Distribution control system suitable for medicine delivery AGV

Abstract

The invention discloses a distribution control system suitable for a medicine delivery AGV trolley, and relates to the technical field of intelligent logistics and mobile robots, and the distribution control system comprises a regional path structure diagram acquisition module, a path number acquisition module, a mapping number acquisition module, a dominant number acquisition module and a verification module. The original path number of the path combination in each area is converted into a mapping number, the mapping number is simply displayed by extracting a dominant number, and when the AGV enters a new area, the new area is determined by verifying whether a key bit key in the dominant number accords with an expected value or not. Whether the current AGV runs according to a preset and authorized path or not can be quickly judged, the system can obtain the current key bit key in the dominant number of the AGV and compare the current key bit key with an expected new key bit key W, and if the current key bit key and the expected new key bit key W are not matched, the system judges that the AGV runs abnormally.

Description

Technical Field

[0001] The present invention belongs to the technical field of intelligent logistics and mobile robots, and specifically relates to an allocation control system applicable to a medicine delivery AGV cart. Background Art

[0002] With the continuous improvement of the intelligent level of hospitals, the demand for automated medicine delivery is increasing day by day. The traditional medicine delivery method relies on manual labor, with low efficiency and high error rates. Although some hospitals have introduced AGVs for delivery, an AGV cart, namely an "Automated Guided Vehicle", is an unmanned handling device equipped with an automatic navigation system (such as laser, vision, magnetic stripe or QR code navigation). And a medicine delivery AGV is a special application of AGV in the medical scenario, designed specifically for transporting medicines and medical consumables;

[0003] In modern hospital scenarios, for safety and privacy reasons, the internal channel and topological structure information of multiple functional areas (such as ICU, isolation ward, delivery room, etc.) is often not publicly available. And the medicine delivery AGV system usually relies on a centralized map structure for global path planning and cannot complete task scheduling without accessing the structure information of all areas. Therefore, the existing technology has prominent problems such as path planning failure, high task failure rate, and untimely scheduling in the hospital "map isolation" environment; due to the lack of a complete map, when the AGV cart performs cross-regional path planning: it cannot predict the reachability of the target area; it blindly retries or terminates the task after encountering a "map break"; at the same time, it faces the dual dilemmas of compliance and computational efficiency;

[0004] However, if all detailed map information of the isolated areas is forcibly obtained, it may not only violate the hospital's data privacy and security protocols, bringing huge compliance risks; at the same time, managing and real-time processing such a large and sensitive information-containing global map also greatly increases the computational complexity and resource consumption of map maintenance and real-time path planning. It is difficult for the existing technology to achieve smooth and efficient operation across regions while ensuring data privacy, and it cannot accurately navigate and monitor the status of AGV carts while protecting privacy and ensuring compliance; based on this, an allocation control system applicable to a medicine delivery AGV cart is proposed. Summary of the Invention

[0005] The purpose of the present invention is to provide an allocation control system applicable to a medicine delivery AGV cart, which solves the technical problem that it is impossible to accurately navigate and monitor the status of AGV carts while protecting privacy and ensuring compliance.

[0006] An allocation control system applicable to a medicine delivery AGV cart includes:

[0007] A path number acquisition module, which acquires the path numbers of each path combination corresponding to each independent area according to the node numbers corresponding to the entrance and exit nodes and internal nodes of each independent area in the hospital;

[0008] A mapping number acquisition module, which constructs a number transformation model to transform the path numbers corresponding to each path combination in each independent area, and then obtains the mapping numbers of the path numbers corresponding to each path combination;

[0009] An explicit number acquisition module, which obtains the explicit numbers corresponding to the mapping numbers of the path numbers of each path combination in each independent area according to the mapping numbers of the path numbers of each path combination in each independent area;

[0010] A verification module, according to the multiple involved areas included in the initial delivery path and the area driving path combinations corresponding to each involved area, when the AGV vehicle enters each involved area, obtains the numerical value of the key bit corresponding to the explicit number corresponding to each area driving path combination, verifies whether the AGV vehicle drives abnormally in each involved area according to the key bit numerical value, and determines and generates an abnormal signal for output according to the verification result.

