CN114636840A

CN114636840A - Displacement control method of test tube rack, sample analysis device and storage medium

Info

Publication number: CN114636840A
Application number: CN202011493458.7A
Authority: CN
Inventors: 李鑫
Original assignee: Shenzhen Dymind Biotechnology Co Ltd
Current assignee: Shenzhen Dymind Biotechnology Co Ltd
Priority date: 2020-12-16
Filing date: 2020-12-16
Publication date: 2022-06-17

Abstract

The application discloses displacement control method, sample analysis device and storage medium of test-tube rack, this method is used for rotating through control motor drive conveyer belt to drive the test-tube rack displacement on the conveyer belt, this method includes: acquiring a test tube displacement instruction; wherein the test tube displacement instruction indicates to move a first test tube on the test tube rack to a target position; determining a second test tube currently at the identification position; determining the distance between the first test tube and the target position according to the distance between the first test tube and the second test tube and the distance between the target position and the identification position; according to the distance between the first test tube and the target position, the test tube rack is driven, so that the first test tube moves to the target position. By such a mode, the accuracy of test tube displacement can be improved.

Description

Displacement control method of test tube rack, sample analysis device and storage medium

Technical Field

The present disclosure relates to the field of medical devices, and in particular, to a displacement control method for a test tube rack, a sample analyzer, and a computer-readable storage medium.

Background

The automatic sample injector is an intelligent and automatic sample injector, and only needs to set sample injection parameters and place a sample to be detected into a test tube, and the conveyor belt can automatically transport the sample to the detection instrument, so that the automatic sample injection process can be completed. The automatic sample injector can greatly reduce manual operation, improves the detection efficiency, and is widely applied to the field of medical detection.

The existing automatic sampling equipment needs to support the rechecking function, so that the test tube rack is repeatedly transported on the conveyor belt back and forth, and the moving step pitch of the motor is usually required to be calculated in the transportation process, so that the conveyor belt is driven to rotate, but the accuracy of the step pitch obtained by the conventional calculation mode is lower, and the accuracy of test tube displacement cannot be guaranteed.

Disclosure of Invention

In order to solve the above problems, the present application provides a displacement control method for a test tube rack, a sample analyzer, and a computer-readable storage medium, which can improve accuracy of test tube displacement.

In order to solve the technical problem, the application adopts a technical scheme that: the method is used for driving a conveyor belt to rotate by controlling a motor so as to drive the test tube rack on the conveyor belt to displace, and comprises the following steps: acquiring a test tube displacement instruction; wherein the test tube displacement instruction indicates to move a first test tube on the test tube rack to a target position; determining a second test tube currently at the identification position; determining the distance between the first test tube and the target position according to the distance between the first test tube and the second test tube and the distance between the target position and the identification position; according to the distance between the first test tube and the target position, the test tube rack is driven, so that the first test tube moves to the target position.

Wherein, according to the distance of first test tube and second test tube to and the distance of target position and identification position, confirm the distance of first test tube and target position, include: determining a first distance between the first and second test tubes; and determining a second distance between the target bit and the identification bit; and determining the distance between the first test tube and the target position according to the first distance and the second distance.

Wherein, confirm the first distance of first test tube and second test tube, include: determining the distance between two adjacent test tubes; acquiring a first number of a first test tube and a second number of a second test tube; determining a first distance between the first test tube and the second test tube according to the distance between two adjacent test tubes and the difference value of the first number and the second number; wherein, the test tubes on the test-tube rack are numbered in proper order according to the test tube sequence.

The test tubes on the test tube rack are sequentially numbered in a descending order corresponding to the moving direction of the conveyor belt according to the test tube arrangement sequence; according to the difference of distance, first serial number and second serial number between two adjacent test tubes, confirm the first distance of first test tube and second test tube, include: when the first number is larger than the second number, determining that the first distance between the first test tube and the second test tube is a positive value; or when the first number is smaller than the second number, determining that the first distance between the first test tube and the second test tube is a negative value.

Wherein, confirm the second distance of target bit and identification bit, include: determining the distance between the target position and the origin; determining the distance between the identification position and the origin; and determining a second distance between the target position and the identification position according to the distance between the target position and the origin point and the distance between the identification position and the origin point.

Wherein, according to first distance and second distance, confirm the distance of first test tube and target position, include: the sum of the first distance and the second distance is calculated as the distance between the first cuvette and the target site.

The test tube rack comprises a test tube rack, a scanning position, a code scanning mechanism and a code scanning mechanism, wherein the identification position is a loading position, the target position is a code scanning position, and when the test tube rack is loaded to a conveying belt, the loading position is the position of the first test tube closest to the scanning position on the test tube rack; or the identification position is a loading position, the target position is a sampling position, and a sampling mechanism is arranged on the sampling position and used for sampling the liquid in the test tube; or the identification bit is a code scanning bit, and the target bit is a sampling bit.

Wherein, the method further comprises: when the first test tube moves, acquiring the actual moving distance of the first test tube; determining an error value between the actual movement distance and the calculated distance; and accumulating the error values, and compensating the next displacement control when the accumulated error values meet a preset threshold value.

In order to solve the above technical problem, another technical solution adopted by the present application is: there is provided a sample analysis device, the device comprising: the conveying belt is used for bearing and conveying the test tube rack; the motor is connected with the conveying belt and used for driving the conveying belt to rotate so as to drive the test tube rack on the conveying belt to move; and the controller is connected with the motor and used for controlling the motor by adopting the method.

In order to solve the above technical problem, the present application adopts another technical solution: a computer-readable storage medium is provided, in which a computer program is stored which, when being executed by a processor, is adapted to carry out the above-mentioned method.

