Medical article intelligent transportation method and equipment based on task scheduling and medium

Abstract

The invention relates to the technical field of logistics transportation, and discloses a medical article intelligent transportation method and device based on task scheduling and a medium, and the method comprises the steps: generating transportation tasks of to-be-transported medical articles, and sorting the transportation tasks according to the priorities of the to-be-transported medical articles; scheduling a target medical transport robot corresponding to a transport task in the transport task sequence according to the real-time working state; controlling the target medical transportation robot to execute a medical article transportation action; environment data and task execution states in medical article transportation are monitored in real time, and robot redistribution strategies corresponding to the to-be-transported medical articles are generated according to the task execution states and the task emergency degrees; determining an optimization factor of the initial transportation track according to the transportation state; and the initial transportation track is dynamically optimized through the optimization factor and the environment data, and the redistribution medical robot is controlled to execute the medical article transportation action according to the optimized initial transportation track. The efficiency of medical article transportation can be improved.

Description

Technical Field

[0001] The present invention relates to the field of logistics and transportation technology, and in particular to a method, equipment and medium for intelligent transportation of medical supplies based on task scheduling. Background Art

[0002] With the advancement of medical technology, the scale of medical institutions continues to expand, and the types and quantity of medical services continue to increase. In the hospital environment, efficient, accurate and safe logistics distribution is crucial to ensuring the quality of medical services. The transportation demand for medical supplies (such as medicines, medical devices, test samples, etc.) has risen sharply, not only between various departments within the hospital, but also includes frequent transportation between the hospital and external medical institutions, testing centers, pharmacy warehouses, etc.

[0003] The existing intelligent transportation technology for medical supplies uses manual carts or elevators for transportation. The transportation routes are relatively fixed and difficult to flexibly adjust according to real-time traffic conditions (such as hospital corridor traffic, elevator usage peak, etc.) and the urgency of the task. For the situation of multiple concurrent tasks, there is a lack of effective task allocation and scheduling algorithms, and it is impossible to quickly match the most suitable transportation tools and routes for each transportation task, resulting in low efficiency in the transportation of medical supplies. Summary of the invention

[0004] The present invention provides a medical supplies intelligent transportation method, equipment and medium based on task scheduling, the main purpose of which is to solve the problem of low efficiency in the transportation of medical supplies.

[0005] To achieve the above-mentioned purpose, the present invention provides a medical supplies intelligent transportation method based on task scheduling, comprising: Generating a transportation task for the medical items to be transported according to the pre-acquired item attributes of the medical items to be transported, and sorting the transportation tasks according to the priorities of the medical items to be transported to obtain a transportation task sequence; Acquire the real-time working status of each medical transport robot, and schedule the target medical transport robot corresponding to the transport task in the transport task sequence according to the real-time working status; Assigning the task instruction corresponding to the medical article to be transported to the target medical transport robot, and controlling the target medical transport robot to perform the medical article transport action according to the initial transport trajectory in the task instruction; Real-time monitoring of environmental data during the transportation of medical supplies and the task execution status of the target medical transport robot, and generating a robot reallocation strategy corresponding to the medical supplies to be transported according to the task execution status and a preset task urgency; Determine the transportation state corresponding to the medical items to be transported by the robot reallocation strategy, determine the reallocation medical robot of the medical items to be transported according to the transportation state, and determine the optimization factor of the initial transportation trajectory according to the transportation state; The initial transport trajectory is dynamically optimized through the optimization factors and the environmental data, and the reallocation medical robot is controlled to perform medical supplies transportation actions according to the optimized initial transport trajectory.

[0006] Optionally, the transport tasks are sorted according to the priorities of the medical items to be transported to obtain a transport task sequence, including: Identifying the number of tasks corresponding to the priority level according to the priority level of the medical items to be transported; When the task quantity reaches the preset target quantity, the transport tasks are sorted in descending order of priority to obtain a first transport task sequence; When the number of tasks is not the preset target number, all transportation tasks corresponding to the same priority are extracted, and the task creation time corresponding to the transportation tasks is identified; Sorting all transport tasks corresponding to the same priority level in the order of task creation time to obtain a second transport task sequence; The first transport task sequence and the second transport task sequence are sequence-fused to obtain a transport task sequence.

[0007] Optionally, scheduling the target medical transport robot corresponding to the transport task in the transport task sequence according to the real-time working status includes: Filtering an idle transport robot set corresponding to the medical transport robot according to the idle state in the real-time working state, and filtering a first target transport robot set in the idle transport robot set according to the item attributes of the medical item to be transported; Filtering a set of busy transport robots corresponding to the medical transport robot according to the busy state in the real-time working state, and comparing the priority of the transport task with the priority of the real-time transport task of the medical transport robot in the busy transport robots to obtain a comparison result; Identifying the medical article weight and remaining load capacity corresponding to each medical transport robot in the busy transport robot set according to the comparison result and the medical article weight and remaining load capacity, and selecting a second target transport robot set in the busy transport robot set according to the remaining load capacity and the article properties of the medical article to be transported; Calculate a first transportation distance for each medical transportation robot in the first target transportation robot set according to the transportation task, and calculate a second transportation distance for each medical transportation robot in the second target transportation robot set; The medical transport robot with the shortest transport distance between the first transport distance and the second transport distance is selected as the target medical transport robot.

[0008] Optionally, controlling the target medical transport robot to perform a medical article transport action according to the initial transport trajectory in the task instruction includes: Extracting the medical supplies transporting instructions in the mission instructions; The transport balance factor of the target medical transport robot is determined according to the medical article transport instruction, wherein the transport balance factor calculation formula is: in, is the transport balance factor, is the horizontal coordinate of the center of gravity of the target medical transport robot, is the ordinate of the center of gravity of the target medical transport robot, is the abscissa of the pressure center, is the ordinate of the pressure center, is logical or symbolic; The internal transport movement balance value of the target medical transport robot is calculated by the handling balance factor, wherein the internal transport movement balance value calculation formula is: in, The internal transport moving balance value, To achieve the overall quality of the medical transport robot, is the offset corresponding to the handling balance factor, is the mass of the counterweight, For the maximum effective moving distance, is the distance movement balance coefficient; The internal transport movement balance value is mapped to the initial transport trajectory, and the target medical transport robot is controlled to perform a medical article transport action according to the mapped initial transport trajectory.

[0009] Optionally, generating a robot reallocation strategy corresponding to the medical items to be transported according to the task execution status and a preset task urgency includes: Identifying the real-time status of the target medical transport robot corresponding to the medical article to be transported according to the task execution status; When the real-time state is a normal execution state, detecting whether there is a new transport task, and when there is a new transport task, extracting the task urgency corresponding to the new transport task, and when the task urgency is lower than or equal to the priority of the medical items to be transported, determining the original allocation strategy of the medical items to be transported as the first robot reallocation strategy; When the urgency of the task is higher than the priority of the medical items to be transported, generating a second robot reallocation strategy for the medical items to be transported according to the transportation distance of the medical transport robot; When the real-time status is an abnormal execution status, adding the transport task of the medical items to be transported to the transport task sequence, and generating a third robot reallocation strategy according to the transport tasks in the transport task sequence; The first robot reallocation strategy, the second robot reallocation strategy and the third robot reallocation strategy are aggregated into a robot reallocation strategy.

[0010] Optionally, determining the transportation status corresponding to the medical items to be transported by using the robot reallocation strategy includes: Determining, according to a first robot reallocation strategy in the robot reallocation strategy, that the transportation state corresponding to the medical item to be transported is a normal transportation state; Determining the medical transport robot corresponding to the medical article to be transported according to a second robot reallocation strategy in the robot reallocation strategy; When the medical transport robot is the target medical transport robot, determining the transport state corresponding to the medical item to be transported as a transport waiting state; According to the third robot reallocation strategy in the robot reallocation strategy, it is determined that the transportation state corresponding to the medical item to be transported is a transportation handover state.

[0011] Optionally, determining the optimization factor of the initial transport trajectory according to the transport state includes: quantifying the transport state to obtain a transport state factor; Extracting the real-time transportation status of the medical supplies to be transported; The optimization factor of the initial transport trajectory is calculated according to the transport state factor, wherein the optimization factor calculation formula is: in, is the optimization factor, is the real-time transportation status, is the first state factor in the transport state factor, is the second state factor in the transport state factor, It is the third state factor in the transport state factor.

