Instrument cross-layer transmission space scheduling method and system, terminal and medium

Abstract

The invention discloses a space scheduling method and system for instrument cross-layer transmission, a terminal and a medium, and the method comprises the steps: receiving a transmission task of an instrument, and determining the instrument box information of a target instrument according to the transmission task; state information of the transmission equipment is obtained, and the target position of the target instrument is determined according to the instrument box information and the state information; according to the instrument box information, the state information and the target position, a transmission path of the target instrument is determined, and the types of the transmission path comprise cross-layer transmission and same-layer transmission; and according to the transmission path, controlling the transmission device to transmit the target instrument to the target position, and according to the transmission monitoring data, obtaining an update state of the target instrument and the transmission device. According to the method, cross-layer dynamic transmission of the instruments in the equipment or between the equipment can be realized, vacancies and fragmentization are reduced through dynamic arrangement and automatic rearrangement, and the instrument scheduling efficiency is improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of instrument scheduling, and particularly relates to a space scheduling method and system for instrument cross-layer transmission, a terminal and a computer readable storage medium. BACKGROUND

[0002] In a modern hospital instrument logistics system, automatic transfer and intelligent arrangement of surgical instruments have become a core link of smart hospital construction. Although some medical logistics equipment has introduced roller conveying devices, most systems still remain at the following technical level: first, single roller control, most equipment rollers can only realize simple forward and reverse rotation, and cannot realize partition control and dynamic path optimization; second, lack of cross-layer scheduling capability, existing equipment is mostly fixed layer operation structure, and cannot realize dynamic transmission of instruments between upper and lower layers during equipment docking; third, rough space allocation: instrument box placement is usually performed according to a preset order, and cannot be dynamically rearranged according to the size of the box and the current empty space; fourth, no self-learning mechanism: the equipment cannot intelligently optimize based on historical paths or commonly used combinations of instrument boxes, and is prone to path redundancy and space waste; feedback response lag: the existing roller system lacks state perception and closed-loop control, and cannot make immediate adjustments according to the instrument movement state.

[0003] Therefore, the prior art still needs to be improved and developed. SUMMARY

[0004] The main purpose of the present application is to provide a space scheduling method, system, terminal and medium for instrument cross-layer transmission, aiming at solving the problem that in the prior art, instruments are only transmitted within a fixed layer, and cross-layer dynamic transmission and space sequencing of instruments cannot be performed, resulting in low instrument scheduling efficiency.

[0005] The first aspect of the embodiment of the present application provides a space scheduling method for instrument cross-layer transmission, which comprises the following steps: receiving a transmission task of an instrument, determining instrument box information of a target instrument according to the transmission task; obtaining state information of a transmission device, determining a target position of the target instrument according to the instrument box information and the state information; determining a transmission path of the target instrument according to the instrument box information, the state information and the target position, wherein the type of the transmission path includes cross-layer transmission and same-layer transmission; controlling the transmission device to transmit the target instrument to the target position according to the transmission path, and obtaining updated states of the target instrument and the transmission device according to transmission monitoring data.

[0006] Optionally, in an embodiment of the present application, the transmission task comprises starting layer data, target layer data and instrument identification, and the instrument box information comprises physical attributes, current state and target level; and the instrument box information of the target instrument is determined according to the transmission task, specifically comprising: determining the target instrument according to the starting layer data and the instrument identification; and obtaining the starting position, physical attributes and target level of the target instrument according to the starting layer data and the target layer data.

[0007] Optionally, in an embodiment of the present application, the state information comprises vacancy regions on each layer translation structure; and the state information of the transmission device is obtained, specifically comprising: obtaining the layout occupancy state of each layer translation structure in the transmission device; determining the instrument box distribution on each layer translation structure according to the layout occupancy state; and determining the vacancy regions on each layer translation structure according to the instrument box distribution.

[0008] Optionally, in an embodiment of the present application, the target position of the target instrument is determined according to the instrument box information and the state information, specifically comprising:

[0009] The target position of the target instrument is determined according to the vacancy regions on each layer translation structure, spatial optimization is performed according to the physical attributes and at least one target vacancy, and the target position of the target instrument is determined.

[0010] Optionally, in an embodiment of the present application, the target position of the target instrument is determined according to the physical attributes and at least one target vacancy, specifically comprising: determining the spatial accommodation degree of the target instrument according to the physical attributes and at least one target vacancy; if the spatial accommodation degree is greater than a preset value or the priority of the target instrument is higher than that of the placed instrument box, performing same-layer position adjustment on the instrument box on the target level to determine the target position of the target instrument reserved on the target level; and if the spatial accommodation degree is less than or equal to the preset value, performing cross-layer position adjustment on the placed instrument box on the target level to determine the target position of the target instrument on the target level.

[0011] Optionally, in an embodiment of the present application, the state information further comprises a use state of the lifting platform, the transmission path comprises a horizontal transmission path and a lifting transmission path; and the determining of the transmission path of the target instrument according to the instrument box information, the state information and the target position specifically comprises: determining a type of the transmission path according to the start position and the target position of the target instrument; if the type of the transmission path is cross-layer transmission, then obtaining the horizontal transmission path and the lifting transmission path of the target instrument according to the start position, the target position and the use state of the lifting platform; and if the type of the transmission path is same-layer transmission, then obtaining the horizontal transmission path of the target instrument according to the start position and the target position.

[0012] Optionally, in an embodiment of the present application, the update state comprises a current target position of the target instrument, an update empty area on each layer horizontal structure and an update use state of the lifting platform; and the controlling of the transmission device to transmit the target instrument to the target position according to the transmission path and obtaining of the update state of the target instrument and the transmission device according to transmission monitoring data specifically comprises: generating a control instruction of the transmission device according to the transmission path; controlling the transmission device to transmit the target instrument according to the control instruction to obtain transmission monitoring data; if it is detected that the transmission monitoring data of the target instrument in the transmission process is abnormal data, then determining a remedial path of the target instrument according to the transmission monitoring data, the current position and the target position of the target instrument, and transmitting the target instrument to the target position according to the remedial path to obtain the current target position of the target instrument, the update empty area on each layer horizontal structure and the update use state of the lifting platform; and if it is detected that the transmission monitoring data is normal data, then obtaining the current target position of the target instrument, the update empty area on each layer horizontal structure and the update use state of the lifting platform after the target instrument is transmitted to the target position.

[0013] The second aspect of the embodiment of the present application further provides a spatial scheduling system for instrument cross-layer transmission, wherein the spatial scheduling system for instrument cross-layer transmission comprises:

[0014] an information acquisition module, configured to receive a transmission task of an instrument, and determine instrument box information of a target instrument according to the transmission task;

[0015] a spatial optimization module, configured to obtain state information of a transmission device, and determine a target position of the target instrument according to the instrument box information and the state information;

[0016] A path generation module is configured to determine a transmission path of the target instrument according to the instrument box information, the state information and the target position, wherein the transmission path includes cross-layer transmission and same-layer transmission.

[0017] An instrument transmission module is configured to control the transmission device to transmit the target instrument to the target position according to the transmission path, and obtain updated states of the target instrument and the transmission device according to transmission monitoring data.

[0018] The third aspect of the embodiment of the present application further provides a terminal, wherein the terminal comprises a memory, a processor and an instrument cross-layer transmission space scheduling program stored in the memory and executable on the processor, and the instrument cross-layer transmission space scheduling program implements the steps of the instrument cross-layer transmission space scheduling method when executed by the processor.

