A control method for pathological section storage automatic filing

Abstract

The application discloses a pathological section storage automatic filing control method, which comprises a rotating S surface body, each surface is divided into L layers, each layer represents a warehouse, and each warehouse comprises M rows and N columns of pathological section placing positions; the specific operation comprises the following steps: 1) a storage information acquisition step, 2) a section taking step, 3) a scanning step, 4) a replacing step, 5) a storage step and 6) an ending step; the pathological section storage automatic filing control method has high processing efficiency and high automatic arrangement.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of pathological section archiving, more particularly, it relates to a control method for automatic archiving of pathological section storage. BACKGROUND

[0002] Pathological examination is the gold standard for disease diagnosis and is irreplaceable in the diagnosis of diseases. The pathological section scanner is an important device for scanning and digitally storing pathological sections. The multi-channel pathological section scanner can realize one-time multi-section scanning, greatly simplifying the operation process of doctors. However, the existing scanning process and storage management cannot meet the automatic archiving of pathological sections. Since each patient often has multiple differently stained pathological sections in a pathological examination, and due to the limitations of the manufacturing process of pathological sections, it is not possible to stain the pathological sections of the same patient together in advance. Therefore, the doctor needs to manually check each section and store and record the location of the same patient in order. This process is not only tedious but also prone to accidents, which can easily cause human damage to pathological sections and misplacement and misrecording.

[0003] Therefore, it is necessary to realize the automatic archiving of pathological section storage, to automatically realize the sorting and archiving of pathological sections by the scanner, and to simplify human participation. In the automatic archiving process, it is not only a simple reordering and placement of pathological sections to a designated location. Rather, it needs to take into account the scanning task and automatically archive in the same storage. And in the scanning process, the storage will have at least one empty position, i.e. the pathological section being scanned. Therefore, while realizing the automatic sorting and archiving of the storage, it is also necessary to realize the optimal control of taking and placing sections during the scanning process. To ensure that there is no collision during the scanning process, and to realize the optimal path to avoid excessive storage rotation. Therefore, it is necessary to combine the corresponding integer programming and path planning to effectively solve the above problems and realize the automatic archiving of pathological section storage. SUMMARY

[0004] The present application overcomes the shortcomings of the prior art and provides a control method for automatic archiving of pathological section storage with high processing efficiency and high automation.

[0005] A control method for automatic archiving of pathological section storage includes a rotating S-surface, and each surface is divided into L layers, each layer representing a warehouse, and each warehouse contains M rows and N columns of pathological section placement positions. The specific operation includes the following steps:

[0006] 1) Acquiring warehouse information step: acquiring various initial information in the warehouse, including the information of the warehouse, the information of the warehouse, and the initial pathological number information of each position;

[0007] 2) Section taking step: controlling the mechanical arm to take the pathological section in the specified position from the storage device and place it under the electron microscope;

[0008] Wherein, the mechanical movement time spent by the pathological sections when adjusting in the same warehouse is negligible, the mechanical movement time across adjacent layers in the same face is recorded as w1, and the mechanical movement time across adjacent faces in the same layer is recorded as w2, w1 = 1, w2 = 100;

[0009] The mechanical time of adjustment between all warehouses constitutes the measurement matrix wareMetricMat, the number of warehouses is wareNum, and the vector composed of the number of each warehouse is as follows:

[0010] wareID = [1, 2,..., i*S+j*L, i*S+(j+1)*L,..., S*L]

[0011] Wherein, i represents the i-th face, and j represents the j-th layer;

[0012] At the same time, the vector composed of the number of empty warehouses in each warehouse is wareEmptyNum, and the total number of empty warehouses is as follows:

[0013]

[0014] Wherein, wareEmptyNum t represents the number of empty positions in the t-th warehouse;

[0015] The individual information and overall information of the same pathological number are counted;

[0016] The specific matching process of the position is as follows:

[0017] The warehouse state queue wareCapacity and the warehouse archiving queue adjustIDList are constructed; wherein,

[0018] wareCapacity ∈ R wareNum

[0019] Used to record the number of remaining adjustment positions of each warehouse in real time; wareCapacity i represents the number of remaining positions in the i-th warehouse, and the initial size is wareVolume; when the value is 0, it indicates that the warehouse is full and no longer accepts adjustment; in addition,