The beneficial effects of the embodiment of the application are that: be different from prior art, the displacement control method of test-tube rack that this application provided can be through the distance of the first test tube that the accuracy obtained and second test tube to and the distance of target position and identification position, confirm the first test tube that test tube displacement instruction corresponds to the distance to move to the target position according to this distance drive first test tube. Through such a mode, can provide accurate displacement control to the directional movement of test tube, improve the accuracy of test tube displacement.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the description below are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings without creative efforts. Wherein:

FIG. 1 is a schematic structural diagram of an embodiment of a sample injection mechanism provided herein;

FIG. 2 is a schematic structural diagram of an embodiment of a conveyor belt provided in the present application

FIG. 3 is a schematic flow chart diagram of one embodiment of a sample analysis method provided herein;

FIG. 4 is a schematic flow chart diagram of another embodiment of a sample analysis method provided herein;

fig. 5 is a schematic flow chart of an embodiment of a displacement control method of a test tube rack provided in the present application;

fig. 6 is a schematic flow chart of another embodiment of a displacement control method of a test tube rack provided in the present application;

FIG. 7 is a schematic diagram of the detailed flow chart of step 603 in FIG. 6;

FIG. 8 is a detailed flowchart of step 604 in FIG. 6;

fig. 9 is a schematic flowchart of another embodiment of a displacement control method for a test tube rack provided in the present application;

fig. 10 is a schematic flow chart of a displacement control method of a test tube rack according to still another embodiment of the present application;

FIG. 11 is a detailed flowchart of step 1007 in FIG. 10;

FIG. 12 is a schematic diagram of an embodiment of a sample analysis device provided herein;

FIG. 13 is a schematic structural diagram of an embodiment of a computer-readable storage medium provided in the present application.

Detailed Description

The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. It is to be understood that the specific embodiments described herein are merely illustrative of the application and are not limiting of the application. It should be further noted that, for the convenience of description, only some of the structures related to the present application are shown in the drawings, not all of the structures. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.

Reference herein to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment can be included in at least one embodiment of the application. The appearances of the phrase in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. It is explicitly and implicitly understood by one skilled in the art that the embodiments described herein can be combined with other embodiments.

Please refer to fig. 1, fig. 1 is a schematic structural diagram of an embodiment of a sample feeding mechanism provided in the present application, the sample feeding mechanism includes a conveyor belt 10 and a motor 20, in this embodiment, the conveyor belt 10 is a single conveyor belt, the conveyor belt 10 is configured to receive loading of a test tube rack 30 at a loading position 101, the motor 20 rotates to drive the conveyor belt 10 to rotate, so as to drive the test tube rack 30 to sequentially pass through a code scanning position 102, a sampling position 103, and an unloading position 104 from the loading position 101, the code scanning position 102 is configured to set a code scanning mechanism to perform code scanning identification on test tubes, the sampling position 103 is configured to sample test tubes on the test tube rack 30, and the unloading position 104 is configured to unload the test tube rack 30.

Referring further to fig. 2, fig. 2 is a schematic structural diagram of an embodiment of the conveyor belt provided in the present application, where the conveyor belt 10 includes a belt body 11 and a positioning structure 12. Wherein, area body 11 is used for bearing and transporting test-tube rack or test tube 30, and location structure 12 sets up in the surface of area body 11 for to bearing test-tube rack or test tube 30 on area body 11 and fixing a position, thereby guarantee at the in-process of area body 11 round trip movement, prevent to take place relative slip between area body 11 and test-tube rack or the test tube 30, play the effect of pinpointing test-tube rack or test tube 30.

Wherein, the belt body 11 is in a ring shape, can be a flat belt, and has a smooth inner surface. Alternatively, the belt body 11 may be a synchronous belt having a toothed inner surface, which has high transmission precision and transmission efficiency.

Wherein, location structure 12 can be dog 12 protruding in the surface of the area body 11, dog 12 is used for with the end backstop location fit of test-tube rack 30, perhaps with the bottom sliding location fit of test-tube rack 30, and then fixes a position the test-tube rack or test tube 30 that bear on the area body 11, and of course, location structure 12 also can be the depressed area of sunken in the surface of the area body 11 optionally, and the depressed area is used for accommodating the bottom of test-tube rack 30 or accommodating the bottom of test tube 30.

Alternatively, the stopper 12 may be connected to the belt body 11 through various connection methods, and preferably, the belt body 11 and the stopper 12 are of an integral structure, and the belt body 11 and the stopper 12 are made of the same material and are integrally formed through a stamping process. Or, area body 11 includes first floor structure and second floor structure, and first floor structure is used for bearing test-tube rack or test tube 30, dog and first floor structure integrated into one piece.

In this embodiment, the number of the stop blocks 12 is not limited, and may be multiple, and the stop blocks 12 may be distributed non-equidistantly, and in other embodiments, the stop blocks 12 may also be distributed equidistantly.

Optionally, the sample injection mechanism further includes a buffer area (not shown), and the buffer area may be disposed at any end of the belt 11 near the loading position 101 or the unloading position 104, or disposed at both ends of the belt 11 near the loading position 101 and the unloading position 104, respectively. When the number of the test tube racks 30 on the belt body 11 is multiple, the buffer area can support the multiple test tube racks 30 to move back and forth integrally, so that the multiple test tube racks 30 move back and forth along with the conveyor belt 10 at the same time.

Optionally, the sample feeding mechanism may further include a standby Power Supply, such as an Uninterruptible Power Supply (UPS), when the plurality of test tube racks 30 move on the conveyor belt 10 for various detections, if a Power failure occurs, the UPS may be used to provide an uninterrupted Power Supply for the entire apparatus, so as to maintain normal operation of the apparatus, protect hardware from being damaged, and enable recovery from the Power failure.

In addition, the standby power supply can be provided with a storage device, and data generated by the operation of the equipment can be temporarily stored in the standby power supply in the process of utilizing the standby power supply to supply power to the equipment. After the device is powered back up, the data temporarily stored in the standby power supply can be stored in the memory of the device again.

