Medical waste carrying method, device and equipment and storage medium
By binding medical waste handling orders in the same building and optimizing the handling path, the problem of low efficiency in medical waste handling is solved, and the efficiency of medical waste handling and robot utilization rate are improved.
Patent Information
- Application Number
- CN202411177296.4
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2024-08-26
- Publication Date
- 2024-12-13
AI Technical Summary
The existing medical waste handling robots are less efficient, which affects the efficiency of medical waste treatment.
By obtaining the list of handling orders for each medical department, judging and binding the handling orders between the same building, forming a bound handling order, and assigning it to the handling robot for processing, optimizing the handling path to improve efficiency.
It realizes that the handling robot can handle at least two handling orders at the same time, avoiding empty runs and improving the efficiency of medical waste handling.
Smart Images
Figure CN119130301A_ABST
Abstract
Description
Technical Field
[0001] The present invention relates to the technical field of transport robots, and in particular to a method, device, equipment and storage medium for transporting medical waste. Background Art
[0002] Medical waste refers to waste that is directly or indirectly infectious, toxic or otherwise hazardous and is generated by medical institutions during medical, preventive, health care and other related activities.
[0003] At present, the handling of medical waste is gradually shifting from manual labor to robots. Currently, in the relevant technologies, the handling efficiency of existing medical waste handling robots is relatively low, which has a certain impact on the efficiency of medical waste handling and treatment. Summary of the invention
[0004] The purpose of the present invention is to provide a method, system, equipment and storage medium for transporting medical waste, so as to solve the problem of low efficiency in transporting medical waste in related technologies.
[0005] In order to achieve the above object, the present invention provides the following technical solutions:
[0006] In the first aspect, the present invention provides a method for transporting medical waste, comprising:
[0007] Obtaining the list information of medical waste transportation orders of each medical department, wherein the types of transportation orders include: unloading box orders at the station, returning boxes with boxes, and pulling back medical waste boxes;
[0008] According to the moving order list information, determine whether there are moving orders in the moving order list that belong to the same building; if there are moving orders between the same building, bind the moving orders between the same building to form a bound moving order; and assign the bound moving order to a moving robot for moving processing.
[0009] Furthermore, preferably, before obtaining the medical waste transportation order, the method further includes: setting the priority of the medical waste transportation order of each medical department.
[0010] Further, preferably, the assigning of the bound transport orders to the transport robot for transport processing includes: obtaining the starting positions of different transport orders in the bound tasks and the position of the transport robot, and calculating the distances from the transport robot to the starting positions of the different transport orders; and sending different transport orders to the transport robot in order of distance from small to large.
[0011] Further, as a preference, the bound moving order includes: a first bound moving order, a second bound moving order and a third bound moving order, wherein; the first bound order is: a bound order formed by the at-station unloading order and the box carry-back order; the second bound order is: a bound order formed by the at-station unloading order and the box carry-back order; the third bound order is: a bound order formed by the box carry-back order and the box carry-back order.
[0012] Further, as a preference, the priorities of the order for unloading the boxes at the station, the order for returning the boxes with the boxes and the order for pulling back the medical waste box are different, and the priority of the order for unloading the boxes at the station and the order for returning the boxes with the boxes is higher than the order for pulling back the medical waste box.
[0013] Furthermore, as a preference, if the medical waste box pull-back order forms a bound order with the station unloading order or the station carry-back order, the priority of the medical waste box pull-back order is adjusted to remain the same as the station unloading order or the station carry-back order.
[0014] In a second aspect, the present invention further provides a medical waste transport device, comprising:
[0015] An acquisition module is used to obtain the list information of medical waste transportation orders of various medical departments, wherein the types of transportation orders include: arrival unloading orders, box return orders and medical waste box pull-back orders; a judgment module is used to judge whether there are transportation orders belonging to the same building in the transportation order list based on the transportation order list information; a binding module is used to bind the transportation orders between the same building to form a bound transportation order if there are transportation orders belonging to the same building; and an allocation module is used to allocate the bound transportation order to a transportation robot for transportation processing.
