, the disclosed embodiment allows for compartmentalized storage of the transfer storage device 1 and the refrigeration system 8, allowing for exchange of air within the storage space 71 with air within the storage cavity 72, thereby enabling accurate control of the temperature within the transfer box placed within the storage space 71.

[0048] Optionally, combined Figure 1As shown, the compartment 7 is provided with a loading and unloading port 73. The loading and unloading port 73 is provided corresponding to the accommodating space 71. In this way, the user can deposit a transfer box into the transfer storage device 1 or take a transfer box out of the transfer storage device 1 through the loading and unloading port 73.

[0049] Optionally, there are multiple accommodating spaces 71, and each accommodating space 71 can be provided with a corresponding transfer storage device 1. Figure 3 and Figure 4 As shown, in some embodiments, the storage space 71 includes a first storage space 711 and a second storage space 712. Thus, by respectively arranging the transport storage device 1 in the first storage space 711 and the second storage space 712, the embodiment of the present disclosure can achieve zoned temperature control to meet the storage requirements of different types of blood products.

[0050] Optionally, the ventilation duct includes an air inlet duct 86 and an air outlet duct 87. Thus, by opening the air inlet duct 86 and the air outlet duct 87, the disclosed embodiment can exchange the air in the accommodating cavity 72 with the air in the accommodating space 71, thereby utilizing the refrigeration system 8 to regulate the temperature inside the transfer box placed in the accommodating space 71.

[0051] Optionally, there are multiple air inlet ducts 86 and multiple air outlet ducts 87. The number of air inlet ducts 86 and air outlet ducts 87 is the same as the number of accommodating spaces 71 and is arranged in a one-to-one correspondence with the accommodating spaces 71. Figure 3 and Figure 4 As shown, in some embodiments, the air inlet duct 86 includes a first air inlet duct 861 and a second air inlet duct 862, and the air outlet duct 87 includes a first air outlet duct 871 and a second air outlet duct 872. A first air inlet 861 is provided at the connection end between the first air inlet duct 861 and the first storage space 711, a second air inlet 8621 is provided at the connection end between the second air inlet duct 862 and the second storage space 712, a first air outlet 8711 is provided at the connection end between the first air outlet duct 871 and the first storage space 711, and a second air outlet 8721 is provided at the connection end between the second air outlet duct 872 and the second storage space 712. In this way, the embodiment of the present disclosure can provide corresponding ventilation ducts for each of the multiple storage spaces 71, thereby achieving zoned temperature control to meet the storage requirements of different types of blood products.

[0052] Optionally, there are multiple first air outlets 8711 and multiple second air outlets 8721. This allows the disclosed embodiment to increase the ventilation area of ​​the storage space 71 and the storage cavity 72, thereby improving ventilation efficiency. Furthermore, the evenly spaced air outlets ensure uniform cooling across multiple transfer boxes during transportation, minimizing the storage temperature requirements for all blood products within the vehicle.

[0053] Optionally, combined Figure 3 As shown, refrigeration system 8 includes a compressor 81, a condenser 82, an evaporator 84, and an evaporation fan 85. Evaporation fan 85 is provided corresponding to evaporator 84 to drive the exchange of air within the accommodating chamber 72 with the air within the accommodating space 71. In this way, the disclosed embodiment can utilize refrigeration system 8 to regulate the temperature within the transfer box placed within the accommodating space 71.

[0054] Optionally, the refrigeration system 8 further includes a condensing fan 83, which is provided corresponding to the condenser 82. In this way, the condensing fan 83 can quickly cool the condenser 82 to improve the refrigeration effect of the system.

[0055] Optionally, the refrigeration system 8 further includes a solenoid valve 88, which is provided on the ventilation pipeline to control the opening and closing of the ventilation pipeline. Figure 3 As shown, in some embodiments, the solenoid valve 88 includes a first solenoid valve 881, a second solenoid valve 882, a third solenoid valve 883, and a fourth solenoid valve 884. The first solenoid valve 881 is located in the first air inlet duct 861, the second solenoid valve 882 is located in the first air outlet duct 871, the third solenoid valve 883 is located in the second air inlet duct 862, and the fourth solenoid valve 884 is located in the second air outlet duct 872. Thus, by adjusting the opening of some or all of the solenoid valves 88, the disclosed embodiments can reasonably regulate the opening and closing of each ventilation duct. This allows for zoned temperature regulation within multiple holding spaces 71 to meet the storage requirements of different types of blood products.

[0056] Optionally, combined Figure 5-8 As shown, an embodiment of the present disclosure provides a transport storage device 1, comprising: a support 10, a drive unit 20, a first rotary transmission unit 30, and a plurality of racks 40. The drive unit 20 is disposed on the support 10. The first rotary transmission unit 30 is movably disposed on the support 10 and connected to the drive unit 20. Driven by the drive unit 20, the first rotary transmission unit 30 performs a circular rotary motion along the height direction of the support 10. The plurality of racks 40 are arranged at intervals along the motion trajectory of the first rotary transmission unit 30 and are connected to the first rotary transmission unit 30 so as to move under the drive of the first rotary transmission unit 30.

[0057] Using the transfer storage device 1 provided by the embodiment of the present disclosure, the bracket 10 can support the other components of the transfer storage device 1 and fix the other components together. The driving unit 20 is connected to the first rotary transmission unit 30 by driving, and the driving unit 20 can provide power to the first rotary transmission unit 30, so that the first rotary transmission unit 30 performs a circular rotational motion along the height direction of the bracket 10. By providing a storage rack 40, the user can place the transfer box on the storage rack 40. The provision of multiple storage racks 40 can provide the user with multiple storage locations to meet the user's storage needs as much as possible. In addition, by connecting multiple storage racks 40 to the first rotary transmission unit 30, the multiple storage racks 40 can move along the trajectory of the first rotary transmission unit 30 under the drive of the first rotary transmission unit 30. A certain point on the movement trajectory of the first rotary transmission unit 30 is set as a set position. The set position is a position that is convenient for the user to carry the transfer box at a fixed point, and the multiple storage racks 40 will pass through the set position in sequence. In this way, the disclosed embodiment can automatically move the rack 40 without a transfer box to the loading and unloading port, so that the user can carry the transfer box to the set position without moving. This can reduce the user's carrying load and help improve the efficiency of storage and retrieval.

[0058] The track shape of the circular rotational motion can be circular, elliptical, or even racetrack-shaped. It is understood that the track shape of the circular rotational motion is not unique, and any closed-loop rotational motion is one of the optional embodiments of the present application.

[0059] Specifically, the set position is the position closest to the loading and unloading opening 73 on the movement trajectory of the transfer storage device 1. In this way, the idle racks 40 can be moved along the trajectory of the first rotary transport unit 30 to the set position. Since the set position is closest to the loading and unloading opening 73 of the vehicle compartment 7, users can more easily move transfer boxes on the transfer storage device 1. This reduces the amount of lifting required by users and helps improve storage and retrieval efficiency.

[0060] Optionally, the disclosed embodiment also provides a target position. This target position is the location closest to the air outlet along the trajectory of the transport storage device 1. This allows the racks 40 containing transfer boxes with poor cooling performance to be moved along the trajectory of the first rotary transport unit 30 to the target position. Because the target position is closest to the air outlet of the refrigeration system 8, these transfer boxes can receive more effective cooling. This reduces the likelihood of blood product deterioration and damage, thereby improving the reliability of the transport process.