[0011] As a further solution of the present invention: The specific method for acquiring the path numbers of each path combination corresponding to each independent area is as follows:

[0012] First, divide the hospital into multiple independent areas according to departments according to the digital floor map of the hospital, identify the entrance and exit nodes and internal nodes of each independent area, number each node in order from top to bottom, and then obtain the node numbers corresponding to each independent area. According to the node numbers of each node in the area path structure diagram corresponding to each independent area, obtain each path combination corresponding to each independent area. According to the node numbers corresponding to each node in each path combination corresponding to each independent area, obtain the path numbers Jki (Nk1, Nk2,..., Nkn) corresponding to each path combination corresponding to each independent area, where k represents different independent areas, i represents different path combinations, Nkn represents different node numbers corresponding to each path combination, and n is a positive integer and the value is greater than or equal to 2.

[0013] As a further solution of the present invention: The specific method for constructing the number transformation model is as follows:

[0014] First, construct a key position key W. The key position key W consists of two sub - key positions, and the values of both sub - key positions are single - digit number 9, that is, the specific value of the key position key W is 99. Set a front blank key position before the key position key W. Combine the front blank key position with the previous sub - key position in the key position key W to form a front - position key group. The sum of the value of the front blank key position in the front - position key group and the value of the previous sub - key position in the key position key W is equal to the node number value Nk1 corresponding to the first node in the path combination path number. At the same time, set multiple rear blank key positions in sequence after the key position key W. The specific number of the set rear blank key positions is the total number of nodes corresponding in the path combination minus 1. Combine the rear sub - key position in the key position key W with each rear blank key position to form a rear - position key group. In the rear - position key group, in the order from front to back, the sum of the values of every two adjacent key positions is successively the node number values Nkn of each node in the path combination except the node number value Nk1 corresponding to the first node, thus generating a number transformation model.

[0015] As a further solution of the present invention: The specific method for obtaining the mapping numbers of the path combination path numbers in each independent area is as follows:

[0016] According to the values of the two sub - key positions in the key position key W and the relationship between the value of each key position and the node numbers of each node in the path combination, the values corresponding to the front blank key position value and each rear blank key position in the number transformation model can be obtained. According to the arrangement order of the front blank key position value / key position key W / the values corresponding to each rear blank key position, the mapping number Hki(Ak1 / K / Ak2, ……, Akn) of the path combination path numbers in each independent area can be obtained.

[0017] As a further solution of the present invention: The specific method for obtaining the explicit numbers corresponding to the mapping numbers of the path combination path numbers in each independent area is as follows;

[0018] Retain the blank key position value, the key position key W, and the value Akn of the last rear blank key position in each path combination path number, and the explicit number Xki(Ak1 / K / Akn) corresponding to the mapping number can be generated.

[0019] As a further solution of the present invention: The specific method for verifying whether the AGV vehicle travels abnormally in each involved area according to the key position key value is as follows:

[0020] When the AGV vehicle enters each relevant area, obtain the value of the key position key W according to the explicit number corresponding to the area driving path combination corresponding to the relevant area, and compare it with 99. When the value of the key position key W is still equal to 99, it is determined that the AGV vehicle is driving normally in the corresponding relevant area. When the value of the key position key W is not equal to 99, it is determined that the AGV vehicle is driving abnormally in the corresponding relevant area, generate an abnormal signal and output it.

[0021] As a further solution of the present invention: the value of the key position key W of the explicit number will be changed according to the number of path deviations of the AGV vehicle in the previous relevant area. For the first relevant area of the initial delivery path, the key position key W is default unchanged, and directly output the path number corresponding to its area driving path combination.