[0016] Furthermore, preferably, the system further comprises: a setting module for setting the priority of the medical waste transportation orders of each medical department.
[0017] A third aspect: The present invention also provides a computer electronic device, comprising a memory and a processor, wherein the memory stores a computer program, and the processor implements the steps of any one of the above-mentioned medical waste transport methods when executing the computer program.
[0018] Fourth aspect: The present invention also provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of any one of the medical waste transport methods described above are implemented.
[0019] The present invention provides a method, device, equipment and storage medium for handling medical waste. The method obtains the list information of medical waste handling orders of each medical department, wherein the types of handling orders include: unloading orders at the station, return orders with boxes and medical waste box pull-back orders; then, according to the handling order list information, it is judged whether there are handling orders belonging to the same building in the handling order list; if there are handling orders belonging to the same building, the handling orders between the same building are bound to form a bound handling order; finally, the bound handling order is assigned to a handling robot for handling. Compared with the related art, the present invention has the following effects: by binding the medical waste orders between the same building, the handling robot can handle at least two handling orders at the same time, which not only avoids the handling robot from running in vain, but also improves the handling efficiency. BRIEF DESCRIPTION OF THE DRAWINGS
[0020] Figure 1 It is a schematic diagram of the system architecture of a method for transporting medical waste according to an embodiment of the present invention;
[0021] Figure 2 It is a schematic flow chart of a method for transporting medical waste according to an embodiment of the present invention;
[0022] Figure 3 It is a structural schematic diagram of a medical waste transport device according to an embodiment of the present invention;
[0023] Figure 4 It is a structural schematic diagram of a computer electronic device according to an embodiment of the present invention. DETAILED DESCRIPTION
[0024] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.
[0025] It should be noted that when an element is referred to as being "fixed to" another element, it may be directly on the other element or there may be a central element. When an element is considered to be "connected to" another element, it may be directly connected to the other element or there may be a central element at the same time. In contrast, when an element is referred to as being "directly on" another element, there is no intermediate element. The terms "vertical", "horizontal", "left", "right" and similar expressions used herein are for illustrative purposes only.
[0026] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.
[0027] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.
[0028] The terms used in one or more embodiments of the present invention are only for the purpose of describing specific embodiments, and are not intended to limit one or more embodiments of the present invention. The singular forms "a", "said" and "the" used in one or more embodiments of the present invention are also intended to include plural forms, unless the context clearly indicates other meanings.
[0029] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art to which this application belongs. The terms used herein in the specification of the template are only for the purpose of describing specific embodiments and are not intended to limit the present invention. The term "and / or" used herein includes any and all combinations of one or more of the associated listed items.
[0030] It should be understood that, although the terms first, second, etc. may be used to describe various information in one or more embodiments of the present invention, these information should not be limited to these terms. These terms are only used to distinguish the same type of information from each other. For example, without departing from the scope of one or more embodiments of the present invention, the first may also be referred to as the second, and similarly, the second may also be referred to as the first. Depending on the context, the word "if" as used herein may be interpreted as "when..." or "when...".
[0031] First, some terms in the present invention are explained:
[0032] Arrival unloading order: carry the medical waste recycling bins from the medical department to the recycling station and put down the shelves.
[0033] Return order with box: The medical waste recycling box of the medical department is moved to the recycling station, and after the waste in the recycling box is cleaned, the medical waste recycling box is brought back to the corresponding medical department.
[0034] Medical waste bin pull-back order: Bring the medical waste recycling bin from the recycling station back to the corresponding medical department.
[0035] Next, a brief description is given of the system architecture of the method for transporting medical waste of the present invention:
[0036] See also Figure 1 , Figure 1 An exemplary system architecture is shown to which the medical waste transport method embodiment disclosed in the present invention can be applied.