[0019] The fourth aspect of the embodiment of the present application further provides a computer readable storage medium, wherein the computer readable storage medium stores an instrument cross-layer transmission space scheduling program, and the instrument cross-layer transmission space scheduling program implements the steps of the instrument cross-layer transmission space scheduling method when executed by a processor.

[0020] Beneficial effects: the present application provides an instrument cross-layer transmission space scheduling method, system, terminal and medium, and the present application performs space optimization through instrument box information of a target instrument and state information of a transmission device (such as a roller device or a conveyor belt device), thereby determining a target position of the target instrument and determining a transmission path capable of cross-layer transmission, so as to perform transmission of the instrument according to the path, to realize cross-layer dynamic transmission of the instrument inside or between devices, to reduce empty space and fragmentation through dynamic arrangement and automatic rearrangement, to shorten the transfer time through dynamic path planning and roller linkage control, and to further improve the efficiency of instrument scheduling. BRIEF DESCRIPTION OF DRAWINGS

[0021] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the drawings needed in the embodiments or prior art description will be briefly introduced. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor.

[0022] Figure 1 is a flowchart of a preferred embodiment of the instrument cross-layer transmission space scheduling method of the present application;

[0023] Figure 2 is a structure diagram of a preferred embodiment of the instrument cross-layer transmission space scheduling system of the present application;

[0024] Figure 3 This is a structural diagram of a preferred embodiment of the terminal of this application.

[0025] Description of reference numerals:

[0026] 100. Information acquisition module; 200. Space optimization module; 300. Path generation module; 400. Instrument transmission module. DETAILED DESCRIPTION

[0027] In order to make the purpose, technical solutions and effects of this application clearer and more specific, the technical solutions in the embodiments of this application will be clearly and completely described below in conjunction with the drawings in the embodiments of this application. The described embodiments are only possible technical implementations of this application and are not all possible implementations. Based on the embodiments in this application, those skilled in the art can fully combine the embodiments of this application to obtain other embodiments without creative work, and these embodiments are also within the scope of protection of this application.

[0028] In related technologies, the roller control is single and can only rotate forward and reverse. There is no zoning control and the path cannot be dynamically optimized, resulting in low transfer efficiency; there is a lack of cross-layer scheduling capabilities, the equipment has a fixed layer structure, and there is no inter-layer transmission function. The instruments require manual intervention across layers, which increases time costs; the space allocation is extensive, and the instrument boxes are placed in a preset order, the space utilization rate is low, and large boxes occupying space lead to fragmentation; there is no self-learning mechanism, it relies on fixed rules, there is no historical data learning, the path is redundant, and space is seriously wasted; the feedback response is delayed, there is no real-time status perception and closed-loop control, the exception processing is delayed, and the system stability is poor.

[0029] For ease of understanding, first, the application scenarios of the embodiments of the present application are introduced. The present scheme is applicable to the highly automated medical instrument logistics scene in a smart hospital. The core application scenarios include: first, surgical instrument supply: before surgery, the surgical instruments are quickly transferred from the central warehouse (such as the underground layer) to the target operating room floor through a cross-layer scheduling algorithm, and the compact arrangement of the instrument boxes in the transfer trolley is realized in combination with the space optimization algorithm; during surgery: the instrument placement position is adjusted in real time through dynamic area recognition, for example, high-frequency use instruments are automatically pushed to the roller area close to the docking port of the operating room, reducing the access time; after surgery, the contaminated instrument box is automatically transferred to the special recycling channel through the roller linkage control, realizing medical waste classification and space reuse. Second, a three-dimensional logistics network coordinated by multiple devices: the transfer trolley is connected to the receiving station, when the transfer trolley reaches the target floor, precise docking with the receiving station roller surface is realized through chip positioning method, the system automatically calculates the roller pushing speed and the lifting platform movement timing to ensure smooth transition of the instrument box; cross-device path relay, in a large hospital logistics system, multiple transfer trolleys can share the path planning model through the scheduling platform, realizing multi-level cross-layer transfer of instruments from the outpatient pharmacy-laboratory-surgery room. Third, intelligent response to emergency scenarios: emergency surgery support, when a surgery room suddenly needs to add a table, the historical high-frequency combination instrument box is preferentially called through a self-learning mechanism, and a large continuous space is vacated in the transfer trolley through a space optimization algorithm, ensuring that the emergency instruments are quickly loaded; device fault tolerance, if a layer of roller control unit fails, automatically enable the standby path, re-plan the instrument movement track through visual recognition method, and complete the transfer task using the unaffected area.

[0030] The following introduces the terms involved in the embodiments of the present application:

[0031] Dynamic area recognition mechanism: without physical numbering, the position of the instrument box can be located, and a virtual coordinate system of the roller surface is generated in real time through pressure array, vision or chip signal; for example, the pressure sensor array can sense the pressure distribution of the four corners of the instrument box, and calculate the geometric center coordinates (such as L1-virtual Z1 represents the first virtual partition of layer 1) as the input of path planning.

[0032] Fragmented space: scattered unused space on the roller surface caused by irregular placement of instrument boxes, typically manifested as multiple small spaces that cannot accommodate new instrument boxes.

[0033] Quantitative index: when the space area / total device area>30% and the maximum continuous space length<the minimum instrument box length, trigger space optimization.

[0034] Roller linkage control: multiple roller areas cooperatively execute composite actions, for example, push-receive linkage: L1 roller is pushed out of the instrument box while L2 roller is reversed at a matching speed to receive, realizing seamless cross-layer transmission.

[0035] Avoidance linkage: When detecting that the target position has a device box, generate multiple groups of roller steering instructions to make the relevant area move synchronously to create space.

[0036] Heuristic greedy algorithm, a local optimization strategy used in space optimization, prioritizes the most urgent arrangement needs (such as large-volume devices filling corner vacancies first); for example, when a high-priority device box (such as a heart surgery kit) arrives, the system immediately invokes this algorithm to compress low-priority small boxes to the edge area through roller linkage, creating a central position.

[0037] Visual path table: A visual recognition method generates a device box movement trajectory mapping table, including: original coordinates, device box boundary pixel positions captured by the camera; target coordinates, optimized virtual area center points; path constraints, the shortest collision-free trajectory that avoids other device boxes.

[0038] The spatial scheduling method, system, terminal and medium for cross-layer transmission of devices of the embodiments of the present application are described below with reference to the accompanying drawings. In view of the problem in the related art that devices are only transmitted within a fixed layer and cannot be dynamically transmitted and spatially sequenced across layers, resulting in low efficiency of device scheduling, the present application provides a spatial scheduling method for cross-layer transmission of devices, in which the target position of the target device is determined by spatial optimization based on the device box information of the target device and the state information of the transmission equipment (such as roller equipment and conveyor belt equipment), and a transmission path capable of cross-layer transmission is determined, so that the transmission of the device is performed according to the path, realizing dynamic cross-layer transmission of the device within the equipment or between equipment, reducing vacancies and fragmentation through dynamic arrangement and automatic rearrangement, shortening the transfer time through dynamic path planning and roller linkage control, thereby improving the efficiency of device scheduling. Thus, the technical problem of low efficiency of device scheduling due to the fact that devices in the related art are only transmitted within a fixed layer and cannot be dynamically transmitted and spatially sequenced across layers is solved.

[0039] The spatial scheduling method for cross-layer transmission of devices of the present application has the functions of cross-layer transfer capability, spatial optimization, dynamic path planning, roller multi-zone control and state feedback, to realize more efficient, flexible and intelligent medical logistics scheduling.

