A distribution control system suitable for medicine delivery AGV vehicles

Abstract

The present invention discloses a distribution control system suitable for an AGV trolley for delivering medicines, which relates to the field of intelligent logistics and mobile robot technology. The system comprises a regional path structure diagram acquisition module, a path number acquisition module, a mapping number acquisition module, an explicit number acquisition module and a verification module. Through a unique number conversion model, the original path number of the path combination in each area is converted into a mapping number, and the mapping number is simplified and displayed by extracting the explicit number. When the AGV trolley enters a new area, by verifying whether the key position key in the explicit number meets the expected value, it can be quickly determined whether the current AGV trolley is traveling according to a preset and authorized path. The system will obtain the current key position key in its explicit number and compare it with the expected new key position key W. If the two do not match, the system will determine it as abnormal driving.

Description

Technical Field

[0001] The present invention belongs to the technical field of intelligent logistics and mobile robots, and specifically is a distribution control system suitable for an AGV (Automated Guided Vehicle) for medicine delivery. Background Art

[0002] As hospitals become increasingly intelligent, the demand for automated drug delivery is growing. Traditional drug delivery methods rely on manual labor, are inefficient, and prone to errors. Although some hospitals have introduced AGVs for delivery, AGVs, or "automated guided vehicles," are unmanned transport equipment equipped with automatic navigation systems (such as laser, vision, magnetic stripe, or QR code navigation). Drug delivery AGVs are a specialized application of AGVs in medical scenarios, designed specifically for transporting drugs and medical consumables.

[0003] In modern hospital scenarios, for security and privacy reasons, the internal channels and topological structure information of multiple functional areas (such as ICUs, infection wards, and delivery rooms) are often not disclosed to the public. The medicine delivery AGV system usually relies on a centralized map structure for global path planning and cannot complete task scheduling without accessing the structural information of all areas. Therefore, existing technologies have prominent problems such as path planning failure, high task failure rate, and untimely scheduling in the "map isolation" environment of hospitals. Due to the lack of a complete map, AGV carts cannot predict the reachability of the target area when planning cross-regional paths; they blindly retry or terminate the task when encountering a "map break"; and they face the dual dilemma of compliance and computing efficiency.

[0004] However, forcibly obtaining detailed map information for all isolated areas could violate the hospital's data privacy and security protocols, posing significant compliance risks. Furthermore, managing and processing such a large, sensitive global map in real time significantly increases the computational complexity and resource consumption of map maintenance and real-time path planning. Existing technologies struggle to ensure smooth and efficient cross-regional operation while guaranteeing data privacy, and are unable to accurately navigate and monitor the status of AGVs while protecting privacy and ensuring compliance. Therefore, a distribution control system suitable for AGVs used in medicine delivery is proposed. Summary of the Invention

[0005] The purpose of the present invention is to provide a distribution control system suitable for AGV carts for medicine delivery, which solves the technical problem of being unable to accurately navigate and monitor the status of AGV carts while protecting privacy and ensuring compliance.

[0006] A distribution control system suitable for medicine delivery AGVs, including:

[0007] The path number acquisition module acquires the path numbers of each path combination corresponding to each independent area of the hospital based on the node numbers corresponding to the entrance and exit nodes and internal nodes of each independent area of the hospital;

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

[0009] An explicit number acquisition module acquires explicit numbers corresponding to the mapping numbers of the path numbers of the path combinations in each independent area according to the mapping numbers of the path numbers of the path combinations in each independent area;

[0010] The verification module obtains the value of the key position key corresponding to the explicit number of each driving path combination involved in each area when the AGV enters each area, based on the multiple areas involved in the initial delivery path and the area driving path combinations corresponding to each area involved. It verifies whether the AGV has performed abnormal driving in each area involved based on the key position key value, and generates an abnormal signal for output based on the verification result.

[0011] As a further solution of the present invention, the specific method for obtaining the path number of each path combination corresponding to each independent area is:

[0012] First, the hospital is divided into multiple independent areas according to the department based on the digital map of the hospital floors. The entrance and exit nodes and internal nodes of each independent area are identified, and each node is numbered in order from top to bottom to obtain the node number corresponding to each independent area. According to the node numbers in the regional path structure diagram corresponding to each independent area, the path combinations corresponding to each independent area are obtained. According to the node numbers corresponding to each node in the path combinations corresponding to each independent area, the path numbers Jki (Nk1, Nk2, ..., Nkn) corresponding to each path combination corresponding to each independent area are obtained, where k refers to different independent areas, i refers to different path combinations, Nkn refers to different node numbers corresponding to each path combination, and n is a positive integer greater than or equal to 2.