Referring to fig. 3, fig. 3 is a schematic flow chart diagram of an embodiment of a sample analysis method provided in the present application, where the method of the embodiment specifically includes:

s301: at least one test tube rack is loaded onto the conveyor belt.

Wherein, the conveyer belt in this embodiment is single belt, is equipped with positioning mechanism on the conveyer belt, and positioning mechanism sets up on the surface of the area body of conveyer belt for fix the test-tube rack that bears on the conveyer belt, can prevent to take place relative slip between the area body and the test-tube rack, play the effect of accurate positioning test-tube rack.

Optionally, the positioning mechanism may be a stopper protruding from the outer surface of the belt body, the number of stoppers is usually an even number, two stoppers form a pair, and the distance between a pair of stoppers is the same as the length of the test tube rack, for cooperating with the stoppers of the two end portions of the test tube rack, and then positioning the test tube rack loaded on the belt body. When the test tube rack is aligned with the loading position corresponding to the sample introduction mechanism, the test tube rack can be loaded to finish loading.

S302: according to the test tube displacement instruction, the test tube on the control test-tube rack moves to the target position to accomplish corresponding operation to the test tube on the test-tube rack.

When the target position is the code scanning position, code scanning operation can be performed on the test tube rack so as to judge whether the test tube exists or not or the type of the test tube and scan the test tube rack or the test tube; when the target position is the sampling position, the sampling operation can be carried out on the test tube rack, so that the other devices can analyze the sample in the test tube. In addition, the target bit may also be a position set according to actual analysis needs, and the corresponding operation implementation manner should be a conventional means in the art, which is not described herein again.

S303: and unloading the test tube rack which is finished with the operation from the conveyor belt.

After the test-tube rack finishes operations such as scanning codes or sampling, the unloading condition is met, the test-tube rack can be further moved to the unloading position, and the test-tube rack is pushed out of the feeding track to finish the whole sample analysis and detection of the test-tube rack.

Be different from prior art, the sample analysis method that this embodiment provided carries out the rigidity through setting up positioning mechanism on the conveyer belt to utilize positioning mechanism to carry out the test-tube rack on to the conveyer belt, avoid the test-tube rack to take place relative slip because inertial action and conveyer belt, and drive the test-tube rack through the conveyer belt that has positioning mechanism and accomplish operations such as corresponding sample detection, guaranteed that sample analysis work's is stable goes on.

Referring to fig. 4, fig. 4 is a schematic flow chart diagram of another embodiment of the sample analysis method provided in the present application, where the method of the present embodiment specifically includes:

s401: and resetting the conveyor belt so that the positioning mechanism on the conveyor belt is aligned with the loading area of the test tube rack.

It will be appreciated that the conveyor belt may be run continuously or stopped at a termination state corresponding to a previous time, but the test tube racks in the loading zone usually require a certain preparation time before loading, and when the test tube racks in the loading zone are ready, the positioning mechanisms on the conveyor belt may not be aligned with the loading zones corresponding to the test tube racks, and at this time, the test tube racks cannot be loaded even if the test tube racks are ready.

Therefore, before loading the test-tube rack, can utilize the test-tube rack to have or not discernment optical coupling to detect the loading district that the test-tube rack corresponds earlier, specifically can include: detecting whether a test tube rack exists in a test tube rack loading area; if so, resetting the conveyor belt so as to align the positioning mechanism on the conveyor belt with the loading area of the test tube rack. By the mode, certain loading efficiency or detection and analysis efficiency can be improved on the basis of ensuring the test tube rack to be accurately fixed.

The motor of the loading area comprises a loading motor and a loading return-dial motor, the conveying belt is reset to control the loading motor to rotate forwards or control the loading return-dial motor to rotate backwards, and when the test tube rack is ready, the motor is used for carrying out reset compensation or return on a feeding track on the conveying belt so that the positioning mechanism on the conveying belt is aligned with the loading area of the test tube rack.

Optionally, if the test tube rack has the identification optocoupler and does not detect that the test tube rack exists in the test tube rack loading area, the detection action is continuously performed until the test tube rack exists in the detection result, and resetting before loading can be performed.

S402: one of the test tube racks in the rack loading zone is loaded onto the conveyor belt.

When the test tube rack is loaded, the loading and withdrawing motor is required to be ensured to be in an interference-free state for loading and propelling, and the influence of loading and withdrawing on the loading of the test tube rack is avoided. Optionally, can utilize and load the loading action of discernment opto-coupler that targets in place to the test-tube rack and detect to whether the control loading is accomplished, when loading discernment opto-coupler that targets in place and is triggered, show that the loading is successful, can also remove the remaining test-tube rack in test-tube rack loading area to keeping away from the conveyer belt this moment, specifically can peel off the track of feeding through loading other test-tube racks that dial-back motor will feed outside the track, avoid remaining test-tube rack to interfere to feed motion.

S403: according to the test tube displacement instruction, the test tube on the control test-tube rack moves to the target position to accomplish corresponding operation to the test tube on the test-tube rack.

In an application scene, according to the test tube displacement instruction, can control the test tube on the test-tube rack to remove to scanning the sign indicating number position to scan the test tube on the test-tube rack and operate, scan the sign indicating number position and can discern the test tube and have or the type of test tube, and the bar code scanning of test tube and test-tube rack, and further can be according to scanning a sign indicating number result, the test tube on the control test-tube rack removes to the sample position, in order to carry out the sample operation to the liquid in the test tube on the test-tube rack.

Optionally, if the tube scanning fails, a default value is automatically assigned, and if the sample information of the tube is scanned, the sample information is uploaded to the detection instrument. If the sampling mechanism of the sampling position needs to detect the sample, the sampling mechanism can suspend the scanning process at the moment, preferentially responds to the sample distribution to preferentially perform sampling detection on the test tube, and when the sample distribution of the sampling detection is completed but no new sample distribution request exists, the sampling mechanism can continue to scan the rest sample test tubes.

