CN115709911A - Method and device for controlling a transfer vehicle, transfer vehicle and storage medium - Google Patents

Abstract

The application relates to the technical field of medical article transportation, and discloses a method for controlling a transfer trolley, which comprises the following steps: responding to a user instruction, and acquiring the working state of each commodity shelf; determining target commodity shelves according to the working state of each commodity shelf and a user instruction; and controlling the transfer storage device to move until the target commodity shelf moves to the loading and unloading port so as to facilitate the user to carry the transfer box. This application confirms the operating condition of each supporter respectively when receiving user's instruction to distinguish the supporter of carrying the thing and the supporter of idle. And then the target commodity shelf in the storage device is determined according to the user instruction so as to control the transfer storage device to reasonably move, so that the target commodity shelf automatically moves to the position near the loading and unloading port. Therefore, the transport box can be conveniently transported by a user, the transport amount of the user is reduced, and the efficiency of warehousing and delivery is favorably improved. The application also discloses a device for controlling the transfer trolley, the transfer trolley and a storage medium.

Description

Method and device for controlling transfer vehicle, transfer vehicle, and storage medium

technical field

The present application relates to the technical field of medical article transfer, for example, to a method and device for controlling a transfer vehicle, a transfer vehicle, and a storage medium.

Background technique

At present, when blood products such as plasma bags and red blood cell bags are transferred between blood banks and medical institutions such as hospitals, the blood products are usually put into special transfer boxes, and then multiple transfer boxes are put into the truck compartment for transfer.

In the process of implementing the embodiments of the present disclosure, it is found that at least the following problems exist in related technologies:

The process of putting the transfer box into or taking it out of the car depends on manual handling, and manual confirmation is also required when the transfer box is stacked in the car. Therefore, the related technology is time-consuming and labor-intensive, and it is inconvenient to carry more transfer boxes, and the efficiency of entering and exiting the warehouse is relatively poor.

It should be noted that the information disclosed in the above background technology section is only used to enhance the understanding of the background of the application, and therefore may include information that does not constitute prior art known to those of ordinary skill in the art.

Contents of the invention

In order to provide a basic understanding of some aspects of the disclosed embodiments, a brief summary is presented below. The summary is not intended to be an extensive overview nor to identify key/important elements or to delineate the scope of these embodiments, but rather serves as a prelude to the detailed description that follows.

Embodiments of the present disclosure provide a method and device for controlling a transfer vehicle, as well as a transfer vehicle and a storage medium, which can facilitate the user to carry the transfer box and improve the efficiency of entering and leaving the warehouse.

In some embodiments, the transfer vehicle includes a vehicle body; a vehicle compartment is arranged on the vehicle body, and the vehicle compartment is provided with a loading and unloading port; a transfer storage device is located in the vehicle compartment, and the transfer storage device It can be controlled to perform circular rotation movement, the transfer storage device includes a plurality of racks, and the racks can be used to place transfer boxes; the method includes: responding to user instructions, acquiring the working status of each rack; the user The instruction includes a warehouse-out instruction or a warehouse-in instruction, and the working state includes the first state without a transfer box or the second state with a transfer box; according to the working state of each shelf and the user instruction, determine the target storage rack; controlling the movement of the transfer storage device until the target rack moves to the loading and unloading port, so as to facilitate the user to carry the transfer case.

Optionally, in some embodiments, the rack is provided with an electromagnet module; the controlling the movement of the transfer storage device until the target rack moves to the loading and unloading port further includes: verifying the The label information of the transfer box placed on the target rack; according to the user instruction and the verification result, the working state of the electromagnet module on the target rack is controlled.

Optionally, in some embodiments, the user instruction includes a warehouse-out instruction or a warehouse-in instruction, and the verification result includes verification success or verification failure; according to the user instruction and the verification result, controlling the target storage The working status of the electromagnet module on the shelf includes: when the user instruction is a storage instruction and the verification result is a successful verification, control the power-on of the electromagnet module on the target shelf, so that the The target rack and the transfer box placed on the target rack are suction connected; when the user instruction is a storage instruction and the verification result is verification failure, control the electromagnet module on the target rack Power off, so that the transfer box placed on the target rack and the target rack is not connected by suction; when the user instruction is a warehouse-out instruction and the verification result is a successful verification, control the The electromagnet module on the target shelf is powered off, so that the target shelf and the transfer box placed on the target shelf are released from the suction connection; when the user instruction is an outbound instruction and the verification result is a verification In case of failure, the electromagnet module on the target rack is controlled to be energized, so that the target rack and the transfer box placed on the target rack maintain a suction connection.

Optionally, in some embodiments, the method further includes: controlling the working state of the transshipment storage device according to the verification result.

Optionally, in some embodiments, the controlling the working state of the transshipment storage device according to the verification result includes: controlling the transshipment storage device to maintain normal operation when the verification result is a successful verification state; when the verification result is verification failure, control the transfer storage device to enter the locked state; wherein, the transfer storage device in the normal state is controlled to perform circular motion, and the transfer storage device in the locked state After the storage device is controlled, it does not perform circular motion.

In some embodiments, the device includes: a processor and a memory storing program instructions, and the processor is configured to execute the above-mentioned method for controlling the transfer vehicle when executing the program instructions.

In some embodiments, the transfer vehicle includes: a vehicle body; a vehicle compartment, which is arranged on the vehicle body, and the vehicle compartment is provided with a loading and unloading port; a transfer storage device, which is located in the vehicle compartment, and the transfer storage device The device can be controlled to perform circular rotation movement, the transfer storage device includes a plurality of storage racks, and the storage racks can be used to place transfer boxes; and, the above-mentioned device for controlling the transfer vehicle is installed on the vehicle body.

In some embodiments, the storage medium stores program instructions, and when the program instructions are executed, the above-mentioned method for controlling the transfer vehicle is executed.

The method, device, transfer vehicle, and storage medium for controlling the transfer vehicle provided by the embodiments of the present disclosure can achieve the following technical effects:

In the embodiment of the present disclosure, when a user instruction is received, the working status of each storage rack is determined respectively, so as to distinguish the storage rack with objects from the idle storage rack. Then determine the target rack according to the user's instruction, so as to control the reasonable movement of the transfer storage device, so that the target rack automatically moves to the vicinity of the loading and unloading port. Thereby, it can be convenient for the user to carry the transfer box, reduce the amount of handling by the user, and help improve the efficiency of entering and exiting the warehouse.

The foregoing general description and the following description are exemplary and explanatory only and are not intended to limit the application.

Description of drawings

One or more embodiments are exemplified by the corresponding drawings, and these exemplifications and drawings do not constitute a limitation to the embodiments, and elements with the same reference numerals in the drawings are shown as similar elements, The drawings are not limited to scale and in which:

FIG. 1 is a schematic structural view of a transfer vehicle provided by an embodiment of the present disclosure;

FIG. 2 is a schematic cross-sectional view of FIG. 1 provided by an embodiment of the present disclosure;

Fig. 3 is a schematic structural view of another transfer vehicle provided by an embodiment of the present disclosure;

Fig. 4 is a schematic structural view of another transfer vehicle provided by an embodiment of the present disclosure;

Fig. 5 is a schematic structural diagram of a transshipment storage device provided by an embodiment of the present disclosure;

Fig. 6 is an exploded schematic diagram of a transshipment storage device provided by an embodiment of the present disclosure;

Fig. 7 is a partial structural schematic diagram of a transshipment storage device provided by an embodiment of the present disclosure;

Fig. 8 is a schematic structural diagram of a shelf provided by an embodiment of the present disclosure;

FIG. 9 is a schematic diagram of a method for controlling a transfer vehicle provided by an embodiment of the present disclosure;

Fig. 10 is a schematic diagram of another method for controlling a transfer vehicle provided by an embodiment of the present disclosure;

Fig. 11 is a schematic diagram of another method for controlling a transfer vehicle provided by an embodiment of the present disclosure;

Fig. 12 is a schematic diagram of another method for controlling a transfer vehicle provided by an embodiment of the present disclosure;

Fig. 13 is a schematic diagram of another method for controlling a transfer vehicle provided by an embodiment of the present disclosure;

Fig. 14 is a schematic diagram of another method for controlling a transfer vehicle provided by an embodiment of the present disclosure;

Fig. 15 is a schematic diagram of another method for controlling a transfer vehicle provided by an embodiment of the present disclosure;

Fig. 16 is a schematic diagram of a device for controlling a transfer vehicle provided by an embodiment of the present disclosure.

Reference signs:

1: Transfer storage device, 10: Bracket, 20: Driving part, 21: Motor, 22: Main shaft, 23: First driving wheel, 30: First rotary transmission part, 301: First driving wheel, 302: First slave Driving wheel, 303: first transmission part, 31: second rotary transmission part, 311: second driving wheel, 312: second driven wheel, 313: second transmission part, 40: shelf, 41: bottom plate, 411: second One groove, 412: second groove, 42: first side plate, 43: second side plate, 44: connecting shaft, 50: electromagnet module, 61: sensing module, 62: identification module, 63: reading Module, 7: Car compartment, 71: Storage space, 711: First storage space, 712: Second storage space, 72: Storage cavity, 73: Loading and unloading port, 8: Refrigeration system, 81: Compressor, 82: Condenser , 83: Condensing fan, 84: Evaporator, 85: Evaporating fan, 86: Air inlet pipe, 861: First air inlet pipe, 8611: First air inlet, 862: Second air inlet pipe, 8621: Second air inlet, 87: Air outlet pipe, 871: First air outlet pipe, 8711: First air outlet, 872: Second air outlet pipe, 8721: Second air outlet, 88: Solenoid valve, 881 : first solenoid valve, 882: second solenoid valve, 883: third solenoid valve, 884: fourth solenoid valve, 9: device for controlling transfer vehicle, 901: processor, 902: memory, 903: communication interface , 904: bus.