[0012] Optionally, the dynamically optimizing the initial transport trajectory by using the optimization factor and the environmental data includes: When the optimization factor is a preset first target factor, extracting environmental attributes in the environmental data, and extracting a discrete trajectory coordinate set of the initial transport trajectory; A dynamic optimization objective function of the discrete trajectory coordinate set is constructed according to the environmental attributes, wherein the dynamic optimization objective function is: in, is the discrete trajectory coordinate set The corresponding dynamic optimization objective function is: is the expected end time of the initial transport trajectory, is the starting time of the transportation task of the initial transportation trajectory, For a fixed time interval, is the total number of discrete time points, For the discrete points at time The actual running speed, For the discrete points at time The turnover rate of personnel, For the discrete points at time The effective width of the passage is For the discrete points at time The type of obstacle, For the discrete points at time Types of emergency incidents, For the discrete points at time The access permission level, is the speed discount factor, is the obstacle weight, is the emergency event weight, is the access authority weight, is the first weight, is the second weight; Determine an updated discrete trajectory coordinate set of the initial transport trajectory using the dynamic optimization objective function, and optimize the initial transport trajectory according to the updated discrete trajectory coordinate set; When the optimization factor is a preset second target factor, the initial transport trajectory is updated to a target transport trajectory, target environment data in the target transport trajectory is monitored in real time, and the target transport trajectory is optimized according to the target environment data.

[0013] In order to solve the above problem, the present invention further provides an electronic device, the electronic device comprising: at least one processor; and, a memory communicatively connected to the at least one processor; wherein, The memory stores a computer program that can be executed by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute the above-mentioned task scheduling-based intelligent transportation method for medical supplies.

[0014] In order to solve the above problems, the present invention also provides a computer-readable storage medium, in which at least one computer program is stored. The at least one computer program is executed by a processor in an electronic device to implement the above-mentioned task scheduling-based intelligent transportation method for medical supplies.

[0015] The embodiment of the present invention helps to reasonably plan transportation resources and arrange transportation order by clarifying basic information of tasks such as transportation starting point, end point, priority and time requirements; according to the priority order, limited transportation resources can be reasonably allocated according to the importance of transportation tasks, avoiding excessive concentration of resources on non-urgent tasks, and improving overall resource utilization efficiency; according to the real-time working status of the medical transportation robot, the robot that is most suitable for the medical items to be transported is selected to perform the task; the robot operates according to these instructions, which can avoid transportation errors caused by unclear information and ensure that the medical items are accurately transported to the designated location according to the specified requirements and routes; based on the task execution status and the preset task urgency, the robot reallocation strategy is generated, which can effectively respond to various changes in the transportation process; the transportation trajectory is dynamically optimized in combination with optimization factors and real-time environmental data, and the transportation route can be changed in time according to environmental changes and dynamic adjustment of transportation status, and unfavorable factors can be avoided. A better path is selected to move forward, thereby improving the timeliness and efficiency of transportation. Therefore, the intelligent transportation method, electronic and medium for medical items based on task scheduling proposed by the present invention can solve the problem of low efficiency when transporting medical items. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 A schematic diagram of a process flow of a medical supplies intelligent transportation method based on task scheduling provided by an embodiment of the present invention; Figure 2 A schematic diagram of a flow chart of sorting transport tasks provided by an embodiment of the present invention; Figure 3 A schematic diagram of a process for executing a medical supplies transportation operation provided by an embodiment of the present invention; Figure 4 A schematic diagram of the structure of an electronic device for implementing the medical supplies intelligent transportation method based on task scheduling provided in one embodiment of the present invention.

[0017] The realization of the purpose, functional features and advantages of the present invention will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0018] It should be understood that the specific embodiments described herein are only used to explain the present invention, and are not used to limit the present invention.

[0019] The embodiment of the present application provides a method for intelligent transportation of medical supplies based on task scheduling. The execution subject of the method for intelligent transportation of medical supplies based on task scheduling includes but is not limited to at least one of the electronic devices such as a server, a terminal, etc. that can be configured to execute the method provided by the embodiment of the present application. In other words, the method for intelligent transportation of medical supplies based on task scheduling can be executed by software or hardware installed on a terminal device or a server device, and the software can be a blockchain platform. The server includes but is not limited to: a single server, a server cluster, a cloud server or a cloud server cluster, etc. The server can be an independent server, or it can be a cloud server that provides basic cloud computing services such as cloud services, cloud databases, cloud computing, cloud functions, cloud storage, network services, cloud communications, middleware services, domain name services, security services, content delivery networks (Content Delivery Network, CDN), and big data and artificial intelligence platforms.

[0020] Reference Figure 1 FIG. 1 is a flow chart of a medical supplies intelligent transportation method based on task scheduling provided by an embodiment of the present invention. In this embodiment, the medical supplies intelligent transportation method based on task scheduling includes: S1. Generate transportation tasks for the medical items to be transported according to the pre-acquired item attributes of the medical items to be transported, sort the transportation tasks according to the priorities of the medical items to be transported, and obtain a transportation task sequence.

[0021] In an embodiment of the present invention, the medical items to be transported include medicines, medical devices, and test samples, and the item attributes of the medical items to be transported include size and weight, fragility, sensitivity to the environment, and expiration requirements. Then, a transportation task for the medical items to be transported is generated based on the item attributes of the medical items to be transported. The transportation task includes a task number, a transportation starting point and end point, a priority level, packaging requirements, a transportation tool, a transportation route, and time requirements.

[0022] Exemplarily, the category attribute of the medical items to be transported belongs to implantable medical devices, which have extremely high requirements for sterility and integrity, and are urgently needed for surgery. They are small in size (assuming a length of 30 cm and a diameter of about 1 cm), light in weight (about 100 grams), but soft in texture, easily deformed by external force, and belong to the category of fragile items. At the same time, they have strict requirements on environmental cleanliness and must avoid contamination by dust and other pollutants. There is an urgent need for use, and they are items that are immediately used in an ongoing heart bypass surgery. The priority of the transportation task is high, so a transportation task is generated according to the item attributes of the medical items to be transported. The transportation task includes basic task information: task number: "20241225_SUR_001" (indicates the first transportation task initiated from the relevant department of the operating room on xx / xx / 2024), transportation starting point: a specific storage area in the hospital's medical device sterile warehouse, transportation end point: the handover point at the door of the operating room where a heart bypass surgery is being performed, priority, etc. Level: High priority, Priority weight: 3, Packaging requirements: Use sterile sealed packaging, wrap it with soft cushioning material (such as sponge pads, etc.) on the outside, and put it in a special sterile transport box to ensure that it will not be squeezed and contaminated during transportation. Transportation tool selection: Choose a small transport robot equipped with constant temperature, constant humidity and a clean internal environment. The robot is equipped with a fixing device inside to prevent the transport box from shaking during transportation. Transportation route planning requirements: Plan a shortest route that passes through the clean areas inside the hospital (such as disinfection channels, clean corridors, etc.), avoid crowded and dusty construction areas or ward passages, and give priority to the use of special surgical material transportation elevators to ensure fast and sterile delivery. Time requirements: It is required to arrive at the handover point at the door of the operating room within 3 minutes to ensure that the operation can proceed smoothly.

[0023] Furthermore, in medical scenarios, some medical supplies have a higher priority. If they cannot be delivered in time, it may hinder medical work. Therefore, it is necessary to form a transportation task sequence according to priority, which can ensure that among many transportation tasks, such emergency tasks are arranged for transportation as soon as possible, minimize the transportation time, and ensure the efficient and orderly progress of medical work.

[0024] In an embodiment of the present invention, the transport task sequence refers to an orderly arrangement result of transport tasks, which clarifies the order of execution of the transport tasks corresponding to the medical supplies to be transported, and provides clear guidance for the subsequent reasonable allocation of transport resources (such as arranging suitable transport robots, planning transport routes, etc.), monitoring the progress of transport tasks, and ensuring that medical supplies can be transported to the destination efficiently and orderly.

[0025] In the embodiment of the present invention, refer to Figure 2 As shown, the transport tasks are sorted according to the priorities of the medical items to be transported to obtain a transport task sequence, including: S21, identifying the number of tasks corresponding to the priority level according to the priority level of the medical items to be transported; S22, when the task quantity reaches the preset target quantity, sorting the transport tasks in descending order of priority to obtain a first transport task sequence; S23. When the number of tasks is not the preset target number, extract all transportation tasks corresponding to the same priority level, and identify the task creation time corresponding to the transportation tasks; S24, sorting all transport tasks corresponding to the same priority level according to the order of task creation time to obtain a second transport task sequence; S25. Fusing the first transport task sequence and the second transport task sequence to obtain a transport task sequence.

[0026] In detail, first, the corresponding priority will be pre-set for each transportation task corresponding to each medical item to be transported based on different evaluation criteria (such as urgency, item characteristics, timeliness requirements, etc.). The priority division can be high, medium, and low, or multiple more detailed levels. Then, for each priority level, the number of transportation tasks at that level is counted. For example, after sorting out a batch of transportation tasks, it is found that there are 5 high-priority transportation tasks, 8 medium-priority transportation tasks, and 10 low-priority transportation tasks. Based on the pre-set target number, the target number is 1, that is, when there is only one task corresponding to the same priority, all transportation tasks are directly arranged in order from high to low priority, with all high-priority tasks in front, and then the medium-priority tasks and low-priority tasks are arranged in sequence to form the first transportation task sequence.