[0061] Optionally, the first rotary transmission unit 30 includes: a first driving wheel 301, a first driven wheel 302 and a first transmission member 303. The first driving wheel 301 is rotatably arranged on the bracket 10 in the longitudinal direction and is connected to the driving unit 20 so as to rotate under the drive of the driving unit 20. The first driven wheel 302 is spaced apart from the first driving wheel 301 in the transverse direction. The first transmission member 303 is sleeved on the outside of the first driving wheel 301 and the first driven wheel 302. Among them, multiple storage racks 40 are connected to the first transmission member 303. In this way, the first driving wheel 301 and the first driven wheel 302 are connected. When the first driving wheel 301 rotates under the drive of the driving unit 20, the first driving wheel 301 drives the first transmission member 303 to move, and the first transmission member 303 transmits power to the first driven wheel 302, thereby driving the multiple storage racks 40 to move. Since the multiple racks 40 are arranged at intervals along the motion trajectory of the first rotary transmission part 30 and the multiple racks 40 are all connected to the first transmission member 303 , that is, the multiple racks 40 all rotate along the motion trajectory of the first transmission member 303 .

[0062] Optionally, in some embodiments, the first driving wheel 301 and the first driven wheel 302 are pulleys, and the first transmission member 303 is a synchronous belt.

[0063] Optionally, in other embodiments, the first driving wheel 301 and the first driven wheel 302 are sprockets, and the first transmission member 303 is a transmission chain.

[0064] Optionally, the transport and storage device 1 further includes a second rotary transport unit 31 disposed on the support 10 and opposite the first rotary transport unit 30. The plurality of racks 40 are each located between and connected to the first and second rotary transport units 30, 31. Thus, by disposing the first and second rotary transport units 30, 31 opposite each other, the disclosed embodiment can utilize both the first and second rotary transport units 30, 31 to simultaneously support the racks 40, thereby ensuring the stability of the connection of the racks 40.

[0065] Optionally, the second rotary transmission unit 31 includes: a second driving wheel 311, a second driven wheel 312, and a second transmission member 313. The second driving wheel 311 is rotatably arranged on the bracket 10 in the longitudinal direction and is connected to the driving unit 20 so as to rotate under the drive of the driving unit 20. The second driven wheel 312 is spaced apart from the second driving wheel 311 in the transverse direction. The second transmission member 313 is sleeved on the outer side of the second driving wheel 311 and the second driven wheel 312. Among them, a plurality of storage racks 40 are connected to the second transmission member 313. In this way, the second driving wheel 311 and the second driven wheel 312 are connected. When the second driving wheel 311 rotates under the drive of the driving unit 20, the second driving wheel 311 drives the second transmission member 313 to move, and the second transmission member 313 transmits power to the second driven wheel 312, thereby driving the plurality of storage racks 40 to move. Since the multiple racks 40 are arranged at intervals along the motion trajectory of the second rotary transmission part 31 and the multiple racks 40 are all connected to the second transmission member 313 , that is, the multiple racks 40 all rotate along the motion trajectory of the second transmission member 313 .

[0066] Optionally, the first rotary transmission unit 30 and the second rotary transmission unit 31 move synchronously. In this way, the first rotary transmission unit 30 and the second rotary transmission unit 31 jointly drive the rack 40 to move, thereby ensuring smooth movement of the rack 40 and preventing the transfer box from falling off the rack 40.

[0067] Optionally, the driving unit 20 is disposed on the top of the bracket 10 and above the first rotary transmission unit 30. In this way, the length of the bracket 10 can be reduced, thereby reducing the size of the transport storage device 1 and improving the applicability of the transport storage device 1.

[0068] Optionally, the drive unit 20 includes a motor 21 and a spindle 22. The motor 21 is mounted on and fixedly connected to the bracket 10. The spindle 22 is rotatably mounted on the bracket 10 and is connected to the rotating shaft of the motor 21 via a transmission belt. The spindle 22 is drivingly connected to the first rotary transmission unit 30 to drive the movement of the first rotary transmission unit 30. Thus, the rotation of the motor 21 drives the spindle 22 via the transmission belt, and the spindle 22 is drivingly connected to the first driving pulley 301 of the first rotary transmission unit 30, thereby driving the movement of the first rotary transmission unit 30.

[0069] Optionally, one end of the main shaft 22 is drivingly connected to the first rotary transmission unit 30, and the other end of the main shaft 22 is drivingly connected to the second rotary transmission unit 31. In this way, the main shaft 22 can simultaneously drive the first rotary transmission unit 30 and the second rotary transmission unit 31 to move, so that the first rotary transmission unit 30 and the second rotary transmission unit 31 move synchronously, thereby ensuring smooth movement of the storage rack 40.

[0070] Optionally, the drive unit 20 further includes a first drive wheel 23. The first drive wheel 23 is coaxially mounted on the bracket 10 and connected to the first driving wheel 301. The first drive wheel 23 is connected to the main shaft 22 via a transmission belt. This allows the main shaft 22 to rotate the first drive wheel 23, which in turn drives the first driving wheel 301, thereby causing the first rotary transmission unit 30 to move.

[0071] Optionally, the storage rack 40 includes a base plate 41, a first side plate 42, and a second side plate 43. The first side plate 42 is disposed on one side of the base plate 41 and connected thereto, while the second side plate 43 is disposed on the other side of the base plate 41 and connected thereto. Connecting shafts 44 are provided on the sides of the first and second side plates 42, 43 facing away from the base plate 41 for connecting to other components. In this manner, the storage rack 40 can be connected to other components via the connecting shafts 44 on the first and second side plates 42, 43.

[0072] Optionally, the bottom plate 41 is provided with a first groove 411 and a second groove 412. The second groove 412 has a smaller opening area than the first groove 411. This allows the transfer box to be better secured to the rack 40, preventing it from falling off. Furthermore, by providing multiple grooves of different sizes, transfer boxes of varying sizes can be accommodated, thereby increasing the versatility of the rack 40.

[0073] Optionally, the rack 40 further includes an electromagnet module 50. The electromagnet module 50 is disposed on a side wall of the base plate 41 and is configured to control the suction connection between the rack 40 and a transfer box placed thereon. When the electromagnet module 50 is powered on, the rack 40 and the transfer box placed thereon are suctioned together to prevent the rack 40 from tilting during transport and causing the transfer box to fall. When the electromagnet module 50 is powered off, the rack 40 and the transfer box placed thereon are released from the suction connection, allowing the user to easily transport the transfer box.

[0074] Optionally, the electromagnet module 50 may also be provided in the first groove 411 , so as to facilitate the suction connection between the large-sized transfer box and the storage rack 40 .

[0075] Optionally, the electromagnet module 50 may also be disposed in the second groove 412 , so as to facilitate the suction connection between the small-sized transfer box and the storage rack 40 .

[0076] Optionally, the transport-storage device 1 further includes a sensing module 61. The sensing module 61 is positioned above the support 10, corresponding to a predetermined position, and is used to sense the position and distance between the user and the transport-storage device 1. In this way, the disclosed embodiment can control the transport-storage device 1 to stop when it senses the user's proximity, thereby preventing user injury or other unexpected situations.

[0077] Optionally, the sensing module 61 is a photoelectric sensor. The photoelectric sensor is provided at one end of the bracket 10 near the loading and unloading port 73. Thus, by detecting whether the signal of the photoelectric sensor is blocked, the embodiment of the present disclosure can determine whether the user is carrying the transfer box.

[0078] Optionally, the transfer storage device 1 further includes an identification module 62. The identification module 61 is used to obtain the placement information of the transfer box on the rack 40. In this way, the embodiment of the present disclosure can accurately determine the working status of the rack 40 to control the reasonable movement of the transfer storage device 1.

[0079] Optionally, the recognition module 62 is a camera. The camera is arranged above the accommodation space 71. In this way, by collecting real-time images in the accommodation space, the embodiment of the present disclosure can determine whether a transfer box is placed on the shelf.

[0080] Optionally, the identification module 62 is a photoelectric sensor. The photoelectric sensor is provided on the bracket 10. In this way, by detecting whether the signal of the photoelectric sensor is blocked, the embodiment of the present disclosure can determine whether a transfer box is placed on the shelf.

[0081] Optionally, the identification module 62 is a gravity sensor. The gravity sensor is provided on the rack 40. Thus, by determining whether the detection value of the gravity sensor changes, the embodiment of the present disclosure can determine whether a transfer box is placed on the rack.

