CN-122000012-A - Multi-robot hemostasis management system based on task scheduling

CN122000012ACN 122000012 ACN122000012 ACN 122000012ACN-122000012-A

Abstract

The invention relates to the technical field of hemostasis management, in particular to a multi-robot hemostasis management system based on task scheduling, which comprises a hemostasis physiological monitoring module, a compression state time sequence module, a hemostasis task scheduling module, a loosening path planning module and a multi-robot cooperation module. According to the invention, the multi-type physiological monitoring, the identity tag, the position change and the operation node are linked and collected, so that the whole flow tracking capacity of the sick and wounded is enhanced by using time and space identification, the compression period and operation allocation are optimized by the interactive judgment of the physiological monitoring and path information, the intelligent response of task sequencing and execution main body selection is realized, the space node and the passing track are dynamically updated, the avoidance and resource utilization efficiency when the hemostatic robot cooperates is improved, the scheduling sequence and execution stability of batches of sick and wounded are synchronously improved by task linkage parameters, the phenomena of splitting and collision are reduced, the information chain penetrates through the front line and the rear, and the time sequence management, risk prevention and control and group cooperation capacity of hemostatic management are enhanced.

Inventors

XU LIWEN
JIANG HONGTAO
CAO YAN

Assignees

中国人民解放军海军第九七一医院

Dates

Publication Date: 20260508
Application Date: 20260122

Claims (10)