[0027] Specifically, when there are multiple tasks corresponding to the same priority, for all transport tasks of the same priority, obtain the time information when each task was initially created (that is, the transport request was initiated). For example, in a hospital logistics management system, an accurate creation timestamp is recorded when each transport task is created. By extracting this time information, we can know which tasks were initiated first and which were initiated later. The creation time of each transport task under the same priority is obtained and arranged in chronological order. For example, in a medium-priority transportation task, if task A is created at 9 a.m. and task B is created at 10 a.m., then task A is put in front and task B is put in the back, and so on. All tasks under the same priority are sorted according to this rule to form a second transportation task sequence, thereby ensuring the fairness principle of first come first served within the same priority level, and also making it possible to arrange the execution order of transportation tasks within the same priority level more orderly when the number of tasks is unbalanced. The first transportation task sequence sorted by priority and the second transportation task sequence sorted by task creation time within the same priority level are merged into a complete transportation task sequence, that is, each part is spliced ​​together in order from high to low priority. For example, the high-priority part in the first transportation task sequence is sorted first, and then the high-priority part in the second transportation task sequence sorted by task creation time under the corresponding priority level is connected in sequence, and then the medium-priority and low-priority tasks are processed in the same way, and finally a comprehensive transportation task sequence is formed that covers all transportation tasks, takes into account both priority differences and the order of task creation within the same priority level.

[0028] Furthermore, based on the generated transport task sequence, the transport tasks in the transport task sequence need to be assigned to the corresponding medical transport robots. Therefore, a reasonable medical transport robot should be assigned to each transport task based on the working status of the medical transport robot to ensure the efficient operation of the transport tasks.

[0029] S2. Acquire the real-time working status of each medical transport robot, and schedule the target medical transport robot corresponding to the transport task in the transport task sequence according to the real-time working status.

[0030] In an embodiment of the present invention, the real-time working status refers to an idle state, heading to a task location, executing a handling task, and a fault state, wherein the real-time working status of each medical transport robot can be obtained through the medical transport task management system within the hospital, and the robot itself has a communication module, and will periodically send status information to a server (such as a dispatch center server), including identification information of whether it is idle. After receiving these feedbacks, the server parses the corresponding data field. If the identification is displayed as an idle status code (for example, "0" is used to indicate idle, "1" is used to indicate busy, etc.), and the overall operation of the robot is observed in real time on the server side (such as the dispatch center) through a remote monitoring system, including data such as its feedback position, speed, task execution progress, etc., thereby obtaining the real-time working status of each medical transport robot in the hospital.

[0031] Furthermore, different transportation tasks, especially high-priority tasks involving first aid drugs, emergency surgical instruments, etc., have strict time requirements. By understanding the real-time working status of the robot, such as whether it is idle, how far away from the task location, and the current operating speed, we can accurately select the robot that is most likely to complete the task on time to perform the corresponding transportation task, thereby assigning a corresponding medical transportation robot to each transportation task, maximizing the use of the robot's working time, improving overall transportation efficiency, and meeting the timeliness requirements of different tasks.

[0032] In the embodiment of the present invention, the target medical transport robot refers to the robot that is determined to be most suitable for executing the current transport task to be assigned from all available medical transport robots (including idle and busy ones but likely to take on new tasks), taking into account multiple factors such as the robot's real-time working status (idle or busy), the priority of the task to be executed, the carrying capacity, the adaptability to the properties of the medical items to be transported, and the distance to the starting point of the transport task. Through scientific and reasonable scheduling, selecting it to execute the task can maximize the guarantee of efficient and accurate completion of the transport task and meet various requirements such as timeliness and safety of medical item transportation.

[0033] In an embodiment of the present invention, scheduling the target medical transport robot corresponding to the transport task in the transport task sequence according to the real-time working status includes: Filtering an idle transport robot set corresponding to the medical transport robot according to the idle state in the real-time working state, and filtering a first target transport robot set in the idle transport robot set according to the item attributes of the medical item to be transported; Filtering a set of busy transport robots corresponding to the medical transport robot according to the busy state in the real-time working state, and comparing the priority of the transport task with the priority of the real-time transport task of the medical transport robot in the busy transport robots to obtain a comparison result; Identifying the medical article weight and remaining load capacity corresponding to each medical transport robot in the busy transport robot set according to the comparison result and the medical article weight and remaining load capacity, and selecting a second target transport robot set in the busy transport robot set according to the remaining load capacity and the article properties of the medical article to be transported; Calculate a first transportation distance for each medical transportation robot in the first target transportation robot set according to the transportation task, and calculate a second transportation distance for each medical transportation robot in the second target transportation robot set; The medical transport robot with the shortest transport distance between the first transport distance and the second transport distance is selected as the target medical transport robot.

[0034] In detail, based on the real-time working status of the medical transport robots, the medical transport robots in an idle state are collected into an idle transport robot set. For example, in the hospital's transport robot management system, the robots marked as idle are robot A, robot B, robot C, etc., which together constitute this idle transport robot set. Different medical items to be transported have their own item attributes, such as weight, size, fragility, special requirements for the environment, etc. Based on these attributes, robots that meet specific transportation requirements are selected from the idle transport robot set to form a first target transport robot set. For example, if the medical item to be transported is a large and heavy medical device, then it is necessary to select a robot with a large load capacity and sufficient carrying space in the idle transport robot set; if fragile test samples are to be transported, it is necessary to select a robot with good shock absorption function and a relatively smooth transportation process. Through such screening, the selected robot is not only in an idle state, but also can adapt to the medical items to be transported in terms of function and performance, and is more likely to complete the transportation task with high quality.

[0035] Specifically, based on the real-time working status information of the robots obtained, the robots that are performing transportation tasks and are not idle are selected to form a set of busy transportation robots. These robots currently have tasks, but with the dynamic changes in the execution of tasks, they may be able to undertake new transportation tasks in the future, so they also need to be taken into consideration. For example, robot D is delivering medicines to the ward, and robot E is going to the laboratory to take samples. They are both busy and will be included in the set of busy transportation robots. For each busy transportation robot's real-time transportation task and the new transportation task to be assigned, their priorities are compared. Because different transportation tasks have different priorities, high-priority tasks often need to be guaranteed to be completed as soon as possible. By comparison, if the priority of the new transportation task is higher than the priority of the current task of a busy transportation robot, then this robot may need to adjust the task arrangement and give priority to the execution of the new high-priority task; conversely, if the priority of the new task is lower than the priority of the current task, it will generally continue to execute the original task and wait for the right time to consider taking on the new task. For example, the new transport task is to transport emergency medicines (high priority), while robot F in the busy transport robot set is transporting conventional medical consumables (medium priority). After comparison, it can be seen that the new task has a higher priority, and a corresponding comparison result record will be generated for further judgment on whether to use the robot as a reference. After obtaining the comparison result of the task priority, if the priority is lower than the priority of the current transport task, this medical transport robot will not be selected. If the priority is higher than the priority of the current transport task, the weight of the items in the current transport task will be calculated, and then the second target transport robot set will be screened. That is, for those busy transport robots whose new transport tasks have a higher priority or whose priorities are the same but may be adjusted, it is necessary to detect the weight of the medical items they are currently carrying and their remaining load capacity. Only when the priority of the new task is higher than the priority of the robot's current transport task and its remaining load capacity can still meet the weight requirement of the medical items to be transported, it will be able to undertake the new task. For example, robot G is transporting some small instruments with a total weight of 10 kg. Its maximum load capacity is 30 kg, and the remaining load capacity is 20 kg. If the weight of the medical items to be transported is 15 kg, then from the perspective of load capacity, it is possible to undertake new tasks. In addition to the weight factor, other properties of the medical items to be transported (such as the size, fragility, environmental requirements, etc. mentioned above) should also be considered to comprehensively judge whether the busy transport robot is suitable for undertaking new tasks. For example, even if a busy robot has sufficient remaining load capacity, if the items to be transported are medicines with strict temperature requirements, and the robot is not equipped with the corresponding constant temperature function, then it does not meet the requirements. After such comprehensive consideration, qualified robots are selected from the busy transport robot set to form the second target transport robot set. These robots may be dispatched to perform new transportation tasks in the future.