[0020] adjustIDList ∈ R wareNum×wareVolume

[0021] Used to record the final archiving pathological section original coordinates, i.e. positionCoord value, of each warehouse in real time; adjustIDList ijpositionCoord value of the archived pathology slide in the jth position of the ith warehouse; its initial value is -1, and if its value is still -1 after the warehouse adjustment, it means that the position is empty after the warehouse adjustment and does not store any pathology slide;

[0022] 3) Scanning step: scanning the pathology slide of step 2), the mechanical arm taking out the next pathology slide to be scanned from the storage;

[0023] 4) Replacement step: taking out the scanned pathology slide and putting in the pathology slide to be scanned for scanning;

[0024] 5) Storage step: putting the scanned pathology slide back into the storage device;

[0025] 6) End step: repeating steps 2) to 5) above until the scanning is completed.

[0026] Further, in step 1), the position is empty, and the pathology number of the position is recorded as 0; therefore, the initial information of all positions is recorded as:

[0027] oriMat∈R S×L×N×M

[0028] wherein oriMat represents the initial pathology number information of the s face, the l layer, the n column, and the m row, the value is the same for the same patient, and the value is 0 for the empty warehouse.

[0029] Further, the storage size of the pathology slide storage device is as follows:

[0030] warehouseSize=(S,L,N,M)

[0031] wherein S is the number of rotating faces of the storage, L is the number of layers of each face, N is the number of position columns of each layer, and M is the number of position rows of each column; the warehouse size is wareSize=(N,M), the number of warehouses is wareNum=S·L, and the warehouse capacity is wareVolume=N·M.

[0032] Further, the individual information includes: the original position coordinate positionCoord of each pathology slide, and the warehouse adjustment distance wareDistance of each pathology slide to each warehouse;

[0033] The overall information includes: the total warehouse adjustment distance slideSetMetricMat of each pathology number overall to each warehouse, and the number of pathology slides slideSetNum of each pathology number overall.

[0034] Further, the specific position matching step of taking the pathology slide in step 2) is as follows:

[0035] 2.1) Empty warehouse setting and recovery steps: The recovery of empty warehouses is carried out in units of columns of each warehouse position, and when a warehouse is completely empty, it indicates that the column can be recovered; the number of recoverable empty warehouse columns is calculated as EN = emptyNum % M; according to wareEmptyNum, the specific warehouse is selected as the warehouse reserved for empty warehouses from large to small, and at the same time, the remaining warehouse position value of the warehouse is reduced by M in wareCapacity, until EN columns are selected as recoverable empty warehouses;

[0036] 2.2) Overall warehouse adjustment step based on the same pathological number: In order to ensure that pathological slides of the same pathological number are archived in the same warehouse, first, adjust the warehouse as a whole; and according to the sand bottle principle, according to the value of slideSetNum, sort from large to small, and preferentially adjust the pathological number with a large quantity; the matching principle of adjustment is to select the warehouse with the smallest distance sum as the target warehouse according to slideSetMetricMat, which is recorded as wareID p , if the remaining warehouse position wareCapacity p of the corresponding warehouse is less than the number of pathological slides of the pathological number, then select the suboptimal warehouse as the target warehouse, until wareCapacity p is greater than the number of pathological slides of the pathological number; when the warehouse position is matched, record the positionCoord coordinate value of all pathological slides of the pathological number in adjustIDList p ; at the same time, the remaining warehouse position value of the target warehouse is adjusted by the corresponding number, that is,

[0037] wareCapacity p = wareCapacity p - slideSetNum k

[0038] where k represents the kth pathological number; if all remaining warehouses are not sufficient to hold all pathological slides of the pathological number, then record that all pathological slides of the pathological number will be recorded;

[0039] 2.3) Individual pathological slide adjustment step: all pathological slides that cannot be adjusted as a whole are collected together, and the corresponding wareDistance value is taken out; 2 times of Hungarian matching are performed for individuals, and the matching principle is to preferentially select the pathological slide with the smallest distance and its corresponding warehouse for matching according to wareDistance, which is recorded as the target warehouse wareID p , and the positionCoord coordinate value of the pathological slide is recorded in adjustIDList p , and wareCapacity p = wareCapacityp -1; thus reciprocating until the matching is completed;

[0040] 2.4) Collating target position information step: according to the final adjustIDList, two groups of queues inIDList and outIDList are constructed; inIDList sequentially records the coordinate position source before archiving, which is changed from the dimension of adjustIDList to one-dimensional vector; while outIDList sequentially records the coordinate position destination after archiving.