[0040] The space scheduling method for instrument cross-layer transmission of the device of the application, i.e., the roller control and scheduling mechanism for instrument cross-layer transfer and space optimization, is suitable for an intelligent medical instrument transfer vehicle and a receiving station system equipped with a multi-layer roller structure. After the device obtains the instrument transportation and receiving demand through a scheduling platform, based on roller partitioning, instrument state, current space layout and target path, the following functions are realized: cross-layer transfer of instruments within a device or between devices; automatic arrangement and space optimization of instruments; independent driving control of roller regions and multi-step linkage logic execution; closed-loop path adjustment and abnormality correction based on state feedback. The application can be widely applied in an automated logistics system of a smart hospital, effectively improving instrument transfer efficiency, space utilization and operation stability.

[0041] The technical solutions of the application will be described in detail below with specific examples. The following specific examples can be combined with each other, and the same or similar concepts or processes may not be described in detail in some examples.

[0042] The space scheduling method for instrument cross-layer transmission described in the preferred embodiment of the application comprises the following steps: Figure 1 As shown in the figure, the space scheduling method for instrument cross-layer transmission comprises the following steps:

[0043] In step S101, a transmission task of an instrument is received, and instrument box information of a target instrument is determined according to the transmission task.

[0044] In a possible implementation manner, the transmission task comprises starting layer data, target layer data and instrument identification, and the instrument box information comprises physical attributes, a current state and a target level. The target instrument is determined according to the starting layer data and the instrument identification; and the starting position, physical attributes and target level of the target instrument are obtained according to the starting layer data and the target layer data.

[0045] It should be noted that the transmission device can be a roller device or a conveyor belt device.

[0046] Specifically, input solution is performed, and an external transmission instruction (such as "transfer instrument package P123 from L1 to L3") is received, which contains the unique identification (such as P123) of the target instrument box; an instrument information modeling module is called, the detailed information of the instrument box is queried from the instrument information and state modeling module according to the instrument box number (such as P123), and then the complete information of the target instrument box is output, including its physical attributes, target position and current state, to provide basic data for subsequent path planning. Among them, the physical attributes include size (length, width and height), weight (used for load calculation in path planning); the target position is a target operating room (implicit target floor information, such as L3 corresponding to a certain operating room); the current state (i.e., the starting position) includes the current floor (such as L1) and the current roller region number (such as L1-Z1).

[0047] Specifically, the instrument box information includes physical attributes: volume (length, width, height), weight, shape characteristics; priority labels: emergency / regular / consumables (example: red label for emergency priority); movement constraints: whether rotatable, whether allowed to be stacked, shockproof level, etc.

[0048] In the embodiment of the present application, an instrument information and state modeling module models the information of the instrument box, such as the number, size, target operating room, and current level; acquires the current state of the roller device (level structure, roller occupancy, and lifting platform position); and uploads all the states to the dispatch control center as input conditions for path calculation.

[0049] In step S102, the state information of the transmission device is acquired, and the target position of the target instrument is determined according to the instrument box information and the state information.

[0050] In a possible implementation, the state information includes empty space regions on each layer translation structure. The layout occupancy states of each layer translation structure in the transmission device are acquired; the distribution of instrument boxes on each layer translation structure is determined according to the layout occupancy states; and the empty space regions on each layer translation structure are determined according to the distribution of instrument boxes.

[0051] Specifically, the device state information includes a space snapshot: a real-time occupancy matrix of each layer roller surface (including virtual region division); empty space features: continuous empty space region coordinates, number of fragmented empty spaces, and average spacing; lifting platform state: current residence floor, task queue, and estimated available time.

[0052] In a possible implementation, at least one target empty space on the target level is determined according to the empty space regions on each layer translation structure; and the target position of the target instrument is determined by spatial optimization according to the physical attributes and the at least one target empty space.

[0053] In a possible implementation, the spatial accommodation degree of the target instrument is determined according to the physical attributes and the at least one target empty space; if the spatial accommodation degree is greater than a preset value or the priority of the target instrument is higher than that of the placed instrument box, the instrument boxes on the target level are adjusted in the same layer to reserve the target position of the target instrument on the target level; and if the spatial accommodation degree is less than or equal to the preset value, the placed instrument boxes on the target level are adjusted across layers to determine the target position of the target instrument on the target level.

[0054] Specifically, a vacant area screening is performed, all vacant areas of the target level are traversed, and the screening conditions are as follows: spatial size ≥ target instrument box volume (including safety interval); vacant area shape matching degree ≥ 70% (visual system assisted judgment); vacant area proximity: preferentially selecting an area close to the lifting port / operating table. A space accommodation degree evaluation is performed, and the calculation formula is as follows: Wherein, V 空位 is the candidate vacant volume, V 器械 is the instrument box volume, W 形状匹配 is the shape fitting weight, W 相邻度 is the position convenience weight; the judgment threshold is: when S > 0.6, the same layer adjustment process is entered; when S ≤ 0.6, the cross-layer adjustment mechanism is triggered. In the same layer position adjustment (space optimization) process, the triggering condition is: there are fragmented vacant areas (single vacant area < minimum instrument size) or high-priority instruments to be placed (emergency instruments have priority); the adjustment strategy is: fragment compression, moving small volume instruments to fill the fragmented vacant areas; left shift strategy, aligning the instruments to the left to release the continuous space on the right; priority replacement, low-priority instruments are moved to sub-optimal areas. In the cross-layer position adjustment (space reconstruction) process, the triggering scenario is: the target layer space is completely saturated (S ma× < 0.4) or there is a large volume instrument blocking the layout; the adjustment logic is: cross-layer maneuvering, selecting a low usage rate floor (such as a night operating room); vertical compression, stacking the instruments to the middle layer through the lifting platform; dynamic partitioning, regarding the multi-layer space as a virtual continuous plane. In the decision output and feedback process, the target position is confirmed, and the output coordinates include floor number, roller area number, and precise coordinates, and additional information includes recommended placement direction (rotation angle), shockproof measures; execution monitoring, real-time comparison of pressure sensor data and expected occupancy; for abnormal handling, when the actual position deviation > 5 cm, the repositioning process is started; the time and energy consumption data of each adjustment are recorded; the space utilization rate model is updated (weekly iteration). Through the closed-loop mechanism of space quantization evaluation-dynamic adjustment-feedback learning, the application realizes the intelligentization of instrument scheduling in the medical scene, and improves the scene space utilization rate and scheduling efficiency.

[0055] In an application scenario of the application, an instrument box with a volume of 80 × 60 × 40 cm needs to be added in L3 layer for emergency surgery, and vacant area screening is performed: there are only 3 fragmented vacant areas (maximum 40 × 30 cm) in L3 layer; the accommodation degree calculation is S = 0.35 (triggering cross-layer adjustment); cross-layer adjustment, moving 2 low-priority instruments in L2 layer to L4 layer, establishing a temporary transmission channel between L2-L3 through the lifting platform, and the final position is Z7 area in L3 layer (after expansion of the original vacant area).