[0037] like Figure 1 As shown in the figure, the system architecture includes the robot background system, the robot body system, the medical waste recycling station system, and the elevator system. The robot background system is the decision maker of cluster scheduling. The robot background system runs on the server and communicates with other devices through the network; the robot body system and the elevator system are command executors and data collectors, mainly for executing the commands (tasks) issued by the robot background system and collecting data of the distribution environment for the robot background system.
[0038] At present, for the technology of robot scheduling, generally only the efficiency of robot path planning is concerned, and the path planning algorithm with higher efficiency is used. However, for some specific applications, if only path planning is considered, it cannot achieve better efficiency. For example, in the handling of medical waste, for handling robots, the medical waste recycling business has its own particularity and complexity. The particularity is that there is only one medical waste recycling station in the whole hospital, and it is in an independent building (not in the hospital building). The complexity is that the speed of waste generated by the medical waste generating department is inconsistent, and if it is not handled in time, it will affect the operation.
[0039] Please refer to Figure 2 The present invention provides a method for transporting medical waste, comprising the following steps:
[0040] S10. Obtaining a list of medical waste transport orders from each medical department, wherein the types of transport orders include: an arrival unloading order, a box return order, and a medical waste box pull-back order.
[0041] Specifically, each medical department of the hospital places an order for medical waste transportation through the client on the user terminal. After the order is successfully placed, the robot background system will obtain the corresponding medical waste transportation order. The robot background system will put the transportation order into the transportation queue in real time or at a scheduled time, thereby forming a list of medical waste transportation orders for each medical department. Among them, the types of transportation orders include: arrival unloading order, box return order and medical waste box pull-back order.
[0042] It is understandable that before placing an order, the user needs to register a relevant account, which includes the user's identity information and corresponding department information, etc.
[0043] It should be noted that the above-mentioned user terminals are various electronic devices with display screens and supporting web browsing, including wireless mobile terminals, such as mobile phones and tablets, etc. Similarly, user terminals can also be wired terminals, such as desktop computers, etc.
[0044] S20. According to the moving order list information, determine whether there are moving orders in the moving order list that belong to the same building.
[0045] Specifically, the robot backend system will periodically query the medical waste handling order list information, for example, every 30 seconds, 2 minutes, etc. It should be noted that the above time intervals can be customized, or the system default time interval can be used; when the set time interval is reached, the robot backend system will conduct a corresponding query and determine whether there are any handling orders in the handling order list that belong to the same building.
[0046] It should be noted that due to the particularity of hospitals and medical waste, a special elevator for medical waste will be set up in the same building for the transportation of medical waste.
[0047] S30. If there are moving orders between the same building, the moving orders between the same building are bound to form a bound moving order.
[0048] Specifically, when the robot's acquired system queries that the order is a transport order between the same building, it will bind the transport orders to form a bound transport order. For example, a department on the 3rd floor of a building places an order to unload the box at the station, and a department on the 5th floor of the building places an order to pull back the medical waste box. The robot's backend system will bind the order to unload the box at the station on the 3rd floor of the building and the order to pull back the medical waste box on the 5th floor of the building to form a bound transport order.
[0049] S40: Allocate the bound transport order to a transport robot for transport processing.
[0050] Specifically, when the robot backend system forms a bound handling order, it will assign the bound handling order to the handling robot for handling. For example, a department on the 6th floor of a building places an order for unloading boxes at the station, and a department on the 9th floor of the building places an order for returning boxes. The robot backend system assigns the unloading order at the station and the return order to a handling robot on the 1st floor. The handling robot will use the special elevator for medical waste handling to go to the 6th and 9th floors respectively to carry the corresponding medical waste boxes to the 1st floor, and then according to the walking route set by the robot backend system, transport the medical waste boxes on the 6th floor and the medical waste boxes on the 9th floor to the recycling station set up by the hospital, and after unloading the medical waste at the medical waste recycling box on the 9th floor, send the medical waste recycling box on the 9th floor back to the corresponding medical department on the 9th floor.