In one embodiment, when the test tube rack is moved to the scanning code position to be scanned, the test tube rack may be initially scanned to determine, for example, the type of the whole test tube rack or the number of test tube positions on the test tube rack, and then the test tubes on the test tube rack are scanned to further determine specific information of each test tube, such as the type of the test tube, the volume, the type of the sample, the detection items, and the like. In this way, the code scanning efficiency can be accelerated. The method comprises the following steps that a test tube rack is scanned by a scanning gun, namely, a bar code/two-dimensional code on the test tube rack is scanned by the scanning gun to obtain test tube rack information; can also be controlled by RFID (Radio Frequency Identification System)_，Radio frequency identification) card, namely, installing a radio frequency transmitting device on each test tube rack, then arranging a radio frequency receiving device at a scanning position, and acquiring the information of the test tube rack by identifying radio frequency signals.

Optionally, in this embodiment, when the number of the test tube racks that can be loaded and operate simultaneously at most in the conveying process is two, the length of the conveying belt should be long enough, and there are certain buffer areas at two ends of the sample injection mechanism, so that loading of multiple rows of test tube racks can be realized. When first row of test-tube rack has loaded and finish and the sampling detects specific test tube, if second row of test-tube rack in the loading district is ready to satisfy the loading condition, the operation that resets can be given precedence to the track of feeding on the conveyer belt this moment for another positioning mechanism who is located behind the positioning mechanism of first row of test-tube rack aligns with the loading district, in order to carry out the loading of second row of test-tube rack, after the second row of test-tube rack is loaded and is accomplished, can continue feed motion, in order to make the second row of test-tube rack sweep the sign indicating number, operations such as sample.

In some embodiments, before the second row of racks is ready to start loading, the first row of racks needs to satisfy certain conditions when performing corresponding operations, that is, the first row of racks has been loaded and a specific test tube is detected by sampling, wherein the specific test tube is usually a test tube in the first row of racks that is located closer to the second row of racks. In an embodiment, a total of 10 test tube positions of a test tube rack can place 10 test tubes, and according to the comprehensive consideration of reasons such as the length of the track in this embodiment, the setting position of the positioning mechanism, the length of the test tube rack, etc., the specific test tube is determined to be the No. 9 test tube in the first row of test tube racks, and after the No. 9 test tube in the first row of test tube racks is grabbed and prepared for sampling detection, the second row of test tube racks meeting the loading condition can start loading so as to perform subsequent operations after the loading is completed. It will be appreciated that the position or number of a particular test tube can be set according to the actual conditions or needs of the device, for example, due to the length of the conveyor belt, only when the test tube rack in the previous row is fed to test tube No. 9, the distance of the corresponding conveyor belt portion of the loading zone can carry the loading of the test tube rack in the next row, thereby presetting the particular test tube.

In other embodiments, the first row of racks may satisfy other conditions when performing the corresponding operations before the second row of racks is ready to begin loading. On the basis of 10 test tube positions which can hold 10 test tubes in total of the test tube rack, the test tubes may fail to be sampled and need to be detected again in the sampling process due to the comprehensive consideration of the length of the track, the setting position of the positioning mechanism, the length of the test tube rack and the like, and at the moment, the conveyor belt usually needs to rotate in the opposite direction, so that the test tube to be reviewed can be moved back to the sampling site, but due to the limitations of many of the reasons mentioned above (e.g. track length), the retraction occurs when the second row of racks has completed loading, and there may be problems of being unable to retract or being unable to re-feed again after retraction, and therefore in this embodiment, before loading the second row of test-tube racks, need wait for No. 10 test tubes of first row of test-tube racks to finish the reinspection, be also that all test tubes reinspections on the test-tube rack end, including the condition that does not need the reinspection.

Alternatively, the retest problem of the first row of test tube racks and the situations of the specific test tubes and the like can be comprehensively considered, for example, it is required to ensure that all test tubes (including the specific test tube) before a specific test tube of the first row of test tube racks are retested or not retested, and then the loading of the second row of test tube racks is performed, so as to ensure the stable performance of the whole feeding process.

When the feed track cannot scan all the test tubes on the track due to physical constraints, the scanning may be suspended until a condition for continuing the scanning is satisfied (e.g., the first row of test tubes racks is unloaded), and the scanning of the remaining test tubes may be started again until the scanning is completed. Further, can also be according to the orbital actual conditions of feeding, before not uninstalling first row of test-tube rack, the specific number that the test tube was permitted to scan in the second row of test-tube rack, for example because the orbital reason of feeding, when first row of test-tube rack did not uninstall, and the second row of test-tube rack begins to get into the scanning stage, the biggest test tube quantity that the test tube was permitted to scan in the second row of test-tube rack is two, that is to say the second row test-tube rack is after its preceding two test tube scans are accomplished, only after first row test-tube rack accomplishes the uninstallation, just can continue to accomplish the scanning.

Further, in this embodiment, when the number of test tube racks capable of working simultaneously at most in the conveying is two, if the second row of test tube racks is in a specific stage, for example, sampling a specific test tube, but at this time, the first row of test tube racks has finished the whole detection process and needs to be unloaded, the second row of test tube racks may suspend the sampling operation and preferentially unload the first row of test tube racks, and during the unloading of the first row of test tube racks, the sampled samples may be distributed and detected, and until the first row of test tube racks are unloaded, the feeding track is reset to continue the scanning of the remaining test tubes of the second row of test tube racks.

In the embodiment that a plurality of rows of test tube racks are operated on the conveyor belt, when test tubes are executed and the conveyor belt is ready to rotate according to the next instruction, if a plurality of operations need to be executed simultaneously, in such a case, the operation needs to be executed according to the priority of the operation corresponding to the instruction. Specifically, the method can be realized by the following steps: acquiring at least two control instructions; and sequentially executing at least two control instructions according to a preset priority order.

