Intelligent adjustment method for medical rescue vehicle

Abstract

The present invention relates to the technical field of intelligent adjustment of medical rescue vehicles, and discloses an intelligent adjustment method for medical rescue vehicles, comprising: recording medicines input by medical staff through an information panel as medicines to be taken; obtaining a medical device historical matching record of the medicines to be taken; determining auxiliary medical devices, specifically: establishing a first medical device set; for each time when the medicines to be taken are taken, listing the names of medical devices taken together with the medicines to be taken within the taking time period into the first medical device set; obtaining the number of times the names of M types of medical devices in the first medical device set appear in the first medical device set, recorded as E1, E2, ..., E M ; Calculate E1, E2, ... E M The auxiliary medical device is determined based on the ratio of E; a drawer pop-up strategy is formulated based on the location information of the drugs to be taken and the auxiliary medical devices; this solution helps medical staff get the required drugs or medical devices faster and respond to emergencies.

Description

Technical Field

[0001] The present invention relates to the technical field of intelligent adjustment of medical rescue vehicles, and in particular to an intelligent adjustment method for medical rescue vehicles. Background Art

[0002] As the medical industry's requirements for efficiency and service quality continue to increase, traditional rescue vehicles have gradually exposed their shortcomings in flexibility, convenience and safety, and there is an urgent need to introduce new technologies and design concepts to improve these problems.

[0003] Medical rescue vehicles are usually equipped with multiple drawers and compartments for storing various medical supplies; however, when taking medicines or medical devices, traditional medical rescue vehicles rely on medical staff to check the medicine and medical device list to determine the location of the medicines or medical devices. After determining the location, the drawers need to be manually pulled out or closed, lacking intelligent support; in emergency situations, this manual method is not only time-consuming, but also prone to errors, which may delay treatment time.

[0004] For existing intelligent medical rescue vehicles, after the medical staff inputs the name of the medicine or medical device through the information panel, the rescue vehicle automatically pops out the drawer where the medicine or medical device entered by the medical staff is located. If the required quantity of medicines or medical devices is large, this pop-up method is more time-consuming and may cause the retrieval time to be too long, which affects the use of the medicines or medical devices.

[0005] The existing medical rescue vehicles do not consider the effect of the drawers popping out on the center of gravity of the rescue vehicle when the drawers are popped out according to the positions of the medicines or medical devices. If a large number of drawers are popped out, the center of gravity of the rescue vehicle may be greatly shifted. When the center of gravity of the rescue vehicle is greatly shifted, the rescue vehicle may be at risk of tipping over. Therefore, some rescue vehicles will place support plates at the bottom of the rescue vehicle. When a drawer of the rescue vehicle is popped out, the support plates will pop out to support the rescue vehicle. However, during the use of the rescue vehicle, if the support plates are frequently popped out, the rescue vehicle will occupy a large area, which is not conducive to the movement of the rescue vehicle, and has an impact on the use of the rescue vehicle. Summary of the invention

[0006] The present invention provides an intelligent adjustment method for a medical rescue vehicle, which is used to promote the solution of the problems mentioned in the above background technology.

[0007] The present invention provides the following technical solution: Optionally, a medical rescue vehicle intelligent adjustment method, characterized in that it includes:

[0008] Receive the drug name input by the medical staff through the information panel, and record the drug input by the medical staff as the drug to be taken;

[0009] Obtain the medical device historical matching records for the drugs to be picked up;

[0010] The medical device historical matching records are specifically:

[0011] Obtain the time point when the drug was taken from the historical drug taking record, and record it as the taking time;

[0012] Starting from the pick-up time, the time after the pick-up time and five minutes after the pick-up time is recorded as the pick-up end time, and the time period between the pick-up time and the pick-up end time is recorded as the pick-up time period;

[0013] The types of medical devices taken together with the drug during the taking period are recorded as the medical device history matching records of the drug;

[0014] The auxiliary medical device is determined based on the medical device historical matching records of the drugs to be taken, specifically:

[0015] Establish a medical device set, recorded as the first medical device set;

[0016] Get the number of times the waiting medicine is taken, recorded as E;

[0017] Each time the medicine to be picked up is picked up, the name of the medical device picked up together with the medicine to be picked up within the picking time period is included in the first medical device set;

[0018] Obtain the number of names of different types of medical devices in the first medical device set, recorded as M;

[0019] For the names of the M types of medical devices in the first medical device set, the number of times the names of the M types of medical devices appear in the first medical device set is counted, and they are recorded as E1, E2, ..., E M ;

[0020] Set the frequency ratio threshold Z1;

[0021] Calculate E1, E2, ... E respectively M The ratio of M ratios to E is obtained, and the M ratios are compared with Z1 respectively;

[0022] The medical devices corresponding to the ratios with values ​​greater than or equal to Z1 are recorded as pre-treatment medical devices;

[0023] Include pre-treatment medical devices in the list of pre-treatment medical devices;

[0024] Display the list of pretreatment medical devices to medical staff through the information panel, and obtain the modification record of the list of pretreatment medical devices by the medical staff through the information panel;

[0025] The modification specifically refers to adding or deleting medical devices from the list of pretreatment medical devices;

[0026] Record the pre-treatment medical device list modified by the medical staff as the auxiliary medical device list;

[0027] Record the medical devices in the auxiliary medical device list as auxiliary medical devices for drugs to be collected;

[0028] The theoretical ejection distance of each drawer is obtained according to the position information of the medicines to be taken and the auxiliary medical devices.

[0029] Optionally, the method of obtaining the theoretical ejection distance of each drawer according to the position information of the medicines to be taken and the auxiliary medical devices is as follows:

[0030] According to the distance between the bottom plate of the drawer and the ground, the five layers of drawers are recorded as the first layer drawer, the second layer drawer...the fifth layer drawer from the largest to the smallest, wherein the first layer drawer, the second layer drawer...the fifth layer drawer all have two drawers with opposite pop-up directions, wherein a bidirectional cylinder is arranged between the two drawers on the same layer to control the pop-up distance of the drawers;

[0031] The two pop-up directions of the drawer are recorded as the primary direction and the secondary direction respectively;

[0032] Among the four boundaries of the bottom of the rescue vehicle, the boundary on the side of the main direction of the drawer popping out is recorded as boundary No. 1, starting with boundary No. 1, and in a clockwise direction, the four boundaries of the bottom of the rescue vehicle are recorded as boundary No. 1, boundary No. 2, boundary No. 3 and boundary No. 4;

[0033] Among the four vertices at the bottom of the rescue vehicle, the vertex located at the intersection of the second boundary and the third boundary is recorded as the coordinate origin;

[0034] Take the second boundary as the X-axis, and the direction from the coordinate origin to the intersection of the first boundary and the second boundary as the positive direction of the X-axis; take the third boundary as the Y-axis, and the direction from the coordinate origin to the intersection of the third boundary and the fourth boundary as the positive direction of the Y-axis;

[0035] Draw a straight line through the origin of the coordinate system perpendicular to the bottom of the rescue vehicle, take the straight line as the Z axis, and take the vertical upward direction from the origin of the coordinate system as the positive direction of the Z axis, where the coordinates of the origin of the coordinate system are (0, 0, 0);

[0036] Obtain location information of waiting medicines and auxiliary medical devices;

[0037] The location information specifically refers to the number of layers of the drawer where the medicine or medical device is located;

[0038] The drawer where the medicines and auxiliary medical devices to be taken are located is recorded as the drawer to be ejected;

[0039] Get the theoretical pop-up distance of each drawer to be popped up.

[0040] Optionally, the obtaining of the theoretical pop-up distance of each drawer to be popped up is specifically as follows:

[0041] Pressure sensors are arranged at the four wheels of the rescue vehicle to obtain the pressure values ​​at the four wheels in real time;

[0042] For the pressure sensors at the four wheels, the two pressure sensors located on the main direction side of the drawer pop-up direction are recorded as main sensors, and the two pressure sensors located on the secondary direction side of the drawer pop-up direction are recorded as secondary sensors;

[0043] Baffles are set inside each drawer to form multiple storage areas for storing medicines and medical devices;

[0044] Get the number of drawers to be popped up, denoted as N;

[0045] Get the theoretical pop-up distance of each drawer to be popped up;

[0046] The theoretical ejection distance is specifically:

[0047] A drawer to be ejected is randomly selected, and for each storage area in the selected drawer to be ejected, a storage area storing medicines to be taken or auxiliary medical devices is recorded as a type of storage area;

[0048] Obtain the number of first-class storage areas in the selected drawer to be popped up, recorded as N1, obtain the X-axis coordinates of the N1 first-class storage areas, and record the first-class storage area corresponding to the X-axis coordinate with the smallest value among the N1 X-axis coordinates as the second-class storage area;

[0049] Obtain the distance between the second type storage area and the front plate of the selected drawer to be ejected, and use the obtained distance as the theoretical ejection distance of the selected drawer;

[0050] The center of gravity coordinates of the rescue vehicle are predicted based on the theoretical ejection distances of the drawers to be ejected.

[0051] Optionally, the coordinates of the center of gravity of the rescue vehicle are predicted according to the theoretical ejection distances of the drawers to be ejected, specifically:

[0052] Get the centroid coordinates of each drawer;

[0053] The centroid coordinates are specifically obtained as follows:

[0054] S1. Randomly select a drawer and record it as the center of mass to obtain the drawer;

[0055] S2. Get the center of mass to get the mass of the drawer, denoted as M 抽屉 , get the centroid and get the number of storage areas in the drawer, denoted as A;

[0056] S3. When the centroid acquisition drawer is not popped out, the coordinates of the geometric center of the centroid acquisition drawer are obtained, and the coordinates are marked as (B0, C0, D0);

[0057] S4. Record the A storage areas in the drawer where the centroid is obtained as area 1, area 2, ... area A, and obtain the mass of the medicines or medical devices stored in area 1, area 2, ... area A, and record them as A1, A2, ... A, respectively. A ;

[0058] S5. When a drawer pops up, obtain the coordinates of the geometric centers of area 1, area 2, ... area A, which are recorded as (B1, C1, D1), (B2, C2, D2) ... (B A , C A , D A );

[0059] S6. When a drawer pops up, obtain the center of mass coordinates of the drawer, where the center of mass coordinates are marked as (X, Y, Z).