[0036] Furthermore, for each robot in the first target transport robot set (all robots that are idle and adapted to the properties of the medical items to be transported), combined with the transport start and end position information specified in the transport task, the distance from the current idle position of each robot to the starting point of the transport task is calculated through the map data within the hospital and the robot's positioning system. This distance is the first transport distance. For example, the first target transport robot set includes robots H and I. The straight-line distance (considering the actual feasible travel path) between the current position of robot H and the starting point of the transport task is 20 meters, and the straight-line distance between the current position of robot H and the starting point of the transport task is 20 meters. The distance from the starting point of the task is 30 meters, which is the first transportation distance corresponding to each of them. Similarly, for each robot in the second target transport robot set (a robot that is in a busy state but is judged to be likely to undertake a new task through the previous steps), calculate the distance from the position where the current task is expected to be completed to the starting point of the new transport task after completing the current task, as the second transportation distance. For example, robot J is expected to be at the door of a department on the 3rd floor of the hospital after completing the current task, and the starting point of the new transport task is another department on the 4th floor. Through map information and path planning algorithm, it is estimated that the distance from it to the starting point of the new task is 50 meters, which is the second transportation distance of robot J. By comparing the first transportation distance (the distance from the idle robot to the starting point of the task) and the second transportation distance (the distance from the busy robot to the starting point of the task after completing the current task) calculated previously, the robot with the smallest distance is selected as the target medical transport robot, thereby minimizing the time spent on the robot's journey to the starting point of the transport task, improving the overall transportation efficiency, enabling the transport task to be executed more quickly, and delivering medical supplies to the destination as soon as possible.

[0037] Furthermore, the corresponding medical transport robot is selected for the medical items to be transported, and the task instructions are assigned to the target robot, which can ensure that high-priority tasks (such as the transportation of first aid drugs and emergency surgical instruments) are performed by appropriate robots first, ensuring that these tasks with extremely high medical timeliness requirements can be completed in a timely manner and maintaining the smooth progress of the medical treatment process.

[0038] S3. Assign the task instructions corresponding to the medical items to be transported to the target medical transport robot, and control the target medical transport robot to perform the medical item transportation action according to the initial transportation trajectory in the task instructions.

[0039] In an embodiment of the present invention, the task instruction is a set of detailed and clear instruction information used to guide the target medical transport robot to complete the transportation of corresponding medical supplies, including the task number, transportation starting point and focus, and transportation trajectory. The central dispatch system sends the generated task instruction to the determined target medical transport robot through wireless communication (such as Wi-Fi, Bluetooth, ZigBee, etc., and the appropriate method is selected according to the network coverage of the hospital environment and the communication module configuration of the robot). During the sending process, data encryption and verification operations are performed to ensure that the task instruction is accurately transmitted to the robot end to avoid instruction errors or losses.

[0040] Furthermore, after receiving the task instruction, the robot first starts its own power system, sensor system and other related components to ensure that they are in normal working condition, and then controls the target medical transport robot to perform medical transportation work according to the transportation trajectory corresponding to the pre-set transportation task.

[0041] In an embodiment of the present invention, when controlling the target medical robot to perform medical supplies transportation, it is necessary to determine the dynamic transportation route of the robot based on the selected robot, accurately carry the selected robot, and stably carry items of different weights and sizes during transportation according to the dynamic transportation route.

[0042] In the embodiments of the invention, refer to Figure 3 As shown, the step of controlling the target medical transport robot to perform a medical article transport action according to the initial transport trajectory in the task instruction includes: S31, extracting the medical supplies transport instruction in the task instruction; S32. Determine the handling balance factor of the target medical transport robot according to the medical article handling instruction, wherein the handling balance factor calculation formula is: in, is the transport balance factor, is the horizontal coordinate of the center of gravity of the target medical transport robot, is the ordinate of the center of gravity of the target medical transport robot, is the abscissa of the pressure center, is the ordinate of the pressure center, is logical or symbolic; S33, calculating the internal transport movement balance value of the target medical transport robot by using the handling balance factor, wherein the internal transport movement balance value calculation formula is: in, The internal transport moving balance value, To achieve the overall quality of the medical transport robot, is the offset corresponding to the handling balance factor, is the mass of the counterweight, For the maximum effective moving distance, is the distance movement balance coefficient; S34. Map the internal transport movement balance value with the initial transport trajectory, and control the target medical transport robot to perform medical supplies transport actions according to the mapped initial transport trajectory.

[0043] In detail, the medical article handling instruction refers to a robot that is instructed to handle the article by a forklift or a robot that is instructed to handle the article by a box. When the medical article handling instruction is an instruction to handle the article by a forklift, it is necessary to determine the robot's ability to balance the article when transporting it along the transport trajectory, and then determine the handling balance factor of the medical transport robot. The handling balance factor refers to the balance parameter that needs to be adjusted calculated based on the sensor data. For example, when it is detected that the robot is tilted due to uneven weight of the article or bumps during transportation, that is, first when the robot carries the article, if the coordinates of the robot's own center of gravity are known to be (in the non-tilted state), and the coordinates of the center of gravity of the object relative to the robot , the overall center of gravity coordinates can be calculated ,but , , The robot chassis or support parts are equipped with pressure sensors to measure the pressure at different positions. , assuming that the robot chassis has a pressure sensor, the position coordinates are , total pressure , the pressure center coordinates can be calculated ,but , , thus comparing the pressure center coordinates with the robot gravity center coordinates, then or When , it means that the center of gravity is on the right side of the pressure center, that is, the pressure center is to the left of the center of gravity, that is, the handling balance factor is set to 1, which means that the pressure center is to the left of the center; and , indicating that it is in a balanced state, the transport balance factor is set to 0; and or , indicating that the center of gravity is on the left side of the pressure center, that is, the pressure center is to the right of the center of gravity, that is, the handling balance factor is set to -1, indicating that the pressure center is to the right of the center. The center of gravity is above the center of pressure. This means the center of gravity is below the center of pressure.

[0044] Specifically, after the offset is determined through the above calculation, corresponding balance adjustment measures can be taken according to the offset situation. Assuming that the robot chassis has a movable counterweight block, the mass of the counterweight block is , the effective movable distance range is (For example, the distance limit for left and right movement on the track), then when the calculated moving distance of the counterweight If it does not exceed the limited range, Set to 0, and the calculated moving distance of the counterweight If it exceeds the limited range, Set to 1, so that the counterweight is moved by mechanical mechanisms such as motor drive and screw transmission. For example, the motor drives the screw to rotate, and the screw and the counterweight are connected by a nut. The motor drives the screw to rotate according to the calculated moving direction (moving to the right to increase the right support force) and the distance control instruction, thereby pushing the counterweight to move to the appropriate position to achieve balance adjustment, and then mapping the internal transport balance value with the current walking position of the medical transport robot, that is, if the transport balance state needs to be adjusted at position A, the transport balance state adjusted at position A is matched with position A, and then the target medical transport robot is controlled to perform the medical goods transport action according to the mapped initial transport trajectory.

[0045] Furthermore, in the process of controlling the medical transport robot according to the transport trajectory, it is also necessary to monitor the environmental data around the target medical transport robot and the execution status of the robot in real time in order to respond to emergencies during the transportation process.

[0046] S4. Monitor the environmental data during the transportation of medical supplies and the task execution status of the target medical transport robot in real time, and generate a robot reallocation strategy corresponding to the medical supplies to be transported according to the task execution status and the preset task urgency.

[0047] In the embodiment of the present invention, the medical transport robot relies on a variety of sensors such as laser radar and visual cameras to perceive the surrounding environment in real time during the movement, obtain information about the road ahead, obstacles, traffic congestion and other related objects, and compare it with the initial transport trajectory information. For example, the laser radar continuously scans the distance and outline of surrounding objects, and the visual camera identifies features such as road signs and department house numbers to determine whether it has deviated from the set trajectory; the task execution status includes the robot's health status, position and trajectory, running speed, and task completion progress, among which the robot's control system can regularly collect various aspects of its own operating data (such as position, speed, component status, etc.), and send these data to the hospital's logistics management center server or remote monitoring terminal through a communication module (such as a wireless communication protocol), so that the environmental data and task execution status can be monitored in real time.

[0048] Furthermore, medical scenarios are complex and changeable. Sometimes, tasks that were originally of medium or low urgency may become urgent due to sudden changes, or the situation of high-urgency tasks may be alleviated during the transportation process (for example, some spare emergency medicines have been found, reducing the urgency of the need for the currently transported medicines). According to the dynamic changes in the task execution status and the adjustment of the preset task urgency, a robot reallocation strategy is generated accordingly, which can flexibly respond to these situations, always reasonably arrange robot resources according to actual medical needs, and ensure that all types of medical supplies can be transported to the corresponding locations at the right time and in an appropriate manner, thereby maintaining the high quality and stability of medical services.

[0049] In an embodiment of the present invention, the robot reallocation strategy refers to a method and rule for dynamically adjusting robot resource allocation according to the actual situation in the medical transportation process. It is based on real-time monitoring of the task execution status of the target medical transportation robot and the preset task urgency of different transportation tasks, and comprehensively considers multiple factors (such as the real-time working status of the robot, transportation distance, task priority, etc.) to decide whether it is necessary to reallocate the robot that is performing the transportation task, and how to reallocate the robot to undertake the corresponding transportation task, so as to ensure the continuity and efficiency of the medical supplies transportation work and the timely response to medical needs, so that the entire medical transportation system can operate stably and orderly.