Detailed ways

In order to understand the characteristics and technical content of the embodiments of the present disclosure in more detail, the implementation of the embodiments of the present disclosure will be described in detail below in conjunction with the accompanying drawings. The attached drawings are only for reference and description, and are not intended to limit the embodiments of the present disclosure. In the following technical description, for purposes of explanation, numerous details are set forth in order to provide a thorough understanding of the disclosed embodiments. However, one or more embodiments may be practiced without these details. In other instances, well-known structures and devices may be shown simplified in order to simplify the drawings.

The terms "first", "second" and the like in the description and claims of the embodiments of the present disclosure and the above drawings are used to distinguish similar objects, and are not necessarily used to describe a specific sequence or sequence. It should be understood that the data so used may be interchanged under appropriate circumstances so as to facilitate the embodiments of the disclosed embodiments described herein. Furthermore, the terms "comprising" and "having", as well as any variations thereof, are intended to cover a non-exclusive inclusion.

Unless stated otherwise, the term "plurality" means two or more.

In the embodiments of the present disclosure, the character "/" indicates that the preceding and following objects are an "or" relationship. For example, A/B means: A or B.

The term "and/or" is an associative relationship describing objects, indicating that there can be three relationships. For example, A and/or B means: A or B, or, A and B, these three relationships.

The term "correspondence" may refer to an association relationship or a binding relationship, and the correspondence between A and B means that there is an association relationship or a binding relationship between A and B.

As shown in FIGS. 1-4 , an embodiment of the present disclosure provides a transfer vehicle, which includes a vehicle body, a compartment 7 , a transfer storage device 1 and a device 9 for controlling the transfer vehicle. The car compartment 7 is located on the car body. The transfer storage device 1 is arranged in the car compartment 7, and the transfer storage device 1 can be controlled to perform circular rotation movement. The transfer storage device 1 includes a plurality of storage racks 40, and the storage racks 40 can be used to place transfer boxes. A device 9 for controlling the transfer vehicle is mounted on the vehicle body.

With the transfer vehicle provided by the embodiment of the present disclosure, a transfer storage device 1 is arranged in the compartment 7, and a plurality of storage racks 40 for placing transfer boxes are arranged on the transfer storage device 1 . When the transfer storage device 1 is controlled to perform circular rotation movement, a plurality of racks 40 can be driven by it to move orderly along the movement track. By controlling the reasonable movement of the transfer storage device 1 , the embodiment of the present disclosure can make the target rack 40 automatically move to the door of the compartment, so as to facilitate the user to carry the transfer case. Thereby, the user's handling volume can be reduced, which is conducive to improving the efficiency of warehouse entry and exit.

Optionally, the transfer vehicle further includes: a refrigeration system 8 . Refrigeration system 8 can be controlled to open, to regulate the temperature in the case of transfer case. In this way, by controlling the operation of the refrigeration system 8 , the embodiment of the present disclosure can cool down the temperature of the vehicle compartment 7 and the transfer box in the vehicle compartment 7 to create a suitable environment inside the vehicle. Therefore, the storage temperature requirements during the transportation of blood products can be met.

Optionally, the compartment 7 defines an accommodation space 71 and an accommodation cavity 72, and the accommodation space 71 communicates with the accommodation cavity 72 through a ventilation pipeline. Wherein, the transfer storage device 1 is arranged in the accommodation space 71 . The refrigeration system 8 is disposed in the containing cavity 72 . In this way, the embodiment of the present disclosure can store the transshipment storage device 1 and the refrigeration system 8 in partitions, so that the air in the accommodation space 71 can be exchanged with the air in the accommodation chamber 72, so that the volume of the transfer box placed in the accommodation space 71 can be accurately regulated. internal temperature.

Optionally, as shown in FIG. 1 , the compartment 7 is provided with a loading and unloading opening 73 . Wherein, the loading and unloading opening 73 is provided correspondingly to the accommodation space 71 . In this way, the user can store the transfer case in the transfer storage device 1 or take the transfer case from the transfer storage device 1 through the loading and unloading port 73 .

Optionally, there are multiple accommodating spaces 71 , and each accommodating space 71 can be provided with a corresponding transfer storage device 1 . As shown in FIG. 3 and FIG. 4 , in some embodiments, the accommodation space 71 includes a first accommodation space 711 and a second accommodation space 712 . In this way, by disposing the transfer storage devices 1 in the first storage space 71 and the second storage space 72 respectively, the embodiments of the present disclosure can realize zoned temperature control to meet the storage requirements of different types of blood products.

Optionally, the ventilation pipeline includes an air inlet pipeline 86 and an air outlet pipeline 87 . In this way, by opening the air inlet pipeline 86 and the air outlet pipeline 87, the embodiment of the present disclosure can exchange the air in the accommodation chamber 72 with the air in the accommodation space 71, so that the refrigeration system 8 can be used to regulate the accommodation space 71 The temperature inside the transfer box placed inside.

Optionally, there are multiple air inlet pipelines 86 and multiple air outlet pipelines 87 . The number of the air inlet pipelines 86 and the air outlet pipelines 87 is the same as the number of the accommodation spaces 71 , and they are set in one-to-one correspondence with the accommodation spaces 71 . As shown in FIG. 3 and FIG. 4 , in some embodiments, the air inlet pipeline 86 includes a first air inlet pipeline 861 and a second air inlet pipeline 862 , and the air outlet pipeline 87 includes a first air outlet pipeline 871 and the second air outlet pipeline 872. Wherein, the connecting end of the first air inlet pipeline 861 and the first accommodation space 711 is provided with a first air inlet 8611, and the connecting end of the second air inlet pipeline 862 and the second accommodation space 712 is provided with a second air inlet 8621, A first air outlet 8711 is defined at the connecting end of the first air outlet pipeline 871 and the first accommodation space 711 , and a second air outlet 8721 is opened at the connecting end of the second air outlet pipeline 872 and the second accommodation space 712 . In this way, in the embodiment of the present disclosure, corresponding ventilation pipelines can be respectively provided for the plurality of storage spaces 71 , so that temperature control in zones can be realized to meet the storage requirements of different types of blood products.

Optionally, there are multiple first air outlets 8711 and multiple second air outlets 8721. In this way, the embodiments of the present disclosure can increase the air exchange area of the accommodation space 71 and the accommodation cavity 72 , thereby improving the air exchange efficiency. And the evenly arranged air outlets can also make the multiple transfer boxes evenly cooled during transportation, so as to meet the storage temperature requirements of all blood products in the car as much as possible.

Optionally, as shown in FIG. 3 , the refrigeration system 8 includes a compressor 81 , a condenser 82 , an evaporator 84 and an evaporation fan 85 . The evaporation fan 85 is arranged corresponding to the evaporator 84 to drive the air in the accommodation chamber 72 to exchange with the air in the accommodation space 71 . In this way, the embodiment of the present disclosure can use the refrigeration system 8 to regulate the temperature inside the transfer box placed in the accommodation space 71 .

Optionally, the refrigeration system 8 further includes: a condensing fan 83 , and the condensing fan 83 is arranged corresponding to the condenser 82 . In this way, the condensing blower 83 can quickly cool down the condenser 82, so as to improve the cooling effect of the system.

Optionally, the refrigeration system 8 further includes a solenoid valve 88, which is arranged on the ventilation pipeline and used to control the opening and closing of the ventilation pipeline. As shown in FIG. 3 , in some embodiments, the solenoid valve 88 includes a first solenoid valve 881 , a second solenoid valve 882 , a third solenoid valve 883 and a fourth solenoid valve 884 . Among them, the first electromagnetic valve 881 is arranged in the first air inlet pipeline 861, the second electromagnetic valve 882 is arranged in the first air outlet pipeline 871, the third electromagnetic valve 883 is arranged in the second air inlet pipeline 862, and the fourth electromagnetic valve 883 is arranged in the second air inlet pipeline 862. The valve 884 is disposed on the second air outlet pipeline 872 . In this way, by adjusting the opening degree of part or all of the electromagnetic valves 88, the embodiments of the present disclosure can reasonably regulate the opening and closing of each ventilation pipeline. Therefore, the temperatures in the plurality of accommodation spaces 71 can be adjusted in zones to meet the storage requirements of different types of blood products.

Optionally, as shown in FIGS. 5-8 , an embodiment of the present disclosure provides a transfer storage device 1 , including: a bracket 10 , a driving part 20 , a first rotary transmission part 30 and a plurality of racks 40 . The driving unit 20 is provided on the bracket 10 . The first rotary transmission part 30 is movably disposed on the bracket 10 and connected with the driving part 20 . Driven by the driving part 20 , the first rotary transmission part 30 performs circular rotary motion along the height direction of the bracket 10 . A plurality of storage racks 40 are arranged at intervals along the movement track of the first rotary transmission part 30 and connected with the first rotary transmission part 30 to move under the driving of the first rotary transmission part 30 .

Using the transfer storage device 1 provided by the embodiment of the present disclosure, the bracket 10 can support other components of the transfer storage device 1 and connect the other components together. The driving part 20 is drivingly connected to the first rotary transmission part 30 , and the driving part 20 can provide power for the first rotary transmission part 30 to make the first rotary transmission part 30 perform circular rotary motion along the height direction of the bracket 10 . By setting the storage rack 40, the user can place the transfer box on the storage rack 40, and setting multiple storage racks 40 can provide the user with multiple storage locations, so as to meet the storage requirements of the user as much as possible. In addition, by connecting multiple storage racks 40 to the first rotary transmission part 30 , the multiple storage racks 40 can move along the track of the first rotary transmission part 30 driven by the first rotary transmission part 30 . A certain part of the motion track of the first rotary transmission part 30 is set as a set position, and the set position is a position convenient for the user to carry the transfer case at a fixed point, and a plurality of storage racks 40 will pass through the set position in turn. In this way, the embodiment of the present disclosure can automatically move the storage rack 40 without the transfer box to the loading and unloading port, and the user can transport the transfer box to the set position without moving. Thereby, the user's handling volume can be reduced, which is conducive to improving the efficiency of warehouse entry and exit.