[0082] Optionally, the transfer storage device 1 further includes a reading module 63. This module is located above the support 10 and corresponds to a predetermined position. It is configured to collect label information from transfer boxes placed on the rack 40 at the predetermined position. This allows the disclosed embodiment to verify information during the transfer box's transport process, verifying whether the transfer box has been mishandled.

[0083] Optionally, the reading module 63 is an RFID (Radio Frequency Identification) reader. The RFID reader corresponds to the designated location of the rack 40 and is located directly above the second groove 412 of the rack 40. Thus, when the transfer box is correctly placed in the second groove 412 of the rack 40, the RFID reader can directly capture the electronic information from the RFID tag attached to the top of the transfer box, thereby verifying whether the transfer box has been mishandled.

[0084] Optionally, the transfer vehicle further includes a reminder module. This reminder module is located within the vehicle body and is used to indicate when the vehicle has completed entry or exit. This allows the user to intuitively monitor the actual storage status of the transfer storage device 1 without having to go inside the vehicle to check the operating status of each rack 40.

[0085] Optionally, the reminder module is a loudspeaker. Like this, by broadcasting the prompt information that the vehicle has completed warehousing or unloading, the user can utilize hearing to obtain the storage situation of the transport storage device 1, and then grasp the warehousing or unloading process.

[0086] Optionally, the reminder module is a lighting lamp. In this way, by controlling the lighting lamp to lower the brightness or turn off the lighting lamp, the user can use vision to obtain the storage situation of the transport storage device 1, and then grasp the storage or outbound process.

[0087] Combine Figure 9 As shown, an embodiment of the present disclosure provides a method for controlling a transfer vehicle, comprising:

[0088] S91: In response to a user instruction, the processor obtains the working status of each rack.

[0089] S92: The processor determines a target rack according to the working status of each rack and the user instruction.

[0090] S93, the processor controls the transfer storage device to move until the target rack moves to the loading and unloading port, so that the user can carry the transfer box.

[0091] The method for controlling a transfer vehicle provided by an embodiment of the present disclosure is adopted. A transfer storage device is provided in the transfer vehicle, and a plurality of racks that can be used to place transfer boxes are provided on the transfer storage device. When the transfer storage device is controlled to perform a circular rotation motion, the plurality of racks can be driven by it to move in an orderly manner along the motion trajectory. Upon receiving a user instruction, the embodiment of the present disclosure determines the working status of each rack separately to distinguish between loaded racks and idle racks. Then, according to the user instruction, the target rack is determined to control the reasonable movement of the transfer storage device so that the target rack is automatically moved to the vicinity of the loading and unloading port. This makes it easier for users to carry transfer boxes, reduces the amount of carrying by users, and helps to improve the efficiency of warehousing.

[0092] Optionally, the processor acquires the operating status of each rack, including: the processor controlling a camera to capture a real-time image of the transfer storage device; and the processor determining the operating status of each rack based on the real-time image. Thus, by capturing the real-time image of the transfer storage device, the disclosed embodiment can determine whether a transfer box is placed on each rack, thereby determining the operating status of the multiple racks.

[0093] Optionally, the processor acquires the operating status of each rack, including: the processor controlling multiple photoelectric sensors to detect status signals from the corresponding racks; and the processor determining the operating status of each rack based on the status signals. Thus, by detecting whether the photoelectric sensor signals are blocked, the disclosed embodiment can determine whether a transfer box is placed on each rack, thereby determining the operating status of the multiple racks.

[0094] Optionally, the processor acquires the operating status of each rack, including: the processor controlling multiple gravity sensors to detect weight information of each corresponding rack; and the processor determining the operating status of each rack based on the weight information. Thus, by determining whether the detected values ​​of the gravity sensors change, the disclosed embodiment can determine whether a transfer box is placed on each rack, thereby determining the operating status of the multiple racks.

[0095] Optionally, the user instruction includes a de-stocking instruction or an in-stocking instruction, and the operating state includes a first state in which no transfer box is placed or a second state in which a transfer box is placed. The processor determines a target rack based on the operating state of each rack and the user instruction, including: if the user instruction is an in-stocking instruction, the processor determines the rack with the first operating state as the first target rack; if the user instruction is an out-stocking instruction, the processor determines the rack with the second operating state as the second target rack. Thus, during in-stocking, the disclosed embodiment identifies a rack without a transfer box as the first target rack and controls the transfer storage device to move appropriately, automatically moving the first target rack to the loading and unloading port for the user to deposit the transfer box. This reduces the amount of handling required by the user and improves in-stocking efficiency. During out-stocking, the disclosed embodiment identifies a rack with a transfer box as the second target rack and controls the transfer storage device to move appropriately, automatically moving the second target rack to the loading and unloading port for the user to retrieve the transfer box. This can reduce the amount of goods users carry and help improve outbound efficiency.

[0096] Optionally, the processor controls the movement of the transfer storage device until the target rack moves to the loading and unloading port, including: when there are multiple target racks, the processor determines the distance between the position of each target rack and the set position; the processor determines the movement order of each target rack based on the distance between the position of each target rack and the set position; the processor controls the periodic movement of the transfer storage device according to the movement order, so that the multiple target racks move one by one to the loading and unloading port. In this way, when there are multiple identified target racks, the embodiment of the present disclosure determines the actual movement order based on the distance between the multiple target racks and the set position. This can improve the intelligence of the transfer vehicle, so that all target racks on the transfer storage device can be moved in an orderly manner, which is conducive to automated storage and warehousing.

[0097] Optionally, the distance between the target rack and the set position is negatively correlated with the movement order. That is, the farther the target rack is from the set position, the lower its priority in the movement order, and the later the target rack is moved to the loading and unloading port to be transported to the transfer box.

[0098] Optionally, the processor determines the movement order of each target rack based on the distance between the target rack's position and the set position, including: the processor sorting the distance between the target rack's position and the set position in ascending order to obtain a distance sequence; and the processor determining the distance sequence as the movement order of each target rack. In this way, by sorting the distances corresponding to multiple target racks in ascending order, the disclosed embodiment can simply and quickly determine the movement order of multiple target racks. This allows target racks closer to the set position to be moved to the loading and unloading port with priority, which helps shorten loading or unloading time and improve storage efficiency.

[0099] Optionally, the processor controls the transfer storage device to periodically move according to the movement sequence so that the multiple target racks move one by one to the loading and unloading port, including: S1, the processor determines the Nth rack to be moved to the loading and unloading port from the multiple target racks according to the movement sequence, where N is a positive integer; S2, the processor controls the transfer storage device to move until the Nth rack moves to the loading and unloading port; S3, the processor continuously detects the working status of the Nth rack; S4, if the working status of the Nth rack changes, the processor sets N=N+1; S5, the processor determines whether N≤M is true, where M is the total number of target racks; if so, the processor jumps to step S1; if not, the processor executes step S6, the processor controls the transfer storage device to enter a locked state, and the transfer storage device in the locked state is controlled not to perform circular rotation after being controlled. In this way, the embodiment of the present disclosure can determine the Nth rack to be moved to the loading and unloading port according to the current order in the movement sequence, and control the transfer storage device to move so that the Nth rack moves to the loading and unloading port. After determining that the Nth rack has moved to the loading and unloading port, the disclosed embodiment controls the transfer storage device to stop moving and continuously monitors the operating status of the Nth rack. If it is confirmed that the Nth rack has changed its operating status due to transporting a transfer box, the next target rack in the movement sequence is further determined and moved to the loading and unloading port. This continues until all target racks have completed transporting the transfer box. At this point, the transfer storage device is locked and no longer controlled. Thus, the disclosed embodiment can improve the intelligence of the transfer vehicle, allowing for the orderly movement of all racks on the transfer storage device, facilitating automated storage and retrieval.