The at least two control instructions comprise a code scanning instruction, a sampling instruction and an unloading instruction, the preset priority order is the unloading instruction, the sampling instruction and the code scanning instruction, and the unloading operation priority > the sampling operation priority > the code scanning operation priority corresponds to, namely, the priority execution is performed when a certain test tube rack needs unloading or sampling. For example, when test tube racks meeting the unloading condition exist in a plurality of rows of test tube racks, the unloading instruction is obtained, the unloading operation of the corresponding test tube racks is preferentially executed at the moment, and the sampling or code scanning operation which may be prepared by all other test tube racks is suspended until the unloading is finished; when test tube racks meeting sampling conditions exist in a plurality of rows of test tube racks, sampling instructions can be obtained, but unloading instructions with high priority are not obtained, so that the sampling operation of the corresponding test tube racks is preferentially executed at the moment, and code scanning operation possibly prepared by all other test tube racks is suspended until sampling is completed.

Optionally, in order to realize accurate movement of the test tubes on the test tube rack, before the test tube rack performs feeding of each step, the conveyor belt may be reset to retract the test tube rack to the loading area, so that the corresponding positioning mechanism of the test tube rack is aligned with the loading area, and then the next feeding action is performed. For example, after the No. 3 test tube of test-tube rack accomplished the scanning, need scan No. 4 test tubes on next step, then directly advance so that No. 4 test tubes move to sweeping the code bit under normal conditions, and in this embodiment, after the No. 3 test tube accomplished the scanning, reset the conveyer belt earlier, so that the test-tube rack gets back to and loads the position, be equivalent to the displacement zero clearing before the test-tube rack, directly remove No. 4 test tubes to sweeping the code bit this moment again, can avoid because the error that displacement produced many times, improve the removal degree of accuracy of test-tube rack.

Optionally, in order to realize accurate movement of the test tubes on the test tube rack S403, a step shown in fig. 5 may be adopted to perform displacement control on the test tube rack, where fig. 5 is a schematic flow chart of an embodiment of a displacement control method for a test tube rack provided in the present application, in this embodiment, calculation is performed on the basis that only one row of test tube racks are arranged on a conveyor belt feeding track at the same time, the method is used for driving the conveyor belt to rotate by controlling a motor, so as to drive the test tube rack on the conveyor belt to displace, and the method specifically includes:

s501: and acquiring a test tube displacement instruction.

Wherein, test tube displacement instruction shows and removes to the target position with first test tube on the test-tube rack, and first test tube shows the test tube of waiting to remove promptly, or shows to wait to sweep the test tube of sign indicating number, sample, and the target position then shows in the test tube displacement instruction that the instruction waits to remove the test tube position that needs reach on next step, including sweeping the sign indicating number, sample position etc..

S502: and determining the second test tube currently at the identification position.

Wherein, the sign position then shows a plurality of operating position in the mechanism of advancing, including loading position, sweep the code bit, sample position etc. the second test tube then shows to be in and is going on or prepares to carry out the test tube that corresponding detected on sweeping code bit or sample position.

S503: and determining the distance between the first test tube and the target position according to the distance between the first test tube and the second test tube and the distance between the target position and the identification position.

In this embodiment, because the conveyer belt only has a row of test-tube rack on feeding the track at one time, at this moment, the distance between first test tube and the second test tube is fixed and can be calculated, and the position of many different sign positions and target position is fixed and known, therefore the distance between sign position and the target position also can be calculated according to the concrete finger of sign position, target position, finally can accurately calculate and obtain the distance between first test tube and the target position.

S504: and driving the test tube rack according to the distance between the first test tube and the target position so as to move the first test tube to the target position.

The calculated unit of the distance between the first test tube and the target position may correspond to the unit of the distance moved by the motor during operation control, for example, the distance between the first test tube and the second test tube is calculated and expressed by taking the motor step distance (N steps) as a standard, so as to realize accurate control of the test tube displacement.

Different from the prior art, the displacement control method of the test tube rack provided by the embodiment can determine the distance from the first test tube corresponding to the test tube displacement instruction to the target position through the accurately acquired distance between the first test tube and the second test tube and the distance between the target position and the identification position, so as to drive the first test tube to move to the target position according to the distance. Through such a mode, can provide accurate displacement control to the directional movement of test tube, improve the accuracy of test tube displacement.

Optionally, the test tube racks can be subjected to displacement control through the steps shown in fig. 6, fig. 6 is a schematic flow chart of another embodiment of the displacement control method for the test tube racks provided in the present application, in this embodiment, calculation is performed based on only one row of test tube racks on the feeding track of the conveyor belt at the same time, the method is used for driving the conveyor belt to rotate by controlling the motor to drive the test tube racks on the conveyor belt to displace, and the method specifically includes:

s601: and acquiring a test tube displacement instruction.

Wherein, the test tube displacement instruction indicates that the first test tube on the test tube rack is moved to the target position.

S602: and determining a second test tube currently at the identification position.

S603: a first distance of the first and second test tubes is determined.

Optionally, the specific step of S603 may be implemented by the method shown in fig. 7, which specifically includes:

s6031: the distance between two adjacent test tubes is determined.

The distance between adjacent test tubes is usually set according to the specification of the test tube rack, or is set according to the length of the conveyor belt, for example, the distance may be generally fixedly set to 50 unit lengths, without any limitation.

S6032: obtain the first serial number of first test tube to and obtain the second serial number of second test tube.