[0060] S7, where X= , Y= , Z = , i=1,2...A;

[0061] S8. When a drawer pops up, perform S1-S7 on the five-layer drawer to obtain the centroid coordinates of the 10 drawers. The centroid coordinates of the five drawers whose pop-up directions are the main directions in the first layer drawer, the second layer drawer, ... the fifth layer drawer are recorded as (X1, Y1, Z1), (X2, Y2, Z2) ... (X5, Y5, Z5) in sequence. The centroid coordinates of the five drawers whose pop-up directions are the secondary directions in the first layer drawer, the second layer drawer ... the fifth layer drawer are recorded as (X6, Y6, Z6), (X7, Y7, Z7) ... (X8, Y8, Z8) in sequence. 10 , Y 10 , Z 10 );

[0062] S9, obtain the masses of the five drawers whose pop-up directions are the main directions in the first layer drawer, the second layer drawer ... the fifth layer drawer, respectively recorded as M1, M2 ... M5, obtain the masses of the five drawers whose pop-up directions are the secondary directions in the first layer drawer, the second layer drawer ... the fifth layer drawer, respectively recorded as M6, M7 ... M 10 ;

[0063] S10, when none of the five drawers are ejected, obtain the mass of the rescue vehicle, which is recorded as M, and obtain the coordinates of the geometric center of the rescue vehicle, which are recorded as (X0, Y0, Z0);

[0064] S11. If a drawer pops out, obtain the coordinates of the center of gravity of the rescue vehicle, recorded as (XF , Y F , Z F );

[0065] S12, where X F = , Y F = , Z F = , i=1, 2, 3…10;

[0066] S13, obtaining the length of the second boundary and the length of the third boundary, denoted as W and L respectively, and setting an interval d;

[0067] S14, if d<X F <Wd, then there is no risk of ejection of the rescue vehicle;

[0068] S15, if X F ≤d or X F ≥Wd, the rescue vehicle is at risk of ejection;

[0069] After N drawers to be ejected are ejected according to the theoretical ejection distance, the predicted center of gravity coordinates of the rescue vehicle are marked as (X D , Y D , Z D );

[0070] According to the predicted coordinates of the center of gravity of the rescue vehicle (X D , Y D , Z D ) Adjust the pop-up distance of each drawer to be popped up.

[0071] Optionally, the predicted coordinates of the center of gravity of the rescue vehicle (X D , Y D , Z D ) Adjust the pop-up distance of each drawer to be popped up, specifically:

[0072] If d<X D <Wd, then directly pop out the N drawers to be popped out according to the theoretical pop-up distance;

[0073] S16, after the N drawers to be popped out are popped out according to the theoretical pop-up distance, the pressure values ​​of the main sensor and the auxiliary sensor are obtained in real time;

[0074] S17. When medical staff are taking medicines or auxiliary medical devices from the ejection drawer, execute the risk judgment strategy for the tipping of the rescue vehicle;

[0075] S18. The risk judgment strategy for the rescue vehicle tipping over is as follows:

[0076] S19: For the pressure values ​​at the two main sensors, the larger pressure value is recorded as T A , the smaller pressure value is recorded as T B ;

[0077] S20, for the pressure values ​​at the two auxiliary sensors, the larger pressure value is recorded as T C , the smaller pressure value is recorded as T D ;

[0078] S21, setting the pressure value distribution ratio threshold Z2;

[0079] S22, obtain the main direction judgment value, the main direction judgment value is calculated as T A ÷T D ;

[0080] S23, obtaining a secondary direction judgment value, the secondary direction judgment value is calculated as T C ÷T B ;

[0081] S24, if T A ÷T D ≥Z2 or T C ÷T B ≥Z2, the rescue vehicle is considered to have a risk of tipping;

[0082] S25. If the rescue vehicle has a risk of tipping over, the tipping risk type of the rescue vehicle is obtained, specifically:

[0083] S26, if T A ÷T D ≥Z2, the dumping risk type of the rescue vehicle is identified as the main direction dumping risk. If T C ÷T B ≥Z2, the dumping risk type of the rescue vehicle is identified as the secondary direction dumping risk;

[0084] S27, if T A ÷T D <Z2 and T C ÷T B <Z2, it is determined that the rescue vehicle and there is no risk of dumping;

[0085] S28. When the medical staff is taking medicines or auxiliary medical devices from the drawers to be ejected, if there is no risk of the rescue vehicle tipping over, the ejection distances of the drawers to be ejected are not adjusted;

[0086] S29. When the medical staff is taking medicines or auxiliary medical devices from the drawers to be ejected, if there is a risk of the rescue vehicle tipping over, a pop-up distance adjustment strategy is implemented for the pop-up distance of each drawer to be ejected.

[0087] Optionally, when the medical staff is taking medicines or auxiliary medical devices from the drawers to be ejected, if the rescue vehicle is at risk of tipping over, a pop-up distance adjustment strategy is implemented for the pop-up distance of each drawer to be ejected, specifically:

[0088] S30, recording the drawer to be popped up whose pop-up direction is the main direction as a pop-up drawer in the main direction, and recording the drawer to be popped up whose pop-up direction is the secondary direction as a pop-up drawer in the secondary direction;

[0089] S31, popping out the main direction drawer in which the medical staff has finished taking the medicine or auxiliary medical device to be taken and recording it as the main direction adjustment drawer;

[0090] S32, recording the secondary direction pop-up drawer after the medical staff completes taking the medicine or auxiliary medical device as the secondary direction adjustment drawer;

[0091] S33, if the rescue vehicle has a risk of tipping over in the main direction, obtain the number of main direction adjustment drawers, recorded as K;

[0092] S34, if K≠0, according to the distance between the bottom plate of the drawer and the ground, record the K main direction adjustment drawers in descending order as the first main direction adjustment drawer, the second main direction adjustment drawer, ... the K main direction adjustment drawer;

[0093] S35, starting with the main direction adjustment drawer No. 1, the pop-up directions of the main direction adjustment drawer No. 1, the main direction adjustment drawer No. 2, ..., the main direction adjustment drawer No. K are adjusted to 0 in sequence;

[0094] S36, in the process of adjusting the pop-up distance of the first main direction adjustment drawer, the second main direction adjustment drawer, ... the K main direction adjustment drawer, the main direction judgment value is obtained in real time. If the main direction judgment value T A ÷T D <Z2, then stop adjusting the main direction adjustment drawer and pop-up drawer;

[0095] S37, if the pop-up distance of the drawer is adjusted to 0 in the main direction K, the main direction judgment value T A ÷T D ≥Z2, the pop-up distance of the pop-up drawer in the secondary direction is adjusted;

[0096] S38, if K=0, the pop-up distance of the pop-up drawer in the secondary direction is adjusted, specifically:

[0097] S39, if the number of the secondary direction pop-up drawers is not equal to 0, the pop-up distance of each secondary direction pop-up drawer is adjusted to the maximum pop-up distance. In the process of adjusting the pop-up distance of the secondary direction pop-up drawer, if the primary direction judgment value T A ÷T D<Z2, stop adjusting the pop-up distance of the pop-up drawer in the secondary direction;

[0098] S40, the maximum ejection distance of the drawer is specifically the length of the drawer side panel;

[0099] S41, when the pop-up distance of all pop-up drawers in the secondary direction is adjusted to the maximum pop-up distance, if the primary direction judgment value T A ÷T D ≥Z2, the main support plate ejection strategy is executed;

[0100] S42, if the number of drawers popped out in the secondary direction is equal to 0, the main support plate pop-up strategy is executed;

[0101] S43, the supporting plate is specifically:

[0102] S44, for the two support plates located between the bottom plate of the fifth drawer of the rescue vehicle and the bottom of the rescue vehicle, the support plate with the main ejection direction is recorded as the main support plate, and the support plate with the secondary ejection direction is recorded as the secondary support plate;

[0103] S45, recording the two cylinders driving the support plate to pop out as cylinder No. 1 and cylinder No. 2 respectively;

[0104] S46, the main support plate ejection strategy is specifically:

[0105] S47, controlling cylinder No. 1 to drive the main support plate to pop out the support plate along the main direction;

[0106] S48, when the support plate is ejected in the main direction of the rescue vehicle, the pressure value acquisition through the main sensor is stopped;

[0107] S49, popping out the support plate in the main direction of the rescue vehicle, and not adjusting the pop-out distance of the pop-out drawer when the rescue vehicle is at risk of tipping over in the main direction;

[0108] S50: If the rescue vehicle has a risk of tipping over in the secondary direction, the number of secondary direction adjustment drawers is obtained, which is recorded as R.