[0051] It should be noted that, generally speaking, hospitals will set up a special elevator for medical waste transportation in each building. The control of the elevator is connected to the robot background system. The robot background system can reasonably dispatch the special elevator according to the handling situation of the handling robot to meet the handling needs of the handling robot.
[0052] The medical waste handling method provided in this embodiment obtains the medical waste handling order list information of each medical department, wherein the types of handling orders include: unloading order at the station, return order with box and medical waste box pull-back order; then, according to the handling order list information, it is judged whether there are handling orders belonging to the same building in the handling order list; if there are handling orders belonging to the same building, the handling orders between the same building are bound to form a bound handling order; finally, the bound handling order is assigned to the handling robot for handling. Compared with the related art, the present invention has the following effects: by binding the medical waste orders between the same building, the handling robot can handle at least two handling orders at the same time, which not only avoids the empty running of the handling robot, but also improves the handling efficiency.
[0053] In a certain embodiment of the present invention, before obtaining the medical waste transportation order, it also includes: setting the priority of the medical waste transportation order of each medical department.
[0054] Specifically, before obtaining the transport order, it is also necessary to set the priority between the transport orders of various medical departments of the hospital. It is understandable that the speed of generating medical waste is different between different medical departments of the hospital. Some departments generate medical waste quickly, while others generate medical waste slowly. Correspondingly, the departments that generate medical waste quickly also have a large amount of medical waste. If they are not cleaned up in time, it may affect the normal operation of the department. Therefore, it is necessary to set priorities between different medical departments of the hospital to meet the medical waste transportation needs of the hospital.
[0055] It should be noted that the priority of the medical waste removal orders of each medical department can be set according to the hospital's own situation, or the system default setting can be adopted. The system default setting is reasonably set based on big data analysis of the generation of medical waste in different hospitals.
[0056] In one embodiment of the present invention, step S40, allocating the bound transport order to a transport robot for transport processing, includes:
[0057] S41, obtaining the starting positions of different transport orders in the binding task and the position of the transport robot, and calculating the distance from the transport robot to the starting positions of the different transport orders.
[0058] It is understandable that when the robot backend system obtains the corresponding bound order, it is necessary to first obtain the starting position of different transport orders and the position of the transport robot, and calculate the distance between the transport robot and the starting position of different transport orders.
[0059] S42, sending different transport orders to the transport robot in order of distance from small to large.
[0060] Specifically, when the distance between the handling robot and the starting position of different handling orders is calculated, the distance is sorted from small to large, and the handling orders with short distances are handled first. For example, a department on the 6th floor of a building places an order to unload boxes at the station, and a department on the 9th floor of the building places an order to return with boxes, and the handling robot assigned to the task is on the 7th floor. At this time, the robot will first put the medical waste recycling box on the 6th floor on the handling shelf of the machine, and then put the medical waste recycling box on the 9th floor on the handling shelf of the machine, and then transport these medical waste recycling boxes to the recycling station.
[0061] In a certain embodiment of the present invention, the bound moving order includes: a first bound moving order, a second bound moving order and a third bound moving order, wherein: the first bound order is: a bound order formed by the at-station unloading order and the box carry-back order; the second bound order is: a bound order formed by the at-station unloading order and the box carry-back order; the third bound order is: a bound order formed by the box carry-back order and the box carry-back order.
[0062] In a certain embodiment of the present invention, the priorities of the order for unloading the box at the station, the order for returning the box with the box, and the order for pulling back the medical waste box are different, and the priority of the order for unloading the box at the station and the order for returning the box with the box is higher than that of the order for pulling back the medical waste box.
[0063] Specifically, among the types of handling orders, the priority of the on-site unloading orders and the return orders with boxes is higher than the medical waste box pull-back orders. It can be understood that in order to avoid the backlog of medical waste in the department, it is necessary to give priority to the on-site unloading orders and the return orders with boxes. Since these two types of handling orders include the transportation of medical waste from the medical department to the recycling station, this can reduce the squeezing of medical waste in the department.