[0100] Optionally, the processor determines that the target rack is moved to the loading / unloading port in the following manner: The processor determines that the target rack is moved to a set position. The set position is the position on the transfer storage device's motion trajectory closest to the loading / unloading port. In this way, the disclosed embodiment enables the target rack to be positioned directly opposite the loading / unloading port, making it easier for users to carry transfer boxes.

[0101] Optionally, the processor determines that the target rack has moved to the loading / unloading port in the following manner: The processor determines that the target rack has moved to a set area. The set area is defined as the area formed by all positions on the transfer storage device's trajectory that are less than a set distance from the loading / unloading port. In this way, the disclosed embodiment enables the target rack to be positioned closer to the loading / unloading port, facilitating simultaneous transport of multiple transfer boxes.

[0102] Combine Figure 10 As shown, the embodiment of the present disclosure provides another method for controlling a transfer vehicle, comprising:

[0103] S101: In response to a user instruction, the processor obtains the working status of each rack.

[0104] The user instruction includes an outbound instruction or an inbound instruction, and the working state includes a first state in which no transfer box is placed or a second state in which a transfer box is placed.

[0105] S102: When the user instruction is a warehousing instruction, the processor determines a rack with a first working state as a first target rack.

[0106] S103, the processor controls the transfer storage device to move until the first target rack moves to the loading and unloading port, so that the user can carry the transfer box.

[0107] S104: When the user instruction is a warehouse-out instruction, the processor determines a rack whose working state is the second state as a second target rack.

[0108] S105 , the processor controls the transfer storage device to move until the second target rack moves to the loading and unloading port, so that the user can carry the transfer box.

[0109] Using the method for controlling a transfer vehicle provided by an embodiment of the present disclosure, a transfer storage device is installed within the transfer vehicle, which is equipped with multiple racks for placing transfer boxes. When the transfer storage device is controlled to perform a circular rotational motion, the multiple racks can be moved in an orderly manner along the motion trajectory under its drive. Upon receiving a user instruction, the embodiment of the present disclosure determines the operating status of each rack to distinguish between loaded racks and idle racks. During warehousing, the embodiment of the present disclosure identifies racks without transfer boxes as first target racks and controls the transfer storage device to move appropriately, causing the first target racks to automatically move to the loading and unloading port to facilitate the user to store the transfer box. This reduces the amount of material the user needs to carry, which helps improve warehousing efficiency. During unloading, the embodiment of the present disclosure identifies racks with transfer boxes as second target racks and controls the transfer storage device to move appropriately, causing the second target racks to automatically move to the loading and unloading port to facilitate the user to retrieve the transfer box. This reduces the amount of material the user needs to carry, which helps improve unloading efficiency.

[0110] Combine Figure 11 As shown, the embodiment of the present disclosure provides another method for controlling a transfer vehicle, comprising:

[0111] S111 , in response to a user instruction, the processor obtains the working status of each rack.

[0112] The user instruction includes an outbound instruction or an inbound instruction, and the working state includes a first state in which no transfer box is placed or a second state in which a transfer box is placed.

[0113] S112: When the user instruction is a warehousing instruction, the processor determines a rack whose working state is a first state as a first target rack.

[0114] S113: If the first target rack exists, the processor controls the transfer storage device to move until the first target rack moves to the loading and unloading port, so that the user can carry the transfer box.

[0115] S114: If the first target rack does not exist, the processor controls the transfer storage device to enter a locked state.

[0116] The transfer storage device in the locked state does not perform circular rotation after being controlled.

[0117] S115, the processor controls the reminder module to work to remind the user that the vehicle has completed storage.

[0118] S116: When the user instruction is a warehouse-out instruction, the processor determines the rack whose working state is the second state as the second target rack.

[0119] S117, the processor controls the transfer storage device to move until the second target rack moves to the loading and unloading port, so that the user can carry the transfer box.

[0120] Using the method for controlling a transfer vehicle provided by an embodiment of the present disclosure, a transfer storage device is installed within the transfer vehicle, which is equipped with multiple racks for placing transfer boxes. When the transfer storage device is controlled to perform a circular rotational motion, the multiple racks can be driven by it to move in an orderly manner along the motion trajectory. Upon receiving a user instruction, the present embodiment determines the operating status of each rack to distinguish between loaded racks and idle racks. During warehousing, the present embodiment identifies a rack without a transfer box as the first target rack and controls the movement of the transfer storage device to ensure that the first target rack automatically moves to the vicinity of the loading and unloading port to facilitate the user's storage of the transfer box. This reduces the amount of material the user carries and helps improve warehousing efficiency. If, during warehousing, it is determined that there are no racks on the transfer storage device without a transfer box, the vehicle is deemed to have completed warehousing. By locking the transfer storage device and activating a reminder module, the present embodiment enables the user to promptly understand the actual storage status of the transfer storage device, facilitating the user's understanding of the warehousing progress. During outbound delivery, the disclosed embodiment identifies the rack with the transfer box as the second target rack and controls the transfer storage device to move appropriately, automatically moving the second target rack to the loading and unloading port to facilitate the user's access to the transfer box. This reduces the amount of carrying required by the user and helps improve outbound delivery efficiency.

[0121] Optionally, the processor controls the transfer storage device to enter a locked state, including: the processor controls the drive unit to disconnect from the first rotary transmission unit. This prevents the drive unit from driving the first rotary transmission unit in a circular rotational motion, thereby preventing the rack from moving along its trajectory. Thus, the disclosed embodiment can halt subsequent warehousing operations by locking the transfer storage device, allowing the user to better understand the current warehousing progress.

[0122] Optionally, the processor controls the reminder module to operate to prompt that the vehicle has completed storage, including: the processor controls the speaker to broadcast a prompt message that the vehicle has completed storage. In this way, the user can grasp the current storage progress by hearing.

[0123] Optionally, the processor controls the reminder module to work to prompt that the vehicle has completed storage, including: the processor controls the lighting to lower the brightness or turn off the lighting. In this way, the user can grasp the current storage progress by visual means.

[0124] Combine Figure 12 As shown, the embodiment of the present disclosure provides another method for controlling a transfer vehicle, comprising:

[0125] S121: In response to a user instruction, the processor obtains the working status of each rack.

[0126] The user instruction includes an outbound instruction or an inbound instruction, and the working state includes a first state in which no transfer box is placed or a second state in which a transfer box is placed.

[0127] S122: When the user instruction is a warehousing instruction, the processor determines a rack whose working state is a first state as a first target rack.

[0128] S123, the processor controls the transfer storage device to move until the first target rack moves to the loading and unloading port, so that the user can carry the transfer box.

[0129] S124: When the user instruction is a warehouse-out instruction, the processor determines the rack whose working state is the second state as the second target rack.

[0130] S125: If the second target rack exists, the processor controls the transfer storage device to move until the second target rack moves to the loading and unloading port, so that the user can carry the transfer box.

[0131] S126: If the second target rack does not exist, the processor controls the transfer storage device to enter a locked state.

[0132] The transfer storage device in the locked state does not perform circular rotation after being controlled.

[0133] S127, the processor controls the reminder module to operate to remind the user that the vehicle has completed leaving the warehouse.

[0134] Using the method for controlling a transfer vehicle provided by an embodiment of the present disclosure, a transfer storage device is installed within the transfer vehicle, which is equipped with multiple racks for placing transfer boxes. When the transfer storage device is controlled to perform a circular rotational motion, the multiple racks can be moved in an orderly manner along the motion trajectory under its drive. Upon receiving a user instruction, the embodiment of the present disclosure determines the operating status of each rack to distinguish between loaded racks and idle racks. During warehousing, the embodiment of the present disclosure identifies racks without transfer boxes as first target racks and controls the transfer storage device to move appropriately, causing the first target racks to automatically move to the loading and unloading port to facilitate the user to store the transfer box. This reduces the amount of material the user needs to carry, which helps improve warehousing efficiency. During unloading, the embodiment of the present disclosure identifies racks with transfer boxes as second target racks and controls the transfer storage device to move appropriately, causing the second target racks to automatically move to the loading and unloading port to facilitate the user to retrieve the transfer box. This reduces the amount of material the user needs to carry, which helps improve unloading efficiency. If it is determined that there is no shelf with a transfer box on the transfer storage device during outbound delivery, it is determined that the vehicle has completed outbound delivery. By locking the transfer storage device and starting the reminder module, the embodiment of the present disclosure can enable the user to timely understand the actual storage status of the transfer storage device, making it easier for the user to grasp the outbound delivery process.