The track shape of the circular slewing motion can be a circle, an ellipse, or a track shape. It can be understood that the track shape of the circular rotary motion is not unique, as long as it is a closed-loop rotary motion form, it is one of the optional embodiments of the present application.

Specifically, the set position is the position closest to the loading and unloading port 73 on the movement track of the transfer storage device 1 . In this way, the idle storage rack 40 can move to the set position along the trajectory of the first rotary transmission part 30, and since the set position is closest to the loading and unloading port 73 of the car compartment 7, the user can more easily place the load on the transfer storage device 1. Move the shipping boxes. Thereby, the user's handling volume can be reduced, which is conducive to improving the efficiency of warehouse entry and exit.

Optionally, the embodiment of the present disclosure is also provided with a target position. The target position is the position closest to the air outlet on the movement track of the transfer storage device 1 . In this way, the storage rack 40 where the transfer case with poor cooling effect can move to the target position along the track of the first rotary transmission part 30, because the target position is closest to the air outlet of the refrigeration system 8, so this part of the transfer case can obtain more adequate cooling. Thereby, the possibility of deterioration and damage of blood products can be reduced, which is conducive to improving the reliability of the transportation process.

Optionally, the first rotary transmission part 30 includes: a first driving wheel 301 , a first driven wheel 302 and a first transmission member 303 . The first driving wheel 301 is rotatably arranged on the bracket 10 along the longitudinal direction and connected with the driving part 20 to rotate driven by the driving part 20 . The first driven wheel 302 is spaced apart from the first driving wheel 301 along the transverse direction. The first transmission member 303 is sleeved on the outside of the first driving wheel 301 and the first driven wheel 302 . Wherein, a plurality of storage racks 40 are connected with the first transmission member 303 . In this way, the first driving wheel 301 is connected with the first driven wheel 302. When the first driving wheel 301 rotates under the drive of the driving part 20, the first driving wheel 301 drives the first transmission member 303 to move, and the first transmission member 303 transmits the power to the first driven wheel 302, and then drives a plurality of storage racks 40 to move. Since a plurality of storage racks 40 are arranged at intervals along the movement track of the first rotary transmission part 30, and a plurality of storage racks 40 are all connected with the first transmission member 303, that is to say, a plurality of storage racks 40 are all connected along the first transmission part 303. The motion track of the transmission member 303 performs a rotary motion.

Optionally, in some embodiments, the first driving wheel 301 and the first driven wheel 302 are pulleys, and the first transmission member 303 is a synchronous belt.

Optionally, in other embodiments, the first driving wheel 301 and the first driven wheel 302 are sprockets, and the first transmission member 303 is a transmission chain.

Optionally, the transshipment storage device 1 further includes: a second rotary transmission part 31, the second rotary transmission part 31 is arranged on the bracket 10 and opposite to the first rotary transmission part 30, and a plurality of racks 40 are all located on the first rotary transmission part. Between the part 30 and the second rotary transmission part 31 and connected with the first rotary transmission part 30 and the second rotary transmission part 31 . In this way, by arranging the first rotary transmission part 30 and the second rotary transmission part 31 oppositely, the embodiment of the present disclosure can utilize the first rotary transmission part 30 and the second rotary transmission part 31 to simultaneously support the storage rack 40 to ensure that the storage rack 40 is connected. stability.

Optionally, the second rotary transmission part 31 includes: a second driving wheel 311 , a second driven wheel 312 and a second transmission member 313 . The second driving wheel 311 is rotatably disposed on the bracket 10 along the longitudinal direction and connected with the driving part 20 to rotate driven by the driving part 20 . The second driven wheel 312 is spaced apart from the second driving wheel 311 along the transverse direction. The second transmission member 313 is sleeved on the outer sides of the second driving wheel 311 and the second driven wheel 312 . Wherein, a plurality of storage racks 40 are connected with the second transmission member 313 . In this way, the second driving wheel 311 is connected with the second driven wheel 312. When the second driving wheel 311 rotates under the driving of the driving part 20, the second driving wheel 311 drives the second transmission member 313 to move, and the second transmission member 313 transmits the power to the second driven wheel 312, and then drives a plurality of storage racks 40 to move. Since a plurality of storage racks 40 are arranged at intervals along the movement track of the second rotary transmission part 31, and a plurality of storage racks 40 are all connected with the second transmission member 313, that is to say, a plurality of storage racks 40 are all connected along the second transmission part 313. The motion track of the transmission member 313 performs a rotary motion.

Optionally, the first rotary transmission part 30 and the second rotary transmission part 31 move synchronously. In this way, using the first rotary transmission part 30 and the second rotary transmission part 31 to jointly drive the movement of the storage rack 40 can ensure the stable movement of the storage rack 40 and prevent the transfer box from falling from the storage rack 40 .

Optionally, the driving part 20 is disposed on the top of the support 10 and above the first rotary transmission part 30 . In this way, the length dimension of the bracket 10 can be reduced, thereby reducing the size of the transfer storage device 1 and improving the applicability of the transfer storage device 1 .

Optionally, the driving part 20 includes: a motor 21 and a main shaft 22 . The motor 21 is arranged on the bracket 10 and fixedly connected with the bracket 10 . The main shaft 22 is rotatably arranged on the bracket 10 and connected with the rotating shaft of the motor 21 through a transmission belt. The main shaft 22 is drivingly connected with the first rotary transmission part 30 to drive the movement of the first rotary transmission part 30 . In this way, the rotation of the motor 21 drives the main shaft 22 to rotate through the transmission belt, and the main shaft 22 is drivingly connected with the first driving wheel 301 of the first rotary transmission part 30 , and then drives the first rotary transmission part 30 to move.

Optionally, one end of the main shaft 22 is drivingly connected to the first rotary transmission part 30 , and the other end of the main shaft 22 is drivingly connected to the second rotary transmission part 31 . In this way, the main shaft 22 can simultaneously drive the first rotary transmission part 30 and the second rotary transmission part 31 to move synchronously, thereby making the rack 40 move smoothly.

Optionally, the driving part 20 further includes: a first driving wheel 23 . The first driving wheel 23 and the first driving wheel 301 are coaxially arranged on the bracket 10 and connected to the first driving wheel 301 , and the first driving wheel 23 is connected to the main shaft 22 through a transmission belt. In this way, the main shaft 22 can drive the first driving wheel 23 to rotate, and the first driving wheel 23 can drive the first driving wheel 301 to rotate, thereby making the first rotary transmission part 30 move.

Optionally, the shelf 40 includes: a bottom plate 41 , a first side plate 42 and a second side plate 43 . The first side plate 42 is disposed on one side of the bottom plate 41 and connected to the bottom plate 41 , and the second side plate 43 is disposed on the other side of the bottom plate 41 and connected to the bottom plate 41 . The side of the first side plate 42 and the second side plate 43 away from the bottom plate 41 is provided with a connecting shaft 44 for connecting with other components. In this way, the rack 40 can be connected with other components through the connecting shaft 44 on the first side plate 42 and the second side plate 43 .

Optionally, the bottom plate 41 defines a first groove 411 and a second groove 412 . Wherein, the notch size area of the second groove 412 is smaller than the notch area of the first groove 411 . In this way, the transfer case can be better fixed on the storage rack 40 to prevent the transfer case from falling from the storage rack 40 . Moreover, a plurality of grooves of different sizes are provided, and transfer boxes of different sizes can also be placed, so as to improve the applicability of the storage rack 40 .

Optionally, the storage rack 40 further includes: an electromagnet module 50 . The electromagnet module 50 is arranged on the side wall of the bottom plate 41 and is used for controlling the suction connection between the storage rack 40 and the transfer box placed on the storage rack 40 . In this way, when the electromagnet module 50 is energized, the storage rack 40 and the transfer box placed on the storage rack 40 will be connected by suction, so as to avoid the tilt of the storage rack 40 during transportation and cause the transfer box placed on it to fall. When the electromagnet module 50 is powered off, the storage rack 40 and the transfer box placed on the storage rack 40 will release the suction connection, so that the user can easily carry the transfer box.

Optionally, the electromagnet module 50 can also be disposed in the first groove 411 . To facilitate the suction connection between the large-size transfer box and the rack 40.

Optionally, the electromagnet module 50 can also be disposed in the second groove 412 . To facilitate the suction connection between the small-sized transfer case and the rack 40.

Optionally, the transshipment storage device 1 further includes: an induction module 61 . The sensing module 61 is disposed on the bracket 10 and corresponding to the set position above, and is used for sensing the position and distance between the user and the transfer storage device 1 . In this way, the embodiment of the present disclosure can control the transfer storage device 1 to stop moving when sensing the approach of the user, so as to avoid the occurrence of user injury or other accidents.

Optionally, the sensing module 61 is a photoelectric sensor. The photoelectric sensor is located at one end of the bracket 10 close to the loading and unloading opening 73 . In this way, by detecting whether the signal of the photoelectric sensor is blocked, the embodiment of the present disclosure can determine whether the user is carrying the transfer case.

Optionally, the transshipment storage device 1 further includes: an identification module 62 . The identification module 61 is used to obtain information on the placement of the transfer boxes on the storage rack 40 . In this way, the embodiment of the present disclosure can accurately determine the working state of the storage rack 40 to control the reasonable movement of the transfer storage device 1 .