[0109] Optionally, if the rescue vehicle has a risk of tipping over in the secondary direction, the number of secondary direction adjustment drawers is obtained, recorded as R, specifically:

[0110] S51, if R≠0, record the R sub-direction adjustment drawers in descending order as the first sub-direction adjustment drawer, the second sub-direction adjustment drawer, and so on, the R sub-direction adjustment drawers according to the distance between the drawer bottom plate and the ground;

[0111] S52, starting with the No. 1 sub-direction adjustment drawer, the No. 1 sub-direction adjustment drawer, the No. 2 sub-direction adjustment drawer, ... the No. R sub-direction adjustment drawer, the pop-up directions are adjusted to 0 in sequence;

[0112] S53, in the process of adjusting the drawer in the first secondary direction, adjusting the drawer in the second secondary direction, and adjusting the pop-up direction of the drawer in the R secondary direction, obtaining the secondary direction judgment value in real time, if the secondary direction judgment value T C ÷T B <Z2, then stop adjusting the drawer pop-up drawer in the secondary direction;

[0113] S54, if the pop-up distance of the drawer adjusted in the main direction R is adjusted to 0, the main direction judgment value T C ÷T B ≥Z2, the pop-up distance of the main direction pop-up drawer is adjusted as follows:

[0114] S55, if R=0, the pop-up distance of the pop-up drawer in the main direction is adjusted, specifically:

[0115] S56, if the number of pop-up drawers in the main direction is not equal to 0, adjust the pop-up distance of each pop-up drawer in the main direction to the maximum pop-up distance. In the process of adjusting the pop-up distance of the pop-up drawer in the main direction, if the main direction judgment value T C ÷T B <Z2, stop adjusting the pop-up distance of the pop-up drawer in the main direction;

[0116] S57, when the pop-up distance of all pop-up drawers in the main direction is adjusted to the maximum pop-up distance, if the secondary direction judgment value T A ÷T D ≥Z2, the secondary support plate ejection strategy is executed;

[0117] S58, if the number of pop-up drawers in the main direction is equal to 0, the secondary support plate pop-up strategy is executed;

[0118] S59, the secondary support plate pop-up strategy is specifically:

[0119] S60, controlling the No. 2 cylinder to drive the auxiliary support plate to pop out the support plate along the auxiliary direction;

[0120] S61, after the support plate is ejected from the secondary direction of the rescue vehicle, stop obtaining the pressure value through the secondary sensor;

[0121] S62, after the support plate is popped out in the secondary direction of the rescue vehicle, when there is a risk of the rescue vehicle tipping over in the secondary direction, the pop-out distance of the drawer to be popped out is not adjusted;

[0122] If the predicted coordinates of the center of gravity of the rescue vehicle satisfy X D ≥Wd, get the theoretical pop-up distance and maximum pop-up distance of the pop-up drawer in each secondary direction.

[0123] Optionally, if the predicted center of gravity coordinates of the rescue vehicle meet X D≥Wd, get the theoretical pop-up distance and maximum pop-up distance of the pop-up drawer in each secondary direction, specifically:

[0124] A secondary direction pop-up drawer whose theoretical pop-up distance is less than the maximum pop-up distance is recorded as a secondary direction extended drawer;

[0125] If the number of drawers extended in the secondary direction is not equal to 0, the pop-up distance of each drawer extended in the secondary direction is adjusted from the theoretical pop-up distance to the maximum pop-up distance;

[0126] For each drawer to be popped out except the drawer extended in the secondary direction, keep the theoretical pop-up distance of each drawer to be popped out unchanged. After the pop-up distance of each drawer extended in the secondary direction is adjusted from the theoretical pop-up distance to the maximum pop-up distance, perform the S1-S15 operation steps to predict the center of gravity coordinates of the rescue vehicle, recorded as (X E , Y E , Z E );

[0127] If X E Satisfy d<X E <Wd, then N drawers to be popped out are popped out, and after N drawers to be popped out are popped out, steps S16-S62 are executed;

[0128] If X E Satisfy X E ≥Wd, the main support plate ejection strategy is executed;

[0129] If the number of drawers extended in the secondary direction is equal to 0, the main support plate pop-up strategy is executed;

[0130] After executing the main support plate ejection strategy, determine whether the rescue vehicle has a risk of tipping over in the secondary direction. If so, execute S50-S62 operation steps. If not, do not process.

[0131] If the predicted coordinates of the center of gravity of the rescue vehicle satisfy X D ≤d, obtain the theoretical pop-up distance and maximum pop-up distance of the pop-up drawer in each main direction;

[0132] The main direction pop-up drawer whose theoretical pop-up distance is less than the maximum pop-up distance is recorded as the main direction extended drawer;

[0133] If the number of extended drawers in the main direction is not equal to 0, the pop-up distance of each extended drawer in the main direction is adjusted from the theoretical pop-up distance to the maximum pop-up distance;

[0134] For each drawer to be ejected except the main direction extension drawer, keep the theoretical ejection distance of each drawer to be ejected unchanged. After the ejection distance of each main direction extension drawer is adjusted from the theoretical ejection distance to the maximum ejection distance, perform S1-S15 operation steps to predict the center of gravity coordinates of the rescue vehicle, recorded as (X G , Y G , Z G );

[0135] If X G Satisfy d<X G <Wd, then N drawers to be popped out are popped out, and after N drawers to be popped out are popped out, steps S16-S62 are executed;

[0136] If X G Satisfy X G ≤d, the secondary support plate ejection strategy is executed;

[0137] If the number of extended drawers in the main direction is equal to 0, the secondary support plate pop-up strategy is executed;

[0138] After executing the secondary support plate pop-up strategy, determine whether the rescue vehicle has the risk of tipping over in the main direction. If so, execute S30-S49 operation steps. If not, do not take any action.

[0139] The present invention has the following beneficial effects:

[0140] 1. The intelligent adjustment method of the medical rescue vehicle obtains the frequency of the use of each medical device with the medicine to be taken through the medicine name input by the medical staff and the historical matching record of the medical device, automatically identifies the medicine to be taken and its possible auxiliary devices, which greatly reduces the time of manual query; and after the rescue vehicle identifies the medical device related to the medicine to be taken, the medical device is included in the list and provided for medical staff to proofread or modify through the information panel to ensure the accuracy of the drawer pop-up. This solution effectively reduces the risk of taking the wrong items, which is particularly important in emergency situations.

[0141] 2. The intelligent adjustment method of the medical rescue vehicle determines the drawers to be popped out and the theoretical pop-up distance of each drawer through the position information of the medicines and auxiliary medical devices to be taken determined by the medical staff, ensures the correctness of the drawer popping out, and pops out each drawer to be popped out according to the theoretical pop-up distance, which not only ensures that the medical staff can complete the taking of the medicines or auxiliary medical devices after the drawer is popped out, but also tries to ensure that each drawer to be popped out is not completely popped out, preventing the center of gravity of the rescue vehicle from further shifting, improving the taking efficiency of the medical staff, and reducing the risk of tipping over of the rescue vehicle.

[0142] 3. The intelligent adjustment method for the medical rescue vehicle predicts the coordinates of the center of gravity of the rescue vehicle and defines a safety range after the rescue vehicle pops out N drawers to be popped out according to the theoretical pop-up distance, and after the N drawers to be popped out according to the theoretical pop-up distance, if the predicted coordinates of the center of gravity of the rescue vehicle are within the safety range, then all the N drawers to be popped out can be popped out according to the theoretical pop-up distance, if the predicted coordinates of the center of gravity of the rescue vehicle are not within the safety range, then the offset direction of the rescue vehicle is determined according to the coordinates of the center of gravity, and the pop-up distances of the drawers to be popped out in the opposite direction of the offset direction of the rescue vehicle are adjusted; this scheme not only directly pops out N drawers to be popped out at one time, but also ensures that there is no risk of tipping over of the rescue vehicle after the pop-ups, thereby greatly improving the ejection efficiency of the rescue vehicle and ensuring that the rescue vehicle will not tip over during use.

[0143] 4. The intelligent adjustment method for the medical rescue vehicle is to set pressure sensors at the four wheels of the rescue vehicle to obtain the pressure values ​​at the four wheels in real time, and judge whether there is a risk of tipping over of the rescue vehicle after N drawers to be popped out are popped out while the medical staff is taking the medicines or auxiliary medical devices to be taken according to the pressure values; if there is a risk of tipping over, the tipping direction of the rescue vehicle is judged according to the ratio of the main sensor to the auxiliary sensor, and after determining the tipping direction, the pop-up distance of each drawer to be popped out is adjusted according to the tipping direction; for the drawers to be popped out that have been taken out, their pop-up distance can be increased or decreased, and for the drawers to be popped out that have not been taken out, their pop-up distance is only increased, and the center of gravity of the rescue vehicle is balanced to prevent the rescue vehicle from shifting; for example, if there is a risk of tipping over in the main direction of the rescue vehicle, the drawers to be popped out in the main direction are first adjusted. The pop-up distance of the drawer to be popped out that has been taken out in the drawer is adjusted to reduce its pop-up distance to 0, thereby reducing the impact of the pop-up drawer in the main direction on the center of gravity of the rescue vehicle. If the rescue vehicle still faces the risk of tipping over in the main direction after the pop-up distance of the drawer to be popped out that has been taken out in the main direction is adjusted, the theoretical pop-up distance of each drawer to be popped out in the secondary direction is adjusted to the maximum pop-up distance, thereby enhancing the impact of the pop-up drawer in the secondary direction on the center of gravity of the rescue vehicle. This adjustment scheme not only improves the adjustment efficiency, but also ensures that the adjustment of the pop-up distance will not affect the taking of the medicines or auxiliary medical devices to be taken, and gives priority to adjusting the pop-up distance of each drawer to be popped out. Compared with directly popping out the support plate to prevent the rescue vehicle from tipping over, it ensures the rapidity and convenience of the rescue vehicle movement and reduces the impact of the support plate on the use of the rescue vehicle.

[0144] 5. The intelligent adjustment method of the medical rescue vehicle, after adjusting the pop-up distance of each drawer to be popped out, if the rescue vehicle still has the risk of tipping over, the support plate will be popped out according to the tipping direction of the rescue vehicle, and after the support plate is popped out, the tipping risk in the direction of the popped-out support plate is not considered, only the tipping risk in the other direction is considered; this scheme reduces the frequency of use of the support plate, and when the rescue vehicle has the risk of tipping over, the support plates in both directions are not blindly popped out, but the support plates are selected for popping out according to the tipping direction of the rescue vehicle. This more targeted pop-up scheme not only ensures the stability of the rescue vehicle, but also reduces the energy consumption used for popping out the support plates. BRIEF DESCRIPTION OF THE DRAWINGS

[0145] Figure 1 This is a schematic diagram of the interior of the rescue vehicle.