[0013] As a further solution of the present invention: the specific method of constructing the number conversion model is:

[0014] First, a key key W is constructed. The key key W consists of two sub-key positions. The values of the two sub-key positions are both the single digit 9, that is, the specific value of the key key W is 99. A front blank key position is set before the key key W. The front blank key position and the previous sub-key position in the key key W are combined into a front key group. The sum of the front blank key value in the front key group and the previous sub-key value in the key key W is equal to the node number value Nk1 corresponding to the first node in the path combination path numbering. At the same time, multiple back blank key positions are set in sequence after the key key W. The specific number of the set back blank key positions is the total number of nodes corresponding to the path combination minus 1. The back sub-key position in the key key W and each back blank key position are combined into a back key group. In the back key group, the sum of the values of each two adjacent key positions is, in order from front to back, the node number values Nkn after excluding the node number value Nk1 corresponding to the first node in the path combination, thereby generating a number transformation model.

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

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

[0017] As a further solution of the present invention: obtaining the mapping number of each path combination path number within each independent area respectively corresponding to the explicit number of the specific manner is;

[0018] By retaining the blank key position value, key position key W and the last blank key position value Akn in each path combination path number, 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 of verifying whether the AGV is driving abnormally in each involved area according to the key position key value is as follows:

[0020] When the AGV enters each involved area, the value of the key key W is obtained according to the explicit number corresponding to the regional driving path combination corresponding to the involved area, and it is compared and analyzed with 99. When the value of the key key W is still equal to 99, it is determined that the AGV is driving normally in the corresponding involved area. When the value of the key 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.

[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 car in the previous involved area. The default key position key W of the first involved area of the initial delivery path remains unchanged, and the path number corresponding to the regional driving path combination is directly output.

[0022] As a further solution of the present invention, the specific method for obtaining the number of path deviations of the AGV in the previously mentioned area is as follows:

[0023] Draw a circle with each node as the origin and a radius of R to obtain the node passage area corresponding to each node in the path number corresponding to the regional driving path combination. The specific value of R is 1.2m. When the AGV car finishes driving in the involved area, obtain the number of node passage areas in the regional driving path combination that the AGV car has not passed through in the involved area, and use it as the number of path deviations D of the AGV car in the previous involved area. The number of path deviations D of the AGV car in the previous involved area is added to the key key W value as the new key key W value.

[0024] Compared with the prior art, the present invention has the following beneficial effects:

[0025] (1) The present invention provides a key judgment basis for path deviation detection by introducing the key W and the blank key, and encodes complex path information into a concise mapping number, which is convenient for system processing and transmission. At the same time, the mapping number provides an encryption and transformation mechanism for the path number, which increases the security and anti-interference ability of the system and protects the privacy of regional path information.

[0026] (2) The present invention further simplifies the path identification by retaining only the value of the first blank key position, the key position key and the value of the last blank key position from the mapping code, and generates an explicit number, which facilitates the AGV to quickly identify the key features of the current path during driving, and provides a direct basis for path verification. At the same time, the explicit number simplifies the path information, facilitates rapid reading and verification, and improves the operating efficiency and real-time performance of the system. During the driving process of the AGV, the explicit number can quickly provide the key information required for path verification, ensuring that the AGV travels according to the predetermined path;

[0027] (3) The present invention, through a unique number conversion model, converts the original path number of the path combination in each area into a mapping number, which is equivalent to an encrypted fingerprint of the path. By extracting the explicit number, retaining the first blank key position, the key position key and the last blank key position, the mapping number is displayed in a simplified manner. When the AGV enters a new area, it no longer needs to obtain a complete map of the area, but directly uses the explicit number of the area contained in its task. By verifying whether the key position key in the explicit number meets the expected value, it can quickly determine whether the current AGV is traveling along the preset and authorized path. When the AGV enters a new area, the system will obtain the current key position key W in its explicit number and compare it with the expected new key position key W. If the two do not match, or the key position key W exceeds a certain preset threshold, the system will determine it as abnormal driving. The encryption and conversion mechanism of the mapping number and the explicit number protects the privacy of the regional path information. In a hospital's map-isolated environment, even if the topological structure information of some areas is not disclosed to the public, effective path planning can be performed through known entry and exit nodes and internal nodes. This effectively solves the hospital's AGV delivery problem in a map-isolated environment, realizes cross-regional path planning and verification, significantly improves the mission success rate and data security, and meets the strict compliance requirements of the medical industry. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 Schematic diagram of the system framework structure of the present invention;