Optionally, the recognition module 62 is a camera. The camera is located above the accommodation space 71 . In this way, by collecting real-time images in the storage space, the embodiments of the present disclosure can determine whether a transfer box is placed on the rack.

Optionally, the identification module 62 is a photoelectric sensor. The photoelectric sensor is located on the bracket 10 . In this way, by detecting whether the signal of the photoelectric sensor is blocked, the embodiment of the present disclosure can determine whether a transfer box is placed on the shelf.

Optionally, the identification module 62 is a gravity sensor. The gravity sensor is arranged on the shelf 40 . In this way, by judging whether the detection value of the gravity sensor changes, the embodiment of the present disclosure can judge whether a transfer box is placed on the rack.

Optionally, the transshipment storage device 1 further includes: a reading module 63 . The reading module 63 is arranged on the bracket 10 and corresponding to the upper part of the set position, and is used for collecting the label information of the transfer box placed on the rack 40 at the set position. In this way, the embodiment of the present disclosure can complete the information verification work during the transfer process of the transfer box, so as to check whether the transfer box is mishandled.

Optionally, the reading module 63 is an RFID (Radio Frequency Identification, radio frequency identification) reader. The RFID reader corresponds to the storage rack 40 at the set position, and is arranged directly above the second groove 412 of the storage rack 40 . In this way, when the transfer case is accurately placed on the second groove 412 of the rack 40, the RFID reader can directly collect the electronic information of the RFID tag pasted on the top of the transfer case, thereby completing the information verification work to check the transfer case Whether it was mishandled.

Optionally, the transfer vehicle further includes: a reminder module. The reminding module is arranged on the car body, and is used for reminding that the car has completed storage or departure. In this way, the user can intuitively obtain the actual storage status of the transfer storage device 1 without going to the vehicle to check the working status of each storage rack 40 .

Optionally, the reminder module is a loudspeaker. In this way, by broadcasting the prompt information that the vehicle has completed entering or exiting the warehouse, the user can obtain the storage situation of the transfer storage device 1 by hearing, and then grasp the progress of entering or exiting the warehouse.

Optionally, the reminding module is a lighting lamp. In this way, by controlling the illumination lamp to lower the brightness or turn off the illumination lamp, the user can visually obtain the storage situation of the transfer storage device 1 , and then grasp the process of entering or exiting the warehouse.

As shown in FIG. 9 , an embodiment of the present disclosure provides a method for controlling a transfer vehicle, including:

S91. In response to a user instruction, the processor acquires the working status of each storage rack.

S92. The processor determines a target storage rack according to the working status of each storage rack and the user instruction.

S93, the processor controls the movement of the transfer storage device until the target rack moves to the loading and unloading port, so that the user can carry the transfer box.

Using the method for controlling a transfer vehicle provided by an embodiment of the present disclosure, a transfer storage device is provided in the transfer vehicle, and the transfer storage device is provided with a plurality of racks that can be used to place transfer boxes. When the transfer storage device is controlled to perform circular rotation, multiple storage racks can be driven by it to move in an orderly manner along the motion track. In the embodiment of the present disclosure, when receiving a user instruction, the working status of each storage rack is respectively determined, so as to distinguish between a loaded storage rack and an idle storage rack. Then determine the target rack according to the user's instruction, so as to control the reasonable movement of the transfer storage device, so that the target rack automatically moves to the vicinity of the loading and unloading port. Thereby, it can be convenient for the user to carry the transfer box, reduce the amount of handling by the user, and help improve the efficiency of entering and exiting the warehouse.

Optionally, the processor acquiring the working status of each storage rack includes: the processor controls the camera to collect real-time images of the transfer storage device; the processor determines the working status of each storage rack according to the real-time images. In this way, by collecting real-time images of the transfer storage device, the embodiments of the present disclosure can determine whether a transfer box is placed on each storage rack, and then determine the working status of multiple storage racks.

Optionally, acquiring the working status of each storage rack by the processor includes: the processor controls a plurality of photoelectric sensors to detect status signals of respective corresponding storage racks; and the processor determines the working status of each storage rack according to the status signals. In this way, by detecting whether the signal of the photoelectric sensor is blocked, the embodiment of the present disclosure can determine whether a transfer box is placed on each storage rack, and then determine the working status of multiple storage racks.

Optionally, acquiring the working status of each storage rack by the processor includes: the processor controls a plurality of gravity sensors to detect the weight information of each corresponding storage rack; and the processor determines the working status of each storage rack according to the weight information. In this way, by judging whether the detection value of the gravity sensor changes, the embodiment of the present disclosure can judge whether a transfer box is placed on each storage rack, and then determine the working status of multiple storage racks.

Optionally, the user instruction includes a warehouse-out instruction or a warehouse-in instruction, and the working state includes a first state in which no transfer box is placed or a second state in which a transfer box is placed. The processor determines the target rack according to the working state of each rack and the user instruction, including: when the user instruction is a storage instruction, the processor determines the rack whose working state is the first state as the first target rack ; In the case that the user instruction is a stock-out instruction, the processor determines the storage rack whose working state is the second state as the second target storage rack. In this way, when entering the warehouse, the embodiment of the present disclosure recognizes the storage rack without the transfer box as the first target storage rack, and controls the reasonable movement of the transfer storage device, so that the first target storage rack automatically moves to the vicinity of the loading and unloading port, so that Store the transfer box with the user. Thereby, the user's handling volume can be reduced, which is conducive to improving the storage efficiency. When leaving the warehouse, the embodiment of the present disclosure recognizes the storage rack with the transfer box as the second target storage rack, and controls the reasonable movement of the transfer storage device, so that the second target storage rack automatically moves to the vicinity of the loading and unloading port, so that The user picks up the transfer box. In this way, the user's handling volume can be reduced, which is conducive to improving the efficiency of warehouse delivery.

Optionally, the processor controls the movement of the transfer storage device until the target rack moves to the loading and unloading port, including: if there are multiple target racks, the processor determines the distance between the position of each target rack and the set position; The processor determines the movement sequence of each target shelf according to the distance between the position of each target shelf and the set position; the processor controls the periodic movement of the transfer storage device according to the movement sequence, so that multiple target shelves move one by one to loading and unloading mouth. In this way, when there are multiple identified target racks, the embodiment of the present disclosure determines the actual movement sequence according to the distances between the multiple target racks and the set position. Therefore, the intelligence degree of the transfer vehicle can be improved, so as to move all target racks on the transfer storage device in an orderly manner, which is beneficial to automatic warehouse entry and exit.

Optionally, the distance between the position of the target shelf and the set position is negatively correlated with the moving sequence. That is, the farther the target rack is from the set position, the lower its priority in the moving sequence, and the later the target rack moves to the loading and unloading port for transporting the totes.

Optionally, the processor determines the movement sequence of each target rack according to the distance between the position of each target rack and the set position, including: the processor sorts the distances between the positions of each target rack and the set position in ascending order, A distance sequence is obtained; the processor determines the distance sequence as a movement sequence of each target rack. In this way, by sorting the distances corresponding to the multiple target racks in ascending order, the embodiment of the present disclosure can simply and quickly determine the movement sequence of the multiple target racks. Therefore, the target rack closer to the set position can be moved to the loading and unloading port more preferentially, which is conducive to shortening the loading or unloading time and improving the efficiency of entering and exiting the warehouse.

Optionally, the processor controls the periodic movement of the transfer storage device according to the moving sequence, so that the multiple target racks move to the loading and unloading port one by one, including: S1, the processor determines from the multiple target racks according to the moving sequence The Nth rack moving to the loading and unloading port, N is a positive integer; S2, the processor controls the movement of the transfer storage device until the Nth rack moves to the loading and unloading port; S3, the processor continues to detect the working status of the Nth rack; S4 , when the working state of the Nth rack changes, the processor makes N=N+1; S5, the processor judges whether N≤M is established, and M is the total number of target racks; if established, the processor jumps Go to step S1; if not established, the processor executes step S6, and the processor controls the transfer storage device to enter the locked state, and the transfer storage device in the locked state does not perform circular motion after being controlled. In this way, the embodiment of the present disclosure can determine the Nth rack to be moved to the loading and unloading port according to the current order in the moving sequence, and control the movement of the transfer storage device to move the Nth rack to the loading and unloading port. When it is determined that the Nth rack has moved to the loading and unloading port, the embodiment of the present disclosure controls the transfer storage device to stop moving, and continuously detects the working state of the Nth rack. If it is confirmed that the Nth rack has changed its working state due to the transfer of the transfer box, then further determine the next target rack in the moving sequence and move it to the loading and unloading port until all the target racks have completed the transfer of the transfer box , the transfer storage device is now locked and no longer in controlled movement. Therefore, the embodiments of the present disclosure can improve the intelligence of the transfer vehicle, so as to move all the racks on the transfer storage device in an orderly manner, which is beneficial to automatic warehouse entry and exit.

Optionally, the processor determines that the target rack moves to the loading and unloading port in the following manner: the processor determines that the target rack moves to the set position. Wherein, the set position is the position closest to the loading and unloading port on the movement track of the transfer storage device. In this way, the embodiment of the present disclosure can make the target storage rack face the loading and unloading port, which is more convenient for the user to carry the transfer case.

Optionally, the processor determines that the target rack moves to the loading and unloading port in the following manner: the processor determines that the target rack moves to the set area. Wherein, the set area is the area formed by the positions on the movement trajectory of the transfer storage device whose distance from the loading and unloading port is less than the set distance. In this way, the embodiment of the present disclosure can make the target rack close to the loading and unloading port, which is convenient for the user to carry multiple transfer boxes at the same time.

As shown in FIG. 10 , an embodiment of the present disclosure provides another method for controlling a transfer vehicle, including:

S101. In response to a user instruction, the processor acquires the working status of each storage rack.