[0022] As a further solution of the present invention: the specific method for obtaining the number of path deviations of the AGV vehicle in the previous relevant area is:

[0023] Taking each node as the origin, draw a circle with a radius of R to obtain the node passing areas corresponding to each node in the path number corresponding to the area driving path combination. The specific value of R is 1.2m. When the AGV vehicle finishes driving in the relevant area, obtain the number of node passing areas in the area driving path combination of the area not passed by the AGV vehicle in the relevant area, and take it as the number of path deviations D of the AGV vehicle in the previous relevant area. Add the number of path deviations D of the AGV vehicle in the previous relevant area to the value of the key position key W as the new value of the key position key W.

[0024] Compared with the prior art, the beneficial effects of the present invention are:

[0025] (1) In the present invention, by introducing the key position key W and the blank key positions, a key judgment basis is provided for path deviation detection, encoding complex path information into a concise mapping number, facilitating system processing and transmission. At the same time, through the mapping number, an encryption and transformation mechanism is provided for the path number, increasing the security and anti-interference ability of the system and protecting the privacy of the area path information;

[0026] (2) In the present invention, by only retaining the values of the previous blank key positions, the key position key, and the value of the last blank key position in the mapping number to generate the explicit number, the path identification is further simplified, facilitating the AGV vehicle to quickly identify the key features of the current path during driving, providing a direct basis for path verification. At the same time, the path information is simplified through the explicit number, facilitating quick reading and verification, improving the operation efficiency and real-time performance of the system. During the driving process of the AGV vehicle, the explicit number can quickly provide the key information required for path verification to ensure that the AGV vehicle drives according to the predetermined path;

[0027] (3) In the present invention, through a unique number transformation model, the original path numbers of the path combinations in each region are transformed into a mapping number, which is equivalent to an encrypted fingerprint of the path. By extracting the explicit number and retaining the leading blank key positions, key positions, and the last trailing blank key position, the mapping number is refined and displayed. When an AGV cart enters a new region, it no longer needs to obtain the complete map of that region, but directly uses the explicit number of that region included in its task. By verifying whether the key position in the explicit number conforms to the expected value, it can quickly determine whether the current AGV cart is traveling along a preset and authorized path. When the AGV enters a new region, the system obtains the current key position W in its explicit number and compares it with the expected new key position W. If the two do not match, or the key position W exceeds a preset threshold, the system will determine it as abnormal driving. Through the encryption and transformation mechanisms of the mapping number and the explicit number, the privacy of the regional path information is protected. In a hospital with a map isolation environment, even if the topological structure information of some regions is not publicly disclosed, effective path planning can still be carried out through the known entrance and exit nodes and internal nodes, effectively solving the distribution problem of AGV carts in the hospital's map isolation environment, realizing cross-regional path planning and verification, significantly improving the task success rate and data security, and meeting the strict compliance requirements of the medical industry. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 It is a schematic diagram of the system framework structure of the present invention;

[0029] Figure 2 It is a schematic diagram of the framework structure of the number transformation model of the present invention;

[0030] Figure 3 It is a schematic diagram of the structure of the front key group and the front and rear key groups in the number transformation model of the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0031] The technical solutions of the present invention will be clearly and completely described below in conjunction with the embodiments. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0032] Embodiment 1: Please refer to Figures 1 - 3 , the present application provides a distribution control system applicable to a medicine delivery AGV cart, including;

[0033] The regional path structure diagram acquisition module first divides the hospital into multiple independent regions according to departments based on the hospital floor digital map, such as the surgical department, the internal medicine department, the inpatient area, and the pharmacy area, the inpatient area. According to the path information corresponding to each independent region, the regional path structure diagram corresponding to each independent region is obtained. The specific method is as follows:

[0034] The hospital floor digital map can be obtained through various methods, including but not limited to, importing and parsing CAD drawings, importing the CAD floor plans of distribution areas such as hospitals and office buildings into the system, and automatically identifying roads, intersections, and entrances and exits through graphic recognition and data extraction algorithms;