[0050] In an embodiment of the present invention, the robot reallocation strategy corresponding to the medical items to be transported is generated according to the task execution status and the preset task urgency, including: Identifying the real-time status of the target medical transport robot corresponding to the medical article to be transported according to the task execution status; When the real-time state is a normal execution state, detecting whether there is a new transport task, and when there is a new transport task, extracting the task urgency corresponding to the new transport task, and when the task urgency is lower than or equal to the priority of the medical items to be transported, determining the original allocation strategy of the medical items to be transported as the first robot reallocation strategy; When the urgency of the task is higher than the priority of the medical items to be transported, generating a second robot reallocation strategy for the medical items to be transported according to the transportation distance of the medical transport robot; When the real-time status is an abnormal execution status, adding the transport task of the medical items to be transported to the transport task sequence, and generating a third robot reallocation strategy according to the transport tasks in the transport task sequence; The first robot reallocation strategy, the second robot reallocation strategy and the third robot reallocation strategy are aggregated into a robot reallocation strategy.

[0051] In detail, various methods of real-time monitoring of the task execution status of the medical transport robot (such as the position, speed, equipment health information fed back by the robot itself, as well as remote monitoring and data analysis, etc.) are used to determine the current working status of the target medical transport robot. The real-time status is divided into normal execution status and abnormal execution status. The normal execution status means that the robot is smoothly performing the transportation task according to the predetermined plan, and various operating indicators (such as normal speed, no fault prompts, and traveling along the established route) are within a reasonable range. The abnormal execution status means that the robot has encountered some unexpected situations during the transportation process, such as failures, encountering difficult-to-surmount transportation obstacles, and the speed seriously deviating from the normal range, which has affected the normal progress of the task.

[0052] Specifically, the transport requests initiated by each department are received and recorded in real time to form a new list of transport tasks to be assigned, and then it is determined whether there are new tasks. Once a new transport task is found, its corresponding task urgency is extracted, such as high, medium, and low priority, and compared with the priority of the medical items to be transported that are currently being transported. If the urgency of the new transport task is lower than or equal to the priority of the medical items to be transported that are currently being executed, it means that the currently executed task is relatively more important or equally important. In order not to affect the smooth progress of the current task, the original allocation strategy of the medical items to be transported is kept unchanged, that is, the original target medical transport robot continues to execute the current task as planned. This allocation method that maintains the status quo is determined as the first robot reallocation strategy. For example, the current robot is transporting a batch of medium-priority conventional medicines, and the newly emerging transportation task is to transport some low-priority spare consumables. At this time, the first robot reallocation strategy is adopted to allow the original robot to continue the drug transportation task; when the urgency of the new transportation task is higher than the priority of the medical items to be transported that are currently being executed, it means that the new task is more urgent and needs to be prioritized. Guarantee its execution. At this time, we need to consider reallocating robots to take over the currently executed tasks in order to free up the original target medical transport robot to perform new high-urgency tasks. The transportation distance of each idle or potentially new medical transport robot from the current location of the medical items to be transported (that is, the location where the original target robot is currently performing the task) and from the starting point of the new transport task will be calculated. The robot with the closest transportation distance will be selected to transport the new transport task. If the target medical transport robot at this time can load the transport items corresponding to the new transport task and is closest to the starting point of the new transport task, the target medical transport robot will suspend the items being transported or select the robot closest to the original transport task location to take over the original equipment transportation task, allowing the original robot to perform the emergency medicine transportation task. If the target medical transport robot at this time cannot load the transport items corresponding to the new transport task, the new transport task will be assigned to the robot with the closest transportation distance to transport the new transport task, and the target medical transport robot will continue to transport the original transport items, thereby obtaining the second robot reallocation strategy.

[0053] Furthermore, if the target medical transport robot is monitored to be in an abnormal execution state, it means that the current transport task has encountered a problem and cannot be continued by the robot as originally planned. At this time, the transport task corresponding to the medical item to be transported is added back to the overall transport task sequence. Based on this updated transport task sequence, the priority of each transport task, the real-time working status of each medical transport robot (such as idle or not, remaining load, location, etc.) and the correlation between transport tasks are comprehensively considered. A suitable robot is reassigned to each task in the transport task sequence (including the newly added transport task with an abnormality) to form a third robot reallocation strategy. For example, if a robot fails when transporting surgical instruments, the instrument transport task is added back to the task sequence, and the robot is reallocated according to the priority in the task sequence. If the priority of transporting surgical instruments is high, the robot closest to the fault location and meeting the transportation conditions will be selected to re-transport the surgical instruments. The steps of selecting the robot correspond to the first robot reallocation strategy and the second robot reallocation strategy, which will not be repeated here.

[0054] Furthermore, the robot reallocation strategies generated for three different situations (the first robot reallocation strategy corresponds to the normal execution state and the original allocation is maintained when the urgency of the new task is low; the second robot reallocation strategy corresponds to the normal execution state but the new task is more urgent and reallocated based on the transportation distance; the third robot reallocation strategy corresponds to the abnormal execution state and the task sequence is reconsidered as a whole for allocation) are integrated together to form a complete robot reallocation strategy covering various possible situations, so as to cope with the robot resource allocation needs under different states during the transportation of medical supplies, ensure that the transportation task can flexibly and reasonably adjust the execution method according to the actual situation, and ensure that medical supplies are transported to the destination as efficiently and accurately as possible.

[0055] S5. Determine the transportation status corresponding to the medical items to be transported through the robot reallocation strategy, determine the reallocation medical robot of the medical items to be transported according to the transportation status, and determine the optimization factor of the initial transportation trajectory according to the transportation status.

[0056] In an embodiment of the present invention, the transportation status reflects the different state characteristics of medical supplies during the transportation process from the departure point to the destination due to factors such as changes in robot resource allocation and changes in task execution. The transportation status includes normal transportation status (the transportation process proceeds smoothly as planned), transportation waiting status (in a transitional stage of waiting for further instructions or completion of handover operations in order to continue transportation), transportation handover status (the process stage of handing over items and tasks when the robot is replaced), transportation suspension status (transportation is temporarily stopped due to special reasons and may be continued later), and transportation completion status (successfully delivered to the destination).

[0057] In an embodiment of the present invention, determining the transportation status corresponding to the medical items to be transported by using the robot reallocation strategy includes: Determining, according to a first robot reallocation strategy in the robot reallocation strategy, that the transportation state corresponding to the medical item to be transported is a normal transportation state; Determining the medical transport robot corresponding to the medical article to be transported according to a second robot reallocation strategy in the robot reallocation strategy; When the medical transport robot is the target medical transport robot, determining the transport state corresponding to the medical item to be transported as a transport waiting state; According to the third robot reallocation strategy in the robot reallocation strategy, it is determined that the transportation state corresponding to the medical item to be transported is a transportation handover state.

[0058] In detail, the first robot reallocation strategy is the strategy adopted when the target medical transport robot is in a normal execution state and a new transport task appears, when the task urgency of the new transport task is lower than or equal to the priority of the medical items to be transported. In this case, it is decided to maintain the original allocation strategy of the medical items to be transported, that is, to let the original target medical transport robot continue to perform the current task as planned, and no robot resources will be reallocated; the second robot reallocation strategy is applicable to the situation where the target medical transport robot is in a normal execution state, but the task urgency of the new transport task is higher than the priority of the medical items to be transported. At this time, it is necessary to reallocate the robot to take over the currently being executed task or suspend the currently being executed task based on factors such as the transportation distance of other medical transport robots, so that the original target medical transport robot can perform the new high-urgency task according to the second robot reallocation strategy. According to the rules of the robot reallocation strategy, after comprehensive consideration of the transportation distance between each medical transport robot and the current location of the medical items to be transported and the starting point of the new transportation task, a suitable medical transport robot will be determined to undertake the current transportation task of the medical items to be transported. If, after reallocation, the determined medical transport robot happens to be the original target medical transport robot, this means that although the task allocation needs to be reconsidered from the perspective of resource allocation, the original robot will actually continue to perform the task. However, during the process of re-decision-making and possible handover preparation, the original robot is temporarily in a state of waiting for further instructions or waiting to complete the relevant handover operation (even if the handover object is still itself, there needs to be a transition stage in the process). Therefore, the transportation state corresponding to the medical items to be transported is determined as the transportation waiting state. For example, robot A was originally transporting a medium-priority medical device, and a high-priority emergency drug transportation task appeared. According to the second robot reallocation strategy, it is found that it is most appropriate for robot A to continue to transport the medical equipment. In this re-determination process, the transportation of the medical equipment is in a transportation waiting state, waiting for the subsequent formal instructions to continue to execute the transportation task or to complete some necessary process confirmation operations.