Wherein, the user instruction includes a warehouse-out instruction or a warehouse-in instruction, and the working state includes a first state where no transfer box is placed or a second state where a transfer box is placed.

S102. In the case that the user instruction is a storage instruction, the processor determines the rack whose working state is the first state as the first target rack.

S103, the processor controls the movement of the transfer storage device until the first target rack moves to the loading and unloading port, so that the user can carry the transfer box.

S104. In the case that the user instruction is a stock-out instruction, the processor determines the rack whose working state is the second state as the second target rack.

S105, the processor controls the movement of the transfer storage device until the second target rack moves to the loading and unloading port, so that the user can carry the transfer box.

Using the method for controlling a transfer vehicle provided by an embodiment of the present disclosure, a transfer storage device is provided in the transfer vehicle, and the transfer storage device is provided with a plurality of racks that can be used to place transfer boxes. When the transfer storage device is controlled to perform circular rotation, multiple storage racks can be driven by it to move in an orderly manner along the motion track. In the embodiment of the present disclosure, when receiving a user instruction, the working status of each storage rack is respectively determined, so as to distinguish between a loaded storage rack and an idle storage rack. When entering the warehouse, the embodiment of the present disclosure recognizes the storage rack without the transfer box as the first target storage rack, and controls the reasonable movement of the transfer storage device, so that the first target storage rack automatically moves to the vicinity of the loading and unloading port, so as to facilitate the user Store the transfer box. Thereby, the user's handling volume can be reduced, which is conducive to improving the storage efficiency. When leaving the warehouse, the embodiment of the present disclosure recognizes the storage rack with the transfer box as the second target storage rack, and controls the reasonable movement of the transfer storage device, so that the second target storage rack automatically moves to the vicinity of the loading and unloading port, so that The user picks up the transfer box. In this way, the user's handling volume can be reduced, which is conducive to improving the efficiency of warehouse delivery.

As shown in FIG. 11 , an embodiment of the present disclosure provides another method for controlling a transfer vehicle, including:

S111. In response to a user instruction, the processor acquires the working status of each storage rack.

Wherein, the user instruction includes a warehouse-out instruction or a warehouse-in instruction, and the working state includes a first state where no transfer box is placed or a second state where a transfer box is placed.

S112. In the case that the user instruction is a storage instruction, the processor determines the rack whose working state is the first state as the first target rack.

S113, if there is a first target rack, the processor controls the movement of the transfer storage device until the first target rack moves to the loading and unloading port, so that the user can carry the transfer box.

S114. If there is no first target rack, the processor controls the transfer storage device to enter a locked state.

Wherein, the transfer storage device in the locked state does not perform circular motion after being controlled.

S115, the processor controls the work of the reminder module to remind that the vehicle has been put into storage.

S116. In the case that the user instruction is a stock-out instruction, the processor determines the rack whose working state is the second state as the second target rack.

S117, the processor controls the movement of the transfer storage device until the second target rack moves to the loading and unloading port, so that the user can carry the transfer box.

Using the method for controlling a transfer vehicle provided by an embodiment of the present disclosure, a transfer storage device is provided in the transfer vehicle, and the transfer storage device is provided with a plurality of racks that can be used to place transfer boxes. When the transfer storage device is controlled to perform circular rotation, multiple storage racks can be driven by it to move in an orderly manner along the motion track. In the embodiment of the present disclosure, when receiving a user instruction, the working status of each storage rack is respectively determined, so as to distinguish between a loaded storage rack and an idle storage rack. When entering the warehouse, the embodiment of the present disclosure recognizes the storage rack without the transfer box as the first target storage rack, and controls the reasonable movement of the transfer storage device, so that the first target storage rack automatically moves to the vicinity of the loading and unloading port, so as to facilitate the user Store the transfer box. Thereby, the user's handling volume can be reduced, which is conducive to improving the storage efficiency. And when entering the warehouse, if it is determined that there is no shelf without a transfer box on the transfer storage device, it is judged that the vehicle has completed storage. By locking the transfer storage device and starting the reminder module, the embodiment of the present disclosure can enable the user to know in time The actual storage situation of the transfer storage device is convenient for the user to grasp the storage process. When going out of the warehouse, the embodiment of the present disclosure recognizes the storage rack with the transfer box as the second target storage rack, and controls the reasonable movement of the transfer storage device, so that the second target storage rack automatically moves to the vicinity of the loading and unloading port, so that The user picks up the transfer box. In this way, the user's handling volume can be reduced, which is conducive to improving the efficiency of warehouse delivery.

Optionally, the processor controlling the transfer storage device to enter the locked state includes: controlling the processor to disconnect the driving part from the first rotary transmission part. In this way, when the driving part is working, it will not drive the first rotary transmission part to perform circular rotary motion, so that it will not be able to drive the storage rack to move along the motion track. Therefore, the embodiment of the present disclosure can stop subsequent storage actions by locking the transfer storage device, which is convenient for the user to grasp the current storage process.

Optionally, the processor controls the reminding module to remind that the vehicle has completed storage, including: the processor controls the speaker to broadcast the prompt information that the vehicle has completed storage. In this way, the user can grasp the current warehouse-in process by hearing.

Optionally, the processor controls the reminder module to remind that the vehicle has been put into storage, including: the processor controls the light to lower the brightness or turn off the light. In this way, the user can use vision to grasp the current storage process.

As shown in FIG. 12 , an embodiment of the present disclosure provides another method for controlling a transfer vehicle, including:

S121. In response to a user instruction, the processor acquires the working status of each storage rack.

Wherein, the user instruction includes a warehouse-out instruction or a warehouse-in instruction, and the working state includes a first state where no transfer box is placed or a second state where a transfer box is placed.

S122. In the case that the user instruction is a storage instruction, the processor determines the rack whose working state is the first state as the first target rack.

S123, the processor controls the movement of the transfer storage device until the first target rack moves to the loading and unloading port, so that the user can carry the transfer box.

S124. In the case that the user instruction is a stock-out instruction, the processor determines the rack whose working state is the second state as the second target rack.

S125. If there is a second target rack, the processor controls the movement of the transfer storage device until the second target rack moves to the loading and unloading port, so that the user can carry the transfer box.

S126. If there is no second target rack, the processor controls the transfer storage device to enter a locked state.

Wherein, the transfer storage device in the locked state does not perform circular motion after being controlled.

S127, the processor controls the work of the reminding module to remind that the vehicle has finished leaving the warehouse.

Using the method for controlling a transfer vehicle provided by an embodiment of the present disclosure, a transfer storage device is provided in the transfer vehicle, and the transfer storage device is provided with a plurality of racks that can be used to place transfer boxes. When the transfer storage device is controlled to perform circular rotation, multiple storage racks can be driven by it to move in an orderly manner along the motion track. In the embodiment of the present disclosure, when receiving a user instruction, the working status of each storage rack is respectively determined, so as to distinguish between a loaded storage rack and an idle storage rack. When entering the warehouse, the embodiment of the present disclosure recognizes the storage rack without the transfer box as the first target storage rack, and controls the reasonable movement of the transfer storage device, so that the first target storage rack automatically moves to the vicinity of the loading and unloading port, so as to facilitate the user Store the transfer box. Thereby, the user's handling volume can be reduced, which is conducive to improving the storage efficiency. When leaving the warehouse, the embodiment of the present disclosure recognizes the storage rack with the transfer box as the second target storage rack, and controls the reasonable movement of the transfer storage device, so that the second target storage rack automatically moves to the vicinity of the loading and unloading port, so that The user picks up the transfer box. In this way, the user's handling volume can be reduced, which is conducive to improving the efficiency of warehouse delivery. And when leaving the warehouse, if it is determined that there is no shelf with a transfer box on the transfer storage device, it is judged that the vehicle has completed the departure from the warehouse. By locking the transfer storage device and starting the reminder module, the embodiments of the present disclosure can enable the user to know the transfer box in time. The actual storage situation of the storage device is convenient for the user to grasp the progress of the warehouse.

Optionally, the processor controlling the transfer storage device to enter the locked state includes: controlling the processor to disconnect the driving part from the first rotary transmission part. In this way, when the driving part is working, it will not drive the first rotary transmission part to perform circular rotary motion, so that it will not be able to drive the storage rack to move along the motion track. Therefore, the embodiment of the present disclosure can stop the subsequent outbound action by locking the transfer storage device, which is convenient for the user to grasp the current outbound process.

Optionally, the processor controls the reminding module to remind that the vehicle has completed leaving the warehouse, including: the processor controls the speaker to broadcast the prompt information that the vehicle has completed leaving the warehouse. In this way, the user can grasp the current delivery process by hearing.

Optionally, the processor controls the reminder module to remind that the vehicle has left the warehouse, including: the processor controls the light to lower the brightness or turn off the light. In this way, the user can visually grasp the current delivery process.

As shown in FIG. 13 , an embodiment of the present disclosure provides another method for controlling a transfer vehicle, including:

S131. In response to a user instruction, the processor acquires the working status of each storage rack.

S132. The processor determines a target storage rack according to the working status of each storage rack and the user instruction.

S133, the processor controls the movement of the transfer storage device until the target rack moves to the loading and unloading port, so that the user can carry the transfer box.

S134, the processor verifies the label information of the transfer box placed on the target rack.

S135, the processor controls the working state of the electromagnet module on the target shelf according to the user instruction and the verification result.