1. A multi-robot hemostatic management system based on task scheduling, the system comprising: The hemostatic physiological monitoring module is used for analyzing a pulse signal curve acquired after the tourniquet is bound based on the hemostatic robot, judging a blood flow blocking state through synchronous change of the crest interval and the skin temperature, and obtaining a blood flow blocking sign set; The compression state timing sequence module screens a blocking signal sequence based on the blood flow blocking feature set, analyzes the chest card photo of the wounded, compares the similarity of a name template and characters, and combines photographing and binding timing sequence relationship to obtain a compression continuous identification quantity; the hemostasis task scheduling module judges the coordinate distance between the current position of the hemostasis robot and the sick and wounded based on the compaction continuous identification quantity, plans an unobstructed optimal moving path, screens objects with the compression period close to the upper limit, adjusts task priority, and obtains task execution sequencing data; The loosening path planning module screens the loosening target position based on the task execution sequencing data, analyzes passable nodes fed back by obstacle detection, compares a plurality of paths, and adjusts the arrangement of the passable path points to obtain an accessible passable track sequence; And the multi-robot cooperative module analyzes the matching condition of the scheduling record and the target area based on the reachable traffic track sequence, judges the distribution path crossing point, identifies the path overlapping number, adjusts the departure sequence of the hemostatic robots and obtains group task linkage configuration.
2. The task scheduling-based multi-robot hemostatic management system of claim 1, wherein the blood flow blocking characterization set includes a pulse change identification, a temperature response tag, and a monitoring period flag, the compression duration identification amount includes an identity data index, a binding event number, and a time sequence association flag, the task execution ordering data includes an ordering priority factor, a target allocation sequence, and a scheduling identification code, the reachable traffic trace sequence includes a node path set, a turn instruction, and a risk identifier, and the group task linkage configuration includes a synergistic unit identification, a grouping task flag, and a synchronization period parameter.
3. The task scheduling-based multi-robot hemostatic management system of claim 1, wherein the hemostatic physiological monitoring module comprises: the pulse waveform analysis submodule analyzes the acquired pulse signal curve of the wounded, positions continuous wave peaks and identifies time intervals among the wave peaks, compares the distribution condition of the wave peak intervals of each period, judges the interval change rule in each period, identifies the periodically changed area and obtains the pulse interval change mark; The data synchronization judging submodule compares the hemodynamic monitoring data with the skin temperature detection data in the corresponding time period based on the pulse interval change mark, analyzes the time change trend of the data, calculates whether the trend changes in each time period are consistent or not, screens the interval with synchronous change trend, and obtains a multi-parameter trend synchronization label; The multi-source data sequence adjusting submodule optimizes the multi-channel physiological parameter acquisition sequence related to the time period based on the multi-parameter trend synchronous label, judges the acquisition sequence of the data of each channel, and adjusts the acquisition arrangement sequence of each channel to obtain the blood flow blocking characteristic set.
4. The task scheduling-based multi-robot hemostatic management system of claim 1, wherein the compression state timing module comprises: The signal sequence screening submodule analyzes the change of pulse signals of each period based on the blood flow blocking feature set, calculates the continuous change trend of the signal intensity of each period, screens the interval with signal amplitude convergence and gradually weakened fluctuation range in time sequence, and judges the connectivity of the interval in the whole time sequence to obtain a signal attenuation continuous section; The image information recognition sub-module compares the content of the chest card photo character area in the association period based on the signal attenuation continuous section, analyzes the structural composition of the image characters and the name recognition template, calculates the matching proportion of the two groups of character structures, and judges the character comparison relation corresponding to the maximum matching proportion to obtain an identity structure matching table; and the time sequence information association submodule judges the photo acquisition time and the wounded identity index based on the identity structure matching table, analyzes the sequence of the completion time of the corresponding tourniquet binding action in the data link, calculates the time sequence corresponding relation of each type of event, and obtains the compression continuous identification quantity.
5. The task scheduling-based multi-robot hemostatic management system of claim 1, wherein the hemostatic task scheduling module comprises: the space distance calculation submodule analyzes the current position of the hemostatic robot and the coordinates of the sick and wounded based on the compaction continuous identification quantity, judges the communication condition of two groups of space points under a three-dimensional coordinate system, screens barrier nodes in a path, compares the connection sequence of each passable route on a space topological structure, calculates the passing distance between the hemostatic robot and a target point, and obtains a path communication distance set; the path task screening submodule judges the corresponding relation between the compression duration time and the scheduling period of the target point based on the path communication distance set, screens task objects with the task period reaching the set condition, compares the coordinate density and the distribution form of each object in space, and optimizes the space coverage of the target task to obtain a space distribution task sequence; and the priority ordering adjustment submodule analyzes the overlapping condition of the target distribution and the paths based on the space distribution task sequence, judges the sequence of the space cross points and the connecting nodes of the task paths, compares the coincidence degree of the waiting time period and the space coverage of the task concentration area, adjusts the scheduling priority of each task in the queue and obtains the task execution ordering data.
6. The task scheduling-based multi-robot hemostatic management system of claim 1, wherein the debonding path planning module comprises: The target screening and identifying submodule judges the association state of the task number and the loosening operation based on the task execution sequencing data, screens the matched sick and wounded coordinates in the scheduling period, detects whether each coordinate is in a passable node range fed back by obstacle detection, and eliminates data points with abnormal continuity of a passing path to obtain obstacle filtering target data; the path segment comparison sub-module is used for filtering target data based on the barriers, comparing target coordinates with the current position of the hemostatic robot, analyzing continuous space segments of a plurality of alternative paths, judging the steering action quantity of each segment of the path, screening the densely turned path segments, identifying risk distribution areas corresponding to the space segments, and obtaining steering risk area distribution; The track sequence generation submodule compares the structural differences of the paths in the space node sequence based on the steering risk area distribution, adjusts the node arrangement sequence of the passable paths, eliminates the area segments with the stagger among the paths, and reorganizes the connection relation among the path segments to obtain the passable track sequence.
7. The task scheduling-based multi-robot hemostatic management system of claim 1, wherein the multi-robot collaboration module comprises: The path matching analysis submodule analyzes the space coordinate points covered by each hemostatic robot path based on the reachable traffic track sequence, judges the geographic relation between each path end point and a task target area, screens the coverage proportion of the paths in the task area range, compares the space overlapping degree of the path set and the target area set, and obtains an area space mapping result; the regional overlapping identification submodule identifies intersection nodes of a plurality of hemostatic robot paths in a spatial grid based on the regional spatial mapping result, analyzes hemostatic robot numbers corresponding to each group of intersection nodes, judges the spatial overlapping length between the intersection paths, calculates the time overlap ratio between task schedules by combining intersection period information, and obtains task intersection node information; And the scheduling sequence adjusting submodule analyzes the high-density intersection region data based on the task intersection node information, judges the task starting sequence of each hemostatic robot in the intersection region, compares the time interval and the path intersection condition of task nodes, adjusts the departure sequence of the robots in the overlapping region, and obtains group task linkage configuration.
8. The task scheduling-based multi-robot hemostatic management system according to claim 1, wherein the pulse signal curve refers to a waveform curve of a relationship of time and amplitude of pulse signals of a wounded person acquired by the hemostatic robot through a physiological sensor, and the peak interval refers to a time interval between two adjacent peaks in the pulse signal curve.
9. The task scheduling-based multi-robot hemostatic management system according to claim 1, wherein the blood flow blocking state refers to determining whether the blood flow of the injured limb of the wounded person is effectively blocked by the tourniquet by analyzing the pulse signal and the physiological data, and is represented by a characteristic change of disappearance or fluctuation of the pulse signal, and the blocking signal sequence refers to a characteristic which is screened and extracted from the continuous monitoring data and reflects that the blood flow has been blocked by the tourniquet.
10. The task scheduling-based multi-robot hemostatic management system according to claim 1, wherein the optimal moving path refers to a path with a shortest distance that a hemostatic robot can travel from a current position to a coordinate point of a target wounded under a current environment and obstacle distribution, and the obstacle detection refers to detection and discrimination of an obstacle on the moving path by the hemostatic robot using a sensor or environmental data of the hemostatic robot.