[0059] Specifically, the third robot reallocation strategy is applied to the case where the target medical transport robot is in an abnormal execution state. When the robot fails, encounters an insurmountable transportation obstacle, and other abnormal situations, resulting in the inability to continue to perform the current transportation task, the transportation task of the medical items to be transported will be added back to the overall transportation task sequence, and then various factors will be considered to reassign the appropriate robot to the task to form a new allocation arrangement. In this case, since the original target medical transport robot cannot continue to transport, the task needs to be taken over by the newly selected robot. There must be a process of handing over the medical items to be transported and related transportation task information (such as transportation starting point, end point, item attribute requirements, etc.) from the original robot to the new robot. This transition stage is the transportation handover state. For example, robot B fails when transporting surgical instruments. According to the third robot reallocation strategy, robot C is reselected to undertake the task. At this time, the transportation of surgical instruments is in the transportation handover state, which involves robot B handing over the instruments to robot C, and informing C of the specific requirements of transportation and the details of the remaining transportation tasks, etc., to ensure that the transportation task can be smoothly continued here by the new robot.

[0060] Furthermore, the reallocated medical robot for the medical items to be transported is determined according to the transport status; when the transport status is a normal status, the reallocated medical robot is the previous target medical robot; when the transport status is a transport waiting status, the reallocated medical robot is the replaced medical robot or the previous target medical robot; when the transport status is a transport handover status, the reallocated medical robot is the replaced medical robot.

[0061] Furthermore, the previous transportation trajectory needs to be optimized according to the transportation status, so that the transportation trajectory can be dynamically optimized according to the environmental data to ensure that the items can be accurately transported to the destination.

[0062] In the embodiment of the present invention, the optimization factor is a measurement indicator of whether the initial transportation trajectory needs to be adjusted based on the transportation status, and the transportation trajectory needs to be adjusted more specifically according to the transportation status.

[0063] In an embodiment of the present invention, determining the optimization factor of the initial transportation trajectory according to the transportation state includes: quantifying the transport state to obtain a transport state factor; Extracting the real-time transportation status of the medical supplies to be transported; The optimization factor of the initial transport trajectory is calculated according to the transport state factor, wherein the optimization factor calculation formula is: in, is the optimization factor, is the real-time transportation status, is the first state factor in the transport state factor, is the second state factor in the transport state factor, It is the third state factor in the transport state factor.

[0064] In detail, in order to be able to adjust and optimize the initial transport trajectory more accurately based on it, it is necessary to convert it into a form that can be measured by specific numerical values. The normal transport status is quantified as a value of 1, the transport waiting status is quantified as a value of 2, and the transport handover status is quantified as a value of 3. The real-time transport status corresponding to the medical items to be transported is determined, and then the optimization factor of the initial transport trajectory is calculated according to the transport status factor, wherein the first state factor is a value of 1, the second state factor is a value of 2, and the third state factor is a value of 3. The quantified real-time transport status is compared with the transport status factor to obtain the optimization factor of the initial transport trajectory.

[0065] Specifically, when the real-time transport status The state factor corresponding to the normal transportation state Or the state factor corresponding to the transport handover state When , the optimization factor is -1, indicating that the transportation continues according to the initial transportation trajectory, and the real-time transportation status The state factor corresponding to the transport waiting state When , the optimization factor is 1, indicating that the transportation trajectory needs to be adjusted. For example, in the transportation waiting state, it is necessary to pause the currently transported items so that the robot can transport items with higher task levels. After transporting the high-level items to the destination, the transportation trajectory will be replanned based on the location of the destination to the destination location of the items to be transported. Therefore, the initial transportation trajectory needs to be adjusted. In addition, if another robot takes over the currently transported items in the transportation waiting state, the transportation action will still be performed according to the initial transportation trajectory. At this time, the optimization factor is 1.

[0066] Furthermore, after determining whether the initial transport trajectory needs to be adjusted, it is also necessary to monitor the environmental data during the transportation process in real time, dynamically optimize the transport trajectory based on the environmental data, and ensure the smooth completion of the medical supplies transportation task.

[0067] S6. Dynamically optimize the initial transport trajectory using the optimization factors and the environmental data, and control the reallocation medical robot to perform medical supplies transport actions according to the optimized initial transport trajectory.

[0068] In the embodiment of the present invention, the target transport trajectory is continuously optimized according to the actual situation based on the real-time monitored target environment data. For example, if it is monitored that a certain position on the target transport trajectory suddenly gathers people (the flow rate of people increases), it may be necessary to re-plan the local route to bypass the area; if new obstacles are found, the robot's walking path may need to be adjusted to avoid the obstacles; or when an emergency occurs, transportation may be suspended or alternative routes may be found to ensure that the transportation task can be successfully completed under the premise of meeting environmental conditions and safety.

[0069] In the embodiment of the present invention, the dynamically optimizing the initial transport trajectory by using the optimization factor and the environmental data includes: When the optimization factor is a preset first target factor, extracting environmental attributes in the environmental data, and extracting a discrete trajectory coordinate set of the initial transport trajectory; A dynamic optimization objective function of the discrete trajectory coordinate set is constructed according to the environmental attributes, wherein the dynamic optimization objective function is: in, is the discrete trajectory coordinate set The corresponding dynamic optimization objective function is: is the expected end time of the initial transport trajectory, is the starting time of the transportation task of the initial transportation trajectory, For a fixed time interval, is the total number of discrete time points, For the discrete points at time The actual running speed, For the discrete points at time The turnover rate of personnel, For the discrete points at time The effective width of the passage is For the discrete points at time The type of obstacle, For the discrete points at time Types of emergency incidents, For the discrete points at time The access permission level, is the speed discount factor, is the obstacle weight, is the emergency event weight, is the access authority weight, is the first weight, is the second weight; Determine an updated discrete trajectory coordinate set of the initial transport trajectory using the dynamic optimization objective function, and optimize the initial transport trajectory according to the updated discrete trajectory coordinate set; When the optimization factor is a preset second target factor, the initial transport trajectory is updated to a target transport trajectory, target environment data in the target transport trajectory is monitored in real time, and the target transport trajectory is optimized according to the target environment data.

[0070] In detail, when the optimization factor is the first target factor, that is, when the optimization factor is a value of -1, it means that the transportation trajectory needs to be optimized based on the environmental data monitored in real time by the initial transportation trajectory. The environmental attributes include personnel density, effective channel width, obstacle type, access permission status, and sudden emergency events. Different values ​​can be used to represent different types of obstacles (for example, 1 represents medical equipment, 2 represents beds, etc.) for accurate obstacle avoidance planning. In the access permission status, 0 represents prohibited passage, 1 represents completely barrier-free passage, and the intermediate value represents different degrees of restricted passage). In sudden emergency events such as fire, emergency medical rescue, etc., 1 represents an event and 0 represents none. The discrete trajectory coordinate set is , represents the entire discretized transport trajectory of the medical transport robot, which is composed of a series of spatial coordinate points arranged in chronological order.

[0071] Specifically, construct an objective function that takes multiple dimensions into consideration , which is composed of a weighted combination of multiple sub-objective functions, aims to comprehensively optimize the performance of the robot's transportation trajectory in different aspects. The objective function takes into account the robot's running speed and the impact of environmental factors on the speed. The denser the flow of people and the narrower the channel, the higher the speed discount coefficient. The lower the actual effective speed of the robot under the action, the overall average speed is calculated by integration, and then the efficiency is measured by combining the total duration of the transportation task. The goal is to maximize it so as to complete the transportation task as soon as possible, and comprehensively evaluate the safety risks from three aspects: traffic weight, obstacle existence, and emergency events, so as to minimize them, ensure the safety of the robot transportation process, and avoid collisions and other dangerous situations. , the first weight represents the transportation efficiency weight, the second weight represents the comprehensive weight of the three aspects of traffic weight, obstacle existence and emergency events, where the robot in the obstacle avoidance constraint is at time The position coordinates must meet the geometric conditions of keeping a safe distance from all obstacles; in the access permission constraint, the robot can only enter the area that meets the corresponding access conditions; in the emergency event constraint, the robot needs to adjust the transportation trajectory according to the preset emergency response strategy, such as moving towards the emergency evacuation channel, avoiding dangerous areas, etc. On the basis of satisfying the constraints, the objective function By optimizing and solving, and adjusting the coordinates of each discrete point, we can obtain an updated discrete trajectory coordinate set, thereby realizing dynamic optimization of the initial transport trajectory of the medical transport robot based on the hospital environment data.

[0072] Furthermore, when the optimization factor reaches the preset second target factor, the initial transport trajectory is first updated to the target transport trajectory, and the initial transport trajectory is directly updated to a trajectory that is more in line with the current situation. That is, in the transportation waiting state, it is necessary to pause the currently transported items so that the robot can transport items with high task levels. After the high-level items are transported to the destination, the transport trajectory will be replanned based on the location of the destination to the destination location of the items to be transported, and then based on the real-time monitored target environmental data, the target transport trajectory is continuously optimized according to actual conditions. Whether it is based on the first target factor to use a complex dynamic optimization objective function to comprehensively optimize the initial transport trajectory, or based on the second target factor to perform real-time monitoring and optimization after updating to the target transport trajectory, it is intended to flexibly adjust the transport trajectory according to different optimization factors and real-time changes in environmental data, to ensure the efficiency, safety and timeliness of medical supplies transportation, adapt to the complex environment and various emergencies within the hospital, and meet the actual needs of medical services.