Using the method for controlling a transfer vehicle provided by an embodiment of the present disclosure, a transfer storage device is provided in the transfer vehicle, and the transfer storage device is provided with a plurality of racks that can be used to place transfer boxes. When the transfer storage device is controlled to perform circular rotation, multiple storage racks can be driven by it to move in an orderly manner along the motion track. In the embodiment of the present disclosure, when receiving a user instruction, the working status of each storage rack is respectively determined, so as to distinguish between a loaded storage rack and an idle storage rack. Then determine the target rack according to the user's instruction, so as to control the reasonable movement of the transfer storage device, so that the target rack automatically moves to the vicinity of the loading and unloading port. Thereby, it can be convenient for the user to carry the transfer box, reduce the amount of handling by the user, and help improve the efficiency of entering and exiting the warehouse. In addition, after the movement of the target rack is completed, the embodiment of the present disclosure collects and verifies the label information of the transfer box placed on the target rack, so as to determine whether the transfer box has been mishandled. According to the verification result and the instruction type, the embodiment of the present disclosure further controls the working state of the electromagnet module on the target rack, so as to regulate the suction connection between the target rack and the transfer box placed thereon. Therefore, on the one hand, this solution can prevent the transfer box from falling during transportation, which is beneficial to improving the stability of the transfer box. On the other hand, since the transfer box in the state of suction connection cannot be easily taken, combined with the information verification of the in-out process, the embodiments of the present disclosure can also prevent the transfer box from being illegally loaded or unloaded, which is conducive to improving the safety of blood product transfer.

Optionally, when the user instruction is a warehousing instruction, the processor verifies the label information of the transfer box placed on the target rack, including: the processor controls the reading module to collect the label information of the transfer box placed on the target rack ; The processor obtains the order information of this transshipment process; the processor compares the label information with the order information to verify the label information. In this way, the embodiment of the present disclosure can compare the label information on the transfer box with the order information imported by the user in advance to verify whether the two match. Thereby, the safety of transshipment of blood products can be improved, and wrong transshipment can be avoided, causing potential medical safety hazards.

Optionally, the processor compares the tag information with the order information to verify the tag information, including: the processor extracts the first location information and the first blood information from the tag information; the processor extracts the second location information from the order information. location information and second blood information; when the first location information is consistent with the second location information and the first blood information is consistent with the second blood information, the processor determines that the verification of the tag information is successful; when the first location information is consistent with the second If the location information is inconsistent and/or the first blood information is inconsistent with the second blood information, the processor determines that the verification of the tag information fails. In this way, by comparing the label information with the location information and blood information in the order information, the embodiments of the present disclosure can improve the safety of blood product transshipment, avoid wrong transshipment, and cause medical safety hazards.

Optionally, when the user instruction is an outbound instruction, the processor verifies the label information of the transfer box placed on the target rack, including: the processor controls the reading module to collect the label information of the transfer box placed on the target rack ; According to the label information, the processor generates the verification information of the transfer box placed on the target shelf for user verification; the processor obtains the answer information filled in by the user; the processor compares the content of the label information with the answer information to verify Label Information. In this way, the embodiment of the present disclosure can collect the label information of the transfer box and allow the user to reply part of the content, so as to determine whether the transfer box has been taken by mistake. Thereby, the safety of transshipment of blood products can be improved, and wrong transshipment can be avoided, causing potential medical safety hazards.

Optionally, the processor generates the verification information of the transfer box placed on the target rack according to the label information, including: the processor extracts the first location information and the first blood information from the label information; the processor extracts the first location information and the first blood information according to the first location information and the first blood information, generate and display verification information, the verification information includes question information and prompt information related to the first location information and the first blood information. In this way, by allowing the user to answer the location information and blood information in the tag information, the embodiments of the present disclosure can improve the safety of blood product transshipment, avoid wrong transshipment, and cause medical safety hazards.

Optionally, the processor compares the label information with the answer information to verify the label information, including: the processor matches the first location information and the first blood information from the answer information; In the case of the first blood information, the processor determines that the verification of the label information is successful; in the case of not matching the first location information and/or not matching the first blood information, the processor determines that the verification of the label information fails. In this way, by allowing the user to answer the location information and blood information in the tag information, the embodiments of the present disclosure can improve the safety of blood product transshipment, avoid wrong transshipment, and cause medical safety hazards.

Optionally, the location information includes departure information and/or destination information. In this way, by verifying the above location information, the embodiments of the present disclosure can avoid errors in the starting point or the ending point of the transfer. Thereby, the safety of transshipment of blood products can be improved.

Optionally, the blood information includes some or all of blood product type information, blood product dosage information, blood product validity period information, and blood product quality information. In this way, by verifying the above blood information, the embodiments of the present disclosure can avoid errors in the parameters of transshipment of blood products. Thereby, the safety of transshipment of blood products can be improved.

Optionally, the processor controls the working state of the electromagnet module on the target storage rack according to the user instruction and the verification result, including: when the user instruction is a storage instruction and the verification result is a successful verification, the processor controls the target storage rack. The electromagnet module on the rack is energized, so that the target rack and the transfer box placed on the target rack are sucked together. In this way, when entering the warehouse, if it is judged that the verification of the tag information is successful, it is determined that the transfer box placed on the target rack is correctly stored. The embodiments of the present disclosure control the power supply of the electromagnet module so that the target shelf is connected to the transfer box placed on it, so as to avoid the drop of the transfer box during transportation and improve the stability of the transfer box.

Optionally, the processor controls the working state of the electromagnet module on the target storage rack according to the user instruction and the verification result, including: when the user instruction is a storage instruction and the verification result is verification failure, the processor controls the target storage rack. The electromagnet module on the rack is powered off, so that the target rack and the transfer box placed on the target rack are not connected by suction. In this way, when entering the warehouse, if it is judged that the verification of the label information fails, it is determined that the transfer box placed on the target rack is wrongly stored. The embodiments of the present disclosure control the power-off of the electromagnet module, so as not to make the target rack and the transfer box placed on it attract and connect, so as to indicate that the current storage process is incorrect, and prompt the user to recheck the information of the transfer box.

Optionally, the processor controls the working state of the electromagnet module on the target storage rack according to the user instruction and the verification result, including: when the user instruction is an outbound instruction and the verification result is successful verification, the processor controls the target storage rack. The electromagnet module on the rack is powered off, so that the target rack and the transfer box placed on the target rack are released from the suction connection. In this way, when it is out of the warehouse, if it is judged that the verification of the label information is successful, it is determined that the transfer box placed on the target rack is correctly taken. The embodiment of the present disclosure controls the power-off of the electromagnet module, so that the target rack and the transfer box placed on it are released from the suction connection, so that the legal user can easily remove the transfer box, so as to facilitate the quick delivery of the transfer box.

Optionally, the processor controls the working state of the electromagnet module on the target storage rack according to the user instruction and the verification result, including: when the user instruction is an outbound instruction and the verification result is verification failure, the processor controls the target storage rack. The electromagnet module on the rack is energized to maintain the suction connection between the target rack and the transfer box placed on the target rack. In this way, when it is out of the warehouse, if it is judged that the verification of the label information fails, it is determined that the transfer box placed on the target rack has been taken by mistake. The embodiment of the present disclosure controls the electromagnet module to be powered on so that the target rack and the transfer box placed on it maintain a suction connection, thereby preventing the transfer box from being illegally unloaded and improving the safety of blood product transfer.

As shown in FIG. 14 , an embodiment of the present disclosure provides another method for controlling a transfer vehicle, including:

S141. In response to a user instruction, the processor acquires the working status of each storage rack.

S142. The processor determines a target storage rack according to the working status of each storage rack and the user instruction.

S143, the processor controls the movement of the transfer storage device until the target rack moves to the loading and unloading port, so that the user can carry the transfer box.

S144, the processor verifies the label information of the transfer box placed on the target rack.

S145, the processor controls the working state of the electromagnet module on the target shelf according to the user instruction and the verification result.

S146. The processor controls the working state of the transshipment storage device according to the verification result.

Using the method for controlling a transfer vehicle provided by an embodiment of the present disclosure, a transfer storage device is provided in the transfer vehicle, and the transfer storage device is provided with a plurality of racks that can be used to place transfer boxes. When the transfer storage device is controlled to perform circular rotation, multiple storage racks can be driven by it to move in an orderly manner along the motion track. In the embodiment of the present disclosure, when receiving a user instruction, the working status of each storage rack is respectively determined, so as to distinguish between a loaded storage rack and an idle storage rack. Then determine the target rack according to the user's instruction, so as to control the reasonable movement of the transfer storage device, so that the target rack automatically moves to the vicinity of the loading and unloading port. Thereby, it can be convenient for the user to carry the transfer box, reduce the amount of handling by the user, and help improve the efficiency of entering and exiting the warehouse. In addition, after the movement of the target rack is completed, the embodiment of the present disclosure collects and verifies the label information of the transfer box placed on the target rack, so as to determine whether the transfer box has been mishandled. According to the verification result and the instruction type, the embodiment of the present disclosure further controls the working state of the electromagnet module on the target rack, so as to regulate the suction connection between the target rack and the transfer box placed thereon. Therefore, on the one hand, this solution can prevent the transfer box from falling during transportation, which is beneficial to improving the stability of the transfer box. On the other hand, since the transfer box in the state of suction connection cannot be easily taken, combined with the information verification of the in-out process, the embodiments of the present disclosure can also prevent the transfer box from being illegally loaded or unloaded, which is conducive to improving the safety of blood product transfer. In addition, combined with the verification result of the tag information, the embodiments of the present disclosure can also control the working status of the transfer storage device in conjunction to determine whether the subsequent storage-in and out-of-warehouse actions continue to run. Therefore, the embodiments of the present disclosure can further improve the reliability of the transport of the transfer box, and avoid potential medical safety hazards caused by incorrect transfer.