[0035] Identify the entrance and exit nodes (such as elevator entrances, stair entrances, regional gates, etc.) and internal nodes (such as crossroads, T-junctions, etc.) of each independent region. These are the keys in the path structure of each region and are used as nodes in the regional path structure diagram. Number the nodes in order from top to bottom, and then obtain the node numbers corresponding to each independent region, and then complete the construction of the regional path structure diagram corresponding to each independent region;

[0036] Among them, the entrance and exit nodes are respectively referred to as elevator entrances, stair entrances, regional gates, etc., and the internal nodes are crossroads, T-junctions, etc.:

[0037] First, the system imports the hospital's CAD drawings, uses graphic recognition and data extraction algorithms to automatically identify roads, intersections, and entrances and exits, and divides the hospital floors into multiple independent regions (such as the surgical department, the internal medicine department, the inpatient area, the pharmacy area, etc.) according to department division. Within each independent region, identify and number its entrance and exit nodes (such as elevator entrances, stair entrances, regional gates) and internal nodes (such as crossroads, T-junctions). These nodes are numbered in order from top to bottom, and finally the regional path structure diagram of each independent region is constructed. It realizes the structured analysis of the complex hospital environment, lays a foundation for subsequent path planning, simplifies the complexity of path management through regional division, and improves the scalability and maintainability of the system. The automated node recognition and numbering process reduces manual intervention and improves efficiency and accuracy.

[0038] The path number acquisition module obtains each path combination within each independent area according to the node numbers in the area path structure diagrams respectively corresponding to each independent area, and obtains the path number Jki (Nk1, Nk2, ……, Nkn) respectively corresponding to each path combination within each independent area according to the node numbers respectively corresponding to each node in each path combination within each independent area respectively corresponding to each independent area, where k represents different independent areas, i represents different path combinations, Nkn represents different node numbers respectively corresponding to each path combination, and n is a positive integer and its value is greater than or equal to 2;

[0039] Using technologies such as image recognition algorithms and topological analysis, identify the entrance and exit nodes (such as elevator entrances, stair entrances, area gates, etc.) and in-area road intersection nodes (such as crossroads, T-junctions, etc.) in the path structure diagram of each independent area, and number these nodes in a certain order (such as from left to right, from top to bottom) in turn, so as to obtain each node number in the path structure diagram of each independent area;

[0040] Based on path search algorithms in graph theory (such as depth-first search algorithm, breadth-first search algorithm, etc.), calculate each path combination respectively corresponding to each independent area according to the numbered entrance and exit nodes and in-area road intersection nodes. This belongs to existing and mature applied technologies, so no further elaboration will be made here.

[0041] For example, in a floor area, there may be multiple different path combinations from the elevator entrance to each ward. All these possible paths are calculated by the algorithm and recorded and output. The above is existing and mature technology, so no further elaboration will be made here;

[0042] Using path search algorithms in graph theory (such as depth-first search or breadth-first search), based on the numbered entrance and exit nodes and internal nodes, calculate all path combinations from one entrance and exit to another node or internal node within each independent area. Each path combination consists of a series of node numbers, exhausting and recording all possible driving paths within each area, providing a rich set of alternative plans for the path planning of AGV vehicles. The standardized numbering of path combinations facilitates subsequent mapping and identification.

[0043] The mapping number acquisition module constructs a number transformation model to transform the path numbers respectively corresponding to each path combination within each independent area, and then obtains the mapping numbers of the path numbers of each path combination within each independent area. The specific method is as follows:

[0044] The specific method for constructing the number transformation model is as follows:

[0045] First, construct a key position key W, which consists of two sub-key positions. The values of both sub-key positions are single-digit number 9, that is, the specific value of the key position key W is 99. Set a front blank key position before the key position key W, and form a front position key group by combining the front blank key position with the previous sub-key position in the key position key W. The sum of the value of the front blank key position in the front position key group and the value of the previous sub-key position in the key position key W is equal to the node number value Nk1 corresponding to the first node in the path combination path number. At the same time, set multiple rear blank key positions in sequence after the key position key W. The specific number of the set rear blank key positions is the total number of nodes corresponding in the path combination minus 1, that is, the sum of the number of rear blank key positions and the number of front blank key positions is the total number of nodes corresponding in the path combination;