[0135] Optionally, the processor controls the transfer storage device to enter a locked state, including: the processor controls the drive unit to disconnect from the first rotary transmission unit. This prevents the drive unit from driving the first rotary transmission unit in a circular rotational motion, thereby preventing the rack from moving along its trajectory. Thus, the disclosed embodiment can halt subsequent outbound operations by locking the transfer storage device, allowing the user to better understand the current outbound progress.

[0136] Optionally, the processor controls the reminder module to operate to prompt that the vehicle has completed the exit, including: the processor controls the speaker to broadcast a prompt message that the vehicle has completed the exit. In this way, the user can grasp the current exit progress by hearing.

[0137] Optionally, the processor controls the reminder module to work to prompt that the vehicle has completed the exit, including: the processor controls the lighting to lower the brightness or turn off the lighting. In this way, the user can grasp the current exit progress by visual means.

[0138] Combine Figure 13 As shown, the embodiment of the present disclosure provides another method for controlling a transfer vehicle, comprising:

[0139] S131, in response to a user instruction, the processor obtains the working status of each rack.

[0140] S132: The processor determines a target rack according to the working status of each rack and the user instruction.

[0141] S133, the processor controls the transfer storage device to move until the target rack moves to the loading and unloading port, so that the user can carry the transfer box.

[0142] S134: The processor verifies the label information of the transfer box placed on the target rack.

[0143] S135 , the processor controls the working state of the electromagnet module on the target shelf according to the user instruction and the verification result.

[0144] Using the method for controlling a transfer vehicle provided by an embodiment of the present disclosure, a transfer storage device is installed within the transfer vehicle, which is equipped with multiple racks for placing transfer boxes. When the transfer storage device is controlled to perform circular rotational motion, the multiple racks are driven by it to move in an orderly manner along the motion trajectory. Upon receiving a user command, the present embodiment determines the operating status of each rack to distinguish between loaded racks and idle racks. Based on the user command, the target rack is then determined to control the transfer storage device's movement, causing the target rack to automatically move to the vicinity of the loading and unloading port. This facilitates the user's handling of transfer boxes, reduces the amount of handling required, and improves warehousing efficiency. Furthermore, after the target rack has moved, the present embodiment collects and verifies the label information of the transfer box placed on the target rack to determine whether the transfer box has been mishandled. Based on the verification result and the type of command, the present embodiment further controls the operating status of the electromagnet module on the target rack to regulate the suction connection between the target rack and the transfer box placed on it. This solution can prevent the transfer box from falling during transport, improving its stability. Furthermore, since the transfer box cannot be easily removed while connected, combined with information verification during the inbound and outbound processes, it can improve the safety of blood product transport.

[0145] Optionally, if the user instruction is a warehousing instruction, the processor verifies the label information of the transfer box placed on the target shelf, including: the processor controls the reading module to collect the label information of the transfer box placed on the target shelf; the processor obtains the order information of the current transfer process; and the processor compares the label information with the order information to verify the label information. In this way, the disclosed embodiment can compare the label information on the transfer box with the order information previously imported by the user to verify whether the two match. This can improve the safety of blood product transfer and avoid incorrect transfers that may cause medical safety risks.

[0146] Optionally, the processor compares the label information with the order information to verify the label information, including: the processor extracting the first location information and the first blood information from the label information; the processor extracting the second location information and the second blood information from the order information; if the first location information is consistent with the second location information and the first blood information is consistent with the second blood information, the processor determines that the label information verification is successful; if the first location information is inconsistent with the second location information and / or the first blood information is inconsistent with the second blood information, the processor determines that the label information verification has failed. In this way, by comparing the label information with the location information and blood information in the order information, the disclosed embodiments can improve the safety of blood product transportation and avoid incorrect transportation, which may cause medical safety hazards.

[0147] Optionally, when the user instruction is an outbound instruction, the processor verifies the label information of the transfer box placed on the target shelf, including: the processor controls the reading module to collect the label information of the transfer box placed on the target shelf; the processor generates verification information of the transfer box placed on the target shelf based on the label information for user verification; the processor obtains the answer information filled in by the user; the processor compares the label information with the answer information to verify the label information. In this way, the embodiment of the present disclosure can collect the label information of the transfer box and allow the user to reply to part of the content to determine whether the transfer box has been taken by mistake. This can improve the safety of blood product transportation and avoid incorrect transportation, which may cause medical safety risks.

[0148] Optionally, the processor generates verification information for the transfer box placed on the target rack based on the label information, including: extracting the first location information and the first blood information from the label information; and generating and displaying verification information based on the first location information and the first blood information, wherein the verification information includes question information and prompt information related to the first location information and the first blood information. Thus, by allowing the user to answer the location information and blood information in the label information, the disclosed embodiment can improve the safety of blood product transfer and avoid incorrect transfers that could pose medical safety risks.

[0149] Optionally, the processor compares the label information with the answer information to verify the label information, including: the processor matching the first location information and the first blood information from the answer information; if both the first location information and the first blood information are matched, the processor determines that the label information verification is successful; if the first location information and / or the first blood information are not matched, the processor determines that the label information verification has failed. In this way, by allowing the user to answer the location information and blood information in the label information, the disclosed embodiments can improve the safety of blood product transportation and avoid incorrect transportation and medical safety hazards.

[0150] Optionally, the location information includes departure information and / or destination information. Thus, by verifying the location information, the disclosed embodiment can avoid errors in the starting or ending point of the transport, thereby improving the safety of blood product transport.

[0151] Optionally, the blood information includes some or all of the following: blood product type information, blood product dosage information, blood product expiration date information, and blood product quality information. By verifying the aforementioned blood information, the disclosed embodiments can avoid errors in blood product transport parameters, thereby improving the safety of blood product transport.

[0152] Optionally, the processor controls the working state of the electromagnet module on the target rack according to the user instruction and the verification result, including: when the user instruction is a warehousing instruction and the verification result is a successful verification, the processor controls the electromagnet module on the target rack to be energized so that the target rack and the transfer box placed on the target rack are attracted and connected. In this way, when entering the warehouse, if it is determined that the label information verification is successful, it is determined that the transfer box placed on the target rack is correctly stored. The embodiment of the present disclosure controls the electromagnet module to be energized so that the target rack and the transfer box placed thereon are attracted and connected, thereby preventing the transfer box from falling during transportation, which is conducive to improving the stability of the transfer box placement.

[0153] Optionally, the processor controls the working state of the electromagnet module on the target rack according to the user instruction and the verification result, including: when the user instruction is a warehousing instruction and the verification result is a verification failure, the processor controls the electromagnet module on the target rack to cut off the power so that the target rack and the transfer box placed on the target rack are not attracted and connected. In this way, when entering the warehouse, if it is determined that the label information verification fails, it is determined that the transfer box placed on the target rack is incorrectly stored. The embodiment of the present disclosure controls the electromagnet module to cut off the power so that the target rack and the transfer box placed thereon are not attracted and connected, thereby indicating that the current warehousing process is incorrect, so as to prompt the user to recheck the information of the transfer box.