[0029] Figure 2 Schematic diagram of the framework structure of the number conversion model of the present invention;

[0030] Figure 3 It is a structural diagram of the front key group and the front and back key groups in the number conversion model of the present invention. DETAILED DESCRIPTION

[0031] The technical solutions of the present invention will be clearly and completely described below in conjunction with the embodiments. Obviously, the embodiments described are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0032] Example 1: Please refer to Figure 1-Figure 3 , the present application provides a distribution control system suitable for a medicine delivery AGV, including;

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

[0034] Digital maps of hospital floors can be obtained in a variety of ways, including but not limited to importing and parsing CAD drawings, importing 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 pattern recognition and data extraction algorithms;

[0035] Identify the entrance and exit nodes (e.g., elevator entrances, stairwells, area gates, etc.) and internal nodes (e.g., crossroads, T-junctions, etc.) of each independent area. These are the key nodes in each area's path structure and are used as nodes in the area path structure diagram. Number each node from top to bottom to obtain the node number corresponding to each independent area, and then complete the construction of the area path structure diagram corresponding to each independent area.

[0036] The entrance and exit nodes refer to things like elevator entrances, stairwells, and area gates, and the internal nodes refer to intersections and T-junctions.

[0037] First, the system imports the hospital's CAD drawings and uses graphic recognition and data extraction algorithms to automatically identify roads, intersections, and entrances and exits. Based on departmental divisions, the system divides the hospital floors into multiple independent areas (such as surgery, internal medicine, inpatient areas, and pharmacy areas). Within each independent area, the system identifies and numbers its entrance and exit nodes (such as elevator entrances, stairwells, and area gates) and internal nodes (such as intersections and T-junctions). These nodes are numbered from top to bottom, ultimately constructing a regional path structure diagram for each independent area. This enables a structured analysis of the hospital's complex environment, laying the foundation for subsequent path planning. The regional division simplifies the complexity of path management and improves the system's scalability and maintainability. The automated node identification and numbering process reduces manual intervention and improves efficiency and accuracy.

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

[0039] Using image recognition algorithms, topology analysis and other technologies, we identify the entrance and exit nodes (such as elevator entrances, stairwells, and area gates) and road intersection nodes (such as crossroads and T-junctions) in each independent area's path structure diagram. We then number these nodes in a certain order (such as from left to right, from top to bottom) to obtain the node numbers in each independent area's path structure diagram.

[0040] Based on the path search algorithm in graph theory (such as the depth-first search algorithm and the breadth-first search algorithm, etc.), the path combinations corresponding to each independent area are calculated according to the numbered entrance and exit nodes and the road intersection nodes in the area. This is an existing and mature application technology, so it will not be elaborated here.

[0041] For example, in a floor area, there may be multiple different path combinations from the elevator entrance to each ward. The algorithm calculates all possible paths and records them. The above is an existing and mature technology, so it will not be described in detail here.

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

[0043] The mapping number acquisition module builds a number conversion model to convert the path numbers corresponding to each path combination in each independent area, and then obtains the mapping number of the path number of each path combination in each independent area. The specific method is as follows:

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

[0045] First, a key W is constructed. The key W consists of two sub-keys. The values of the two sub-keys are both the unit digit 9, that is, the specific value of the key W is 99. A front blank key is set before the key W. The front blank key and the previous sub-key in the key W form a front key group. The sum of the front blank key values in the front key group and the previous sub-key values in the key W is equal to the node number value Nk1 corresponding to the first node in the path combination path numbering. At the same time, a plurality of back blank keys are sequentially set after the key W. The specific number of the back blank keys set is the total number of nodes corresponding to the path combination minus 1, that is, the sum of the number of back blank keys and the number of front blank keys is the total number of nodes corresponding to the path combination.