Description

Multi-robot hemostasis management system based on task scheduling Technical Field The invention relates to the technical field of hemostasis management, in particular to a multi-robot hemostasis management system based on task scheduling. Background The hemostasis management relates to a technology for rapidly identifying bleeding sources and implementing effective hemostasis measures in emergency medical treatment or battlefield environments, and comprises key contents of identification of hemostasis modes, judgment of bleeding grades, preparation and implementation of hemostasis strategies, instrument operation and the like, currently, the most commonly used hemostasis tools comprise a clamping belt type tourniquet, a rubber tourniquet, one of important reasons that a wounded cannot return to a battlefield (fight reducing person) in a war time is limb necrosis caused by loose binding of the tourniquet in a specified time, amputation and death after massive hemorrhage caused by ineffective hemostasis, and the hemostasis management system is a system which is commonly applicable to general hemostasis robots for first aid and rear rescue in the battlefield, wherein the multi-robot hemostasis management system refers to a system for commonly executing wound hemostasis tasks through a plurality of autonomous robots. The existing hemostatic management mainly adopts empirically-driven timing loosening and manual operation, lacks a continuous response mechanism to individual physiological changes of sick and wounded, does not integrate the identity of the sick and wounded, hemostatic operation nodes and the continuous process in a system uniformly, is mainly based on single timing, is difficult to dynamically adjust according to the compression effect, causes scheduling conflict, forgets operation and disordered timing when facing to multiple sick and wounded or complex environments, causes difficult tracing due to information splitting, lacks elasticity in task allocation, and is difficult to adapt to changeable actual demands in front line and rear cooperation. Disclosure of Invention In order to solve the technical problems in the prior art, the embodiment of the invention provides a multi-robot hemostasis management system based on task scheduling. The technical scheme is as follows: In one aspect, a multi-robot hemostatic management system based on task scheduling is provided, comprising: The hemostatic physiological monitoring module is used for analyzing a pulse signal curve acquired after the tourniquet is bound based on the hemostatic robot, judging a blood flow blocking state through synchronous change of the crest interval and the skin temperature, and obtaining a blood flow blocking sign set; The compression state timing sequence module screens a blocking signal sequence based on the blood flow blocking feature set, analyzes the chest card photo of the wounded, compares the similarity of a name template and characters, and combines photographing and binding timing sequence relationship to obtain a compression continuous identification quantity; the hemostasis task scheduling module judges the coordinate distance between the current position of the hemostasis robot and the sick and wounded based on the compaction continuous identification quantity, plans an unobstructed optimal moving path, screens objects with the compression period close to the upper limit, adjusts task priority, and obtains task execution sequencing data; The loosening path planning module screens the loosening target position based on the task execution sequencing data, analyzes passable nodes fed back by obstacle detection, compares a plurality of paths, and adjusts the arrangement of the passable path points to obtain an accessible passable track sequence; And the multi-robot cooperative module analyzes the matching condition of the scheduling record and the target area based on the reachable traffic track sequence, judges the distribution path crossing point, identifies the path overlapping number, adjusts the departure sequence of the hemostatic robots and obtains group task linkage configuration. In another aspect, the blood flow blocking characterization set includes a pulse change identifier, a temperature response tag, and a monitoring period tag, the compaction duration identifier includes an identity data index, a binding event number, and a time sequence association tag, the task execution ordering data includes an ordering priority factor, a target allocation sequence, and a scheduling identifier, the reachable traffic trace sequence includes a node path set, a steering instruction, and a risk identifier, and the group task linkage configuration includes a synergistic unit identifier, a grouping task tag, and a synchronization period parameter. In another aspect, the hemostatic physiological monitoring module comprises: the pulse waveform analysis submodule analyzes the acquired pulse signal curve of the wounded, positi