[0064] In a certain embodiment of the present invention, if the medical waste box pull-back order forms a bound order with the station unloading order or the station carry-back order, the priority of the medical waste box pull-back order is adjusted to remain the same as the station unloading order or the station carry-back order.
[0065] Specifically, since the priority of the medical waste box pull-back order is lower than the station unloading order and the box return order, when the medical waste box pull-back order forms a bound order with the station unloading order or the box return order, the robot backend system needs to adjust the priority of the medical waste box pull-back order to be consistent with the priority of other orders in the corresponding binding, so that the robot can handle the bound handling order task.
[0066] See also Figure 3 The embodiment of the present invention also provides a medical waste transport device 200, comprising:
[0067] The acquisition module 201 is used to obtain the list information of medical waste transportation orders of each medical department, wherein the types of transportation orders include: unloading box orders at the station, returning boxes with boxes, and pulling back medical waste boxes;
[0068] A judgment module 202 is used to judge whether there are any transportation orders belonging to the same building in the transportation order list according to the transportation order list information;
[0069] The binding module 203 is used to bind the transport orders between the same buildings to form a bound transport order if there are transport orders between the same buildings;
[0070] The allocation module 204 is used to allocate the bound transport order to the transport robot for transport processing.
[0071] In one embodiment of the present invention, the device further comprises: a setting module 205 for setting the priority of the medical waste transportation orders of each medical department.
[0072] See also Figure 4 The embodiment of the present invention further provides a computer electronic device 400, including a memory 403 and a processor 402, wherein the memory 403 stores a computer program, and when the processor executes the computer program, the steps of any one of the above-mentioned medical waste transport methods are implemented.
[0073] Specifically, the electronic device 400 includes: a transceiver 401, a bus interface and a processor 402, wherein the processor 402 is used to obtain the medical waste transportation order list information of each medical department, wherein the types of the transportation orders include: station unloading orders, box return orders and medical waste box pull-back orders; based on the transportation order list information, determine whether there are transportation orders belonging to the same building in the transportation order list; if there are transportation orders belonging to the same building, the transportation orders between the same building are bound to form a bound transportation order; and the bound transportation order is assigned to a transportation robot for transportation processing.
[0074] In the embodiment of the present invention, the electronic device 400 further includes a memory 403. Figure 4 In the embodiment, the bus architecture may include any number of interconnected buses and bridges, specifically linking various circuits of one or more processors represented by processor 402 and memory represented by memory 403. The bus architecture may also link various other circuits such as peripherals, voltage regulators, and power management circuits, which are well known in the art and are therefore not further described herein. The bus interface provides an interface. The transceiver 401 may be a plurality of components, i.e., including a transmitter and a receiver, providing a unit for communicating with various other devices on a transmission medium. The processor 402 is responsible for managing the bus architecture and general processing, and the memory 403 may store data used by the processor 402 when performing operations.
[0075] An embodiment of the present invention further provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of any one of the above-mentioned medical waste transport methods are implemented.
[0076] In this embodiment, the computer readable storage medium may be a non-volatile storage medium or a volatile storage medium. For example, the computer storage medium may include but is not limited to: 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 codes.
[0077] In all examples shown and described herein, any specific values should be interpreted as merely exemplary and not as limiting, and thus other examples of the exemplary embodiments may have different values.
[0078] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, further definition and explanation thereof is not required in subsequent drawings.