[0154] Optionally, the processor controls the working state of the electromagnet module on the target rack according to the user instruction and the verification result, including: when the user instruction is a depot instruction and the verification result is a successful verification, the processor controls the electromagnet module on the target rack to cut off the power so that the target rack and the transfer box placed on the target rack are disconnected. In this way, when leaving the warehouse, if it is determined that the tag information verification is successful, it is determined that the transfer box placed on the target rack is correctly taken. The embodiment of the present disclosure controls the electromagnet module to cut off the power so that the target rack and the transfer box placed thereon are disconnected, so that the legitimate user can easily move the transfer box, thereby facilitating the rapid depoting of the transfer box.

[0155] Optionally, the processor controls the working state of the electromagnet module on the target rack according to the user instruction and the verification result, including: when the user instruction is a depot instruction and the verification result is a verification failure, the processor controls the electromagnet module on the target rack to be energized so that the target rack and the transfer box placed on the target rack maintain an attraction connection. In this way, when leaving the warehouse, if it is determined that the label information verification fails, it is determined that the transfer box placed on the target rack is incorrectly taken. The embodiment of the present disclosure controls the electromagnet module to be energized so that the target rack and the transfer box placed thereon maintain an attraction connection, which is conducive to improving the safety of blood product transportation.

[0156] Combine Figure 14 As shown, the embodiment of the present disclosure provides another method for controlling a transfer vehicle, comprising:

[0157] S141: In response to a user instruction, the processor obtains the working status of each rack.

[0158] S142: The processor determines a target rack according to the working status of each rack and the user instruction.

[0159] S143, the processor controls the transfer storage device to move until the target rack moves to the loading and unloading port, so that the user can carry the transfer box.

[0160] S144: The processor verifies the label information of the transfer box placed on the target rack.

[0161] S145 , the processor controls the working state of the electromagnet module on the target shelf according to the user instruction and the verification result.

[0162] S146: The processor controls the working state of the transfer storage device according to the verification result.

[0163] Using the method for controlling a transfer vehicle provided by an embodiment of the present disclosure, a transfer storage device is installed within the transfer vehicle, which is equipped with multiple racks for placing transfer boxes. When the transfer storage device is controlled to perform circular rotational motion, the multiple racks are driven by it to move in an orderly manner along the motion trajectory. Upon receiving a user command, the present embodiment determines the operating status of each rack to distinguish between loaded racks and idle racks. Based on the user command, the target rack is then determined to control the transfer storage device's movement, causing the target rack to automatically move to the vicinity of the loading and unloading port. This facilitates the user's handling of transfer boxes, reduces the amount of handling required, and improves warehousing efficiency. Furthermore, after the target rack has moved, the present embodiment collects and verifies the label information of the transfer box placed on the target rack to determine whether the transfer box has been mishandled. Based on the verification result and the type of command, the present embodiment further controls the operating status of the electromagnet module on the target rack to regulate the suction connection between the target rack and the transfer box placed on it. Therefore, on the one hand, this solution can prevent the transfer box from falling during transportation, which is beneficial to improving the stability of the transfer box placement. On the other hand, since the transfer box in the suction-connected state cannot be easily taken away, combined with the verification of the in-and-out process information, it is beneficial to improve the safety of blood product transportation. In addition, combined with the verification results of the label information, the embodiment of the present disclosure can also control the working status of the transfer storage device in a linked manner to determine whether subsequent in-and-out storage actions continue to run. Therefore, the embodiment of the present disclosure can also further improve the reliability of the transfer box transportation and avoid medical safety hazards caused by incorrect transfer.

[0164] Optionally, the processor controls the working state of the transfer storage device according to the verification result, including: when the verification result is a successful verification, the processor controls the transfer storage device to maintain a normal state; when the verification result is a failed verification, the processor controls the transfer storage device to enter a locked state. Among them, the transfer storage device in the normal state performs a circular rotation after being controlled, and the transfer storage device in the locked state does not perform a circular rotation after being controlled. In this way, the embodiment of the present disclosure can verify whether the transfer box is transported incorrectly by verifying the relevant information of the transfer box placed on the target shelf. If it is transported incorrectly, the embodiment of the present disclosure can stop subsequent warehousing and outbound actions by locking the transfer storage device. Thereby, the reliability of the transfer box transportation can be improved, and medical safety hazards caused by incorrect transportation can be avoided.

[0165] Combine Figure 15 As shown, the embodiment of the present disclosure provides another method for controlling a transfer vehicle, comprising:

[0166] S151: In response to a user instruction, the processor obtains the working status of each rack.

[0167] S152: The processor determines a target rack according to the working status of each rack and the user instruction.

[0168] S153, the processor controls the transfer storage device to move until the target rack moves to the loading and unloading port, so that the user can carry the transfer box.

[0169] S154: In the case of not responding to the user's instruction, the processor detects the temperature inside each transfer box.

[0170] S155, the processor determines the transfer box with an internal temperature greater than the first preset temperature as the target transfer box.

[0171] S156, the processor controls the transfer storage device to move until the shelf where the target transfer box is located moves to the air outlet to reduce the temperature inside the target transfer box.

[0172] The method for controlling a transfer vehicle provided by an embodiment of the present disclosure is adopted, and a transfer storage device is provided in the transfer vehicle, and a plurality of racks that can be used to place transfer boxes are provided on the transfer storage device. When the transfer storage device is controlled to perform a circular rotation motion, a plurality of racks can be moved in an orderly manner along the motion trajectory driven by it. Upon receiving a user instruction, the embodiment of the present disclosure determines the working status of each rack separately to distinguish between loaded racks and idle racks. Then, according to the user instruction, the target rack is determined to control the reasonable movement of the transfer storage device so that the target rack is automatically moved to the vicinity of the loading and unloading port. This makes it easier for users to carry transfer boxes, reduces the amount of transportation for users, and is conducive to improving the efficiency of warehousing and outbound transportation. When there is no response to the user instruction, which usually corresponds to the transportation process of the transfer vehicle, the embodiment of the present disclosure detects the temperature inside each transfer box separately to better grasp the difference in cooling effect between different transfer boxes. If a transfer box with a high internal temperature is detected on the transfer storage device, it is identified as the target transfer box, and the transfer storage device is controlled to move appropriately, automatically moving the shelf containing the target transfer box closer to the refrigeration system's air outlet to facilitate more adequate cooling of the transfer boxes. Therefore, the disclosed embodiment ensures that multiple transfer boxes are cooled evenly during transportation, thereby minimizing the storage temperature requirements of all blood products within the vehicle. This reduces the likelihood of deterioration and damage to blood products, thereby improving the reliability of the transportation process.

[0173] Optionally, the processor controls the movement of the transfer storage device until the shelf where the target transfer box is located moves to the air outlet, including: when there are multiple target transfer boxes, the processor calculates the temperature difference between the internal temperature of each target transfer box and the first preset temperature; the processor determines the temperature adjustment order of each target transfer box according to the temperature difference between the internal temperature of each target transfer box and the first preset temperature; the processor controls the periodic movement of the transfer storage device according to the temperature adjustment order, so that the shelves where the multiple target transfer boxes are located move to the air outlet one by one. In this way, when there are multiple target transfer boxes with higher internal temperatures, the embodiment of the present disclosure determines the actual temperature adjustment order according to the temperature difference between the internal temperature of the multiple target transfer boxes and the first preset temperature. This can improve the intelligence level of the transfer vehicle, so that multiple transfer boxes are cooled evenly during transportation, which is conducive to meeting the storage temperature requirements of all blood products in the vehicle.

[0174] Optionally, the temperature difference between the target transfer box's internal temperature and the first preset temperature is positively correlated with the temperature adjustment order. That is, the greater the temperature difference between the target transfer box's internal temperature and the first preset temperature, the higher its priority in the temperature adjustment order. In this case, the target transfer box will be moved to the air outlet sooner to achieve more timely cooling.

[0175] Optionally, the processor determines that the shelf containing the target transfer box is moved to the air outlet in the following manner: The processor determines that the shelf containing the target transfer box is moved to a target position. The target position is the position on the transfer storage device's motion trajectory closest to the air outlet. In this way, the disclosed embodiment enables the shelf containing the target transfer box to be positioned directly opposite the air outlet of the refrigeration system, facilitating more effective cooling of transfer boxes with relatively high internal temperatures.