[0073] The embodiment of the present invention helps to reasonably plan transportation resources and arrange transportation order by clarifying basic information of tasks such as transportation starting point, end point, priority and time requirements; according to the priority order, limited transportation resources can be reasonably allocated according to the importance of transportation tasks, avoiding excessive concentration of resources on non-urgent tasks, and improving overall resource utilization efficiency; according to the real-time working status of the medical transportation robot, the robot that is most suitable for the medical items to be transported is selected to perform the task; the robot operates according to these instructions, which can avoid transportation errors caused by unclear information and ensure that the medical items are accurately transported to the designated location according to the specified requirements and routes; based on the task execution status and the preset task urgency, the robot reallocation strategy is generated, which can effectively respond to various changes in the transportation process; the transportation trajectory is dynamically optimized in combination with optimization factors and real-time environmental data, and the transportation route can be changed in time according to environmental changes and dynamic adjustment of transportation status, and unfavorable factors can be avoided. A better path is selected to move forward, thereby improving the timeliness and efficiency of transportation. Therefore, the intelligent transportation method, electronic and medium for medical items based on task scheduling proposed by the present invention can solve the problem of low efficiency when transporting medical items.

[0074] like Figure 4 , is a schematic diagram of the structure of an electronic device for implementing an intelligent transportation method for medical supplies based on task scheduling provided by an embodiment of the present invention.

[0075] The device may include a processor 10, a memory 11, a communication bus 12, and a communication interface 13, and may also include a computer program stored in the memory 11 and executable on the processor 10, such as a medical supplies intelligent transportation program based on task scheduling.

[0076] In some embodiments, the processor 10 may be composed of an integrated circuit, for example, a single packaged integrated circuit, or a plurality of packaged integrated circuits with the same or different functions, including one or more central processing units (CPUs), microprocessors, digital processing chips, graphics processors, and combinations of various control chips. The processor 10 is the control core (ControlUnit) of the electronic device, and uses various interfaces and lines to connect various components of the entire electronic device, and executes or executes programs or modules stored in the memory 11 (for example, executing a medical item intelligent transportation program based on task scheduling, etc.), and calls data stored in the memory 11 to execute various functions of the electronic device and process data.

[0077] The memory 11 includes at least one type of readable storage medium, and the readable storage medium includes a flash memory, a mobile hard disk, a multimedia card, a card-type memory (for example, SD or DX memory, etc.), a magnetic memory, a disk, an optical disk, etc. In some embodiments, the memory 11 may be an internal storage unit of an electronic device, such as a mobile hard disk of the electronic device. In other embodiments, the memory 11 may also be an external storage device of an electronic device, such as a plug-in mobile hard disk, a smart memory card (Smart Media Card, SMC), a secure digital (Secure Digital, SD) card, a flash card (Flash Card), etc. equipped on the electronic device. Further, the memory 11 may also include both an internal storage unit of the electronic device and an external storage device. The memory 11 can not only be used to store application software and various types of data installed in the electronic device, such as the code of the medical goods intelligent transportation program based on task scheduling, but also can be used to temporarily store data that has been output or is to be output.

[0078] The communication bus 12 may be a peripheral component interconnect (PCI) bus or an extended industry standard architecture (EISA) bus, etc. The bus may be divided into an address bus, a data bus, a control bus, etc. The bus is configured to realize connection and communication between the memory 11 and at least one processor 10, etc.

[0079] The communication interface 13 is used for communication between the above-mentioned electronic device and other devices, including a network interface and a user interface. Optionally, the network interface may include a wired interface and / or a wireless interface (such as a WI-FI interface, a Bluetooth interface, etc.), which is generally used to establish a communication connection between the electronic device and other electronic devices. The user interface may be a display (Display), an input unit (such as a keyboard (Keyboard)), and optionally, the user interface may also be a standard wired interface, a wireless interface. Optionally, in some embodiments, the display may be an LED display, a liquid crystal display, a touch-sensitive liquid crystal display, and an OLED (Organic Light-Emitting Diode, organic light-emitting diode) touch device, etc. Among them, the display may also be appropriately referred to as a display screen or a display unit, which is used to display information processed in the electronic device and to display a visual user interface.

[0080] The figure only shows an electronic device with components. Those skilled in the art will understand that the structure shown in the figure does not constitute a limitation on the electronic device, and may include fewer or more components than shown in the figure, or combine certain components, or arrange the components differently.

[0081] For example, although not shown, the electronic device may also include a power source (such as a battery) for supplying power to various components. Preferably, the power source may be logically connected to the at least one processor 10 through a power management device, so that the power management device can realize functions such as charging management, discharging management, and power consumption management. The power source may also include one or more DC or AC power sources, recharging devices, power failure detection circuits, power converters or inverters, power status indicators, and other arbitrary components. The electronic device may also include a variety of sensors, Bluetooth modules, Wi-Fi modules, etc., which will not be repeated here.

[0082] It should be understood that the embodiment is for illustration only and the scope of the patent application is not limited to this structure.

[0083] The medical goods intelligent transportation program based on task scheduling stored in the memory 11 in the device is a combination of multiple instructions. When running in the processor 10, it can achieve: Generating a transportation task for the medical items to be transported according to the pre-acquired item attributes of the medical items to be transported, and sorting the transportation tasks according to the priorities of the medical items to be transported to obtain a transportation task sequence; Acquire the real-time working status of each medical transport robot, and schedule the target medical transport robot corresponding to the transport task in the transport task sequence according to the real-time working status; Assigning the task instruction corresponding to the medical article to be transported to the target medical transport robot, and controlling the target medical transport robot to perform the medical article transport action according to the initial transport trajectory in the task instruction; Real-time monitoring of environmental data during the transportation of medical supplies and the task execution status of the target medical transport robot, and generating a robot reallocation strategy corresponding to the medical supplies to be transported according to the task execution status and a preset task urgency; Determine the transportation state corresponding to the medical items to be transported by the robot reallocation strategy, determine the reallocation medical robot of the medical items to be transported according to the transportation state, and determine the optimization factor of the initial transportation trajectory according to the transportation state; The initial transport trajectory is dynamically optimized through the optimization factors and the environmental data, and the reallocation medical robot is controlled to perform medical supplies transportation actions according to the optimized initial transport trajectory.

[0084] Specifically, the specific implementation method of the processor 10 for the above instructions can refer to the description of the relevant steps in the corresponding embodiment of the accompanying drawings, which will not be repeated here.

[0085] Furthermore, if the module / unit integrated in the device is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. The computer-readable storage medium can be volatile or non-volatile. For example, the computer-readable medium can include: any entity or device capable of carrying the computer program code, a recording medium, a USB flash drive, a mobile hard disk, a magnetic disk, an optical disk, a computer memory, and a read-only memory (ROM).

[0086] 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 of an electronic device, the computer program can implement: Generating a transportation task for the medical items to be transported according to the pre-acquired item attributes of the medical items to be transported, and sorting the transportation tasks according to the priorities of the medical items to be transported to obtain a transportation task sequence; Acquire the real-time working status of each medical transport robot, and schedule the target medical transport robot corresponding to the transport task in the transport task sequence according to the real-time working status; Assigning the task instruction corresponding to the medical article to be transported to the target medical transport robot, and controlling the target medical transport robot to perform the medical article transport action according to the initial transport trajectory in the task instruction; Real-time monitoring of environmental data during the transportation of medical supplies and the task execution status of the target medical transport robot, and generating a robot reallocation strategy corresponding to the medical supplies to be transported according to the task execution status and a preset task urgency; Determine the transportation state corresponding to the medical items to be transported by the robot reallocation strategy, determine the reallocation medical robot of the medical items to be transported according to the transportation state, and determine the optimization factor of the initial transportation trajectory according to the transportation state; The initial transport trajectory is dynamically optimized through the optimization factors and the environmental data, and the reallocation medical robot is controlled to perform medical supplies transportation actions according to the optimized initial transport trajectory.

[0087] In the several embodiments provided by the present invention, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are only illustrative, for example, the division of the modules is only a logical function division, and there may be other division methods in actual implementation.

[0088] The modules described as separate components may or may not be physically separated, and the components shown as modules may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0089] In addition, each functional module in each embodiment of the present invention may be integrated into one processing unit, each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of hardware plus software functional modules.

[0090] It is obvious to those skilled in the art that the present invention is not limited to the details of the above exemplary embodiments, and that the present invention can be implemented in other specific forms without departing from the spirit or essential characteristics of the present invention.

[0091] Therefore, no matter from which point of view, the embodiments should be regarded as illustrative and non-restrictive, and the scope of the present invention is not limited only according to the above description, so it is intended to include all changes within the meaning and scope of the equivalent elements of the claims in the present invention.