[0056] Further, device state awareness is performed, and the state information of the roller device (transport device) is acquired in real time during the roller device state acquisition process, including: hierarchical structure, roller layout of each floor (such as L1, L2, L3 roller area division); roller occupancy, whether each roller area is occupied (through pressure array, visual recognition or chip positioning awareness); lift platform position: the current floor (such as L2) and state (idle / busy) of the lift platform. Spatial layout awareness is performed, and the spatial occupancy of the roller platform is sensed in real time through a spatial optimization arrangement algorithm module, including: instrument box distribution, real-time position and occupancy matrix of the instrument box on each floor roller surface; empty space structure, empty space area and fragmentation degree on each floor roller surface. Target position refinement is performed, and the target floor is determined according to the target operating room information in the transport task, in combination with the hospital floor and operating room mapping relationship, to determine the target floor (such as L3); target area determination, on the roller surface of the target floor (L3), the final placement area (such as L3-Z8) of the target instrument box is determined according to the spatial optimization algorithm, considering factors including: space utilization rate, selecting the area that can maximize the space utilization rate; priority, if there are other high-priority instruments to be placed in the target floor, the target area can be dynamically adjusted. Output, determine the specific target position (L3-Z8) of the target instrument box in the target floor (L3), and the real-time state information of the transport device.

[0057] In the embodiments of the present application, the goal of spatial optimization arrangement is to reasonably arrange the instrument boxes within a given device level and reduce empty spaces; a heuristic greedy algorithm or a multi-objective arrangement algorithm is used to arrange the instrument boxes according to their size and priority; an automatic rearrangement strategy can be executed to trigger the roller linkage to automatically rearrange the existing instruments when there is a large empty space but the distribution is unreasonable. The present application can realize dynamic arrangement and spatial optimization configuration of the instrument boxes on the roller platform level. Based on the real-time sensing results of the device surface layer, the present application models the position, size and priority of the instrument boxes, and combines the roller control module to complete the automatic arrangement, rearrangement and space compression of the instrument boxes.

[0058] Specifically, real-time space modeling is performed to obtain the current instrument box distribution information on the roller surface through pressure array sensing, image recognition or chip positioning module, to construct a space occupation matrix and a space structure diagram; an optimization judgment trigger mechanism is triggered when the system identifies the existence of "fragmented space", "instrument box arrangement spacing is too large" or "high-priority instrument is waiting in line", to call a rearrangement logic module; heuristic arrangement and reordering logic is executed according to the size, priority and target arrangement strategy of the instrument box, to execute space compression or local rearrangement algorithm, such as filling the leftmost space from large to small in size, or giving way to a large continuous space through roller linkage; roller control instruction generation and linkage execution is performed to output a control instruction sequence, to push the selected instrument box to the new position along the path, and the roller area number, turning direction and execution time are executed in sequence, and the system supports sequential queue and concurrent path scheduling; result verification and dynamic learning is performed through the state sensing module to verify the movement result, update the current space model, and record the rearrangement data as training samples for subsequent scheduling optimization model, to continuously improve the arrangement intelligence and stability.

[0059] Further, in the process of space optimization arrangement, data acquisition and current situation modeling are performed to obtain the current instrument box placement state on the roller layer in real time, and the modeling content includes: the position (starting coordinates, length occupation) of each instrument box, the coordinate range, number and fragmentation degree of all spaces, the volume, priority and whether the instrument box is movable. Then, space gap identification and rearrangement necessity judgment are performed to determine whether a large space is fragmented by multiple small spaces, whether the spacing between instrument boxes is too large to cause waste, and whether a high-priority instrument cannot be loaded due to insufficient space. If it is determined that the "space utilization rate is low" or there is a "fragmented space", the system enters the rearrangement optimization mode. Heuristic or multi-objective sorting is performed to determine the new arrangement order of the instrument boxes according to the following strategies: preferentially filling the left side / near the lifting port; sorting by volume from large to small, preferentially placing large boxes; if there is a structure that "a number of small boxes can be combined to squeeze out new space", then recombination is attempted; outputting a new target position list of the instrument boxes, such as: P101-roller surface X0-X20, P102-roller surface X21-X35, P103-X36-X50. A control instruction sequence (roller linkage) is generated according to the new position planning to generate a roller action path. Finally, rearrangement execution and state update are performed, the roller starts to move the instrument box to the new position according to the instruction linkage; the sensing module feeds back the state (in place / offset / conflict) in real time; the space layout is updated after the execution is completed, and the rearrangement behavior is recorded for subsequent learning model training.

[0060] In step S103, a transmission path of the target instrument is determined according to the instrument box information, the state information and the target position, and the type of the transmission path includes cross-layer transmission and same-layer transmission.

[0061] In a possible implementation, the state information further includes a use state of the lifting platform, and the transmission path includes a translation transmission path and a lifting transmission path. According to the start position and the target position of the target instrument, the type of the transmission path is determined; if the type of the transmission path is cross-layer transmission, then according to the start position, the target position and the use state of the lifting platform, the translation transmission path and the lifting transmission path of the target instrument are obtained; if the type of the transmission path is same-layer transmission, then according to the start position and the target position, the translation transmission path of the target instrument is obtained.

[0062] Specifically, the path type is automatically determined by comparing whether the start layer number and the target layer number are consistent: cross-layer transmission, start layer ≠ target layer (the lifting platform needs to be called); same-layer transmission, start layer = target layer (only the roller needs to be translated). First, in the cross-layer transmission path generation process, first, the translation path planning (start layer-lifting platform) is performed, the dynamic area is identified, the current virtual area of the instrument box (such as L1-Z1) is determined through the pressure array / visual / chip positioning determinator, the shortest translation path to the lifting platform docking area (such as L1-Z5) is planned in combination with the roller space structure, the roller linkage control is generated, and the instruction sequence is generated. The key constraint is to avoid collision with other instrument boxes (real-time monitoring through sensors). Second, in the lifting path planning (lifting platform movement) process, the platform state is checked, the current resident layer, task queue and load limit of the lifting platform are checked, for example, if the platform is located at L2 and is idle, the shortest path (L1-L2-L3) is preferentially selected. The path obstacle avoidance strategy is used to query whether there is a priority channel or obstacle area in the intermediate layer (such as L2), and if there is an obstacle, the path re-planning is triggered (such as L1-L3 directly reaches, skipping L2). Third, the target layer translation path planning (lifting platform-target position) is performed, the space optimization adaptation is performed, the best space of the target layer (such as L3-Z8) is determined by calling the space optimization arrangement algorithm, if the space of the target layer is fragmented, the same-layer instrument box rearrangement (such as moving the small box at L3-Z6 to L3-Z2) is automatically triggered, the roller-lifting collaborative control is generated, and the instruction sequence is generated. The synchronization logic is used, and after the lifting platform is stopped, the roller can start pushing.

[0063] In the same-layer transmission path generation process, first, the direct translation path planning is performed, the space structure analysis is performed, the continuous space path from the start position to the target position is identified through real-time space modeling, the local rearrangement trigger is used, if the path is occupied, the heuristic algorithm is called to move the low-priority instrument box (such as moving P102 at Z2 to Z5), and the compensation instruction is generated. Second, the dynamic obstacle avoidance and priority scheduling are performed, the conflict detection is performed, the roller area state is monitored in real time, if it is detected that other instrument boxes are moving, the current task is paused, for example, when Z3 is executing pushing, the Z1 task enters the waiting queue, the high-priority queuing is used, the emergency instrument box (red mark) can interrupt the regular task, and the shortest path is forcibly occupied.

[0064] The path generation of the present application adopts a cross-layer scheduling algorithm and a space optimization algorithm. In the cross-layer scheduling algorithm, the starting layer, the target layer, the roller space structure, and the lifting platform state are input, and the roller instruction sequence and the lifting instruction sequence (containing a time stamp) are output. In the space optimization algorithm, the current layer instrument box distribution, the space fragmentation degree, and the new instrument volume are input, and the rearranged target position list and the corresponding roller instruction are output.