[0046] The last subkey position in the key position key W and each subsequent blank key position form a post-key group. In the post-key group, the sum of the values of each two adjacent key positions in the order from front to back is the node number value Nkn of each node in the path combination after excluding the node number value Nk1 corresponding to the first node;

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

[0048] For example, if Nk1 is 12, then the value of the first blank key position Ak1 is 12-9=3. For example, the path combination has 4 nodes, and the node numbers are Nk1=5, Nk2=7, Nk3=9, and Nk4=11. It is known that the key position K is 99, the value of the first blank key position Ak1 is 5-9=-4, and the number of blank keys is 4-1=3. Starting from Ak2, the value of the first blank key position is set to x, and 9+x=7, which is solved to x=-2, that is, the number of blank keys Ak2 is -2, and the remaining blank key positions are determined by analogy.

[0049] By constructing a special key W, whose value is fixed at 99, consisting of two sub-keys, each with a sub-key value of 9, setting a leading blank key before the key W, whose value is obtained by subtracting the first sub-key value of the key W from the first node number in the path combination, and setting multiple trailing blank keys after the key W, whose number is equal to the total number of nodes in the path combination minus one, and the sum of the value of the trailing blank key and the second sub-key of the key W and the adjacent blank key values, corresponding to the node numbers other than the first node in the path combination. Finally, according to the "front blank key value / key key value" W / each blank key value" is used to generate a mapping number for each path combination, which is conducive to subsequent rapid identification and verification. By introducing the key W and blank keys, a key judgment basis is provided for path deviation detection, and complex path information is encoded into a concise mapping number, which is convenient for system processing and transmission. At the same time, the mapping number provides an encryption and transformation mechanism for the path number, which increases the security and anti-interference ability of the system and protects 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 explicit number acquisition module acquires the explicit numbers corresponding to the mapping numbers of the path combinations in each independent area according to the mapping numbers Hki of the path combinations in each independent area. The specific method is as follows:

[0051] By retaining the blank key position value, key position W, and the last blank key position value Akn in each path combination path number, the explicit numbers corresponding to the mapping numbers can be generated, namely: the first blank key position value / key position W / the last blank key position value; the explicit numbers Xki (Ak1 / K / Akn) corresponding to the mapping numbers of each path combination path number in each independent area can be obtained;

[0052] From the mapping code, only the value of the first blank key, the key W and the value of the last blank key are retained, and the generated explicit number format is: Xki (Ak1 / K / Akn), which further simplifies the path identification and facilitates the AGV to quickly identify the key features of the current path during driving. The explicit number contains the starting and ending point information of the path (indirectly reflected by the first blank key and the last blank key), as well as the core key W, which provides a direct basis for path verification. At the same time, the explicit number simplifies the path information, facilitates quick reading and verification, and improves the system's operating efficiency and real-time performance. During the driving process of the AGV, the explicit number can quickly provide the key information required for path verification to ensure that the AGV travels according to the predetermined path.

[0053] Verification module: The route control center obtains the initial delivery path corresponding to the delivery task of the AGV trolley according to the delivery starting point and delivery end point of the delivery task received by the AGV trolley. The initial delivery path includes multiple involved areas and the regional driving path combination corresponding to each involved area. When the AGV trolley enters each involved area, the value of the key key W is obtained according to the explicit number corresponding to the regional driving path combination corresponding to the involved area, and it is compared and analyzed with 99. When the value of the key key W is still equal to 99, it is determined that the AGV trolley is driving normally in the corresponding involved area, and then the corresponding mapping number is extracted according to the explicit number Xki, and then the mapping number is input into the number conversion model, and the path number corresponding to the mapping number is extracted, and then the path number corresponding to the regional driving path combination corresponding to the involved area is obtained. When the value of the key key W is not equal to 99, it is determined that the AGV trolley is driving abnormally in the corresponding involved area, and an abnormal signal is generated and output;

[0054] The value of the explicit key W will change according to the number of path deviations of the AGV in the previous involved area. The default key W of the first involved area remains unchanged, and the path number corresponding to the regional driving path combination is directly output. The number of path deviations refers to the number of position deviations between the AGV and the path number corresponding to the regional driving path combination. The specific judgment method is:

[0055] Draw a circle with each node as the origin and a radius of R, and then obtain the node passage area corresponding to each node in the path number corresponding to the regional driving path combination. When the AGV car finishes driving in the involved area, obtain the number of node passage areas in the regional driving path combination that the AGV car has not passed through in the involved area, and use it as the number of path deviations D of the AGV car in the previous involved area. The number of path deviations D of the AGV car in the previous involved area is added to the key position key W value as the new key position key W value, which causes the key position key W value to change to form a new key position key W value. R is a preset value, specifically 1.2m.