[0041] Further, for different pathological numbers with the same number of pathological sections, the Hungarian method is used to achieve the optimal matching of positions.

[0042] Further, the automatic scheduling of the scanning process in step 3) is needed, that is, the specific automatic scheduling control needs to construct a scheduling queue according to the obtained inIDList and outIDList, and implement scheduling according to the order of taking out the pathological sections from the warehouse; Specifically, two groups of queues need to be constructed: a pathological section taking-out queue and a pathological section placing-back queue, where the pathological section taking-out queue is used to sequentially record the position coordinates taken out from the warehouse, denoted as takeOutQueue; while the pathological section placing-back queue is used to sequentially record the position coordinates placed back into the warehouse after scanning, denoted as takeBackQueue; According to the final state dstMat of the scheduling, each position to be archived must be emptied in advance, and the pathological section on this position can be used as the pathological section to be scanned for the next round of archiving; Therefore, the specific operation is as follows:

[0043] 3.1) Obtaining initial archiving position step: selecting the initial archiving position according to the inIDList warehouse number sequence, and recording the coordinate of the archiving position as back_id;

[0044] 3.2) Archiving position validity judgment step: if the selected position has not been archived and is not empty in the final (back_id≠0), it is recorded as valid and step 3.3) is entered; otherwise, it is recorded as invalid and step 3.4) is entered;

[0045] 3.3) Queue updating step: sequentially storing back_id in takeBackQueue, and sequentially storing inIDList in takeOutQueue; then, searching for the next archiving position; selecting outIDList as the next archiving position and updating back_id=outIDList, then entering step 3.2); back_id sequentially storing back_id in takeBackQueue, and sequentially storing inIDList in takeOutQueue; then, searching for the next archiving position; selecting outIDList as the next archiving position and updating back_id=outIDList, then entering step 3.2); back_id sequentially storing back_id in takeBackQueue, and sequentially storing inIDList in takeOutQueue; then, searching for the next archiving position; selecting outIDList as the next archiving position and updating back_id=outIDList, then entering step 3.2); back_id sequentially storing back_id in takeBackQueue, and sequentially storing inIDList in takeOutQueue; then, searching for the next archiving position; selecting outIDList as the next archiving position and updating back_id=outIDList, then entering step 3.2);

[0046] 3.4) End judgment step: Determine whether all pathological slides have been archived; if archiving is completed, end the construction of the scheduling queue and return takeOutQueue and takeBackQueue; otherwise, proceed to step 3.1) until the end.

[0047] The beneficial effects of this invention are as follows:

[0048] This invention primarily combines the Hungarian method to achieve optimal matching of storage compartments and a recursive approach to automate the scanning of pathology slides. This ensures optimal path control during scanning even when pathology slides are stored in random order; it also ensures ordered archiving of pathology slides even when they are stored in random order; and it enables centralized storage of empty compartments for reuse. Attached Figure Description

[0049] Figure 1 This is an example image of the rotating warehouse of the pathology slide scanner of the present invention;

[0050] Figure 2 This is an unfolded view of the rotating warehouse of the pathology slide scanner of the present invention;

[0051] Figure 3 This is a schematic diagram of the mechanical time measurement matrix for warehouse transfers between different warehouses in this invention;

[0052] Figure 4 This is a flowchart of the scheduling queue construction in this invention. Detailed Implementation

[0053] The present invention will be further described below with reference to the accompanying drawings and specific embodiments.

[0054] like Figures 1 to 4 As shown, a control method for automatic archiving of pathology slides includes a rotated S-shaped solid, with each face divided into L layers. Each layer represents a warehouse, and each warehouse contains M rows and N columns of pathology slide placement positions. The specific operation includes the following steps:

[0055] 1) Steps for obtaining warehouse information: Obtain various initial information within the warehouse, including warehouse information, storage area information, and initial pathology number information for each storage location. Specifically, as follows... Figure 1 The image shows the storage compartment of a rotating hexahedral pathology slide scanner. Each face is divided into three layers (top, middle, and bottom), and each layer contains K compartments (M rows and N columns). The entire hexahedron is referred to as a storage compartment, and the N×M compartments in each layer are collectively referred to as a warehouse (e.g., ...). Figure 1The part of the middle frame is called a position, and the part of the middle frame where the pathological section is stored is called a position. When each pathological section is stored in the position, the pathological number of the pathological section is recorded. If the pathological section comes from the same patient, the pathological numbers are the same. At the same time, the position can be empty, and the pathological number of the position is recorded as 0 at this time. Therefore, the initial information of all positions is recorded as a matrix:

[0056] oriMat∈R S×L×N×M

[0057] Where oriMat represents the initial pathological number information of the s-th surface, the l-th layer, the n-th column, and the m-th row. The value is the same for the same patient, and the value is 0 for the empty position.