[0065] Through the cooperation of hierarchical scheduling and space optimization, the present application realizes the accuracy and efficiency of instrument transmission in a medical scene, and improves the cross-layer transmission efficiency and space utilization.

[0066] Further, the path planning model is called, the cross-layer scheduling algorithm logic module is activated, the input conditions are integrated: instrument box information, including size, current position (L1-Z1), target position (L3-Z8), device state, including roller occupation, lifting platform position (L2), and space structure; path planning execution, shortest path search, finding the shortest lifting path (such as L1-L2-L3) from the starting layer (L1) to the target layer (L3); conflict detection and avoidance, checking whether there is a roller conflict or path occupation on the path, and dynamically adjusting the path; lifting strategy generation, determining the moving sequence of the lifting platform (such as first lifting to L3, and then performing roller pushing); path output, generating a complete cross-layer transmission path, including: roller operation, starting layer roller pushing out (L1-Z1 positive rotation), target layer roller receiving (L3-Z8 positive rotation); lifting operation, lifting platform lifting to target layer (L3), waiting for docking, and descending to exit (if needed to return). Control instruction sequence generation, according to the path planning result, generating the control instruction sequence of the roller and the lifting platform, such as L1 roller positive rotation for 3 seconds to push out the instrument, the lifting platform lifting to L3 and waiting for docking, L3 roller positive rotation for 2 seconds to receive the instrument; output, determining the cross-layer transmission path of the target instrument box, and generating an executable control instruction sequence.

[0067] In the embodiment of the present application, in the cross-layer scheduling process, the starting layer number, the target layer number, and the current roller space structure are input; the path planning model is called to judge the lifting platform availability and the best up-and-down path; a complete set of control instruction sequences are output, including roller area number, rotation direction, time sequence, etc. The present application can realize the path planning of the instrument box in the multi-layer roller structure, interlayer transmission, and roller linkage control. The core lies in that according to the current position (including layer level and specific coordinates) and the target position of the instrument, combining the real-time state of the device and the space layout, a group of control instruction sequences are generated to realize accurate and efficient cross-layer transfer.

[0068] Specifically, the input condition and state perception, the scheduling module obtains the following input parameters: the starting layer number and the target layer number, the current instrument arrangement state and the vacancy structure on the current scroll platform, and the lifting platform available state; the current position information of the instrument box is obtained through a dynamic area recognition mechanism, without fixed numbering, and the real-time virtual area division of the scroll surface can be realized by one of the following three methods: pressure array method, identifying the area where the instrument box is located through the pressure sensor array under the scroll platform; visual recognition method, capturing the boundary and size of the instrument box with a camera; chip positioning method, matching based on embedded RFID / NFC chip signal and recognition grid position. The perceived position information is standardized and mapped to the instruction control unit number as the input basis for subsequent control instructions.

[0069] Then the path planning and lifting strategy generation is performed, the path planning model is called, and the following factors are comprehensively judged: the shortest lifting path between the current lifting platform position and the target docking layer; whether there is an intermediate layer priority channel or obstacle area; whether there is a scroll conflict or path occupation. Output a complete cross-layer path, including: starting position scroll push-out-lifting platform receiving, lifting platform moving to target layer-scroll pushing instrument package to target area.

[0070] Then the control instruction sequence output is performed, the scheduling system generates a set of scroll + lifting linkage instructions in time sequence based on the path result, the instructions include but are not limited to: scroll instructions, forward / reverse, acceleration / deceleration, duration; lifting instructions, lifting to the Xth layer, waiting for docking, descending and then exiting; synchronous control, scroll + lifting cooperative matching, ensuring no collision and no delay.

[0071] Finally, state feedback and fault tolerance are performed, all scroll control modules are connected with position sensors, chip recognition or camera monitoring, and real-time feedback of action state is performed; if an abnormality occurs (such as incomplete pushing out of the instrument box, wrong layer, or non-identification): the system pauses the current process, automatically calculates the remedial path, or issues a fault prompt for manual intervention; after successful execution, the system updates the current instrument box state and position information, and the task is marked as completed.

[0072] Taking the task "transfer instrument package P123 from L1 dynamic identification area to L3 docking interface" as an example: the starting position is identified by the pressure sensor as "L1-virtual Z1"; the system determines that the lifting platform is idle and located at L2; the path is generated: L1 scroll forward push instrument → lifting platform receives, lifting platform rises to L3 → scroll pushes out to L3-Z8; the system outputs the corresponding control sequence, and the scroll and the lifting platform cooperate to execute; the receiving station identifies the instrument package chip and checks successfully, marking the task as completed.

[0073] In an embodiment of the present application, a pressure sensor array method (based on gravity recognition) is used, multiple pressure sensor arrays are distributed under the roller table, and real-time reading of which areas are pressed is performed; the continuous "pressed" area is regarded as a placeholder area of an instrument box, and the empty space is a "non-pressing area"; the system constructs a current space map according to a pressing strength map. Advantage: high precision, strong adaptability to low light environment; the "movable" instrument box is rearranged and moved to the empty pressing area, and fragment compression is realized.

[0074] In an embodiment of the present application, a visual recognition method (based on camera recognition) is used, a camera is installed on the top / side to obtain an instrument box placement image; an image recognition algorithm identifies the box edge, size, and label; the system constructs an instrument box position map according to a visual marking coordinate system; a "visual path comparison table" from the original coordinates to the new coordinates is generated during rearrangement, and adjustment is performed in combination with a roller path planner. Advantage: compatible with non-standard instruments, supports visual error prevention.

[0075] In an embodiment of the present application, a chip sensing method (based on an RFID / NFC area grid) is used, an RFID / NFC is embedded in each instrument box; multiple identification points are arranged under the roller surface to form an induction grid; which areas receive signals represent that there is an instrument box occupying the area; the system establishes a virtual space bitmap and judges a "continuous empty space area"; the instrument box is attempted to be moved from the "dispersed" area to the "continuous" area to realize compact layout.

[0076] In step S104, according to the transmission path, the transmission device is controlled to transmit the target instrument to the target position, and an updated state of the target instrument and the transmission device is obtained according to transmission monitoring data.

[0077] In a possible implementation, the updated state includes a current target position of the target instrument, an updated empty space area on each layer translation structure, and an updated use state of the lifting platform. The control instruction of the transmission device is generated according to the transmission path; the target instrument is transmitted by controlling the transmission device according to the control instruction, and transmission monitoring data is obtained; if it is detected that the transmission monitoring data of the target instrument in the transmission process is abnormal data, a remedial path of the target instrument is determined according to the transmission monitoring data, the current position of the target instrument, and the target position, and the target instrument is transmitted to the target position according to the remedial path, and the current target position of the target instrument, the updated empty space area on each layer translation structure, and the updated use state of the lifting platform are obtained; if it is detected that the transmission monitoring data is normal data, the current target position of the target instrument, the updated empty space area on each layer translation structure, and the updated use state of the lifting platform are obtained after the target instrument is transmitted to the target position.