[0046] Form a rear position key group by combining the latter sub-key position in the key position key W with each rear blank key position. In the rear position key group, in the order from front to back, the sum of the values of every two adjacent key positions is successively the node number values Nkn of each node in the path combination except the node number value Nk1 corresponding to the first node;

[0047] Furthermore, generate the number transformation model corresponding to the path combination (such as Figure 2 ). According to the values of the two sub-key positions in the key position key W and the relationship between the values of each key position and the node numbers of each node in the path combination, the value corresponding to the front blank key position and each rear blank key position in the number transformation model can be obtained. According to the arrangement order of the value of the front blank key position / key position key W / the values corresponding to each rear blank key position, the mapping number Hki (Ak1 / K / Ak2, ……, Akn) of each path combination path number in each independent area can be obtained;

[0048] For example, if Nk1 is 12, then the value Ak1 of the front blank key position is 12 - 9 = 3. For example, if the path combination has 4 nodes, and the node numbers are successively Nk1 = 5, Nk2 = 7, Nk3 = 9, Nk4 = 11. Given that the key position key K is 99, the value of the front blank key position Ak1 is 5 - 9 = -4, and the number of rear blank key positions is 4 - 1 = 3. Starting from Ak2, let the value of the first rear blank key position be x, then 9 + x = 7, and the solution is x = -2, that is, the value of the rear blank key position Ak2 is -2. By analogy, the values of the remaining rear blank key positions are determined;

[0049] By constructing a special key position key W with a fixed value of 99, which consists of two sub-key positions, each with a value of 9. A pre-blank key position is set before the key position key W, and its value is obtained by subtracting the value of the first sub-key position of the key position key W from the number of the first node in the path combination. Multiple post-blank key positions are set after the key position key W, and the number of them is equal to the total number of nodes in the path combination minus one. The value of the post-blank key position is the sum of the value of the second sub-key position of the key position key W and the value of the adjacent blank key position, corresponding to the numbers of other nodes except the first node in the path combination. Finally, according to the order of "pre-blank key position value / key position key W / values of each post-blank key position", the mapping number of each path combination is generated, which helps with subsequent quick identification and verification. By introducing the key position key W and blank key positions, a crucial judgment basis for path deviation detection is provided, encoding complex path information into a concise mapping number, facilitating system processing and transmission. At the same time, through the mapping number, an encryption and transformation mechanism for path numbers is provided, enhancing the security and anti-interference ability of the system and protecting the privacy of regional path information: In the "map isolation" environment of the hospital, the mapping number can better protect the privacy of regional path information and ensure the compliance of the system.

[0050] The dominant number acquisition module obtains the dominant numbers corresponding to the mapping numbers Hki of the path numbers of each path combination in each independent area according to the mapping numbers Hki of the path numbers of each path combination in each independent area. The specific method is as follows:

[0051] Retain the values of the blank key positions, the key position key W, and the value Akn of the last post-blank key position in each path combination path number, and the dominant numbers corresponding to the mapping numbers can be generated, that is: pre-blank key position value / key position key W / value of the last post-blank key position; thus, the dominant numbers Xki (Ak1 / K / Akn) corresponding to the mapping numbers of the path numbers of each path combination in each independent area can be obtained.

[0052] From the mapping number, only retain the value of the pre-blank key position, the key position key W, and the value of the last post-blank key position. The generated dominant number format is: Xki(Ak1 / K / Akn), which further simplifies the path identification and facilitates the AGV vehicle to quickly identify the key features of the current path during driving. The dominant number contains the start and end information of the path (indirectly reflected by the pre-blank key position and the last post-blank key position), as well as the core key position key W, providing a direct basis for path verification. At the same time, the path information is simplified through the dominant number, facilitating quick reading and verification, improving the operation efficiency and real-time performance of the system. During the driving process of the AGV vehicle, the dominant number can quickly provide the key information required for path verification to ensure that the AGV vehicle travels along the predetermined path.