[0058] The storage size of the pathological section storage device is as follows:

[0059] warehouseSize=(S,L,N,M)

[0060] Where S is the number of rotating surfaces of the storage, i.e. 6 in this embodiment, 6 surfaces. L is the number of layers of each surface, i.e. 3 layers in this embodiment. N is the number of columns of positions in each layer, and this embodiment defaults to 3 columns. M is the number of rows of positions in each column, and this embodiment defaults to 3 rows. The warehouse size is wareSize=(N,M), the number of warehouses is wareNum=S·L, and the warehouse capacity is wareVolume=N·M.

[0061] 2) Taking a section step: controlling the mechanical arm to take out the pathological section in the specified position from the storage device and place it under the electron microscope.

[0062] Where the mechanical movement time spent when adjusting the pathological section in the same warehouse is ignored, the mechanical movement time across adjacent layers in the same surface is recorded as w1, and the mechanical movement time across adjacent surfaces in the same layer is recorded as w2, w1=1, and w2=100. That is, when calculating the section taking strategy, the basic information of the warehouse needs to be known. This is as shown in FIG. 1, and the mechanical time required to transfer from warehouse A to warehouse B is 2w1+1w2. Figure 2

[0063] The mechanical time of adjusting all warehouses constitutes the metric matrix wareMetricMat, and the number of warehouses is wareNum. As shown in the case of FIG. 2, the vector formed by the numbers of each warehouse is as follows: Figure 3

[0064] wareID=[1,2,...,i*S+j*L,i*S+(j+1)*L,...,S*L]

[0065] Where i represents the i-th surface, and j represents the j-th layer.

[0066] ​​Meanwhile, the vector of the empty warehouse number of each warehouse is wareEmptyNum, and the total empty warehouse number is as follows:

[0067]

[0068] where wareEmptyNum t represents the empty position number of the tthwarehouse.

[0069] The individual information and overall information of the same pathological number are counted. The individual information includes the original position coordinate positionCoord of each pathological slice and the warehouse adjustment distance wareDistance of each pathological slice to each warehouse.

[0070] The overall information includes the total adjustment distance slideSetMetricMat of each pathological number to each warehouse and the pathological slice number slideSetNum of each pathological number.

[0071] Therefore, the specific matching process of the position is as follows:

[0072] The warehouse state queue wareCapacity and the warehouse archiving queue adjustIDList are constructed. Wherein,

[0073] wareCapacity∈R wareNum

[0074] The remaining adjustment position number of each warehouse is recorded in real time. wareCapacity i represents the remaining position number of the ithwarehouse, and the initial size is wareVolume. When the value is 0, it indicates that the warehouse is full and no longer accepts adjustment. In addition,

[0075] adjustIDList∈R wareNum×wareVolume

[0076] The final archiving positionCoord value of each pathological slice of each warehouse is recorded in real time. adjustIDList ij represents the positionCoord value of the pathological slice archived in the jthposition of the ithwarehouse. The initial value is -1, and if the value is still -1 after adjustment, it indicates that the position is empty after adjustment and does not store any pathological slice.

[0077] The specific position matching steps of the pathological slice are as follows:

[0078] 2.1) Empty warehouse setting and recycling steps: The empty warehouse recycling is carried out in units of each position column. For example, Figure 1As shown, when the boxed warehouse is full, it indicates that the column can be recycled. The number of recyclable empty warehouse columns is EN = emptyNum % M. According to wareEmpt um, the specific warehouse is selected as the warehouse reserved for empty warehouse from large to small, and the remaining warehouse value of the warehouse is reduced by M in wareCapacity, until EN columns are selected as recyclable empty warehouses.