[0176] Optionally, the processor determines that the shelf containing the target transfer box is moved to the air outlet in the following manner: the processor determines that the shelf containing the target transfer box is moved to a target area. The target area is defined as the area formed by all positions on the transfer storage device's trajectory that are less than a preset distance from the air outlet. In this way, the disclosed embodiment enables the shelves containing multiple target transfer boxes to be positioned close to the air outlet of the refrigeration system, facilitating simultaneous and sufficient cooling of multiple transfer boxes with poor cooling performance.

[0177] Optionally, if no transfer box has an internal temperature greater than a first preset temperature, the method for controlling the transfer vehicle further includes: if a transfer box has an internal temperature greater than a second preset temperature, the processor controlling the transfer storage device to continue moving at a constant speed; if no transfer box has an internal temperature greater than the second preset temperature, the processor controlling the transfer storage device to remain stationary. The first preset temperature is greater than the second preset temperature. Thus, corresponding to the first preset temperature, the disclosed embodiment sets a lower second preset temperature to more safely control the storage temperature of the blood products in each transfer box. If it is determined that no transfer box has an internal temperature greater than the first preset temperature on the transfer storage device, the relationship between the internal temperatures of the multiple boxes and the second preset temperature is further determined. If a transfer box has an internal temperature greater than the second preset temperature, this indicates that the internal temperature of the transfer boxes is close to the first preset temperature, and there is a possibility that the temperature may exceed the standard after rising, causing deterioration and damage of the stored blood products. Therefore, the disclosed embodiment controls the transfer storage device to continue moving at a constant speed to ensure uniform cooling of the multiple transfer boxes, thereby preventing the subsequent temperature rise of some transfer boxes from causing deterioration and damage of the blood products. If the temperature inside all boxes is lower than the second preset temperature, it means that all transfer boxes are at a relatively low temperature. Even if the temperature fluctuates slightly, it will not cause the blood products to deteriorate or be damaged. Therefore, the transfer storage device is controlled to remain stationary at this time, thereby further saving energy while confirming that the storage temperature meets the standard.

[0178] Optionally, the processor controls the transfer storage device to move until the shelf where the target transfer box is located moves to the air outlet, and further includes: when the temperature inside the target transfer box is less than or equal to the first preset temperature, the processor controls the transfer storage device to continue to move at a uniform speed, or to remain stationary. In this way, when the shelf where the target transfer box is located moves to the vicinity of the air outlet, the embodiment of the present disclosure controls the transfer storage device to stop moving and continuously detects the temperature inside the target transfer box. If it is confirmed that the target transfer box is more fully cooled due to being close to the air outlet and the temperature inside the box is lower than the first preset temperature, the transfer storage device is controlled to move at a uniform speed or remain stationary, so as to further save energy when it is confirmed that the storage temperature meets the standard. Therefore, the embodiment of the present disclosure can make multiple transfer boxes cooled evenly during transportation, so as to meet the storage temperature requirements of all blood products in the vehicle as much as possible. Thereby, the possibility of deterioration and damage of blood products can be reduced, which is conducive to improving the reliability of the transportation process.

[0179] Optionally, the processor controls the transfer storage device to maintain constant motion at a constant speed or to remain stationary, including: the processor detecting the temperature of the transfer vehicle's compartment; and the processor controlling the transfer storage device to maintain constant motion at a constant speed or to remain stationary based on the compartment temperature. In this way, the disclosed embodiment can control the subsequent operating state of the transfer storage device in conjunction with the compartment temperature, thereby more rationally regulating the temperature within each transfer box.

[0180] Optionally, the processor controls the transfer storage device to continue to move at a constant speed, or to remain stationary, based on the cabin temperature, including: when the cabin temperature is greater than or equal to the preset ambient temperature, the processor controls the transfer storage device to continue to move at a constant speed; when the cabin temperature is less than the preset ambient temperature, the processor controls the transfer storage device to remain stationary. In this way, when the cabin temperature is high, the transfer boxes stored inside are prone to heating up, so the transfer storage device is controlled to continue to move at a constant speed so that multiple transfer boxes can still be evenly cooled, avoiding the subsequent temperature rise of some transfer boxes that causes deterioration and damage of blood products. When the cabin temperature is low, the transfer boxes stored inside are easy to maintain at a suitable low temperature, so the transfer storage device is controlled to remain stationary at this time to further save energy after confirming that the storage temperature meets the standard.

[0181] Optionally, the processor controls the transfer storage device to continuously move at a constant speed, including: the processor obtaining the current speed of the transfer vehicle; the processor determining the movement speed of the transfer storage device based on the current speed; and the processor controlling the transfer storage device to move at a constant speed according to the movement speed. In this way, the speed of the transfer storage device during constant movement is correlated with the speed of the transfer vehicle, thereby reducing instability caused by inertia to a certain extent and preventing transfer boxes placed on the transfer storage device from falling.

[0182] Optionally, the processor controls the movement of the transfer storage device until the shelf containing the target transfer box moves to the air outlet, and further includes: the processor controlling the operation of the refrigeration system based on the temperature inside each transfer box. In this way, the disclosed embodiment can also control the operation of the refrigeration system based on the temperature inside multiple boxes to create a suitable vehicle cabin environment, thereby regulating the temperature inside multiple transfer boxes, thereby preventing deterioration and damage of blood products.

[0183] Optionally, the processor controls the operation of the refrigeration system according to the temperature inside each transfer box, including: when there is a transfer box with an internal temperature greater than a first preset temperature, the processor controls the refrigeration system to turn on; the processor adjusts the operating parameters of the refrigeration system according to the maximum value of the internal temperature of each transfer box. The operating parameters include one or more of the opening of the solenoid valve, the speed of the evaporating fan, and the operating frequency of the compressor. In this way, when the temperature inside the box exceeds the standard, in addition to controlling the movement of the transfer storage device, the embodiment of the present disclosure can also adjust the operating parameters of the refrigeration system according to the maximum value of the temperature inside the box to increase the refrigeration power of the system and speed up the cooling rate of the target transfer box. This can better meet the storage temperature requirements of blood products and help reduce the possibility of deterioration and damage of blood products.

[0184] Combine Figure 14 As shown, an embodiment of the present disclosure provides a device 9 for controlling a transfer vehicle, comprising a processor 901 and a memory 902. Optionally, the device may further include a communication interface 903 and a bus 904. The processor 901, the communication interface 903, and the memory 902 may communicate with each other through the bus 904. The communication interface 903 may be used for information transmission. The processor 901 may call the logic instructions in the memory 902 to execute the method for controlling the transfer vehicle of the above embodiment.

[0185] In addition, the logic instructions in the memory 902 can be implemented in the form of software functional units and can be stored in a computer-readable storage medium when sold or used as an independent product.

[0186] Memory 902, as a computer-readable storage medium, can be used to store software programs and computer-executable programs, such as program instructions / modules corresponding to the methods in the embodiments of the present disclosure. Processor 901 executes the program instructions / modules stored in memory 902 to execute functional applications and data processing, thereby implementing the method for controlling the transfer vehicle in the above-mentioned embodiments.

[0187] The memory 902 may include a program storage area and a data storage area. The program storage area may store an operating system and at least one application required for a function; the data storage area may store data generated based on the use of the terminal device. Furthermore, the memory 902 may include high-speed random access memory and non-volatile memory.

[0188] An embodiment of the present disclosure provides a computer-readable storage medium storing computer-executable instructions, wherein the computer-executable instructions are configured to execute the above-mentioned method for controlling a transfer vehicle.

[0189] The aforementioned computer-readable storage medium may be a transient computer-readable storage medium or a non-transitory computer-readable storage medium.