[0053] Verification module: The route control center obtains the initial delivery path corresponding to the AGV's delivery task based on the delivery start point and delivery end point of the delivery task received by the AGV. The initial delivery path includes multiple involved areas and the area driving path combinations corresponding to each involved area respectively. When the AGV enters each involved area, the value of the key bit key W is obtained according to the explicit number corresponding to the area driving path combination of this involved area, and it is compared and analyzed with 99. When the value of the key bit key W still equals 99, it is determined that the AGV is driving normally in the corresponding involved area. Then, the corresponding mapping number is extracted according to the explicit number Xki, and the mapping number is input into the number transformation model to extract the path number corresponding to the mapping number, so as to obtain the path number corresponding to the area driving path combination of this involved area. When the value of the key bit key W is not equal to 99, it is determined that the AGV is driving abnormally in the corresponding involved area, and an abnormal signal is generated and output;

[0054] The value of the key bit key W of the explicit number will be changed according to the path deviation times of the AGV in the previous involved area. The key bit key W of the first involved area is default unchanged, and the path number corresponding to its area driving path combination is directly output. The path deviation times refer to the number of times the AGV has a position deviation from each node in the path number corresponding to the area driving path combination. The specific determination method is as follows:

[0055] Taking each node as the origin, a circle with a radius of R is drawn to obtain the node passing areas corresponding to each node in the path number corresponding to the area driving path combination. When the AGV finishes driving in the involved area, the number of node passing areas in the area driving path combination that the AGV has not passed in the involved area is obtained and used as the path deviation times D of the AGV in the previous involved area. The path deviation times D of the AGV in the previous involved area and the value of the key bit key W are added together as the new value of the key bit key W, which causes the value of the key bit key W to change to form a new value of the key bit key W. R is a preset value, and the specific value is 1.2m;

[0056] When the AGV vehicle receives a delivery task, the route control center determines the initial delivery path based on the delivery starting point and ending point. This path contains multiple involved areas and their corresponding area driving path combinations. When the AGV vehicle enters a certain involved area, the system extracts the value of the key bit key W from it according to the explicit number corresponding to the area driving path combination. The extracted value of the key bit key W is compared with the preset value of 99. If the value of the key bit key W is equal to 99, it is determined that the AGV vehicle is driving normally in this area. At this time, the system extracts the corresponding mapping number according to the explicit number, and then inputs the mapping number into the number transformation model to restore the original path number corresponding to the area driving path combination for the AGV vehicle to use for navigation. If the value of the key bit key W is not equal to 99, it is determined that the AGV vehicle is driving abnormally in this area, and the system will immediately generate and output an abnormal signal. For the dynamic adjustment of the key bit key W, the value of the key bit key W in the explicit number will be dynamically changed according to the path deviation times D of the AGV vehicle in the previous involved area. Calculation method of the path deviation times D: Taking each node in the path number as the center of a circle with a radius of R (the preset value is 1.2m) to draw a circle to form a node passage area. When the AGV vehicle finishes driving in a certain area, the system will count the number of node passage areas that the AGV vehicle has not passed through in this area, and this number is the path deviation times D; adding the path deviation times D of the previous area to the current value of the key bit key W as the new value of the key bit key W, which will cause the value of the key bit key W to change. The key bit key W of the first involved area remains unchanged by default, and its path number is directly output, realizing real-time path deviation detection of the AGV vehicle, improving the safety and reliability of delivery. By dynamically adjusting the value of the key bit key W, the system can record and reflect the deviation situation of the AGV vehicle in historical driving, providing data support for more intelligent path planning and abnormal handling. The timely output of the abnormal signal enables the management personnel to respond quickly and take measures to reduce potential losses and risks.