[0146] Figure 2 Schematic diagram of the distribution of pressure sensors located at the wheels of the rescue vehicle. DETAILED DESCRIPTION

[0147] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0148] Embodiment 1, refer to Figure 1 , a medical rescue vehicle intelligent adjustment method, characterized in that: comprising:

[0149] Receive the drug name input by the medical staff through the information panel, and record the drug input by the medical staff as the drug to be taken;

[0150] Obtain the medical device historical matching records for the drugs to be picked up;

[0151] The medical device historical matching records are specifically:

[0152] Obtain the time point when the drug was taken from the historical drug taking record, and record it as the taking time;

[0153] Starting from the pick-up time, the time after the pick-up time and five minutes after the pick-up time is recorded as the pick-up end time, and the time period between the pick-up time and the pick-up end time is recorded as the pick-up time period;

[0154] The types of medical devices taken together with the drug during the taking period are recorded as the medical device history matching records of the drug;

[0155] The auxiliary medical device is determined based on the medical device historical matching records of the drugs to be taken, specifically:

[0156] Establish a medical device set, recorded as the first medical device set;

[0157] Get the number of times the waiting medicine is taken, recorded as E;

[0158] Each time the medicine to be picked up is picked up, the name of the medical device picked up together with the medicine to be picked up within the picking time period is included in the first medical device set;

[0159] Obtain the number of names of different types of medical devices in the first medical device set, recorded as M;

[0160] For the names of the M types of medical devices in the first medical device set, the number of times the names of the M types of medical devices appear in the first medical device set is counted, and they are recorded as E1, E2, ..., E M ;

[0161] Set the frequency ratio threshold Z1. The function of Z1 is to judge the usage frequency of each medical device with the drugs to be taken according to the size of the ratio. When the ratio is greater than Z1, it means that the usage frequency of the medical device with the drugs to be taken is high. When the ratio is less than or equal to Z1, it means that the usage frequency of the medical device with the drugs to be taken is low.

[0162] Calculate E1, E2, ... E respectively M The ratio of M ratios to E is obtained, and the M ratios are compared with Z1 respectively;

[0163] The medical devices corresponding to the ratios with values ​​greater than or equal to Z1 are recorded as pre-treatment medical devices;

[0164] Include pre-treatment medical devices in the list of pre-treatment medical devices;

[0165] Display the list of pretreatment medical devices to medical staff through the information panel, and obtain the modification record of the list of pretreatment medical devices by the medical staff through the information panel;

[0166] The modification specifically refers to adding or deleting medical devices from the list of pretreatment medical devices;

[0167] The pre-treatment medical device list modified by the medical staff is recorded as the auxiliary medical device list. After the medical devices related to the drugs to be taken are identified by the rescue vehicle, the medical devices are included in the list and are provided for medical staff to proofread or modify through the information panel to ensure the accuracy of the drawer pop-up;

[0168] Record the medical devices in the auxiliary medical device list as auxiliary medical devices for drugs to be collected;

[0169] Through the drug names input by medical staff and the historical matching records of medical devices, the frequency of each medical device being used with the drug to be picked up is obtained, and the drug to be picked up and its possible auxiliary devices are automatically identified, which greatly reduces the time of manual query and effectively reduces the risk of misplacing items, which is particularly important in emergency situations;

[0170] The theoretical ejection distance of each drawer is obtained according to the position information of the medicines to be taken and the auxiliary medical devices.

[0171] The theoretical ejection distance of each drawer is obtained according to the position information of the medicines to be taken and the auxiliary medical devices, specifically:

[0172] According to the distance between the bottom plate of the drawer and the ground, the five layers of drawers are recorded as the first layer drawer, the second layer drawer...the fifth layer drawer from the largest to the smallest, wherein the first layer drawer, the second layer drawer...the fifth layer drawer all have two drawers with opposite pop-up directions, wherein a two-way cylinder is arranged between the two drawers on the same layer, for controlling the pop-up distance of the drawers, wherein a two-way cylinder is arranged between the two drawers on the same layer, for controlling the pop-up distance of the drawers;

[0173] The two pop-up directions of the drawer are recorded as the primary direction and the secondary direction respectively;

[0174] Among the four boundaries of the bottom of the rescue vehicle, the boundary on the side of the main direction of the drawer popping out is recorded as boundary No. 1, starting with boundary No. 1, and in a clockwise direction, the four boundaries of the bottom of the rescue vehicle are recorded as boundary No. 1, boundary No. 2, boundary No. 3 and boundary No. 4;

[0175] Among the four vertices at the bottom of the rescue vehicle, the vertex located at the intersection of the second boundary and the third boundary is recorded as the coordinate origin;

[0176] Take the second boundary as the X-axis, and the direction from the coordinate origin to the intersection of the first boundary and the second boundary as the positive direction of the X-axis; take the third boundary as the Y-axis, and the direction from the coordinate origin to the intersection of the third boundary and the fourth boundary as the positive direction of the Y-axis;

[0177] Draw a straight line through the origin of the coordinate system perpendicular to the bottom of the rescue vehicle, take the straight line as the Z axis, and take the vertical upward direction from the origin of the coordinate system as the positive direction of the Z axis, where the coordinates of the origin of the coordinate system are (0, 0, 0);

[0178] Obtain location information of waiting medicines and auxiliary medical devices;

[0179] The location information specifically refers to the number of layers of the drawer where the medicine or medical device is located;

[0180] The drawer where the medicines and auxiliary medical devices to be taken are located is recorded as the drawer to be ejected;

[0181] Get the theoretical pop-up distance of each drawer to be popped up.

[0182] The method of obtaining the theoretical pop-up distance of each drawer to be popped up is specifically as follows:

[0183] Pressure sensors are arranged at the four wheels of the rescue vehicle to obtain the pressure values ​​at the four wheels in real time;

[0184] For the pressure sensors at the four wheels, the two pressure sensors located on the main direction side of the drawer pop-up direction are recorded as main sensors, and the two pressure sensors located on the secondary direction side of the drawer pop-up direction are recorded as secondary sensors;

[0185] Baffles are set inside each drawer to form multiple storage areas for storing medicines and medical devices;

[0186] Get the number of drawers to be popped up, denoted as N;

[0187] Get the theoretical pop-up distance of each drawer to be popped up;

[0188] The theoretical ejection distance is specifically:

[0189] A drawer to be ejected is randomly selected, and for each storage area in the selected drawer to be ejected, a storage area storing medicines to be taken or auxiliary medical devices is recorded as a type of storage area;

[0190] Obtain the number of first-class storage areas in the selected drawer to be popped up, recorded as N1, obtain the X-axis coordinates of the N1 first-class storage areas, and record the first-class storage area corresponding to the X-axis coordinate with the smallest value among the N1 X-axis coordinates as the second-class storage area;

[0191] Obtain the distance between the second type storage area and the front plate of the selected drawer to be ejected, and use the obtained distance as the theoretical ejection distance of the selected drawer;

[0192] The medical staff determines the position information of the drugs and auxiliary medical devices to be taken, determines the drawers to be popped out and the theoretical pop-up distance of each drawer, ensures the correctness of the drawer pop-up, and pops out each drawer to be popped out according to the theoretical pop-up distance, which ensures that the medical staff can complete the taking of the drugs or auxiliary medical devices after the drawer is popped out, and also tries to ensure that each drawer to be popped out is not completely popped out, preventing the center of gravity of the rescue vehicle from further shifting, improving the efficiency of medical staff in taking, and reducing the risk of tipping over of the rescue vehicle;

[0193] The center of gravity coordinates of the rescue vehicle are predicted based on the theoretical ejection distances of the drawers to be ejected.

[0194] The coordinates of the center of gravity of the rescue vehicle are predicted based on the theoretical ejection distances of the drawers to be ejected, specifically:

[0195] Get the centroid coordinates of each drawer;

[0196] The centroid coordinates are specifically obtained as follows:

[0197] S1. Randomly select a drawer and record it as the center of mass to obtain the drawer;

[0198] S2. Get the center of mass to get the mass of the drawer, denoted as M 抽屉 , get the centroid and get the number of storage areas in the drawer, denoted as A;

[0199] S3. When the centroid acquisition drawer is not popped out, the coordinates of the geometric center of the centroid acquisition drawer are obtained, and the coordinates are marked as (B0, C0, D0);

[0200] S4. Record the A storage areas in the drawer where the centroid is obtained as area 1, area 2, ... area A, and obtain the mass of the medicines or medical devices stored in area 1, area 2, ... area A, and record them as A1, A2, ... A, respectively. A ;

[0201] S5. When a drawer pops up, obtain the coordinates of the geometric centers of area 1, area 2, ... area A, which are recorded as (B1, C1, D1), (B2, C2, D2) ... (B A , C A , D A );

[0202] S6. When a drawer pops up, obtain the center of mass coordinates of the drawer, where the center of mass coordinates are marked as (X, Y, Z).