[0190] The technical solution of the embodiments of the present disclosure may be embodied in the form of a software product, which is stored in a storage medium and includes one or more instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the method described in the embodiments of the present disclosure. The aforementioned storage medium may be a non-transitory storage medium, including: a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, and other media that can store program code, or a transient storage medium.

[0191] The above description and the accompanying drawings fully illustrate the embodiments of the present disclosure so that those skilled in the art can practice them. Other embodiments may include structural, logical, electrical, process and other changes. The embodiments represent only possible variations. Unless explicitly required, individual components and functions are optional, and the order of operations may vary. Parts and features of some embodiments may be included in or replace parts and features of other embodiments. Moreover, the words used in this application are only used to describe the embodiments and are not used to limit the claims. As used in the description of the embodiments and claims, unless the context clearly indicates otherwise, the singular forms "a", "an" and "the" are intended to also include plural forms. Similarly, the term "and / or" as used in this application refers to any and all possible combinations of one or more associated listings. In addition, when used in this application, the term "comprise" and its variations "comprises" and / or comprising refer to the presence of stated features, wholes, steps, operations, elements, and / or components, but do not exclude the presence or addition of one or more other features, wholes, steps, operations, elements, components and / or groups of these. In the absence of further restrictions, an element defined by the sentence "comprising a..." does not exclude the presence of other identical elements in the process, method or device that includes the element. In this article, each embodiment may focus on the differences from other embodiments, and the same and similar parts between the various embodiments can be referenced to each other. For the methods, products, etc. disclosed in the embodiments, if they correspond to the method part disclosed in the embodiments, then the relevant parts can be found in the description of the method part.

[0192] The flowcharts and block diagrams in the accompanying drawings show the possible implementation architectures, functions and operations of the systems, methods and computer program products according to the embodiments of the present disclosure. In this regard, each box in the flowchart or block diagram can represent a module, program segment or part of the code, and the module, program segment or part of the code contains one or more executable instructions for implementing the specified logical functions. In some alternative implementations, the functions marked in the box can also occur in an order different from that marked in the accompanying drawings. For example, two consecutive boxes can actually be executed substantially in parallel, or they can sometimes be executed in the opposite order, which can depend on the functions involved. In the descriptions corresponding to the flowcharts and block diagrams in the accompanying drawings, the operations or steps corresponding to different boxes can also occur in an order different from that disclosed in the description, and sometimes there is no specific order between different operations or steps. For example, two consecutive operations or steps can actually be executed substantially in parallel, or they can sometimes be executed in the opposite order, which can depend on the functions involved. Each block in the block diagrams and / or flowcharts, and combinations of blocks in the block diagrams and / or flowcharts, may be implemented by a dedicated hardware-based system that performs the specified function or action, or may be implemented by a combination of dedicated hardware and computer instructions.

Claims

1. A method for controlling a transfer vehicle, characterized in that: The transfer vehicle includes a vehicle body; a compartment provided on the vehicle body, the compartment being provided with a loading and unloading port and defining a storage space and a storage cavity, the storage space being connected to the storage cavity via a ventilation duct, the ventilation duct including an air inlet duct and an air outlet duct, an air outlet being provided at a connection end of the air outlet duct and the storage space; a transfer storage device being provided in the storage space, the transfer storage device being controllable to perform circular rotational motion, the transfer storage device including a plurality of racks, the racks being used for placing transfer boxes; A refrigeration system is provided in the accommodating cavity, and the refrigeration system can be controlled to be turned on to regulate the temperature inside the transfer box; the method includes: Responding to user instructions, obtaining the working status of each shelf; Determining a target rack according to the working status of each rack and the user instruction; Controlling the transfer storage device to move until the target rack moves to the loading and unloading port, so that the user can carry the transfer box; In the absence of a response to a user instruction, detecting the temperature inside each transfer box; Determine a transfer box with an internal temperature greater than a first preset temperature as a target transfer box; Controlling the transfer storage device to move until the shelf where the target transfer box is located moves to the air outlet to reduce the temperature inside the target transfer box; The step of controlling the transfer storage device to move until the shelf where the target transfer box is located moves to the air outlet includes: In the case where there are multiple target transfer boxes, respectively calculating the temperature difference between the internal temperature of each target transfer box and the first preset temperature; determining a temperature adjustment order for each target transfer box according to a temperature difference between the internal temperature of each target transfer box and the first preset temperature; the temperature difference between the internal temperature of the target transfer box and the first preset temperature is positively correlated with the temperature adjustment order; According to the temperature adjustment sequence, the transfer storage device is controlled to move periodically so that the racks where the multiple target transfer boxes are located move to the air outlet one by one.

2. The method according to claim 1, characterized in that The controlling the transfer storage device to move until the target rack moves to the loading and unloading port includes: In the case where there are multiple target racks, determining the distance between the position of each target rack and the set position; Determining the moving order of each target rack according to the distance between the position of each target rack and the set position; According to the movement sequence, controlling the transfer storage device to move periodically so that the plurality of target racks move one by one to the loading and unloading port; The set position is the position on the motion trajectory of the transfer storage device that is closest to the loading and unloading port.

3. The method according to claim 2, characterized in that The distance between the position of the target rack and the set position is negatively correlated with the moving order.

4. The method according to claim 1, wherein The user instruction includes a warehouse-out instruction or a warehouse-in instruction, and the working state includes a first state where no transfer box is placed or a second state where a transfer box is placed; and determining a target rack according to the working state of each rack and the user instruction includes: In the case where the user instruction is a warehousing instruction, determining a rack with a first working state as a first target rack; In a case where the user instruction is a warehouse-out instruction, a rack whose working state is the second state is determined as the second target rack.

5. The method according to claim 4, characterized in that The transfer vehicle further includes a reminder module, which is disposed on the vehicle body; when the user instruction is a warehousing instruction, if the first target rack does not exist, the method further includes: Controlling the transport storage device to enter a locked state; Controlling the reminder module to work, so as to remind the vehicle that it has completed storage; Wherein, the transfer storage device in the locked state does not perform circular rotational motion after being controlled.

6. The method according to claim 4, characterized in that The transfer vehicle further includes a reminder module, which is disposed on the vehicle body; when the user instruction is a delivery instruction, if the second target rack does not exist, the method further includes: Controlling the transport storage device to enter a locked state; Controlling the reminder module to work, so as to remind the vehicle that it has completed leaving the warehouse; Wherein, the transfer storage device in the locked state does not perform circular rotational motion after being controlled.

7. The method according to any one of claims 1 to 6, characterized in that The rack is provided with an electromagnet module; the control of the movement of the transfer storage device until the target rack moves to the loading and unloading port further includes: Verifying label information of the transfer box placed on the target rack; According to the user instruction and the verification result, the working state of the electromagnet module on the target shelf is controlled.

8. A device for controlling a transfer vehicle, comprising a processor and a memory storing program instructions, characterized in that: The processor is configured to execute the method for controlling a transfer vehicle according to any one of claims 1 to 7 when running the program instructions.

9. A transfer vehicle, characterized in that: include: vehicle body; A compartment is provided on the vehicle body, the compartment is provided with a loading and unloading port, and defines a storage space and a storage cavity, the storage space and the storage cavity are connected through a ventilation duct, the ventilation duct includes an air inlet duct and an air outlet duct, and an air outlet is provided at a connection end of the air outlet duct and the storage space; A transfer storage device is provided in the accommodating space, the transfer storage device can be controlled to perform circular rotation, and the transfer storage device includes a plurality of racks, and the racks can be used to place transfer boxes; A refrigeration system is provided in the accommodating cavity, and the refrigeration system can be controlled to be turned on to regulate the temperature inside the transfer box; The device for controlling a transfer vehicle according to claim 8 is mounted on the vehicle body.

10. A storage medium storing program instructions, characterized in that: When the program instructions are executed, the method for controlling a transfer vehicle according to any one of claims 1 to 7 is executed.

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