[0078] Specifically, in the control instruction generation and delivery process, the instruction sequence generates: in the cross-layer transmission scenario, generate roll + lifting platform linkage instructions, containing time stamp and synchronization mark, to ensure the timing cooperation of roll pushing and lifting platform movement; in the same layer transmission scenario: generate pure roll instructions, support multiple instruction queue parallel execution; instruction delivery mode, through the scheduling control center to each roll control unit by TCP / IP protocol, key instructions (such as lifting platform movement) adopt double channel redundant transmission, avoid instruction loss. In the transmission monitoring data collection process, real-time sensing data flow, roll area, position sensor detects whether the instrument box edge reaches the specified coordinate (accuracy ± 2mm); current monitoring through motor load current to judge whether the card block occurs (threshold: > 5A trigger alarm); lifting platform, laser range finder real-time feedback platform height (accuracy ± 1mm); data fusion processing, sensor data and virtual area model mapping, generate transmission progress percentage (such as: has pushed 65%). In the abnormal detection and classification process, abnormal data determination standard: position deviation, actual coordinate and target coordinate difference > 5mm; action timeout, instruction execution time exceeds the preset threshold (such as: lifting platform moves 3 layers and takes > 12s); communication interruption, 3 times in a row without receiving the heartbeat packet of a roll area. Abnormal type classification: first-class abnormality (immediately pause), instrument box falling, lifting platform emergency stop; second-class abnormality (allow retry), roll slight card block, chip signal loss; third-class abnormality (record log), sensor data fluctuation within acceptable range. In the remediation path generation process, dynamic path re-planning, for example, if L3-Z8 area is accidentally occupied, query L3 layer other empty space (such as Z12, Z15), call space optimization algorithm, calculate the minimum moving cost path, form remediation instruction; roll-lifting coordination avoidance, if the lifting platform detects obstacles during movement, trigger "emergency avoidance mode", the platform pauses and descends to the nearest floor (such as L2), the roll reverses the instrument box to the temporary buffer area (such as L2-Z5), re-plans the path to avoid the original obstacle area. In the remediation path execution and verification process, instruction priority adjustment, remediation instruction is marked as "high priority", interrupt low priority task (such as automatic rearrangement of regular instrument box); execution result verification, pressure array verification, confirm whether the instrument box completely enters the target area (continuous 3 seconds pressure value stable), chip signal verification, read RFID tag, check target position code; manual intervention interface, if 3 times of remediation fails, the system pops up a visual interface, displays the current instrument box position (red highlight), backup path options (green line), manual control button (support individual instruction debugging). In the state updating process after normal transmission is completed, space model refresh, update roll surface vacancy structure diagram, mark the newly occupied area (such as L3-Z8 becomes "occupied"); equipment state synchronization, lifting platform state, update to "idle" or "on call", roll area state reset to "can receive new task".Historical data records, records transmission time-consuming, energy consumption, path length to the database, for subsequent optimization model training. In the state feedback process, after each transmission, the system automatically generates a "task report", including: instruction execution success rate (such as: 98.7%); abnormal trigger frequency (such as: 2 times of secondary abnormality occur every 100 times of task); genetic algorithm is run once a week to optimize the weight parameters of the path planning model (such as: shorten the average transmission time by 5%).

[0079] The application realizes intelligent state management of the transmission device through the closed-loop logic of "perception-decision-execution-feedback-learning". The response time of abnormal handling is reduced, and the scheduling efficiency is improved through the remedial path.

[0080] Further, the instruction execution and linkage control are performed: the roller control and execution module executes the operations of the roller and the lifting platform in sequence according to the control instruction sequence, so that the roller pushes the instrument box to the lifting platform, the lifting platform moves to the target floor carrying the instrument box, and the target layer roller pushes the instrument box from the lifting platform to the target area. State feedback and monitoring are performed, real-time perception is performed through pressure array, visual recognition or chip positioning, and the position and transmission state of the instrument box are monitored in real time; abnormal handling is performed: if the instrument box is not completely pushed out, the layer is wrong or not recognized, etc., the fault tolerance mechanism is triggered: the process is paused and the current operation is immediately stopped; the remedial path is calculated to automatically re-plan the path or adjust the instructions. Manual intervention is performed: if it cannot be automatically handled, a fault prompt is issued and waits for manual intervention. State updating is performed: after the transmission is completed, the current position information of the instrument box (such as L3-Z8) is updated; the device state is updated: the states of the roller and the lifting platform (such as idle, occupied) are updated; the space model is updated: the space occupancy matrix and the empty space structure diagram in the space optimization arrangement algorithm are updated. Output: the target instrument box is successfully transmitted to the target position, and the state of the transmission device is updated to prepare for the next transmission task.

[0081] In the embodiment of the application, each roller area is managed by an independent control unit during the roller control process, and performs operations after receiving the instructions of the scheduling platform; the control command format includes: area ID, direction, speed, time; sequential instruction queue is supported, and the scheduling platform can send multiple-step instructions to link multiple rollers to perform instrument pushing, translation, reverse movement and the like.

[0082] In the embodiment of the application, state feedback and deviation correction are performed: each roller area is provided with a sensor / visual feedback device; the current instrument position and whether the movement is completed are fed back in real time; if there is an abnormality (deviation, not recognized), the scheduling system is immediately notified, and a remedial path is automatically generated or the action is stopped.

[0083] The space scheduling method of the instrument cross-layer transmission device of the present application supports full-automatic cross-layer transfer path calculation, and can realize free transmission of the instrument between multiple devices / levels without manual intervention; can improve space utilization efficiency, avoid instrument box stacking / position mismatch, and automatically fill the most suitable position; can realize intelligent control of the roller, accurate cooperation of the multi-zone roller and the instrument; can realize abnormal closed-loop control, the system can quickly feedback and adjust after path execution failure to prevent instrument loss; can be combined with multiple devices for linkage execution, and supports scene switching such as "transfer vehicle-receiving station" or "receiving station-disinfection station".

[0084] It can be understood that the path planning algorithm of the present application can be various configurable structures such as AI search, genetic optimization, and reinforcement learning; the control instruction system can be deployed in a local MCU or a scheduling main platform, supports edge computing or centralized control; can support various feedback mechanisms (pressure sensing, visual recognition, encoder feedback); the control command can support standard communication protocols (Modbus, CAN, 485) to adapt to different device manufacturers. The algorithm model can be replaced by AI learning type (reinforcement learning, adaptive arrangement); the control logic can also be used for mechanical arm pushing, track type transfer, laser guide platform, and other non-roller structures; the space optimization can support irregular instrument box arrangement models; the state feedback mechanism can also be completed only through image recognition without the need for a sensor array.

[0085] In the present application, the algorithm can be packaged as an embedded software module and used as a "control brain" module of the transfer vehicle or receiving station; data records can be generated for instrument flow trajectory analysis and intelligent rescheduling; subsequent data platforms can be accessed to combine with hospital scheduling models for instrument predictive allocation.

[0086] Secondly, the space scheduling system of the instrument cross-layer transmission according to the embodiment of the present application is described with reference to the accompanying drawings.

[0087] Figure 2 is the structural diagram of the space scheduling system of the instrument cross-layer transmission of the embodiment of the present application.

[0088] As shown in Figure 2 , the space scheduling system of the instrument cross-layer transmission includes an information acquisition module 100, a space optimization module 200, a path generation module 300, and an instrument transmission module 400.

[0089] Specifically, the information acquisition module 100 is configured to receive a transmission task of an instrument, and determine instrument box information of a target instrument according to the transmission task;

[0090] The space optimization module 200 is configured to acquire state information of a transmission device, and determine a target position of the target instrument according to the instrument box information and the state information;

[0091] The path generation module 300 is configured to determine a transmission path of the target instrument according to the instrument box information, the state information and the target position, wherein the transmission path includes cross-layer transmission and same-layer transmission.

[0092] The instrument transmission module 400 is configured to control the transmission device to transmit the target instrument to the target position according to the transmission path, and obtain updated states of the target instrument and the transmission device according to transmission monitoring data.