[0092] The embodiments of the present application can acquire and process relevant data based on artificial intelligence technology. Artificial Intelligence (AI) is the theory, method, technology and application device that uses digital computers or machines controlled by digital computers to simulate, extend and expand human intelligence, perceive the environment, acquire knowledge and use knowledge to obtain the best results.

[0093] In addition, it is clear that the word "comprising" does not exclude other units or steps, and the singular does not exclude the plural. Multiple units or devices stated in a device claim can also be implemented by one unit or device through software or hardware. The words first, second, etc. are used to indicate names, and do not indicate any particular order.

[0094] Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solution of the present invention can be modified or replaced by equivalents without departing from the spirit and scope of the technical solution of the present invention.

Claims

1. A medical supplies intelligent transportation method based on task scheduling, characterized in that: The method comprises: Generating a transportation task for the medical items to be transported according to the pre-acquired item attributes of the medical items to be transported, and sorting the transportation tasks according to the priorities of the medical items to be transported to obtain a transportation task sequence; Acquire the real-time working status of each medical transport robot, and schedule the target medical transport robot corresponding to the transport task in the transport task sequence according to the real-time working status; Assigning the task instruction corresponding to the medical article to be transported to the target medical transport robot, and controlling the target medical transport robot to perform the medical article transport action according to the initial transport trajectory in the task instruction; Real-time monitoring of environmental data during the transportation of medical supplies and the task execution status of the target medical transport robot, and generating a robot reallocation strategy corresponding to the medical supplies to be transported according to the task execution status and a preset task urgency; Determine the transportation state corresponding to the medical items to be transported by the robot reallocation strategy, determine the reallocation medical robot of the medical items to be transported according to the transportation state, and determine the optimization factor of the initial transportation trajectory according to the transportation state; The initial transport trajectory is dynamically optimized through the optimization factors and the environmental data, and the reallocated medical robot is controlled to perform medical supplies transport actions according to the optimized initial transport trajectory.

2. The medical supplies intelligent transportation method based on task scheduling as claimed in claim 1, characterized in that: The transport tasks are sorted according to the priorities of the medical items to be transported to obtain a transport task sequence, including: Identifying the number of tasks corresponding to the priority level according to the priority level of the medical items to be transported; When the task quantity reaches the preset target quantity, the transport tasks are sorted in descending order of priority to obtain a first transport task sequence; When the number of tasks is not the preset target number, all transportation tasks corresponding to the same priority are extracted, and the task creation time corresponding to the transportation tasks is identified; Sorting all transport tasks corresponding to the same priority level in the order of task creation time to obtain a second transport task sequence; The first transport task sequence and the second transport task sequence are sequence-fused to obtain a transport task sequence.

3. The intelligent transportation method for medical supplies based on task scheduling as claimed in claim 1, characterized in that: The step of scheduling the target medical transport robot corresponding to the transport task in the transport task sequence according to the real-time working status includes: Filtering an idle transport robot set corresponding to the medical transport robot according to the idle state in the real-time working state, and filtering a first target transport robot set in the idle transport robot set according to the item attributes of the medical item to be transported; Filtering a set of busy transport robots corresponding to the medical transport robot according to the busy state in the real-time working state, and comparing the priority of the transport task with the priority of the real-time transport task of the medical transport robot in the busy transport robots to obtain a comparison result; Identifying the medical article weight and remaining load capacity corresponding to each medical transport robot in the busy transport robot set according to the comparison result and the medical article weight and remaining load capacity, and selecting a second target transport robot set in the busy transport robot set according to the remaining load capacity and the article properties of the medical article to be transported; Calculate a first transportation distance for each medical transportation robot in the first target transportation robot set according to the transportation task, and calculate a second transportation distance for each medical transportation robot in the second target transportation robot set; The medical transport robot with the shortest transport distance between the first transport distance and the second transport distance is selected as the target medical transport robot.

4. The intelligent transportation method for medical supplies based on task scheduling as claimed in claim 1, characterized in that: The step of controlling the target medical transport robot to perform a medical article transport action according to the initial transport trajectory in the task instruction includes: Extracting the medical supplies transporting instructions in the mission instructions; The transport balance factor of the target medical transport robot is determined according to the medical article transport instruction, wherein the transport balance factor calculation formula is: in, is the transport balance factor, is the horizontal coordinate of the center of gravity of the target medical transport robot, is the ordinate of the center of gravity of the target medical transport robot, is the horizontal coordinate of the pressure center, is the ordinate of the pressure center, is logical or symbolic; The internal transport movement balance value of the target medical transport robot is calculated by the handling balance factor, wherein the internal transport movement balance value calculation formula is: in, The internal transport moving balance value, To achieve the overall quality of the medical transport robot, is the offset corresponding to the handling balance factor, is the mass of the counterweight, For the maximum effective moving distance, is the distance movement balance coefficient; The internal transport movement balance value is mapped to the initial transport trajectory, and the target medical transport robot is controlled to perform a medical article transport action according to the mapped initial transport trajectory.

5. The intelligent transportation method for medical supplies based on task scheduling as claimed in claim 1, characterized in that: The generating of the robot reallocation strategy corresponding to the medical items to be transported according to the task execution status and the preset task urgency comprises: Identifying the real-time status of the target medical transport robot corresponding to the medical article to be transported according to the task execution status; When the real-time state is a normal execution state, detecting whether there is a new transport task, and when there is a new transport task, extracting the task urgency corresponding to the new transport task, and when the task urgency is lower than or equal to the priority of the medical items to be transported, determining the original allocation strategy of the medical items to be transported as the first robot reallocation strategy; When the urgency of the task is higher than the priority of the medical items to be transported, generating a second robot reallocation strategy for the medical items to be transported according to the transportation distance of the medical transport robot; When the real-time status is an abnormal execution status, adding the transport task of the medical items to be transported to the transport task sequence, and generating a third robot reallocation strategy according to the transport tasks in the transport task sequence; The first robot reallocation strategy, the second robot reallocation strategy and the third robot reallocation strategy are aggregated into a robot reallocation strategy.

6. The medical supplies intelligent transportation method based on task scheduling as claimed in claim 1, characterized in that: The determining the transportation status corresponding to the medical items to be transported by the robot reallocation strategy includes: Determining, according to a first robot reallocation strategy in the robot reallocation strategy, that the transportation state corresponding to the medical item to be transported is a normal transportation state; Determining the medical transport robot corresponding to the medical article to be transported according to a second robot reallocation strategy in the robot reallocation strategy; When the medical transport robot is the target medical transport robot, determining the transport state corresponding to the medical item to be transported as a transport waiting state; According to the third robot reallocation strategy in the robot reallocation strategy, it is determined that the transportation state corresponding to the medical item to be transported is a transportation handover state.

7. The medical supplies intelligent transportation method based on task scheduling as claimed in claim 1, characterized in that: The step of determining the optimization factor of the initial transport trajectory according to the transport state includes: quantifying the transport state to obtain a transport state factor; Extracting the real-time transportation status of the medical supplies to be transported; The optimization factor of the initial transport trajectory is calculated according to the transport state factor, wherein the optimization factor calculation formula is: in, is the optimization factor, is the real-time transportation status, is the first state factor in the transport state factor, is the second state factor in the transport state factor, It is the third state factor in the transport state factor.

8. The intelligent transportation method for medical supplies based on task scheduling as claimed in claim 1, characterized in that: The dynamically optimizing the initial transport trajectory by using the optimization factor and the environmental data includes: When the optimization factor is a preset first target factor, extracting environmental attributes in the environmental data, and extracting a discrete trajectory coordinate set of the initial transport trajectory; A dynamic optimization objective function of the discrete trajectory coordinate set is constructed according to the environmental attributes, wherein the dynamic optimization objective function is: in, is the discrete trajectory coordinate set The corresponding dynamic optimization objective function is: is the expected end time of the initial transport trajectory, is the starting time of the transportation task of the initial transportation trajectory, For a fixed time interval, is the total number of discrete time points, For the discrete points at time The actual running speed, For the discrete points at time The turnover rate of personnel, For the discrete points at time The effective width of the passage is For the discrete points at time The type of obstacle, For the discrete points at time Types of emergency incidents, For the discrete points at time The access permission level, is the speed discount factor, is the obstacle weight, is the emergency event weight, is the access authority weight, is the first weight, is a second weight; determining an updated discrete trajectory coordinate set of the initial transport trajectory using the dynamic optimization objective function, and optimizing the initial transport trajectory according to the updated discrete trajectory coordinate set; When the optimization factor is a preset second target factor, the initial transport trajectory is updated to a target transport trajectory, target environment data in the target transport trajectory is monitored in real time, and the target transport trajectory is optimized according to the target environment data.

9. An electronic device, characterized in that: The electronic device comprises: at least one processor; and, a memory communicatively connected to the at least one processor; wherein, The memory stores a computer program that can be executed by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute the medical goods intelligent transportation method based on task scheduling as described in any one of claims 1 to 8.

10. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the method for intelligent transportation of medical supplies based on task scheduling as described in any one of claims 1 to 8 is implemented.

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