[0203] S7, where X= , Y= , Z = , i=1,2...A;

[0204] S8. When a drawer pops up, perform S1-S7 on the five-layer drawer to obtain the centroid coordinates of the 10 drawers. The centroid coordinates of the five drawers whose pop-up directions are the main directions in the first layer drawer, the second layer drawer, ... the fifth layer drawer are recorded as (X1, Y1, Z1), (X2, Y2, Z2) ... (X5, Y5, Z5) in sequence. The centroid coordinates of the five drawers whose pop-up directions are the secondary directions in the first layer drawer, the second layer drawer ... the fifth layer drawer are recorded as (X6, Y6, Z6), (X7, Y7, Z7) ... (X8, Y8, Z8) in sequence. 10 , Y 10 , Z 10 );

[0205] S9, obtain the masses of the five drawers whose pop-up directions are the main directions in the first layer drawer, the second layer drawer ... the fifth layer drawer, respectively recorded as M1, M2 ... M5, obtain the masses of the five drawers whose pop-up directions are the secondary directions in the first layer drawer, the second layer drawer ... the fifth layer drawer, respectively recorded as M6, M7 ... M 10 ;

[0206] S10, when none of the five drawers are ejected, obtain the mass of the rescue vehicle, which is recorded as M, and obtain the coordinates of the geometric center of the rescue vehicle, which are recorded as (X0, Y0, Z0);

[0207] S11. If a drawer pops out, obtain the coordinates of the center of gravity of the rescue vehicle, recorded as (X F , Y F , Z F );

[0208] S12, where X F = , Y F = , Z F = , i=1, 2, 3…10;

[0209] S13, obtaining the length of the second boundary and the length of the third boundary, denoted as W and L respectively, and setting an interval d;

[0210] S14, if d<X F <Wd, then there is no risk of ejection of the rescue vehicle;

[0211] S15, if X F ≤d or X F ≥Wd, the rescue vehicle is at risk of ejection;

[0212] After N drawers to be ejected are ejected according to the theoretical ejection distance, the predicted center of gravity coordinates of the rescue vehicle are marked as (X D , Y D , Z D );

[0213] According to the predicted coordinates of the center of gravity of the rescue vehicle (X D , Y D , Z D) adjust the pop-up distance of each drawer to be popped out; after the rescue vehicle pops out N drawers to be popped out according to the theoretical pop-up distance, predict the coordinates of the center of gravity of the rescue vehicle, and define a safe range. After the N drawers to be popped out according to the theoretical pop-up distance, if the predicted coordinates of the center of gravity of the rescue vehicle are within the safe range, then the N drawers to be popped out can be all popped out according to the theoretical pop-up distance. If the predicted coordinates of the center of gravity of the rescue vehicle are not within the safe range, the offset direction of the rescue vehicle is determined according to the coordinates of the center of gravity, and the pop-up distances of the drawers to be popped out in the opposite direction of the offset direction of the rescue vehicle are adjusted; this scheme not only directly pops out N drawers to be popped out at one time, but also ensures that there is no risk of tipping over of the rescue vehicle after popping out, greatly improving the ejection efficiency of the rescue vehicle and ensuring that the rescue vehicle will not tip over during use.

[0214] The predicted coordinates of the center of gravity of the rescue vehicle (X D , Y D , Z D ) Adjust the pop-up distance of each drawer to be popped up, specifically:

[0215] If d<X D <Wd, then directly pop out the N drawers to be popped out according to the theoretical pop-up distance;

[0216] S16, after the N drawers to be popped out are popped out according to the theoretical pop-up distance, the pressure values ​​of the main sensor and the auxiliary sensor are obtained in real time;

[0217] S17. When medical staff are taking medicines or auxiliary medical devices from the ejection drawer, execute the risk judgment strategy for the tipping of the rescue vehicle;

[0218] S18. The risk judgment strategy for the rescue vehicle tipping over is as follows:

[0219] S19: For the pressure values ​​at the two main sensors, the larger pressure value is recorded as T A , the smaller pressure value is recorded as T B ;

[0220] S20, for the pressure values ​​at the two auxiliary sensors, the larger pressure value is recorded as T C , the smaller pressure value is recorded as T D ;

[0221] S21, setting a pressure value distribution ratio threshold value Z2, the role of Z2 is to judge whether the rescue vehicle has a risk of tipping over according to the ratio of the pressure values ​​of the two sensors in the main direction and the secondary direction. When the ratio is greater than or equal to Z2, it means that the pressure values ​​in the two directions are extremely unevenly distributed, so the pressure on one side of the rescue vehicle is larger and the pressure on the other side is smaller, and there is a risk of tipping over; when the ratio is less than Z2, it means that the pressure values ​​in the two directions are relatively evenly distributed, so there is no risk of tipping over for the rescue vehicle;

[0222] S22, obtain the main direction judgment value, the main direction judgment value is calculated as T A ÷T D ;

[0223] S23, obtaining a secondary direction judgment value, the secondary direction judgment value is calculated as T C ÷T B ;

[0224] S24, if T A ÷T D ≥Z2 or T C ÷T B ≥Z2, the rescue vehicle is considered to have a risk of tipping;

[0225] S25. If the rescue vehicle has a risk of tipping over, the tipping risk type of the rescue vehicle is obtained, specifically:

[0226] S26, if T A ÷T D ≥Z2, indicating that the pressure values ​​in the two directions are extremely unevenly distributed. Therefore, the pressure on one side of the rescue vehicle is larger and the pressure on the other side is smaller. The dumping risk type of the rescue vehicle is identified as the dumping risk in the main direction. If T C ÷T B ≥Z2, the dumping risk type of the rescue vehicle is identified as the secondary direction dumping risk;

[0227] S27, if T A ÷T D <Z2 and T C ÷T B <Z2, it is determined that the rescue vehicle and there is no risk of dumping;

[0228] S28. When the medical staff is taking medicines or auxiliary medical devices from the drawers to be ejected, if there is no risk of the rescue vehicle tipping over, the ejection distances of the drawers to be ejected are not adjusted;

[0229] S29. When the medical staff is taking medicines or auxiliary medical devices from the drawers to be ejected, if there is a risk of the rescue vehicle tipping over, a pop-up distance adjustment strategy is implemented for the pop-up distance of each drawer to be ejected.

[0230] When the medical staff is taking medicines or auxiliary medical devices from the drawers to be ejected, if the rescue vehicle is at risk of tipping over, the ejection distance adjustment strategy is implemented for the ejection distance of each drawer to be ejected, specifically:

[0231] S30, recording the drawer to be popped up whose pop-up direction is the main direction as a pop-up drawer in the main direction, and recording the drawer to be popped up whose pop-up direction is the secondary direction as a pop-up drawer in the secondary direction;

[0232] S31, popping out the main direction drawer in which the medical staff has finished taking the medicine or auxiliary medical device to be taken and recording it as the main direction adjustment drawer;

[0233] S32, recording the secondary direction pop-up drawer after the medical staff completes taking the medicine or auxiliary medical device as the secondary direction adjustment drawer;

[0234] S33, if the rescue vehicle has a risk of tipping over in the main direction, obtain the number of main direction adjustment drawers, recorded as K;

[0235] S34, if K≠0, according to the distance between the bottom plate of the drawer and the ground, record the K main direction adjustment drawers in descending order as the first main direction adjustment drawer, the second main direction adjustment drawer, ... the K main direction adjustment drawer;

[0236] S35, starting with the main direction adjustment drawer No. 1, the pop-up directions of the main direction adjustment drawer No. 1, the main direction adjustment drawer No. 2, ..., the main direction adjustment drawer No. K are adjusted to 0 in sequence;

[0237] S36, in the process of adjusting the pop-up distance of the first main direction adjustment drawer, the second main direction adjustment drawer, ... the K main direction adjustment drawer, the main direction judgment value is obtained in real time. If the main direction judgment value T A ÷T D <Z2, then stop adjusting the main direction adjustment drawer and pop-up drawer;

[0238] S37, if the pop-up distance of the drawer is adjusted to 0 in the main direction K, the main direction judgment value T A ÷T D ≥Z2, the pop-up distance of the pop-up drawer in the secondary direction is adjusted;

[0239] S38, if K=0, the pop-up distance of the pop-up drawer in the secondary direction is adjusted, specifically:

[0240] S39, if the number of the secondary direction pop-up drawers is not equal to 0, the pop-up distance of each secondary direction pop-up drawer is adjusted to the maximum pop-up distance. In the process of adjusting the pop-up distance of the secondary direction pop-up drawer, if the primary direction judgment value T A ÷T D <Z2, stop adjusting the pop-up distance of the pop-up drawer in the secondary direction;

[0241] S40, the maximum ejection distance of the drawer is specifically the length of the drawer side panel;

[0242] S41, when the pop-up distance of all pop-up drawers in the secondary direction is adjusted to the maximum pop-up distance, if the primary direction judgment value T A ÷T D ≥Z2, the main support plate ejection strategy is executed;

[0243] S42, if the number of drawers popped out in the secondary direction is equal to 0, the main support plate pop-up strategy is executed;

[0244] S43, the supporting plate is specifically:

[0245] S44, for the two support plates located between the bottom plate of the fifth drawer of the rescue vehicle and the bottom of the rescue vehicle, the support plate with the main ejection direction is recorded as the main support plate, and the support plate with the secondary ejection direction is recorded as the secondary support plate;

[0246] S45, recording the two cylinders driving the support plate to pop out as cylinder No. 1 and cylinder No. 2 respectively;

[0247] S46, the main support plate ejection strategy is specifically:

[0248] S47, controlling cylinder No. 1 to drive the main support plate to pop out the support plate along the main direction;

[0249] S48, when the support plate is ejected in the main direction of the rescue vehicle, the pressure value acquisition through the main sensor is stopped;

[0250] S49: Popping out the support plate in the main direction of the rescue vehicle, and not adjusting the pop-out distance of the pop-out drawer when the rescue vehicle is at risk of tipping over in the main direction;

[0251] S50, if the rescue vehicle has a risk of tipping over in the secondary direction, obtain the number of secondary direction adjustment drawers, recorded as R;