[0079] 2.2) Overall warehouse adjustment step based on the same pathology number: In order to ensure that the same pathology number is archived in the same warehouse, it is first adjusted as a whole. According to the sand bottle principle, according to the value of slideSetNum, it is sorted from large to small, and the pathology number with more quantity is preferentially adjusted. The matching principle of adjustment is to select the warehouse with the smallest distance sum as the target warehouse according to slideSetMetricMat, which is recorded as wareID p If the remaining capacity of the corresponding warehouse wareCapacity p is less than the number of pathological sections of the pathology number, then the suboptimal warehouse is selected as the target warehouse, and the process is repeated until the wareCapacity p is greater than the number of pathological sections of the pathology number. Among them, for different pathology numbers with the same number of pathological sections, the Hungarian method is used to realize the optimal matching of the warehouse, and the matching principle is as described above.

[0080] When the warehouse position matching is completed, the positionCoord coordinate value of all pathological sections of the pathology number is recorded in the corresponding warehouse adjustIDList p At the same time, the remaining warehouse value of the target warehouse is adjusted by the corresponding number, that is,

[0081] wareCapacity p = wareCapacity p - slideSetNum k

[0082] Among them, k represents the kth pathology number. If the remaining capacity of all warehouses is not enough to hold all pathological sections of the pathology number, then all pathological sections of the pathology number will be recorded.

[0083] 2.3) Individual pathological section adjustment step: All pathological sections that cannot be adjusted as a whole are collected together, and the corresponding wareDistance value is taken out. Two Hungarian matching are performed for individuals, and the matching principle is to preferentially select the pathological section with the smallest distance and its corresponding warehouse for matching, which is recorded as the target warehouse wareID p , and adjustIDList pThe positionCoord coordinate value of the pathological section is recorded, and the wareCapacity is also recorded p = wareCapacity p -1. Thus, the matching is completed.

[0084] 2.4) Target storage position information arrangement step: According to the final adjustIDList, two queues inIDList and outIDList are constructed. The inIDList sequentially records the coordinate position source before archiving, which is changed from the dimension of adjustIDList to a one-dimensional vector. The outIDList sequentially records the coordinate position destination after archiving.

[0085] 3) Scanning step: The pathological sections in step 2) are scanned, and the mechanical arm takes out the next pathological section to be scanned from the storage. The automatic scheduling of the scanning process, i.e., the specific automatic scheduling control, needs to construct a scheduling queue according to the obtained inIDList and outIDList, and implement scheduling according to the order of the scheduling queue. Specifically, two queues need to be constructed: a take-out queue and a put-back queue. The take-out queue is used to sequentially record the storage position coordinates taken out from the warehouse, denoted as takeOutQueue. The put-back queue is used to sequentially record the storage position coordinates after scanning and putting back into the warehouse, denoted as takeBackQueue. According to the final state dstMat of the scheduling, each position that needs to be archived must be emptied in advance, and the pathological section on this position can be used as the next round of pathological sections to be scanned for archiving.

[0086] 4) Replacement step: The scanned pathological section is taken out and replaced with the pathological section to be scanned.

[0087] 5) Storage step: The scanned pathological section is put back into the storage device.

[0088] 6) End step: Repeat steps 2) to 5) above until the scanning is completed.

[0089] Therefore, the specific operation is as follows:

[0090] 3.1) Initial archiving position acquisition step: The initial archiving position is selected according to the inIDList warehouse number sequence, and the coordinate of the archiving position is recorded as back_id.

[0091] 3.2) Archiving position validity judgment step: If the selected position has not been archived and is not empty in the end (back_id≠0), it is recorded as valid and step 3.3) is entered. Otherwise, it is recorded as invalid and step 3.4) is entered.

[0092] 3.3) queue updating step: storing back_id sequentially in takeBackQueue and storing inIDList back_id sequentially in takeOutQueue. Then, searching for the next archiving position. Selecting outIDList back_id as the next archiving position and updating back_id = outIDList back_id , and then entering step 3.2).

[0093] 3.4) end judging step: judging whether all the pathological sections are archived. If the archiving is completed, ending the construction of the scheduling queue and returning takeOutQueue and takeBackQueue. Otherwise, entering step 3.1) until the end.

[0094] The specific scheduling implementation is as follows: constructing the sequential section taking queue and the sequential section placing queue takeOutQueue and takeBackQueue.