[0057] For each path combination within a region, through a unique number transformation model, its original path number (including detailed node information) is converted into a mapped number, which is equivalent to an encrypted fingerprint of this path. It compactly contains the starting and ending point information of the path, as well as a core key bit W. By extracting the explicit number, the mapped number is concisely displayed by retaining the leading blank key bit, the key bit W, and the last trailing blank key bit. The explicit number is like a security token and is a voucher for the AGV to perform a preliminary match and verification with the preset paths within the specific region after entering the region. When the AGV enters a new region, it no longer needs to obtain the complete map of this region, but directly uses the explicit number of this region included in its task. By verifying whether the key bit W in the explicit number meets the expected value (i.e., 99), it can quickly determine whether the current AGV is traveling along the preset and authorized path. When the AGV enters a new region, the system will obtain the current key bit W in its explicit number and compare it with the expected new key bit W (i.e., 99 plus the cumulative value of all previous deviations). If the two do not match, or the key bit W exceeds a preset threshold, the system will determine that it is an abnormal driving and immediately issue an alarm. Through the encryption and transformation mechanisms of the mapped number and the explicit number, the privacy of the regional path information is protected. In the hospital's map isolation environment, even if the topological structure information of some regions is not publicly disclosed, effective path planning can still be carried out through the known entrance and exit nodes and internal nodes, effectively solving the distribution problem of AGV cars in the hospital's map isolation environment. On the premise of ensuring the privacy of each region, the system realizes cross-regional path planning and verification, significantly improving the task success rate and data security, and meeting the strict compliance requirements of the medical industry.

[0058] The above formulas are all dimensionless and take their numerical calculations. The formulas are obtained by collecting a large amount of data for software simulation to get a formula closest to the real situation. The preset parameters and threshold selection in the formulas are set by those skilled in the art according to the actual situation.

[0059] The above is only the specific implementation manner of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art within the technical scope disclosed by the present application can easily think of changes or substitutions, which should all be covered within the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claimed rights.

Claims

1. A distribution control system applicable to a drug delivery AGV cart, characterized in that, Including: A path number acquisition module, which acquires the path numbers of each path combination corresponding to each independent area according to the node numbers corresponding to the entrance and exit nodes and internal nodes of each independent area in the hospital; A mapping number acquisition module, which constructs a number transformation model to transform the path numbers corresponding to each path combination in each independent area, and then obtains the mapping numbers of the path numbers corresponding to each path combination; An explicit number acquisition module, which acquires the explicit numbers corresponding to the mapping numbers of the path numbers of each path combination in each independent area according to the mapping numbers of the path numbers of each path combination in each independent area; A verification module, which, according to the multiple involved areas included in the initial delivery path and the area driving path combinations corresponding to each involved area, acquires the numerical values of the key positions corresponding to the explicit numbers corresponding to the area driving path combinations when the AGV cart enters each involved area, verifies whether the AGV cart drives abnormally in each involved area according to the key position numerical values, and determines and generates an abnormal signal for output according to the verification result.

2. The distribution control system applicable to the medicine delivery AGV cart according to claim 1, wherein, The specific method for acquiring the path numbers of each path combination corresponding to each independent area is as follows: First, divide the hospital into multiple independent areas according to departments according to the hospital floor digital map, identify the entrance and exit nodes and internal nodes of each independent area, number each node in the order from top to bottom, and then obtain the node numbers corresponding to each independent area. According to the node numbers in the area path structure diagram corresponding to each independent area, obtain each path combination corresponding to each independent area. According to the node numbers corresponding to each node in each path combination corresponding to each independent area, obtain the path numbers Jki (Nk1, Nk2,..., Nkn) corresponding to each path combination corresponding to each independent area, where k represents different independent areas, i represents different path combinations, Nkn represents different node numbers corresponding to each path combination, and n is a positive integer and its value is greater than or equal to 2.