[0252] Pressure sensors are arranged at the four wheels of the rescue vehicle to obtain the pressure values ​​at the four wheels in real time, and the pressure values ​​are used to determine whether the rescue vehicle is at risk of tipping over when medical staff are taking the medicines or auxiliary medical devices to be taken after N drawers to be popped out are popped out. If there is a risk of tipping over, the tipping direction of the rescue vehicle is determined according to the ratio of the main sensor to the auxiliary sensor. After determining the tipping direction, the pop-up distances of the drawers to be popped out are adjusted according to the tipping direction. For the drawers to be popped out that have been taken out, their pop-up distances can be increased or decreased, and for the drawers to be popped out that have not been taken out, their pop-up distances are only increased, and the center of gravity of the rescue vehicle is balanced to prevent the rescue vehicle from shifting. For example, if there is a risk of tipping over in the main direction of the rescue vehicle, the drawers to be popped out that have been taken out are first adjusted. The pop-up distance of the drawer to be popped out that has been taken is adjusted to reduce its pop-up distance to 0, thereby reducing the impact of the pop-up drawer in the main direction on the center of gravity of the rescue vehicle. If the rescue vehicle still faces the risk of tipping over in the main direction after the pop-up distance of the drawer to be popped out that has been taken out in the pop-up drawer in the main direction is adjusted, the theoretical pop-up distance of each drawer to be popped out in the secondary direction is adjusted to the maximum pop-up distance, thereby enhancing the impact of the pop-up drawer in the secondary direction on the center of gravity of the rescue vehicle. This adjustment scheme not only improves the adjustment efficiency, but also ensures that the adjustment of the pop-up distance will not affect the taking of the medicines or auxiliary medical devices to be taken, and gives priority to adjusting the pop-up distance of each drawer to be popped out. Compared with directly popping out the support plate to prevent the rescue vehicle from tipping over, it ensures the rapidity and convenience of the movement of the rescue vehicle and reduces the impact of the support plate on the use of the rescue vehicle.

[0253] If the rescue vehicle has a risk of tipping over in the secondary direction, the number of secondary direction adjustment drawers is obtained, which is recorded as R, specifically:

[0254] S51, if R≠0, record the R sub-direction adjustment drawers in descending order as the first sub-direction adjustment drawer, the second sub-direction adjustment drawer, and so on, the R sub-direction adjustment drawers according to the distance between the drawer bottom plate and the ground;

[0255] S52, starting with the No. 1 sub-direction adjustment drawer, the No. 1 sub-direction adjustment drawer, the No. 2 sub-direction adjustment drawer, ... the No. R sub-direction adjustment drawer, the pop-up directions are adjusted to 0 in sequence;

[0256] S53, in the process of adjusting the drawer in the first secondary direction, adjusting the drawer in the second secondary direction, and adjusting the pop-up direction of the drawer in the R secondary direction, obtaining the secondary direction judgment value in real time, if the secondary direction judgment value T C ÷T B <Z2, then stop adjusting the drawer pop-up drawer in the secondary direction;

[0257] S54, if the pop-up distance of the drawer adjusted in the main direction R is adjusted to 0, the main direction judgment value T C ÷T B≥Z2, the pop-up distance of the main direction pop-up drawer is adjusted as follows:

[0258] S55, if R=0, the pop-up distance of the pop-up drawer in the main direction is adjusted, specifically:

[0259] S56, if the number of pop-up drawers in the main direction is not equal to 0, adjust the pop-up distance of each pop-up drawer in the main direction to the maximum pop-up distance. In the process of adjusting the pop-up distance of the pop-up drawer in the main direction, if the main direction judgment value T C ÷T B <Z2, stop adjusting the pop-up distance of the pop-up drawer in the main direction;

[0260] S57, when the pop-up distance of all pop-up drawers in the main direction is adjusted to the maximum pop-up distance, if the secondary direction judgment value T A ÷T D ≥Z2, the secondary support plate ejection strategy is executed;

[0261] S58, if the number of pop-up drawers in the main direction is equal to 0, the secondary support plate pop-up strategy is executed;

[0262] S59, the secondary support plate pop-up strategy is specifically:

[0263] S60, controlling the No. 2 cylinder to drive the auxiliary support plate to pop out the support plate along the auxiliary direction;

[0264] S61, after the support plate is ejected from the secondary direction of the rescue vehicle, stop obtaining the pressure value through the secondary sensor;

[0265] S62, after the support plate is popped out in the secondary direction of the rescue vehicle, when there is a risk of the rescue vehicle tipping over in the secondary direction, the pop-out distance of the drawer to be popped out is not adjusted;

[0266] If the predicted coordinates of the center of gravity of the rescue vehicle satisfy X D ≥Wd, obtain the theoretical pop-up distance and maximum pop-up distance of the pop-up drawer in each secondary direction;

[0267] After adjusting the pop-up distance of each drawer to be popped out, if the rescue vehicle still has the risk of tipping over, the support plate will be popped out according to the tipping direction of the rescue vehicle, and after the support plate is popped out, the tipping risk in the direction of the popped-out support plate is not considered, only the tipping risk in the other direction is considered; this scheme reduces the frequency of use of the support plates, and when the rescue vehicle has the risk of tipping over, the support plates in both directions are not blindly popped out, but the support plates are selected for popping out according to the tipping direction of the rescue vehicle. This more targeted pop-up scheme not only ensures the stability of the rescue vehicle, but also reduces the energy consumption used for popping out the support plates.

[0268] If the predicted coordinates of the center of gravity of the rescue vehicle satisfy X D≥Wd, get the theoretical pop-up distance and maximum pop-up distance of the pop-up drawer in each secondary direction, specifically:

[0269] A secondary direction pop-up drawer whose theoretical pop-up distance is less than the maximum pop-up distance is recorded as a secondary direction extended drawer;

[0270] If the number of drawers extended in the secondary direction is not equal to 0, the pop-up distance of each drawer extended in the secondary direction is adjusted from the theoretical pop-up distance to the maximum pop-up distance;

[0271] For each drawer to be popped out except the drawer extended in the secondary direction, keep the theoretical pop-up distance of each drawer to be popped out unchanged. After the pop-up distance of each drawer extended in the secondary direction is adjusted from the theoretical pop-up distance to the maximum pop-up distance, perform the S1-S15 operation steps to predict the center of gravity coordinates of the rescue vehicle, recorded as (X E , Y E , Z E );

[0272] If X E Satisfy d<X E <Wd, then N drawers to be popped out are popped out, and after N drawers to be popped out are popped out, steps S16-S62 are executed;

[0273] If X E Satisfy X E ≥Wd, the main support plate ejection strategy is executed;

[0274] If the number of drawers extended in the secondary direction is equal to 0, the main support plate pop-up strategy is executed;

[0275] After executing the main support plate ejection strategy, determine whether the rescue vehicle has a risk of tipping over in the secondary direction. If so, execute S50-S62 operation steps. If not, do not process.

[0276] If the predicted coordinates of the center of gravity of the rescue vehicle satisfy X D ≤d, obtain the theoretical pop-up distance and maximum pop-up distance of the pop-up drawer in each main direction;

[0277] The main direction pop-up drawer whose theoretical pop-up distance is less than the maximum pop-up distance is recorded as the main direction extended drawer;

[0278] If the number of extended drawers in the main direction is not equal to 0, the pop-up distance of each extended drawer in the main direction is adjusted from the theoretical pop-up distance to the maximum pop-up distance;

[0279] For each drawer to be ejected except the main direction extension drawer, keep the theoretical ejection distance of each drawer to be ejected unchanged. After the ejection distance of each main direction extension drawer is adjusted from the theoretical ejection distance to the maximum ejection distance, perform S1-S15 operation steps to predict the center of gravity coordinates of the rescue vehicle, recorded as (X G , Y G , Z G );

[0280] If X G Satisfy d<X G <Wd, then N drawers to be popped out are popped out, and after N drawers to be popped out are popped out, steps S16-S62 are executed;

[0281] If X G Satisfy X G ≤d, the secondary support plate ejection strategy is executed;

[0282] If the number of extended drawers in the main direction is equal to 0, the secondary support plate pop-up strategy is executed;

[0283] After executing the secondary support plate pop-up strategy, determine whether the rescue vehicle has the risk of tipping over in the main direction. If so, execute S30-S49 operation steps. If not, do not take any action.

[0284] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device.