Wherein, the test tube on the test-tube rack is numbered in proper order according to the test tube array order, specifically can correspond the moving direction of conveyer belt, and the number that decrements in proper order, the serial number that also is close to the sample position is little, and the serial number of keeping away from the sample position is big. For example, take a row of test tubes rack to be provided with 10 test tubes as an example, number 1 the first test tube in the direction of conveyer belt movement, and number 2, 3 … … 10 the second test tube to the tenth test tube in the opposite direction of conveyer belt movement in proper order, and then can confirm the serial number that first test tube and second test tube correspond as required and the numbering condition.

S6033: according to the distance between two adjacent test tubes, the difference value of the first number and the second number, the first distance between the first test tube and the second test tube is determined.

In this embodiment, since the specification of the test tube rack is known, the distance between any two adjacent test tubes is usually fixed, for example, 50 unit lengths, and the distance between the first test tube and the second test tube is further calculated according to the difference between the first number and the second number. When the first number is larger than the second number, determining that the first distance between the first test tube and the second test tube is a positive value; or when the first number is smaller than the second number, determining that the first distance between the first test tube and the second test tube is a negative value.

For example, the first test tube is numbered 2, the second test tube is numbered 7, the difference between the two is the distance between-5 adjacent test tubes, and therefore, the first distance between the first test tube and the second test tube is calculated to be-250 unit lengths. For example, the first test tube is numbered 7, the second test tube is numbered 2, and the difference between the first test tube and the second test tube is the distance between +5 adjacent test tubes, so that the first distance between the first test tube and the second test tube can be calculated to be +250 unit lengths.

S604: a second distance of the target bit and the identification bit is determined.

Optionally, the specific step of S604 may be implemented by the method shown in fig. 8, which specifically includes:

s6041: the distance between the target bit and the origin is determined.

The original point is a fixed point on the conveying belt and used for marking the position distance of each target position or each identification position, the original point can be set according to actual conditions, the setting of the original point position cannot actually influence the positions of the target position and the identification position, and the distance between the target position and the identification position cannot be changed. For example, in this embodiment, the position of test tube No. 10 in the test tube rack with test tube No. 1 in the loading position may be used as the origin; in other embodiments, a point on the conveyor belt other than the point where the test tube is loaded may also be used as an origin, for example, at a position where the test tube No. 10 is further away from the loading position, and may even extend to the back side of the conveyor belt, that is, the side of the conveyor belt that cannot bear the test tube rack, where the origin is not limited herein, and is only used to indicate the relationship between the respective working positions.

The target position is a target position point where the first test tube needs to move according to the displacement instruction, and may include a sampling position or a code scanning position. Therefore, the original point and the target point are preset position points in the sample feeding mechanism, and the distance between the original point and the target point can be accurately obtained.

S6042: the distance between the identification bit and the origin is determined.

The identification position is a position point used for calculating and referencing the movement distance required by the first test tube, and the identification position and the origin point are preset position points according to the above, so that the distance between the identification position and the origin point can be accurately obtained.

Optionally, when the identification position is a loading position, the target position is a scanning code position, and the loading position is a position of a first test tube on the test tube rack closest to the scanning position when the test tube rack is loaded to the conveyor belt, that is, a position where the first test tube in the running direction of the conveyor belt is located is used as the loading position, after the test tube rack moves, the position of the loading position is unchanged, and a test tube number on the loading position is changed immediately and is used as a calculation reference; sweep and be provided with on the code position and sweep a yard mechanism for sweep the sign indicating number to the bar code on the test tube.

Optionally, when the identification position is a loading position and the target position is a sampling position, a sampling mechanism is arranged on the sampling position and is used for sampling the liquid in the test tube; in other embodiments, the identification bit may also be a code scanning bit, and the target bit is a sampling bit, which may be specifically set according to actual conditions, which is not described herein.

S6043: and determining a second distance between the target position and the identification position according to the distance between the target position and the origin point and the distance between the identification position and the origin point.

In an application scenario, for example, the target position where the first test tube needs to be moved is the scan code position, the identification position where the second test tube is located is the loading position, it can be obtained that the distance between the scan code position and the origin is 1000 unit lengths (steps), and the distance between the loading position and the origin is 600 unit lengths (steps), so that the second distance between the target position and the identification position can be calculated as 1000-. When the selection of the identification bit and the target bit is changed, the second distance between the identification bit and the target bit is changed accordingly, which is not limited herein.

S605: and determining the distance between the first test tube and the target position according to the first distance and the second distance.

Specifically, S605 may be implemented by the following steps: the sum of the first distance and the second distance is calculated as the distance between the first cuvette and the target site.

In the present embodiment, since the first distance may be a positive value or a negative value, according to the above example, when the first distance is +250 unit lengths, the distance between the first cuvette and the target site is 400+ 250-750 unit lengths; when the first distance is-250 unit lengths, the distance between the first test tube and the target site is 400-.

S606: and driving the test tube rack according to the distance between the first test tube and the target position so as to move the first test tube to the target position.

According to the above example, the first test tube is moved to the desired target position by controlling the motor to move, for example, 750 or 150 motor steps.

Therefore, according to the method of the embodiment, the test tube number of the first test tube which needs to be moved, the test tube number of the second test tube which is used for reference identification, the identification position where the second test tube is located and the target position where the first test tube needs to reach can be accurately calculated, the corresponding step distance that the displacement needs to advance or retreat can be accurately calculated, the motor is further controlled to move, and the movement of the test tube position is realized. Through the mode, the distance from any test tube to any position in the same test tube rack can be accurately and quickly calculated, so that the test tube displacement is accurately controlled, the calculation complexity of test tube movement is reduced, and the working efficiency is improved.

Optionally, since the motor may lose steps or overshoot during the operation, and at this time, when the motor controls the conveyor belt according to the distance calculated in the above step, the accuracy of the test tube displacement may still be partially affected, so that after S606, the encoder may be further used to correct the position, specifically including:

s607: when the first test tube moves, the actual moving distance of the first test tube is acquired.