[0056] When an AGV receives a delivery task, the route control center determines an initial delivery route based on the delivery start and end points. This route includes multiple involved areas and their corresponding regional driving path combinations. When the AGV enters a specific area, the system extracts the key W value from the explicit number corresponding to that area's driving path combination and compares the extracted key W value with the preset value of 99. If the key W value equals 99, the AGV is deemed to be operating normally within that area. At this point, the system extracts the corresponding mapping number based on the explicit number and inputs the mapping number into the number transformation model to restore the original path number corresponding to that area's driving path combination for the AGV's navigation. If the key W value is not 99, the AGV is deemed to be operating abnormally within that area, and the system immediately generates and outputs an abnormality signal. The key W value in the explicit number is dynamically adjusted based on the number of path deviations D the AGV has experienced within the previous involved area. The number of path deviations, D, is calculated by drawing a circle with a radius R (preset to 1.2m) centered at each node in the path number, forming a node passage area. After the AGV completes a trip through a specific area, the system counts the number of node passage areas within that area that the AGV has not passed through. This number is the number of path deviations, D. The number of path deviations, D, for the previous area is added to the current key value, W, to create the new key value. This results in a change in the key value. The key W for the first area involved remains unchanged by default, and its path number is directly output. This enables real-time path deviation detection for AGVs, improving delivery safety and reliability. By dynamically adjusting the key value, W, the system records and reflects historical AGV deviations, providing data support for more intelligent path planning and exception handling. The timely output of exception signals enables management to respond quickly and take action, mitigating potential losses and risks.

[0057] For each path combination in an area, the original path number (including detailed node information) is converted into a mapping number through a unique numbering transformation model. This mapping number is equivalent to an encrypted fingerprint of the path. It compactly contains the starting point and end point information of the path, as well as a core key W. By extracting the explicit number, the mapping number is simplified by retaining the front blank key, key W and the last blank key. The explicit number is like a security token. It is the credential for the AGV to conduct a preliminary match and verification with the preset path in a specific area after entering a specific area. When the AGV enters a new area, it no longer needs to obtain a complete map of the area, but directly uses the explicit number of the area included in its task. By verifying whether the key W in the explicit number meets the expected value (i.e. 99), it can quickly determine whether the current AGV is following the preset path. The AGV follows a pre-defined and authorized path. When the AGV enters a new area, the system obtains the current key W in its explicit number and compares it with the expected new key W (i.e. 99 plus the cumulative value of all previous deviations). If the two do not match, or the key W exceeds a preset threshold, the system will determine it as abnormal driving and immediately issue an alarm. The encryption and transformation mechanism of the mapping number and the explicit number is used to protect the privacy of the regional path information. In the hospital's map isolation environment, even if the topological structure information of some areas is not open to the public, effective path planning can be carried out through known entry and exit nodes and internal nodes, which effectively solves the distribution problem of AGV carts in the hospital's map isolation environment. Under the premise of ensuring the privacy of each area, 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 numerical calculations. The formulas are obtained by collecting a large amount of data and performing software simulation to obtain the most recent real situation. The preset parameters and thresholds in the formulas are set by technicians in this field according to actual conditions.

[0059] The above description is merely a specific embodiment of the present application, but the scope of protection of the present application is not limited thereto. Any changes or substitutions that can be easily conceived by a person skilled in the art within the technical scope disclosed in this application should be included in the scope of protection of this application. Therefore, the scope of protection of this application should be based on the scope of protection of the claims.

Claims

1. A distribution control system suitable for medicine delivery AGV, characterized in that: include: The path number acquisition module acquires the path numbers of each path combination corresponding to each independent area of the hospital based on the node numbers corresponding to the entrance and exit nodes and internal nodes of each independent area of the hospital; The mapping number acquisition module builds a number transformation model to transform the path numbers corresponding to each path combination in each independent area, and then the mapping number of each path combination corresponding to the path number; An explicit number acquisition module acquires explicit numbers corresponding to the mapping numbers of the path numbers of the path combinations in each independent area according to the mapping numbers of the path numbers of the path combinations in each independent area; The verification module obtains the value of the key position key corresponding to the explicit number of each driving path combination involved in each area when the AGV enters each area, based on the multiple areas involved in the initial delivery path and the area driving path combinations corresponding to each area involved. It verifies whether the AGV has performed abnormal driving in each area involved based on the key position key value, and generates an abnormal signal for output based on the verification result.