[0285] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the technical principles of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. An intelligent adjustment method for a medical rescue vehicle, characterized in that: include, Receive the drug name input by the medical staff through the information panel, and record the drug input by the medical staff as the drug to be taken; Obtain the medical device historical matching records for the drugs to be picked up; The medical device historical matching records are specifically: Obtain the time point when the drug was taken from the historical drug taking record, and record it as the taking time; Starting from the pick-up time, the time after the pick-up time and five minutes after the pick-up time is recorded as the pick-up end time, and the time period between the pick-up time and the pick-up end time is recorded as the pick-up time period; The types of medical devices taken together with the drug during the taking period are recorded as the medical device history matching records of the drug; The auxiliary medical device is determined based on the medical device historical matching records of the drugs to be taken, specifically: Establish a medical device set, recorded as the first medical device set; Get the number of times the waiting medicine is taken, recorded as E; Each time the medicine to be picked up is picked up, the name of the medical device picked up together with the medicine to be picked up within the picking time period is included in the first medical device set; Obtain the number of names of different types of medical devices in the first medical device set, recorded as M; For the names of the M types of medical devices in the first medical device set, the number of times the names of the M types of medical devices appear in the first medical device set is counted, and they are recorded as E1, E2, ..., E M ; Set the frequency ratio threshold Z1; Calculate E1, E2, ... E respectively M The ratio of M ratios to E is obtained, and the M ratios are compared with Z1 respectively; The medical devices corresponding to the ratios with values ​​greater than or equal to Z1 are recorded as pre-treatment medical devices; Include pre-treatment medical devices in the list of pre-treatment medical devices; Display the list of pretreatment medical devices to medical staff through the information panel, and obtain the modification record of the list of pretreatment medical devices by the medical staff through the information panel; The modification specifically refers to adding or deleting medical devices from the list of pretreatment medical devices; Record the pre-treatment medical device list modified by the medical staff as the auxiliary medical device list; Record the medical devices in the auxiliary medical device list as auxiliary medical devices for drugs to be collected; Obtaining the theoretical ejection distance of each drawer according to the location information of the medicines to be taken and the auxiliary medical devices; The five layers of drawers are numbered from the first layer to the fifth layer from top to bottom. Each layer is provided with two drawers with opposite pop-up directions. A two-way cylinder is provided between the two drawers on the same layer to control the pop-up distance of the drawers. The two pop-up directions of the drawer are recorded as the primary direction and the secondary direction respectively; Among the four boundaries of the bottom of the rescue vehicle, the boundary located on the side of the main direction of the drawer popping out is recorded as boundary No. 1, starting from boundary No. 1, the four boundaries of the bottom of the rescue vehicle are recorded in the clockwise direction as boundary No. 1, boundary No. 2, boundary No. 3 and boundary No. 4; Among the four vertices at the bottom of the rescue vehicle, the vertex located at the intersection of the second boundary and the third boundary is recorded as the coordinate origin; Take the second boundary as the X-axis, and the direction from the coordinate origin to the intersection of the first boundary and the second boundary as the positive direction of the X-axis; take the third boundary as the Y-axis, and the direction from the coordinate origin to the intersection of the third boundary and the fourth boundary as the positive direction of the Y-axis; Draw a straight line through the origin of the coordinate system perpendicular to the bottom of the rescue vehicle, take the straight line as the Z axis, and take the vertical upward direction from the origin of the coordinate system as the positive direction of the Z axis, where the coordinates of the origin of the coordinate system are (0, 0, 0); Obtain location information of waiting medicines and auxiliary medical devices; The location information specifically refers to the number of layers of the drawer where the medicine or medical device is located; The drawer where the medicines and auxiliary medical devices to be taken are located is recorded as the drawer to be ejected; Get the theoretical pop-up distance of each drawer to be popped up.

2. The intelligent adjustment method for medical rescue vehicles according to claim 1, characterized in that: The method of obtaining the theoretical pop-up distance of each drawer to be popped up is specifically as follows: Pressure sensors are arranged at the four wheels of the rescue vehicle to obtain the pressure values ​​at the four wheels in real time; For the pressure sensors at the four wheels, the two pressure sensors located on the main direction side of the drawer pop-up direction are recorded as main sensors, and the two pressure sensors located on the secondary direction side of the drawer pop-up direction are recorded as secondary sensors; Baffles are set inside each drawer to form multiple storage areas for storing medicines and medical devices; Get the number of drawers to be popped up, the number is recorded as N; Get the theoretical pop-up distance of each drawer to be popped up; The theoretical ejection distance is specifically: A drawer to be ejected is randomly selected, and for each storage area in the selected drawer to be ejected, a storage area storing medicines to be taken or auxiliary medical devices is recorded as a type of storage area; Obtain the number of first-class storage areas in the selected drawer to be popped up, recorded as N1, obtain the X-axis coordinates of the N1 first-class storage areas, and record the first-class storage area corresponding to the X-axis coordinate with the smallest value among the N1 X-axis coordinates as the second-class storage area; Obtain the distance between the second type storage area and the front plate of the selected drawer to be ejected, and use the obtained distance as the theoretical ejection distance of the selected drawer; The center of gravity coordinates of the rescue vehicle are predicted based on the theoretical ejection distances of the drawers to be ejected.

3. The intelligent adjustment method for medical rescue vehicles according to claim 2, characterized in that: The coordinates of the center of gravity of the rescue vehicle are predicted based on the theoretical ejection distances of the drawers to be ejected, specifically: Get the centroid coordinates of each drawer; The centroid coordinates are specifically obtained as follows: S1. Randomly select a drawer and record it as the center of mass to obtain the drawer; S2. Get the center of mass to get the mass of the drawer, denoted as M 抽屉 , get the centroid and get the number of storage areas in the drawer, denoted as A; S3. When the centroid acquisition drawer is not popped out, the coordinates of the geometric center of the centroid acquisition drawer are obtained, and the coordinates are marked as (B0, C0, D0); S4. Record the A storage areas in the drawer where the centroid is obtained as area 1, area 2, ... area A, and obtain the mass of the medicines or medical devices stored in area 1, area 2, ... area A, and record them as A1, A2, ... A, respectively. A ; S5. When a drawer pops up, obtain the coordinates of the geometric centers of area 1, area 2, ... area A, which are recorded as (B1, C1, D1), (B2, C2, D2) ... (B A , C A , D A ); S6. When a drawer pops up, obtain the center of mass coordinates of the drawer, where the center of mass coordinates are marked as (X, Y, Z). S7, where X= , Y= , Z = , A i is the quality of the medicines or medical devices stored in area i, B i is the X-axis coordinate of the geometric center of region i, C i is the Y-axis coordinate of the geometric center of region i, D i is the Z-axis coordinate of the geometric center of the i-th region, i=1, 2...A; S8. When a drawer pops up, perform S1-S7 on the five-layer drawer to obtain the centroid coordinates of the 10 drawers. The centroid coordinates of the five drawers whose pop-up directions are the main directions in the first layer drawer, the second layer drawer, ... the fifth layer drawer are recorded as (X1, Y1, Z1), (X2, Y2, Z2) ... (X5, Y5, Z5) in sequence. The centroid coordinates of the five drawers whose pop-up directions are the secondary directions in the first layer drawer, the second layer drawer ... the fifth layer drawer are recorded as (X6, Y6, Z6), (X7, Y7, Z7) ... (X8, Y8, Z8) in sequence. 10 , Y 10 , Z 10 ); S9, obtain the masses of the five drawers whose pop-up directions are the main directions in the first layer drawer, the second layer drawer ... the fifth layer drawer, respectively recorded as M1, M2 ... M5, obtain the masses of the five drawers whose pop-up directions are the secondary directions in the first layer drawer, the second layer drawer ... the fifth layer drawer, respectively recorded as M6, M7 ... M 10 ; S10, when none of the five drawers are ejected, obtain the mass of the rescue vehicle, which is recorded as M, and obtain the coordinates of the geometric center of the rescue vehicle, which are recorded as (X0, Y0, Z0); S11. If a drawer pops out, obtain the coordinates of the center of gravity of the rescue vehicle, recorded as (X F , Y F , Z F ); S12, where X F = , Y F = , Z F = , when i=1, 2...5, M i is the mass of the i-th drawer with the pop-up direction as the main direction, X i is the X-axis coordinate of the center of mass of the i-th drawer with the pop-up direction as the main direction, and Y i is the Y-axis coordinate of the center of mass of the i-th drawer with the pop-up direction as the main direction, and Z i is the Z-axis coordinate of the center of mass of the i-th drawer with the pop-up direction as the main direction; when i=6, 7...10, M i is the mass of the (i-5)th drawer with the pop-up direction as the secondary direction, X i is the X-axis coordinate of the center of mass of the (i-5)th drawer with the pop-up direction as the secondary direction, i is the Y-axis coordinate of the center of mass of the (i-5)th drawer with the pop-up direction as the secondary direction, i The Z-axis coordinate of the center of mass of the (i-5)th drawer whose pop-up direction is the secondary direction; S13, obtaining the length of the second boundary and the length of the third boundary, denoted as W and L respectively, and setting an interval d; S14, if d<X F <Wd, then there is no risk of ejection of the rescue vehicle; S15, if X F ≤d or X F ≥Wd, the rescue vehicle is at risk of ejection; After N drawers to be ejected are ejected according to the theoretical ejection distance, the predicted center of gravity coordinates of the rescue vehicle are marked as (X D , Y D , Z D ); According to the predicted coordinates of the center of gravity of the rescue vehicle (X D , Y D , Z D ) Adjust the pop-up distance of each drawer to be popped up.

4. The intelligent adjustment method for medical rescue vehicles according to claim 3, characterized in that: The predicted coordinates of the center of gravity of the rescue vehicle (X D , Y D , Z D ) Adjust the pop-up distance of each drawer to be popped up, specifically: If d<X D <Wd, then directly pop out the N drawers to be popped out according to the theoretical pop-up distance; S16, after the N drawers to be popped out are popped out according to the theoretical pop-up distance, the pressure values ​​of the main sensor and the auxiliary sensor are obtained in real time; S17. When medical staff are taking medicines or auxiliary medical devices from the ejection drawer, execute the risk judgment strategy for the tipping of the rescue vehicle; S18. The risk judgment strategy for the rescue vehicle tipping over is as follows: S19: For the pressure values ​​at the two main sensors, the larger pressure value is recorded as T A , the smaller pressure value is recorded as T B ; S20, for the pressure values ​​at the two auxiliary sensors, the larger pressure value is recorded as T C , the smaller pressure value is recorded as T D ; S21, setting the pressure value distribution ratio threshold Z2; S22, obtain the main direction judgment value, the main direction judgment value is calculated as T A ÷T D ; S23, obtaining a secondary direction judgment value, the secondary direction judgment value is calculated as T C ÷T B ; S24, if T A ÷T D ≥ Z2 or T C ÷T B ≥Z2, the rescue vehicle is considered to have a risk of tipping; S25. If the rescue vehicle has a risk of tipping over, the tipping risk type of the rescue vehicle is obtained, specifically: S26, if T A ÷T D ≥Z2, the dumping risk type of the rescue vehicle is identified as the main direction dumping risk. If T C ÷T B ≥Z2, the dumping risk type of the rescue vehicle is identified as the secondary direction dumping risk; S27, if T A ÷T D <Z2 and T C ÷T B <Z2, it is determined that the rescue vehicle and there is no risk of dumping; S28. When the medical staff is taking medicines or auxiliary medical devices from the drawers to be ejected, if there is no risk of the rescue vehicle tipping over, the ejection distances of the drawers to be ejected are not adjusted; S29. When the medical staff is taking medicines or auxiliary medical devices from the drawers to be ejected, if there is a risk of the rescue vehicle tipping over, a pop-up distance adjustment strategy is implemented for the pop-up distance of each drawer to be ejected.