[0095] Taking out the pathological section at the position coordinate recorded in the i-th record in takeOutQueue and placing it under the scanner for scanning (initial state i = 1). Taking out the pathological section at the position coordinate recorded in the i+1-th record in takeOutQueue and placing it in the scanning state. After the i-th pathological section is scanned, taking it back from the scanner and placing the i+1-th pathological section for scanning. Placing the scanned i-th pathological section back to the i-th record in takeBackQueue. Repeating the above storing and taking steps until the last record in takeOutQueue is scanned. After the last pathological section is scanned, placing it back to the last record in takeBackQueue.

[0096] In summary, the present scheme combines the Hungarian method to achieve the optimal matching of the positions and the recursive method to achieve the automatic control of the pathological section scanning. The optimal path control in the scanning process is achieved under the condition that the pathological sections are stored in disorder. The pathological sections are archived in order under the condition that the pathological sections are stored in disorder. The empty positions are centralized to be reused.

[0097] The above only describes the preferred embodiments of the present application. It should be noted that those skilled in the art can make several improvements and refinements without departing from the concept of the present application, and these improvements and refinements should also be considered as within the scope of the present application.

Claims

1. A control method for automatic archiving of pathological slides in storage, characterized in that, It includes a rotated S-shaped solid, with each face divided into L layers. Each layer represents a storage area, and each storage area contains M rows and N columns of pathology slide placement positions. The specific operation includes the following steps: 1) Steps for obtaining storage information: Obtain various initial information within the storage area, including storage information, warehouse information, and initial pathology number information for each storage location; 2) Slide Retrieval Step: Control the robotic arm to retrieve the pathological slides from the designated compartment of the storage equipment and place them under an electron microscope; The mechanical movement time spent adjusting pathological slides within the same warehouse is negligible; the mechanical movement time between adjacent layers on the same surface is recorded as... The mechanical movement time spanned between adjacent surfaces on the same layer is denoted as , , ; The mechanical time for adjustments between all warehouses is represented by the metric matrix wareMetricMat, where the number of warehouses is wareNum, and the vector representing the number of each warehouse is as follows: Where i represents the i-th face and j represents the j-th layer; Meanwhile, let wareEmptyNum be the vector representing the number of empty warehouses in each warehouse, and the total number of empty warehouses is as follows: in, This represents the number of vacant storage spaces in warehouse number t. Statistical analysis of individual and overall information for the same pathology number; The specific matching process for positions is as follows: Construct a warehouse status queue `wareCapacity` and a warehouse archive queue `adjustIDList`; where, Used to record the number of remaining transfer locations for each warehouse in real time; This represents the remaining storage space in the i-th warehouse, with an initial size of wareVolume. When its value is 0, it indicates that the warehouse is full and no more storage space will be accepted. Additionally... Used to record in real time the original coordinates of the pathology slides finally archived in each warehouse, i.e., the postitionCoord value; This represents the postitionCoord value of the archived pathology slides in the jth position of the i-th warehouse; its initial value is -1. If its value is still -1 after the repositioning is completed, it means that the position is empty after the repositioning and no pathology slides are stored. 3) Scanning steps: Scan the pathological slide from step 2), and the robotic arm retrieves the next pathological slide to be scanned from the storage. 4) Replacement step: Remove the scanned pathology slide and insert the pathology slide to be scanned for scanning; 5) Storage steps: Place the scanned pathology slides back into the storage equipment; 6) End steps: Repeat steps 2) to 5) above until the scan is finished.

2. The control method for automatic archiving of pathological slides according to claim 1, characterized in that, In step 1), if there are vacant positions, the pathology number for that position is recorded as 0; therefore, the tensor of the initial information for all positions is recorded as: Here, oriMat represents the initial pathology number information of the s-th face, l-th layer, n-th column, and m-th row. The initial pathology numbers of the same patients are the same, and the initial pathology number of an empty ward is 0.

3. The control method for automatic archiving of pathological slides according to claim 1, characterized in that, The storage capacity of the pathology slide storage equipment is as follows: warehouseSize = (S, L, N, M) Where S is the number of rotating surfaces of the warehouse, L is the number of layers on each surface, N is the number of warehouse columns on each layer, and M is the number of warehouse rows on each column; then the warehouse size is wareSize=(N,M), the number of warehouses is wareNum=S·L, and the warehouse capacity is wareVolume=N·M.

4. The control method for automatic archiving of pathological slides according to claim 1, characterized in that, Individual information includes: the original warehouse location coordinates (positionCoord) for each pathology slide, and the warehouse distance (wareDistance) from each pathology slide to each warehouse; The overall information includes: the total transfer distance of each pathology number to each warehouse (slideSetMetricMat), and the total number of pathology slides for each pathology number (slideSetNum).