[0093] Optionally, in an embodiment of the present application, the information acquisition module 100 includes an instrument determination unit and an instrument information confirmation unit.

[0094] The instrument determination unit is configured to determine the target instrument according to the start layer data and the instrument identifier, and the instrument information confirmation unit is configured to obtain a start position, a physical attribute and a target layer level of the target instrument according to the start layer data and the target layer data.

[0095] Optionally, in an embodiment of the present application, the space optimization module 200 includes a space recognition unit and a target position determination unit. The space recognition unit is configured to acquire a layout occupation state of each layer translation structure in the transmission device, determine an instrument box distribution on each layer translation structure according to the layout occupation state, and determine a space area on each layer translation structure according to the instrument box distribution. The target position determination unit is configured to determine at least one target space on the target layer level according to the space area on each layer translation structure, and determine a target position of the target instrument by performing space optimization according to the physical attribute and the at least one target space.

[0096] Optionally, in an embodiment of the present application, the target position determination unit includes a capacity determination subunit, a same-layer adjustment subunit and a cross-layer adjustment subunit. The capacity determination subunit is configured to determine a space capacity of the target instrument according to the physical attribute and the at least one target space. The same-layer adjustment subunit is configured to perform same-layer position adjustment on an instrument box on the target layer level to determine a target position of the target instrument reserved on the target layer level, if the space capacity is greater than a preset value or a priority of the target instrument is higher than that of a placed instrument box. The cross-layer adjustment subunit is configured to perform cross-layer position adjustment on the placed instrument box on the target layer level to determine the target position of the target instrument on the target layer level, if the space capacity is less than or equal to the preset value.

[0097] Optionally, in an embodiment of the present application, the path generation module 300 comprises a transmission type determination unit, a cross-layer transmission unit and an intra-layer transmission unit. The transmission type determination unit is configured to determine the type of transmission path according to the starting position and the target position of the target instrument; the cross-layer transmission unit is configured to, if the type of transmission path is cross-layer transmission, obtain a translation transmission path and a lifting transmission path of the target instrument according to the starting position, the target position and the usage state of the lifting platform; and the intra-layer transmission unit is configured to, if the type of transmission path is intra-layer transmission, obtain a translation transmission path of the target instrument according to the starting position and the target position.

[0098] Optionally, in an embodiment of the present application, the instrument transmission module 400 comprises a data monitoring unit, an abnormality processing unit and a normal processing unit. The data monitoring unit is configured to generate a control instruction of the transmission device according to the transmission path, control the transmission device to transmit the target instrument according to the control instruction, and obtain transmission monitoring data; the abnormality processing unit is configured to, if the transmission monitoring data of the target instrument in the transmission process is detected as abnormal data, determine a remedial path of the target instrument according to the transmission monitoring data, the current position of the target instrument and the target position, and transmit the target instrument to the target position according to the remedial path to obtain the current target position of the target instrument, an updated vacancy area on each layer translation structure and an updated usage state of the lifting platform; and the normal processing unit is configured to, if the transmission monitoring data is detected as normal data, obtain the current target position of the target instrument, the updated vacancy area on each layer translation structure and the updated usage state of the lifting platform after the target instrument is transmitted to the target position.

[0099] Figure 3 A structure diagram of a terminal is provided for an embodiment of the present application. The terminal can comprise:

[0100] The memory 501, the processor 502 and the computer program stored in the memory 501 and executable on the processor 502.

[0101] The processor 502 executes the program to implement the spatial scheduling method for instrument cross-layer transmission provided in the above embodiments.

[0102] Further, the terminal further comprises:

[0103] The communication interface 503 is configured to communicate between the memory 501 and the processor 502.

[0104] The memory 501 is configured to store the computer program executable on the processor 502.

[0105] The memory 501 can include a high-speed RAM memory, and can also include a non-volatile memory, for example, at least one disk memory.

[0106] If the memory 501, the processor 502 and the communication interface 503 are implemented independently, the communication interface 503, the memory 501 and the processor 502 can be connected to each other through a bus and complete communication between each other. The bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component (PCI) bus or an Extended Industry Standard Architecture (EISA) bus, etc. The bus can be divided into an address bus, a data bus, a control bus, etc. For convenience of representation, Figure 3 Only one thick line is used in the figure to represent the bus, but it does not mean that there is only one bus or only one type of bus.

[0107] Optionally, in a specific implementation, if the memory 501, the processor 502 and the communication interface 503 are integrated on a chip, the memory 501, the processor 502 and the communication interface 503 can complete communication between each other through an internal interface.

[0108] The processor 502 can be a central processing unit (CPU), or an application specific integrated circuit (ASIC), or one or more integrated circuits configured to implement one or more embodiments of the present application.

[0109] The embodiment also provides a computer readable storage medium, which stores a computer program, and the program is executed by a processor to implement the spatial scheduling method for device cross-layer transmission.

[0110] An embodiment of the present application provides a computer program product, which includes a computer program, and the computer program is executed by a processor to implement the spatial scheduling method for device cross-layer transmission. Figure 1 The spatial scheduling method for device cross-layer transmission provided by any of the corresponding embodiments.

[0111] In the description of the application, reference to "one embodiment", "some embodiments", "an example", "a specific example", or "some examples" means that a particular feature, structure, material, or characteristic being described is included in at least one embodiment or example of the application. The appearances of the phrase in various places in the specification are not necessarily all referring to the same embodiment or example. Furthermore, the described specific features, structures, materials, or characteristics can be combined in any suitable manner in one or more embodiments or examples. In addition, the usage of "N" means at least two, for example, two, three or the like, unless explicitly stated otherwise.

[0112] Furthermore, the terms "first", "second", or the like, are used merely as a designation of certain elements or features, and do not imply or connote relative importance or a specific order of categorization of the indicated features. Accordingly, features described as "first" or "second" can be explicitly or implicitly included in at least one of the features. In the description of the application, the term "N" means at least two, for example, two, three, etc., unless explicitly stated otherwise.

[0113] Any process or method descriptions or blocks in flow charts or otherwise described herein represent embodiments which can be managed as one or more modules, segments, or portions of code which include one or more executable instructions for implementing specific logic functions or steps, and alternate implementations are possible. In some embodiments, the processes and methods described can be executably encoded on a machine- readable medium in a data signal embodied in an electromagnetic signal, a wireless signal, or a propagated signal.

[0114] The logic and / or steps represented in flow diagrams or otherwise described herein, for example, can be considered as a sequence of instructions to implement logic functions, and can be embodied in any computer-readable storage medium for use by an instruction execution system, apparatus, or device, such as a computer-based system, processor- containing system, or other system that can fetch the instructions from the instruction execution system, apparatus, or device and execute the instructions. In the context of this specification, a "computer-readable storage medium" can be any means that can contain, store, communicate, propagate or transport the program for use by or in connection with the instruction execution system, apparatus, or device. The computer-readable storage medium can be a computer- readable storage medium that can be any media that can be used to store the desired program instructions in a form readable by a computer. More specific examples (a non-exhaustive list) of the computer-readable storage medium include the following: an electrical connection having one or more wires (electrical connections), a portable computer diskette (magnetic), a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or Flash memory), an optical fiber, and a portable compact disc read-only memory (CDROM). In addition, the computer-readable storage medium can even be paper or another suitable medium upon which the program is printed, as the program can be electronically captured, via, for example, optical scanning of the paper or other medium, then compiled, interpreted, or otherwise processed in a suitable manner, if necessary, and then stored in a computer memory.