5. The intelligent adjustment method for medical rescue vehicle according to claim 4, characterized in that: When the medical staff is taking medicines or auxiliary medical devices from the drawers to be ejected, if the rescue vehicle is at risk of tipping over, the ejection distance adjustment strategy is implemented for the ejection distance of each drawer to be ejected, specifically: S30, recording the drawer to be popped up whose pop-up direction is the main direction as a pop-up drawer in the main direction, and recording the drawer to be popped up whose pop-up direction is the secondary direction as a pop-up drawer in the secondary direction; S31, popping out the main direction drawer in which the medical staff has finished taking the medicine or auxiliary medical device to be taken and recording it as the main direction adjustment drawer; S32, recording the secondary direction pop-up drawer after the medical staff completes taking the medicine or auxiliary medical device as the secondary direction adjustment drawer; S33, if the rescue vehicle has a risk of tipping over in the main direction, obtain the number of main direction adjustment drawers, recorded as K; S34, if K≠0, according to the distance between the bottom plate of the drawer and the ground, record the K main direction adjustment drawers in descending order as the first main direction adjustment drawer, the second main direction adjustment drawer, ... the K main direction adjustment drawer; S35, starting with the main direction adjustment drawer No. 1, the pop-up directions of the main direction adjustment drawer No. 1, the main direction adjustment drawer No. 2, ..., the main direction adjustment drawer No. K are adjusted to 0 in sequence; S36, in the process of adjusting the pop-up distance of the first main direction adjustment drawer, the second main direction adjustment drawer, ... the K main direction adjustment drawer, the main direction judgment value is obtained in real time. If the main direction judgment value T A ÷T D <Z2, then stop adjusting the main direction adjustment drawer and pop-up drawer; S37, if the pop-up distance of the drawer is adjusted to 0 in the main direction K, the main direction judgment value T A ÷T D ≥Z2, the pop-up distance of the pop-up drawer in the secondary direction is adjusted; S38, if K=0, the pop-up distance of the pop-up drawer in the secondary direction is adjusted, specifically: S39, if the number of the secondary direction pop-up drawers is not equal to 0, the pop-up distance of each secondary direction pop-up drawer is adjusted to the maximum pop-up distance. In the process of adjusting the pop-up distance of the secondary direction pop-up drawer, if the primary direction judgment value T A ÷T D <Z2, stop adjusting the pop-up distance of the pop-up drawer in the secondary direction; S40, the maximum ejection distance of the drawer is specifically the length of the drawer side panel; S41, when the pop-up distance of all pop-up drawers in the secondary direction is adjusted to the maximum pop-up distance, if the primary direction judgment value T A ÷T D ≥Z2, the main support plate ejection strategy is executed; S42, if the number of drawers popped out in the secondary direction is equal to 0, the main support plate pop-up strategy is executed; S43, the supporting plate is specifically: S44, for the two support plates located between the bottom plate of the fifth drawer of the rescue vehicle and the bottom of the rescue vehicle, the support plate with the main ejection direction is recorded as the main support plate, and the support plate with the secondary ejection direction is recorded as the secondary support plate; S45, recording the two cylinders driving the support plate to pop out as cylinder No. 1 and cylinder No. 2 respectively; S46, the main support plate ejection strategy is specifically: S47, controlling cylinder No. 1 to drive the main support plate to pop out the support plate along the main direction; S48, when the support plate is ejected in the main direction of the rescue vehicle, the pressure value acquisition through the main sensor is stopped; S49, popping out the support plate in the main direction of the rescue vehicle, and not adjusting the pop-out distance of the pop-out drawer when the rescue vehicle is at risk of tipping over in the main direction; S50: If the rescue vehicle has a risk of tipping over in the secondary direction, the number of secondary direction adjustment drawers is obtained, which is recorded as R.

6. The intelligent adjustment method for medical rescue vehicle according to claim 5, characterized in that: If the rescue vehicle has a risk of tipping over in the secondary direction, the number of secondary direction adjustment drawers is obtained, which is recorded as R, specifically: S51, if R≠0, record the R sub-direction adjustment drawers in descending order as the first sub-direction adjustment drawer, the second sub-direction adjustment drawer, and so on, the R sub-direction adjustment drawers according to the distance between the drawer bottom plate and the ground; S52, starting with the No. 1 sub-direction adjustment drawer, the No. 1 sub-direction adjustment drawer, the No. 2 sub-direction adjustment drawer, ... the No. R sub-direction adjustment drawer, the pop-up directions are adjusted to 0 in sequence; S53, in the process of adjusting the drawer in the first secondary direction, adjusting the drawer in the second secondary direction, and adjusting the pop-up direction of the drawer in the R secondary direction, obtaining the secondary direction judgment value in real time, if the secondary direction judgment value T C ÷T B <Z2, then stop adjusting the drawer pop-up drawer in the secondary direction; S54, if the pop-up distance of the drawer adjusted in the main direction R is adjusted to 0, the main direction judgment value T C ÷T B ≥Z2, the pop-up distance of the main direction pop-up drawer is adjusted as follows: S55, if R=0, the pop-up distance of the pop-up drawer in the main direction is adjusted, specifically: S56, if the number of pop-up drawers in the main direction is not equal to 0, adjust the pop-up distance of each pop-up drawer in the main direction to the maximum pop-up distance. In the process of adjusting the pop-up distance of the pop-up drawer in the main direction, if the main direction judgment value T C ÷T B <Z2, stop adjusting the pop-up distance of the pop-up drawer in the main direction; S57, when the pop-up distance of all pop-up drawers in the main direction is adjusted to the maximum pop-up distance, if the secondary direction judgment value T A ÷T D ≥Z2, the secondary support plate ejection strategy is executed; S58, if the number of pop-up drawers in the main direction is equal to 0, the secondary support plate pop-up strategy is executed; S59, the secondary support plate pop-up strategy is specifically: S60, controlling the No. 2 cylinder to drive the auxiliary support plate to pop out the support plate along the auxiliary direction; S61, after the support plate is ejected from the secondary direction of the rescue vehicle, stop obtaining the pressure value through the secondary sensor; S62, after the support plate is popped out in the secondary direction of the rescue vehicle, when there is a risk of the rescue vehicle tipping over in the secondary direction, the pop-out distance of the drawer to be popped out is not adjusted; If the predicted coordinates of the center of gravity of the rescue vehicle satisfy X D ≥Wd, get the theoretical pop-up distance and maximum pop-up distance of the pop-up drawer in each secondary direction.

7. The intelligent adjustment method for medical rescue vehicle according to claim 6, characterized in that: If the predicted coordinates of the center of gravity of the rescue vehicle satisfy X D ≥Wd, get the theoretical pop-up distance and maximum pop-up distance of the pop-up drawer in each secondary direction, specifically: A secondary direction pop-up drawer whose theoretical pop-up distance is less than the maximum pop-up distance is recorded as a secondary direction extended drawer; If the number of drawers extended in the secondary direction is not equal to 0, the pop-up distance of each drawer extended in the secondary direction is adjusted from the theoretical pop-up distance to the maximum pop-up distance; For each drawer to be popped out except the drawer extended in the secondary direction, keep the theoretical pop-up distance of each drawer to be popped out unchanged. After the pop-up distance of each drawer extended in the secondary direction is adjusted from the theoretical pop-up distance to the maximum pop-up distance, perform the S1-S15 operation steps to predict the center of gravity coordinates of the rescue vehicle, recorded as (X E , Y E , Z E ); If X E Satisfy d<X E <Wd, then N drawers to be popped out are popped out, and after N drawers to be popped out are popped out, steps S16-S62 are executed; If X E Satisfy X E ≥Wd, the main support plate ejection strategy is executed; If the number of drawers extended in the secondary direction is equal to 0, the main support plate pop-up strategy is executed; After executing the main support plate ejection strategy, determine whether the rescue vehicle has a risk of tipping over in the secondary direction. If so, execute S50-S62 operation steps. If not, do not process. If the predicted coordinates of the center of gravity of the rescue vehicle satisfy X D ≤d, obtain the theoretical pop-up distance and maximum pop-up distance of the pop-up drawer in each main direction; The main direction pop-up drawer whose theoretical pop-up distance is less than the maximum pop-up distance is recorded as the main direction extended drawer; If the number of extended drawers in the main direction is not equal to 0, the pop-up distance of each extended drawer in the main direction is adjusted from the theoretical pop-up distance to the maximum pop-up distance; For each drawer to be ejected except the main direction extension drawer, keep the theoretical ejection distance of each drawer to be ejected unchanged. After the ejection distance of each main direction extension drawer is adjusted from the theoretical ejection distance to the maximum ejection distance, perform S1-S15 operation steps to predict the center of gravity coordinates of the rescue vehicle, recorded as (X G , Y G , Z G ); If X G Satisfy d<X G <Wd, then N drawers to be popped out are popped out, and after N drawers to be popped out are popped out, steps S16-S62 are executed; If X G Satisfy X G ≤d, the secondary support plate ejection strategy is executed; If the number of extended drawers in the main direction is equal to 0, the secondary support plate pop-up strategy is executed; After executing the secondary support plate pop-up strategy, determine whether the rescue vehicle has the risk of tipping over in the main direction. If so, execute S30-S49 operation steps. If not, do not take any action.

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