[0079] In several embodiments provided in the present application, it should be understood that the disclosed devices and methods can also be implemented in other ways. The device embodiments described above are merely schematic. For example, the flowcharts and structure diagrams in the accompanying drawings show the possible architecture, functions and operations of the devices, methods and computer program products according to multiple embodiments of the present application. In this regard, each box in the flowchart or block diagram can represent a module, a program segment or a part of a code, and the module, a program segment or a part of a code contains one or more executable instructions for implementing the specified logical function. It should also be noted that in an alternative implementation, the functions marked in the box can also occur in a different order from the order marked in the accompanying drawings. For example, two consecutive boxes can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the structure diagram and / or the flow diagram, and the combination of boxes in the structure diagram and / or the flow diagram, can be implemented with a dedicated hardware-based system that performs a specified function or action, or can be implemented with a combination of dedicated hardware and computer instructions.
[0080] In addition, the functional modules or units in the various embodiments of the present application may be integrated together to form an independent part, or each module may exist separately, or two or more modules may be integrated to form an independent part.
[0081] If the functions are implemented in the form of software function modules and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application, or the part that contributes to the prior art, or the part of the technical solution, can be embodied in the form of a software product, which is stored in a storage medium and includes several instructions for enabling a terminal device (which can be a smart phone, a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the methods described in the various embodiments of the present application.
[0082] The above description is only a specific implementation manner of the present application, but the protection scope of the present application is not limited thereto. Any technician familiar with the technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application.
Claims
1. A method for transporting medical waste, characterized in that: include: Obtaining the list information of medical waste transportation orders of each medical department, wherein the types of transportation orders include: unloading box orders at the station, returning boxes with boxes, and pulling back medical waste boxes; According to the transport order list information, determining whether there are transport orders in the transport order list that belong to the same building; If there are moving orders between the same building, the moving orders between the same building will be bound to form a bound moving order; The bound transport order is assigned to a transport robot for transport processing.
2. The method for transporting medical waste according to claim 1, characterized in that: Before obtaining an order for the removal of medical waste, it also includes: Set the priority of medical waste removal orders for each medical department.
3. The method for transporting medical waste according to claim 1, characterized in that: The step of allocating the bound transport order to a transport robot for transport processing comprises: Obtaining the starting positions of different transport orders in the bound task and the position of the transport robot, and calculating the distance from the transport robot to the starting positions of the different transport orders; Send different transport orders to the transport robot in order of distance from small to large.
4. The method for transporting medical waste according to claim 1, characterized in that: The binding transport order includes: a first binding transport order, a second binding transport order and a third binding transport order, wherein; The first binding order is: a binding order formed by the container unloading order at the station and the container carrying back order; The second binding order is a binding order formed by the order for unloading the box at the station and the order for returning the box with the box; The third binding order is: a binding order formed by the box return order and the box pull-back order.
5. The method for transporting medical waste according to claim 1, characterized in that: The priorities of the order for unloading boxes at the station, the order for returning boxes with the boxes and the order for pulling back the medical waste box are different. The priority of the order for unloading boxes at the station and the order for returning boxes with the boxes is higher than that of the order for pulling back the medical waste box.
6. The method for transporting medical waste according to claim 5, characterized in that: If the medical waste box pull-back order forms a bound order with the station unloading order or the box return order, the priority of the medical waste box pull-back order is adjusted to be the same as the station unloading order or the box return order.
7. A medical waste handling device, characterized in that: include: An acquisition module is used to acquire the list information of medical waste transportation orders of each medical department, wherein the types of transportation orders include: unloading box orders at the station, returning boxes with boxes, and pulling back medical waste boxes; A judgment module, used for judging whether there are any transportation orders belonging to the same building in the transportation order list according to the transportation order list information; A binding module is used to bind the transport orders between the same buildings to form a bound transport order if there are any transport orders between the same buildings; The allocation module is used to allocate the bound transport order to the transport robot for transport processing.
8. The method for transporting medical waste according to claim 7, characterized in that: The system further comprises: The setting module is used to set the priority of medical waste removal orders for each medical department.
9. A computer electronic device, characterized in that: The method comprises a memory and a processor, wherein the memory stores a computer program, and the processor implements the steps of the medical waste handling method according to any one of claims 1 to 6 when executing the computer program.
10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the medical waste transport method according to any one of claims 1 to 6 are implemented.