Optionally, the processor controls the working state of the transshipment storage device according to the verification result, including: when the verification result is verification success, the processor controls the transfer storage device to maintain a normal state; when the verification result is verification failure, The processor controls the transit storage device to enter a locked state. Wherein, the transshipment storage device in the normal state performs circular rotation movement after being controlled, and the transshipment storage device in the locked state does not perform circular rotation movement after control. In this way, the embodiment of the present disclosure can verify whether the transfer box is mishandled by verifying the relevant information of the transfer box placed on the target rack. In case of mishandling, by locking the transfer storage device, the embodiment of the present disclosure can stop subsequent storage and storage operations. Thereby, the reliability of transfer box handling can be improved, and medical safety hidden dangers caused by wrong transfer can be avoided.

In conjunction with what is shown in FIG. 15 , an embodiment of the present disclosure provides another method for controlling a transfer vehicle, including:

S151. In response to a user instruction, the processor acquires the working status of each storage rack.

S152. The processor determines a target storage rack according to the working status of each storage rack and the user instruction.

S153, the processor controls the movement of the transfer storage device until the target rack moves to the loading and unloading port, so that the user can carry the transfer box.

S154, in the case of not responding to the user instruction, the processor detects the temperature inside each transfer case.

S155. The processor determines a transfer case whose temperature inside the case is greater than a first preset temperature as a target transfer case.

S156, the processor controls the movement of the transfer storage device until the shelf where the target transfer box is located moves to the air outlet, so as to reduce the temperature inside the target transfer box.

Using the method for controlling a transfer vehicle provided by an embodiment of the present disclosure, a transfer storage device is provided in the transfer vehicle, and the transfer storage device is provided with a plurality of racks that can be used to place transfer boxes. When the transfer storage device is controlled to perform circular rotation, multiple storage racks can be driven by it to move in an orderly manner along the motion track. In the embodiment of the present disclosure, when receiving a user instruction, the working status of each storage rack is respectively determined, so as to distinguish between a loaded storage rack and an idle storage rack. Then determine the target rack according to the user's instruction, so as to control the reasonable movement of the transfer storage device, so that the target rack automatically moves to the vicinity of the loading and unloading port. Thereby, it can be convenient for the user to carry the transfer box, reduce the amount of handling by the user, and help improve the efficiency of entering and exiting the warehouse. When the user instruction is not responded to, usually corresponding to the transport process of the transfer vehicle, the embodiment of the present disclosure detects the temperature inside each transfer box separately, so as to better grasp the difference in cooling effect between different transfer boxes. If it is judged that there is a transfer box with a relatively high temperature on the transfer storage device, it will be identified as the target transfer box, and the transfer storage device will be controlled to move reasonably, so that the shelf where the target transfer box is located will automatically move to the vicinity of the air outlet of the refrigeration system. In order to facilitate this part of the transfer box to obtain more sufficient cooling. Therefore, the embodiments of the present disclosure can make the multiple transfer boxes evenly cooled during transportation, so as to meet the storage temperature requirements of all blood products in the vehicle as much as possible. Thereby, the possibility of deterioration and damage of blood products can be reduced, which is conducive to improving the reliability of the transportation process.

Optionally, the processor controls the movement of the transfer storage device until the rack where the target transfer box is located moves to the air outlet, including: when there are multiple target transfer boxes, the processor separately calculates the temperature inside the box of each target transfer box The temperature difference from the first preset temperature; the processor determines the temperature adjustment sequence of each target transfer box according to the temperature difference between the temperature inside the box of each target transfer box and the first preset temperature; the processor controls the transfer according to the temperature adjustment sequence The storage device moves periodically, so that the storage racks where the multiple target transfer boxes are located move to the air outlet one by one. In this way, when there are multiple target transfer boxes with relatively high temperatures in the boxes, the embodiment of the present disclosure determines the actual temperature adjustment sequence according to the temperature difference between the temperature in the multiple target transfer boxes and the first preset temperature. Thereby, the intelligence degree of the transfer vehicle can be improved, so that multiple transfer boxes are cooled evenly during the transportation process, which is conducive to meeting the storage temperature requirements of all blood products in the vehicle.

Optionally, the temperature difference between the temperature inside the target transfer box and the first preset temperature is positively correlated with the temperature adjustment sequence. That is, the greater the temperature difference between the temperature inside the target transfer box and the first preset temperature, the higher its priority in the temperature adjustment sequence. At this time, the earlier the target transfer box moves to the air outlet to obtain a more timely Cool down.

Optionally, the processor determines that the rack where the target transfer box is located moves to the air outlet in the following manner: the processor determines that the rack where the target transfer box is located moves to the target position. Wherein, the target position is the position closest to the air outlet on the movement track of the transfer storage device. In this way, the embodiment of the present disclosure can make the shelf where the target transfer box is located face to the air outlet of the refrigeration system, which is beneficial for the transfer box with a relatively high temperature in the box to obtain more sufficient cooling.

Optionally, the processor determines that the rack where the target transfer box is located moves to the air outlet in the following manner: the processor determines that the rack where the target transfer box is located moves to the target area. Wherein, the target area is an area formed by positions on the movement trajectory of the transfer storage device whose distance from the air outlet is less than a preset distance. In this way, the embodiments of the present disclosure can make the racks where the multiple target transfer boxes are located close to the air outlet of the refrigeration system, which is beneficial for multiple transfer boxes with poor cooling effects to obtain sufficient cooling at the same time.

Optionally, when there is no transfer case whose internal temperature is greater than the first preset temperature, the method for controlling the transfer vehicle further includes: when there is a transfer case whose internal temperature is greater than the second preset temperature In this case, the processor controls the transfer storage device to continue to move at a constant speed; when there is no transfer case whose temperature in the case is higher than the second preset temperature, the processor controls the transfer storage device to remain in a static state. Wherein, the first preset temperature is greater than the second preset temperature. In this way, corresponding to the first preset temperature, the embodiments of the present disclosure additionally set a second lower preset temperature to more safely control the storage temperature of blood products in each transfer box. If it is judged that there is no transfer box with the temperature in the box higher than the first preset temperature on the transfer storage device, the relationship between the temperatures in the boxes and the second preset temperature is further determined. If there are transfer boxes whose internal temperature is higher than the second preset temperature, it means that the internal temperature of this part of the transfer box is close to the first preset temperature, and there is a possibility that the stored blood products may deteriorate after the temperature rises and exceed the standard. sex. Therefore, the embodiment of the present disclosure controls the transfer storage device to continue to move at a constant speed, so that multiple transfer boxes can obtain uniform cooling, and avoid blood product deterioration and damage caused by the subsequent temperature rise of some transfer boxes. And when the temperatures in all the boxes are lower than the second preset temperature, it means that all the transfer boxes are in a relatively low temperature state, and even if the temperature in the boxes fluctuates appropriately, the blood products will not be deteriorated or damaged. Therefore, the transfer storage device is controlled to keep still at this time, so that energy can be further saved under the condition that the storage temperature is confirmed to be up to standard.

Optionally, the processor controls the movement of the transfer storage device until the rack where the target transfer box is located moves to the air outlet, and further includes: when the temperature inside the target transfer box is less than or equal to the first preset temperature, processing The controller controls the transfer storage device to continue to move at a constant speed, or to maintain a static state. In this way, when the shelf where the target transfer box is located moves to the vicinity of the air outlet, the embodiment of the present disclosure controls the transfer storage device to stop moving, and continuously detects the temperature inside the target transfer box. If it is confirmed that the temperature in the target transfer box is lower than the first preset temperature due to more sufficient cooling near the air outlet, the transfer storage device is controlled to move at a constant speed or remain stationary to further save energy when the storage temperature is confirmed to be up to standard . Therefore, the embodiments of the present disclosure can make the multiple transfer boxes evenly cooled during transportation, so as to meet the storage temperature requirements of all blood products in the vehicle as much as possible. Thereby, the possibility of deterioration and damage of blood products can be reduced, which is conducive to improving the reliability of the transportation process.

Optionally, the processor controls the transfer storage device to continue to move at a constant speed, or to maintain a static state, including: the processor detects the cabin temperature of the transfer vehicle; the processor controls the transfer storage device to continue to move at a constant speed according to the cabin temperature, or to maintain Stationary state. In this way, the embodiment of the present disclosure can control the subsequent working state of the transfer storage device in combination with the temperature of the compartment, so as to more reasonably regulate the temperature inside each transfer case.

Optionally, the processor controls the transfer storage device to continue to move at a constant speed according to the temperature of the compartment, or to maintain a static state, including: when the temperature of the compartment is greater than or equal to a preset ambient temperature, the processor controls the transfer storage device to continue to move at a constant speed Movement; when the temperature of the compartment is lower than the preset ambient temperature, the processor controls the transfer storage device to remain in a static state. In this way, when the temperature of the car compartment is high, the internally stored transfer boxes tend to heat up, so the transfer storage device is controlled to continue to move at a constant speed, so that multiple transfer boxes can still obtain uniform cooling, and avoid the subsequent temperature rise of some transfer boxes that may cause blood products Deterioration damage. When the temperature of the car compartment is low, the internal storage transfer box is easy to maintain at a suitable low temperature, so the transfer storage device is controlled to remain stationary at this time to further save energy after confirming that the storage temperature meets the standard.

Optionally, the processor controls the transfer storage device to continue to move at a constant speed, including: the processor obtains the current vehicle speed of the transfer vehicle; the processor determines the movement speed of the transfer storage device according to the current vehicle speed; the processor controls the transfer storage device to perform uniform motion. In this way, the speed of the transfer storage device when it moves at a constant speed is related to the speed of the transfer vehicle, so that the instability caused by inertia can be reduced to a certain extent, and the transfer box placed on the transfer storage device can be prevented from falling.

Optionally, the processor controls the movement of the transfer storage device until the rack where the target transfer box is located moves to the air outlet, and further includes: the processor controls the operation of the refrigeration system according to the temperature inside each transfer box. In this way, the embodiment of the present disclosure can also control the operation of the refrigeration system according to the temperature in multiple boxes to create a suitable environment for the car cabin, and then can regulate the temperature in the multiple transfer boxes, which is beneficial to prevent blood products from deteriorating and being damaged.