2. A distribution control system suitable for medicine delivery AGV according to claim 1, characterized in that: The specific method for obtaining the path number of each path combination corresponding to each independent area is: First, the hospital is divided into multiple independent areas according to the department based on the digital map of the hospital floors. The entrance and exit nodes and internal nodes of each independent area are identified, and each node is numbered in order from top to bottom to obtain the node number corresponding to each independent area. According to the node numbers in the regional path structure diagram corresponding to each independent area, the path combinations corresponding to each independent area are obtained. According to the node numbers corresponding to each node in the path combinations corresponding to each independent area, the path numbers Jki (Nk1, Nk2, ..., Nkn) corresponding to each path combination corresponding to each independent area are obtained, where k refers to different independent areas, i refers to different path combinations, Nkn refers to different node numbers corresponding to each path combination, and n is a positive integer greater than or equal to 2.

3. A distribution control system suitable for medicine delivery AGV according to claim 2, characterized in that: The specific method of constructing the number transformation model is: First, a key key W is constructed. The key key W consists of two sub-key positions. The values of the two sub-key positions are both the single digit 9, that is, the specific value of the key key W is 99. A front blank key position is set before the key key W. The front blank key position and the previous sub-key position in the key key W are combined into a front key group. The sum of the front blank key value in the front key group and the previous sub-key value in the key key W is equal to the node number value Nk1 corresponding to the first node in the path combination path numbering. At the same time, multiple back blank key positions are set in sequence after the key key W. The specific number of the set back blank key positions is the total number of nodes corresponding to the path combination minus 1. The back sub-key position in the key key W and each back blank key position are combined into a back key group. In the back key group, the sum of the values of each two adjacent key positions is, in order from front to back, the node number values Nkn after excluding the node number value Nk1 corresponding to the first node in the path combination, thereby generating a number transformation model.

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

5. A distribution control system suitable for medicine delivery AGV according to claim 4, characterized in that: The specific method of obtaining the explicit numbers corresponding to the mapping numbers of the path combination path numbers in each independent area is as follows; By retaining the blank key position value, key position key W and the last blank key position value Akn in each path combination path number, the explicit number Xki (Ak1 / K / Akn) corresponding to the mapping number can be generated.

6. A distribution control system suitable for medicine delivery AGV according to claim 5, characterized in that: The specific method of verifying whether the AGV is driving abnormally in each involved area according to the key position value is as follows: When the AGV enters each involved area, the value of the key key W is obtained according to the explicit number corresponding to the regional driving path combination corresponding to the involved area, and it is compared and analyzed with 99. When the value of the key key W is still equal to 99, it is determined that the AGV is driving normally in the corresponding involved area. When the value of the key 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.

7. A distribution control system suitable for a medicine delivery AGV according to claim 6, characterized in that: The value of the key W of the explicit number will change according to the number of path deviations of the AGV in the last involved area. The default key W of the first involved area of the initial delivery path remains unchanged, and the path number corresponding to the regional driving path combination is directly output.

8. A distribution control system suitable for a medicine delivery AGV according to claim 7, characterized in that: The specific method for obtaining the number of path deviations of the AGV in the previous involved area is as follows: First, obtain the node passage areas corresponding to each node in the path number corresponding to the regional driving path combination. When the AGV car finishes driving in the involved area, obtain the number of node passage areas in the regional driving path combination that the AGV car has not passed through in the involved area, and use it as the number of path deviations D of the AGV car in the previous involved area. Add the number of path deviations D of the AGV car in the previous involved area to the key key W value as the new key key W value. R is the preset value, specifically 1.2m.

9. A distribution control system suitable for medicine delivery AGV according to claim 8, characterized in that: The specific method of obtaining the node pass area corresponding to each node in the path number corresponding to the regional driving path combination is: Draw a circle with each node as the origin and a radius of R to obtain the node traffic area corresponding to each node in the path number corresponding to the regional driving path combination. The specific value of R is 1.2m.

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