It will be appreciated that the encoder will be more accurate than the motor, and therefore the encoder can more accurately identify, monitor and feed back the condition of the tube displacement. Because the control of the motor is operated by taking 1 step as a unit, when the first test tube moves under the driving of the motor, the encoder synchronously acquires the actual moving distance of the first test tube, and the actual moving distance may be larger or smaller than the control step pitch of the motor due to the missing step or the overshoot of the motor.

S608: an error value between the actual movement distance and the calculated distance is determined.

The calculated distance is a theoretical distance of the first test tube required to move, which is calculated by the distance between the first test tube, the second test tube, the identification position and the target position, and the theoretical distance is equal to the actual moving distance when the motor does not lose steps, overshoot and the like. Therefore, in practice, due to the error caused by the motor, the error value needs to be calculated by using the actual moving distance calculated by the encoder.

S609: and accumulating the error values, and compensating the next displacement control when the accumulated error values meet a preset threshold value.

The preset threshold may be set according to an actual situation, and may be set to 1 unit length, that is, 1 step in this embodiment.

In an application scene, when the error value between the actual movement distance acquired by the encoder and the calculated distance is larger than 0 but smaller than 1 step due to the motor step loss or overshoot, the error values calculated in the 0-1 step are accumulated, and when the accumulated error value is larger than 1 step, the further error value is added into the control step distance of the motor when the next displacement control of the test tube rack is executed, so that the displacement precision of the test tube is further improved.

It can be understood that when the accumulated error value is not an integer, only the error value of the integer step is compensated, and the error values less than 1 step are continuously accumulated, and the compensated accumulated error value is compensated in a rounding manner, for example, when the accumulated error value is 2.3, then the step distance of 2 units is compensated currently, and the remaining 0.3 is continuously accumulated; for another example, when the accumulated error value is 1.8, then rounding off will also compensate for 2 steps, and the accumulated error value becomes-0.2.

Optionally, in other embodiments, can also correct the control of motor through the position opto-coupler, for example can accomplish after detecting at each row of test-tube rack, once reset, the position of the opto-coupler location conveyer belt through initial position to realize that the opto-coupler corrects.

Through such a mode, on the basis of carrying out accurate calculation to the displacement volume of test tube, can utilize encoder or position opto-coupler to ensure that the precision of displacement keeps at higher level to the accuracy of test tube displacement has further been improved.

Optionally, the test tube rack may also be subjected to displacement control through the steps shown in fig. 9, where fig. 9 is a schematic flow chart of another embodiment of the displacement control method for a test tube rack provided in the present application, in this embodiment, calculation is performed on the basis that two rows of test tube racks may exist on the conveyor belt feeding track at the same time, and the method is used for driving the conveyor belt to rotate by controlling the motor to drive the test tube rack on the conveyor belt to displace, and specifically includes:

s901: and acquiring a test tube displacement instruction.

Wherein, test tube displacement instruction shows and removes to the target position with first test tube on the test-tube rack, and first test tube is located first test-tube rack, represents the test tube of treating to remove, or represents to wait to sweep the test tube of sign indicating number, sample, and the target position then indicates in the test tube displacement instruction to treat to remove the test tube position that next step required reachs, including sweeping sign indicating number, sample position etc..

S902: and determining the second test tube currently at the identification position.

Wherein, the sign position then shows a plurality of operating position in the mechanism of advancing, including loading position, sweep the sign indicating number position, sample position etc. the second test tube is located the second test-tube rack, shows to be in and to carry out or prepare to carry out the test tube of corresponding detection on sweeping the sign indicating number position or sample position.

S903: according to the test-tube rack serial number that first test tube and second test tube correspond, confirm the distance of first test tube and second test tube.

In this embodiment, the first test tube and the second test tube are located on different test tube racks by default, and if the first test tube and the second test tube are located on the same test tube rack, the method of this embodiment may perform the calculation according to the foregoing embodiment.

Optionally, since there may be two rows of test tube racks on the feeding track of the conveyor belt at the same time, it may be known that a plurality of positioning structures are arranged on the conveyor belt according to a certain distance, each positioning structure includes two stoppers for positioning the test tube racks, therefore, when the positioning structures are arranged, the distance between adjacent stoppers of different positioning mechanisms may be set according to actual conditions, and the distance may also represent the spacing distance between two rows of adjacent test tube racks (under the condition of neglecting the stopper length), and therefore, the distance between the first row of test tube racks and the second row of test tube racks is fixed and known.

Further, as can be seen from the foregoing embodiment, the test tubes on each row of test tube racks can be numbered, and different test tube racks are further numbered in this embodiment, and since the specifications of the test tube racks are the same, the distance between any two test tubes is also the same, and therefore, the distance between the first test tube and the second test tube can be calculated according to the relationship of the test tube serial numbers and the distance between the test tubes, and the distance between the test tube racks.

S904: and determining the distance between the first test tube and the target position according to the first distance between the first test tube and the second distance between the target position and the identification position.

In this embodiment, since the positions of the plurality of different identification positions and target positions are fixed, and the distances between them are generally known when the sample injection mechanism is set, the final distance between the first test tube and the target position can be calculated according to the specific position indication of the identification positions and the target positions on the basis that the first distance between the first test tube and the second test tube is obtained.

S905: and driving the test tube rack according to the distance between the first test tube and the target position so as to move the first test tube to the target position.

The calculated unit of the distance between the first test tube and the target position may correspond to a unit of a distance moved by the motor during operation control, for example, the distance between the first test tube and the second test tube is calculated and expressed by using the motor step distance (N steps) as a standard, so as to realize accurate control of the test tube displacement.

Be different from prior art, the displacement control method of test-tube rack that this embodiment provided can confirm the distance of first test tube to the target position that test tube displacement instruction corresponds through the distance of the first test tube and the second test tube that the accuracy obtained to and the distance of target position and identification bit, move to the target position according to this distance drive first test tube. Through such a mode, can provide accurate displacement control to the directional movement of test tube, improve the accuracy of test tube displacement.