Optionally, the processor controls the operation of the refrigeration system according to the temperature inside each transfer box, including: when there is a transfer box whose temperature in the box is greater than a first preset temperature, the processor controls the refrigeration system to start; Adjust the operating parameters of the refrigeration system according to the maximum temperature inside each transfer box. Wherein, the operating parameters include one or more of the opening degree of the electromagnetic valve, the rotating speed of the evaporation fan, and the operating frequency of the compressor. In this way, when the temperature in the box exceeds the standard, in addition to controlling the movement of the transfer storage device, the embodiment of the present disclosure can also adjust the operating parameters of the refrigeration system according to the maximum value of the temperature in the box, so as to increase the cooling power of the system and speed up the target transfer. The cooling rate of the box. Therefore, the storage temperature requirements of blood products can be better met, and the possibility of deterioration and damage of blood products can be reduced.

As shown in FIG. 14 , an embodiment of the present disclosure provides a device 9 for controlling a transfer vehicle, including a processor (processor) 901 and a memory (memory) 902 . Optionally, the device may further include a communication interface (Communication Interface) 903 and a bus 904 . Wherein, the processor 901 , the communication interface 903 , and the memory 902 can communicate with each other through the bus 904 . The communication interface 903 can be used for information transmission. The processor 901 may invoke logic instructions in the memory 902 to execute the method for controlling the transfer vehicle in the above-mentioned embodiments.

In addition, the above-mentioned logic instructions in the memory 902 may be implemented in the form of software functional units and be stored in a computer-readable storage medium when sold or used as an independent product.

The memory 902, as a computer-readable storage medium, may be used to store software programs and computer-executable programs, such as program instructions/modules corresponding to the methods in the embodiments of the present disclosure. The processor 901 executes the program instructions/modules stored in the memory 902 to execute functional applications and data processing, that is, to implement the method for controlling the transfer vehicle in the above-mentioned embodiments.

The memory 902 may include a program storage area and a data storage area, wherein the program storage area may store an operating system and an application program required by at least one function; the data storage area may store data created according to the use of the terminal device, and the like. In addition, the memory 902 may include a high-speed random access memory, and may also include a non-volatile memory.

An embodiment of the present disclosure provides a computer-readable storage medium, which stores computer-executable instructions, and the computer-executable instructions are configured to execute the above-mentioned method for controlling a transfer vehicle.

The above-mentioned computer-readable storage medium may be a transitory computer-readable storage medium, or a non-transitory computer-readable storage medium.

The technical solutions of the embodiments of the present disclosure can be embodied in the form of software products, which are stored in a storage medium and include one or more instructions to make a computer device (which can be a personal computer, a server, or a network equipment, etc.) to perform all or part of the steps of the method described in the embodiments of the present disclosure. The aforementioned storage medium can be a non-transitory storage medium, including: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), magnetic disk or optical disk, etc. A medium that can store program code, or a transitory storage medium.

The above description and drawings sufficiently illustrate the embodiments of the present disclosure to enable those skilled in the art to practice them. Other embodiments may incorporate structural, logical, electrical, procedural, and other changes. The examples merely represent possible variations. Individual components and functions are optional unless explicitly required, and the order of operations may vary. Portions and features of some embodiments may be included in or substituted for those of other embodiments. Also, the terms used in the present application are used to describe the embodiments only and are not used to limit the claims. As used in the examples and description of the claims, the singular forms "a", "an" and "the" are intended to include the plural forms as well unless the context clearly indicates otherwise . Similarly, the term "and/or" as used in this application is meant to include any and all possible combinations of one or more of the associated listed ones. Additionally, when used in this application, the term "comprise" and its variants "comprises" and/or comprising (comprising) etc. refer to stated features, integers, steps, operations, elements, and/or The presence of a component does not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components and/or groupings of these. Without further limitations, an element defined by the statement "comprising a ..." does not exclude the presence of additional identical elements in the process, method or apparatus comprising said element. Herein, what each embodiment focuses on may be the difference from other embodiments, and the same and similar parts of the various embodiments may refer to each other. For the method, product, etc. disclosed in the embodiment, if it corresponds to the method part disclosed in the embodiment, then the relevant part can refer to the description of the method part.

The flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to embodiments of the disclosure. In this regard, each block in a flowchart or block diagram may represent a module, program segment, or part of code that includes one or more Executable instructions. In some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks in succession may, in fact, be executed substantially concurrently, or they may sometimes be executed in the reverse order, depending upon the functionality involved. In the descriptions corresponding to the flowcharts and block diagrams in the accompanying drawings, the operations or steps corresponding to different blocks may also occur in a different order than that disclosed in the description, and sometimes there is no specific agreement between different operations or steps. order. For example, two consecutive operations or steps may, in fact, be performed substantially concurrently, or they may sometimes be performed in the reverse order, depending upon the functionality involved. Each block in the block diagrams and/or flowcharts, and combinations of blocks in the block diagrams and/or flowcharts, can be implemented by a dedicated hardware-based system that performs the specified function or action, or can be implemented by dedicated hardware implemented in combination with computer instructions.

Claims (11)

1. A method for controlling a transfer car, wherein the transfer car comprises a car body; the vehicle cabin is arranged on the vehicle body and is provided with a loading and unloading opening; the transfer storage device is arranged in the vehicle cabin and can be controlled to do annular rotary motion, the transfer storage device comprises a plurality of storage racks, and the storage racks can be used for placing transfer boxes; the method comprises the following steps:

responding to a user instruction, and acquiring the working state of each commodity shelf;

determining target commodity shelves according to the working state of each commodity shelf and the user instruction;

and controlling the transfer storage device to move until the target commodity shelf moves to the loading and unloading port so as to facilitate a user to carry the transfer box.

2. The method of claim 1 wherein said controlling the movement of the transshipment storage device until the target storage shelf is moved to the loading dock comprises:

determining the distance between the position of each target commodity shelf and the set position under the condition that a plurality of target commodity shelves exist;

determining the moving sequence of each target commodity shelf according to the distance between the position of each target commodity shelf and the set position;

controlling the transfer storage device to periodically move according to the moving sequence so as to enable the target storage racks to move to the loading and unloading port one by one;

the set position is the position on the movement track of the transfer storage device, which is closest to the loading and unloading port.

3. The method of claim 2, wherein the distance between the target shelf location and the set location is inversely related to the movement sequence.

4. The method according to claim 1, wherein the user command comprises an ex-warehouse command or an in-warehouse command, and the working state comprises a first state in which no transfer box is placed or a second state in which a transfer box is placed; according to the operating condition of each supporter with user's instruction, confirm target supporter, include:

under the condition that the user instruction is a warehousing instruction, determining the commodity shelf with the working state being a first state as a first target commodity shelf;

and under the condition that the user command is a delivery command, determining the commodity shelf with the working state being the second state as a second target commodity shelf.

5. The method of claim 4, wherein the vehicle further comprises a reminder module, the reminder module being disposed on the vehicle body; under the condition that the user instruction is a warehousing instruction, if a first target commodity shelf does not exist, the method further comprises the following steps:

controlling the transfer storage device to enter a locked state;

controlling the reminding module to work to prompt that the vehicle is put in storage;

wherein, the transfer storage device in the locking state is controlled not to perform annular rotary motion.

6. The method according to claim 4, wherein the transfer vehicle further comprises a reminder module, the reminder module being provided on the vehicle body; if the user command is a warehouse-out command, if a second target commodity shelf does not exist, the method further comprises the following steps:

controlling the transfer storage device to enter a locked state;

controlling the reminding module to work to prompt that the vehicle is delivered out of the garage;

wherein, the transfer storage device in the locking state is controlled not to perform annular rotary motion.

7. Method according to any of claims 1 to 6, wherein the storage rack is provided with electromagnet modules; the control the movement of the transfer storage device until the target commodity shelf moves to the loading and unloading opening, further comprising:

verifying label information of a transfer box placed on the target commodity shelf;

and controlling the working state of the electromagnet module on the target commodity shelf according to the user instruction and the verification result.

8. The method according to any one of claims 1 to 6, wherein the transfer trolley further comprises a refrigerating system, the trolley cabin defines an accommodating space and an accommodating cavity, the accommodating space is communicated with the accommodating cavity through a ventilation pipeline, the ventilation pipeline comprises an air outlet pipeline, an air outlet is formed in the connecting end of the air outlet pipeline and the accommodating space, the transfer storage device is arranged in the accommodating space, and the refrigerating system is arranged in the accommodating cavity; the method further comprises the following steps:

detecting the in-box temperature of each transfer box under the condition of not responding to the instruction of the user;

determining a transfer box with the temperature higher than a first preset temperature as a target transfer box;

and controlling the transfer storage device to move until the object placing shelf where the target transfer box is moves to the air outlet so as to reduce the temperature in the target transfer box.

9. A device for controlling a vehicle, comprising a processor and a memory storing program instructions, characterized in that the processor is configured to carry out the method for controlling a vehicle according to any one of claims 1 to 8 when executing the program instructions.

10. A transfer car (buggy), comprising:

a vehicle body;

the vehicle cabin is arranged on the vehicle body and is provided with a loading and unloading opening;

the transfer storage device is arranged in the vehicle cabin and can be controlled to do annular rotary motion, the transfer storage device comprises a plurality of storage racks, and the storage racks can be used for placing transfer boxes;

the apparatus for controlling a transfer vehicle of claim 9, mounted to the vehicle body.

11. A storage medium storing program instructions, characterized in that the program instructions, when executed, perform a method for controlling a transfer trolley according to any one of claims 1 to 8.

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