5. The control method for automatic archiving of pathological slides according to claim 1, characterized in that, The specific warehouse matching steps for obtaining pathological slides in step 2) are as follows: 2.1) Empty Warehouse Setup and Reclamation Steps: Empty warehouse reclamation is performed on a column-by-column basis. When a warehouse is completely empty, it indicates that the column can be reclaimed. The number of reclaimable empty warehouse columns is calculated as follows: Based on wareEmptyNum, select specific warehouses as the warehouses to be reserved as empty warehouses, and at the same time reduce the remaining warehouse space value of the warehouse by M in wareCapacity until the EN column is selected as the reclaimable empty warehouse. 2.2) Whole-warehouse transfer steps based on the same pathology number: To ensure that pathology slides with the same pathology number are archived in the same warehouse, they are first transferred as a whole. According to the sand and gravel bottling principle, slides are sorted from largest to smallest according to their slideSetNum value, prioritizing transfers to pathology numbers with the largest number of slides. The matching principle for warehouse transfer is to select the warehouse with the shortest total distance based on slideSetMetricMat as the target warehouse. If the corresponding warehouse has remaining storage space If the number of pathology slides is less than the number of pathology slides for that pathology number, then the next closest warehouse is selected as the target warehouse, and so on, until... The number of pathology slides greater than the pathology number; when warehouse matching is complete, the corresponding warehouse The positionCoord coordinates of all pathology slides for that pathology number are recorded below; simultaneously, the remaining storage space value in the target warehouse is adjusted accordingly. Where k represents the kth pathology number; if all warehouses are not enough to hold all the pathology slides for that pathology number, then all the pathology slides for that pathology number will be recorded. 2.3) Individual Warehouse Transfer Procedures for Remaining Pathology Slides: Gather all pathology slides that cannot be transferred as a whole and retrieve their corresponding wareDistance values; perform two Hungarian matching operations on each individual slide. The matching principle is to prioritize the pathology slide with the smallest distance based on wareDistance and its corresponding warehouse for matching. This warehouse is designated as the target warehouse. and in Record the positionCoord coordinates of the pathological slide, and also record... This process is repeated until a match is found. 2.4) Steps for organizing target position information: Based on the final adjustedIDList, construct two queues inIDList and outIDList; inIDList records the source of the coordinate position before archiving in sequence, which is derived from the dimension change of adjustedIDList, turning its dimension into a one-dimensional vector; while outIDList records the destination of the coordinate position after archiving in sequence.

6. The control method for automatic archiving of pathological slides according to claim 5, characterized in that, For different pathology numbers with the same number of pathology slides, the Hungarian method was used to achieve optimal matching of storage locations.

7. The control method for automatic archiving of pathological slides according to claim 5, characterized in that, The automatic scheduling of the scanning process in step 3) requires constructing a scheduling queue based on the obtained inIDList and outIDList, and implementing scheduling according to the order in which slides are retrieved from the scheduling queue. Specifically, two sets of queues need to be constructed: a slide retrieval queue and a slide placement queue. The slide retrieval queue is used to sequentially record the coordinates of the slides retrieved from the warehouse, denoted as takeOutQueue; while the slide placement queue is used to sequentially record the coordinates of the slides returned to the warehouse after scanning, denoted as takeBackQueue. As can be seen from the final state dstMat of the scheduling, each position that needs to be archived must be vacated in advance, and the pathology slides in that position can be used as pathology slides to be scanned for the next round of archiving. Therefore, the specific operation is as follows: 3.1) Steps to obtain the initial archive location: Select the initial archive location according to the repository number order in inIDList, and mark the coordinates of this archive location as follows: ; 3.2) Steps for determining the validity of the archive location: If the selected location has not yet been archived and is not ultimately empty ( If the result is valid, proceed to step 3.3); otherwise, proceed to step 3.

4. 3.3) Queue update steps: Stored sequentially in takeBackQueue, and The data is stored sequentially in takeOutQueue; then, the next archive location is searched; and selected... As the next archive location, and update Then proceed to step 3.2); 3.4) End judgment step: Determine whether all pathological slides have been archived; if archiving is completed, end the construction of the scheduling queue and return takeOutQueue and takeBackQueue; otherwise, proceed to step 3.1) until the end.

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