3. The distribution control system for a drug delivery AGV cart according to claim 2, wherein, The specific method for constructing the number transformation model is as follows: First, construct a key position key W. The key position key W consists of two sub-key positions, and the numerical values of both sub-key positions are single-digit number 9, that is, the specific numerical value of the key position key W is 99. Set a front blank key position before the key position key W, and form a front position key group by combining the front blank key position with the previous sub-key position in the key position key W. The sum of the numerical value of the front blank key position and the previous sub-key position in the key position key W in the front position key group is equal to the node number value Nk1 corresponding to the first node in the path combination path number. At the same time, set multiple rear blank key positions in sequence after the key position key W. The specific number of the set rear blank key positions is the total number of nodes corresponding in the path combination minus 1. Form a rear position key group between the latter sub-key position in the key position key W and each rear blank key position. In the rear position key group, in the order from front to back, the sum of the numerical values of every two adjacent key positions is successively the node number values Nkn of each node in the path combination except the node number value Nk1 corresponding to the first node, thereby generating a number transformation model.

4. The distribution control system for a drug delivery AGV cart according to claim 3, characterized in that, The specific method for obtaining the mapping number of each path combination path number in each independent area is as follows: According to the numerical values of the two sub-key positions in the key position key W and the relationship between the numerical value of each key position and the node number of each node in the path combination, the numerical value corresponding to the front blank key position and each rear blank key position in the number transformation model can be obtained. According to the arrangement order of the numerical value of the front blank key position / the key position key W / the numerical values corresponding to each rear blank key position, the mapping number Hki (Ak1 / K / Ak2,..., Akn) of each path combination path number in each independent area can be obtained.

5. The distribution control system for a medicine delivery AGV trolley according to claim 4, wherein The specific method for obtaining the explicit number corresponding to the mapping number of each path combination path number in each independent area is as follows; Retain the numerical value of the blank key position, the key position key W, and the numerical value Akn of the last rear blank key position in each path combination path number, and the explicit number Xki (Ak1 / K / Akn) corresponding to the mapping number can be generated.

6. The distribution control system for a drug delivery AGV cart according to claim 5, characterized in that, The specific method for verifying whether the AGV vehicle travels abnormally in each involved area according to the key position key numerical value is as follows: When the AGV vehicle enters each involved area, obtain the numerical value of the key position key W according to the explicit number corresponding to the area travel path combination corresponding to the involved area, and compare it with 99. When the numerical value of the key position key W is still equal to 99, it is determined that the AGV vehicle travels normally in the corresponding involved area. When the numerical value of the key position key W is not equal to 99, it is determined that the AGV vehicle travels abnormally in the corresponding involved area, and an abnormal signal is generated and output.

7. The distribution control system for a drug delivery AGV cart according to claim 6, characterized in that, The numerical value of the key position key W of the explicit number will be changed according to the number of path deviations of the AGV vehicle in the previous involved area. For the first involved area of the initial delivery path, it is default that the key position key W remains unchanged, and the path number corresponding to its area travel path combination is directly output.

8. The distribution control system for a medicine delivery AGV cart according to claim 7, characterized in that, The specific method for obtaining the number of path deviations of the AGV vehicle in the previous involved area is as follows: First, obtain the node passing areas corresponding to each node in the path numbers corresponding to the regional driving path combinations. After the AGV vehicle finishes driving in the involved area, obtain the number of node passing areas in the driving path combinations of the areas not passed by the AGV vehicle in the involved area, and use it as the path deviation times D of the AGV vehicle in the previous involved area. Add the path deviation times D of the AGV vehicle in the previous involved area to the key position key W value to obtain a new key position key W value. R is a preset value, and the specific value is 1.2m.

9. The distribution control system for a medicine delivery AGV cart according to claim 8, characterized in that, The specific method for obtaining the node passing areas corresponding to each node in the path numbers corresponding to the regional driving path combinations is as follows: Taking each node as the origin and with a radius of R, draw a circle to obtain the node passing areas corresponding to each node in the path numbers corresponding to the regional driving path combinations. The specific value of R is 1.2m.

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