[0115] It should be understood that aspects of the application can be implemented in hardware, software, firmware or combinations thereof. In the above embodiments, the N steps or methods can be implemented in software or firmware stored in a memory and executed by a suitable instruction execution system. As such, if implemented in hardware, and in another embodiment, any of the following technologies, known in the art, or their combinations can be used: discrete logic circuitry having logic gates for implementing logic functions on data signals, application specific integrated circuits having appropriate combinational logic gates, programmable gate arrays (PGA), field programmable gate arrays (FPGA), and the like.

[0116] Those skilled in the art can understand that all or part of the steps carried out by the above-mentioned embodiment methods can be completed by programs instructing related hardware, and the programs can be stored in a computer-readable storage medium. When the programs are executed, one or a combination of the steps of the method embodiments is included.

[0117] In addition, each of the function units in each of the embodiments of the present application can be integrated in one processing module, or each unit can be physically present separately, or two or more units can be integrated in one module. The integrated module can be realized in the form of hardware or in the form of a software function module. When the integrated module is realized in the form of a software function module and sold or used as an independent product, it can also be stored in a computer readable storage medium.

[0118] The storage medium mentioned above can be a read-only memory, a magnetic disk or an optical disk, etc. Although the embodiments of the present application have been shown and described above, it should be understood that the above embodiments are exemplary and should not be construed as limiting the present application, and those skilled in the art can make changes, modifications, replacements and variations to the above embodiments within the scope of the present application.

[0119] It should be understood that the application of the present application is not limited to the above examples, and those skilled in the art can improve or change the above examples according to the above description, and all these improvements and changes should belong to the protection scope of the claims attached to the present application.

[0120] Finally, it should be pointed out that: the above embodiments are only used to illustrate the technical solutions of the present application, and not to limit them; although the present application has been described in detail with reference to the above embodiments, those skilled in the art should understand that: it can still modify the technical solutions recorded in the above embodiments, or make equivalent replacement for part or all of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present application.

Claims

1. A spatial scheduling method for cross-layer transmission of equipment, characterized in that: The spatial scheduling method for cross-layer transmission of the device includes: receiving a transmission task of an instrument, and determining the instrument box information of the target instrument according to the transmission task; Acquire status information of the transmission device, and determine the target position of the target instrument according to the instrument box information and the status information; Determining a transmission path of the target instrument according to the instrument box information, the state information, and the target position, wherein the types of the transmission path include cross-layer transmission and same-layer transmission; According to the transmission path, the transmission device is controlled to transmit the target device to the target location, and the updated status of the target device and the transmission device is obtained according to the transmission monitoring data.

2. The spatial scheduling method for cross-layer transmission of devices according to claim 1, characterized in that: The transmission task includes starting layer data, target layer data and instrument identification, and the instrument box information includes physical attributes, current status and target layer; Determining the instrument box information of the target instrument according to the transmission task specifically includes: determining a target device according to the starting layer data and the device identifier; The starting position, physical properties and target level of the target device are obtained according to the starting layer data and the target layer data.

3. The spatial scheduling method for cross-layer transmission of devices according to claim 2, characterized in that: The state information includes the vacant areas on each layer of the translation structure; The acquiring of the status information of the transmission device specifically includes: Obtaining the layout occupancy status of each layer of translation structure in the transmission device; Determining the distribution of instrument boxes on each layer of the translation structure according to the occupancy status of each layout; The vacant areas on each layer of the translation structure are determined according to the distribution of the instrument boxes.

4. The spatial scheduling method for cross-layer transmission of devices according to claim 3, characterized in that: The step of determining the target position of the target instrument according to the instrument box information and the status information specifically includes: Determining at least one target vacancy on the target level according to the vacancy regions on each layer of the translation structure; A target position of the target device is determined by performing spatial optimization based on the physical properties and the at least one target space.

5. The spatial scheduling method for cross-layer transmission of devices according to claim 4, characterized in that: The performing of spatial optimization based on the physical properties and the at least one target space to determine the target position of the target device specifically includes: determining a spatial accommodation level of the target device based on the physical properties and the at least one target space; If the space capacity is greater than a preset value or the priority of the target instrument is higher than that of the placed instrument boxes, the instrument boxes on the target level are adjusted on the same level to determine the target position of the target instrument reserved on the target level; If the space accommodation level is less than or equal to a preset value, the position of the instrument box placed on the target level is adjusted across layers to determine the target position of the target instrument on the target level.

6. The spatial scheduling method for cross-layer transmission of devices according to any one of claims 2 to 5, characterized in that: The state information also includes the use state of the lifting platform, and the transmission path includes a translation transmission path and a lifting transmission path; Determining the transmission path of the target instrument according to the instrument box information, the status information and the target position specifically includes: determining a type of a transmission path according to the starting position and the target position of the target device; If the type of the transmission path is cross-layer transmission, then according to the starting position, the target position and the use status of the lifting platform, a translation transmission path and a lifting transmission path of the target device are obtained; If the type of the transmission path is same-layer transmission, the translation transmission path of the target device is obtained according to the starting position and the target position.

7. The spatial scheduling method for cross-layer transmission of devices according to claim 6, characterized in that: The updated status includes the current target position of the target device, the updated vacant areas on each level of the translation structure, and the updated usage status of the lifting platform; Controlling the transmission device to transmit the target device to the target location according to the transmission path, and obtaining the updated status of the target device and the transmission device according to the transmission monitoring data, specifically includes: generating a control instruction for the transmission device according to the transmission path; According to the control instruction, controlling the transmission device to transmit the target device to obtain transmission monitoring data; If it is detected that the transmission monitoring data of the target device during the transmission process is abnormal data, a remedial path of the target device is determined according to the transmission monitoring data, the current position of the target device, and the target position, and the target device is transmitted to the target position according to the remedial path, thereby obtaining the current target position of the target device, the updated vacant area on each layer of the translation structure, and the updated usage status of the lifting platform; If the transmission monitoring data is detected to be normal data, after the target device is transmitted to the target position, the current target position of the target device, the updated vacant areas on each layer of the translation structure and the updated usage status of the lifting platform are obtained.

8. A spatial scheduling system for cross-layer transmission of equipment, characterized in that: The spatial scheduling system for cross-layer transmission of the device includes: An information acquisition module, configured to receive a transmission task of an instrument and determine the instrument box information of the target instrument according to the transmission task; a space optimization module, configured to obtain status information of a transmission device and determine a target position of the target device according to the device box information and the status information; a path generation module, configured to determine a transmission path of the target instrument according to the instrument box information, the status information, and the target location, wherein the types of the transmission path include cross-layer transmission and same-layer transmission; The device transmission module is used to control the transmission device to transmit the target device to the target location according to the transmission path, and obtain the updated status of the target device and the transmission device according to the transmission monitoring data.

9. A terminal, characterized in that: The terminal includes: a memory, a processor, and a spatial scheduling program for cross-layer transmission of an instrument stored in the memory and runnable on the processor. When the spatial scheduling program for cross-layer transmission of an instrument is executed by the processor, the steps of the spatial scheduling method for cross-layer transmission of an instrument are implemented.

10. A computer-readable storage medium, characterized in that The computer-readable storage medium stores a spatial scheduling program for cross-layer transmission of an instrument, and when the spatial scheduling program for cross-layer transmission of an instrument is executed by a processor, the steps of the spatial scheduling method for cross-layer transmission of an instrument are implemented as described in any one of claims 1 to 7.

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