Optionally, the test tube rack may also be subjected to displacement control through the steps shown in fig. 10, where fig. 10 is a schematic flow chart of another embodiment of the displacement control method for a test tube rack provided in the present application, in this embodiment, calculation is performed on the basis that two rows of test tube racks may exist on a conveyor belt feeding track at the same time, and the method is used for driving the conveyor belt to rotate by controlling a motor to drive the test tube rack on the conveyor belt to displace, and specifically includes:

s1001: and acquiring a test tube displacement instruction.

Wherein the test tube displacement instruction indicates to move the first test tube on the test tube rack to the target position.

S1002: and determining the second test tube currently at the identification position.

S1003: according to the test-tube rack order on the conveyer belt, add the serial number to the test-tube rack.

Wherein, the test-tube rack order can show the order when loading to the conveyer belt for the test-tube rack to the test-tube rack that loads in the front is first sequence number test-tube rack, and the test-tube rack that loads in the back is the second sequence number test-tube rack. In an actual scene, more than two rows of test tube racks can be arranged according to the length of the conveying belt or the length of the sample feeding mechanism, the method of the embodiment uses the two rows of test tube racks as a standard to perform displacement control, and the principle of the displacement control method of the multiple rows of test tube racks is the same as that of the two rows of test tube racks.

S1004: the test tubes on at least two test tube racks are numbered in sequence according to the test tube arrangement sequence by taking the first test tube on the test tube rack with the first sequence number as a reference.

Wherein, the test tubes on the test tube rack are numbered in sequence according to the test tube arrangement sequence, and specifically can be numbered in sequence in the moving direction of the corresponding conveyor belt, that is, the test tubes near the sampling position are numbered small, and the test tubes far away from the sampling position are numbered large, and the test tube racks with the first sequence number and the test tube racks with the second sequence number are numbered as a whole when being numbered, for example, a row of test tube racks has 10 test tubes, the first test tube on the test tube rack with the first sequence number corresponding to the moving direction of the conveyor belt is numbered as 1, and the position of the test tube with the No. 1 is taken as a reference point for correspondingly representing the first test tube on a plurality of rows of test tube racks, and further continuing to sequentially number the rest test tubes on the test tube rack with the first sequence number as 2 … … 10, and when numbering the test tube rack with the second sequence number, the first test tube on the test tube rack with the corresponding to the moving direction of the conveyor belt is numbered as 11, and numbering the rest test tubes as No. 11 … … 20; when can bear more test-tube racks on the conveyer belt, can continue to arrange the setting according to above-mentioned mode to the numbering system of test-tube rack and test tube.

Optionally, when the test tube racks on the conveyor belt are unloaded, adding the serial numbers to the test tube racks again according to the sequence of the test tube racks on the conveyor belt. That is to say, when the test tube rack with the first serial number finishes the detection and is unloaded, the serial number of the test tube rack with the second serial number is updated to become a new test tube rack with the first serial number, and test tubes numbered from 11 to 20 on the original test tube rack with the second serial number are also updated to be from 1 to 10 along with the change to the test tube rack with the first serial number, and the position of the new test tube with the number 1 is taken as a new reference point.

S1005: obtain the first serial number of first test tube to and obtain the second serial number of second test tube.

From top to bottom, can confirm the serial number that first test tube and second test tube correspond as required and the serial number condition.

S1006: according to the distance between two adjacent test tubes, the distance between two adjacent test tube racks, the difference of first serial number and second serial number, confirm the first distance of first test tube and second test tube.

In this embodiment, since the specification of the test tube rack is known, the distance between any two adjacent test tubes is usually fixed, for example, 50 unit lengths, and further, the distance between the first test tube and the second test tube can be calculated according to the difference between the first number and the second number and the distance between two adjacent test tube racks. When the first number is larger than the second number, determining that the first distance between the first test tube and the second test tube is a positive value; or when the first number is smaller than the second number, determining that the first distance between the first test tube and the second test tube is a negative value.

Wherein, distance between two adjacent test-tube racks, can confirm by the location structure of fixed test-tube rack, specifically confirm by a plurality of dogs in the location structure that two adjacent test-tube racks correspond, every location structure includes two dogs, distance between two dogs in a location structure is corresponding with the length of test-tube rack, distance between two adjacent dogs of two different location structures can be set for according to actual conditions, for example, set up to the length about a test tube width of interval, for example, 55 unit length, be the distance between the adjacent test-tube racks, specifically can adjust the distance between the adjacent test-tube racks according to the actual thickness of dog, do not do too much restriction here.

In a specific application scenario, for example, the number of the first test tube is 7, the number of the second test tube is 13, the difference between the two is-6 distance between adjacent test tubes, and further, the first distance between the first test tube and the second test tube can be calculated according to the known and confirmed distance between adjacent test tube racks. It should be noted that, when calculating by using the difference between the numbers, the distance between two adjacent test tubes needs to be subtracted, because the distance between test tube 11 and test tube 10 belongs to the calculation of the distance between two adjacent test tube racks, and it cannot be calculated repeatedly, so the first distance between test tube 7 and test tube 13 is-305 unit lengths ((13-7-1) × 50+ 55). Similarly, when the first number is 13 and the second number is 7, the finally calculated first distance is +305 unit lengths.

S1007: a second distance of the target bit and the identification bit is determined.

Optionally, the specific step of S1007 may be implemented by the method shown in fig. 11, and specifically includes:

s10071: the distance between the target bit and the origin is determined.

Wherein, the original point is the fixed point on the conveyer belt for the position distance of each target position of mark or identification bit can set up the original point according to actual conditions, and the setting of original point position can not influence the position of target position and identification bit in fact, can not change distance between the two yet. The target position is a target position point where the first test tube needs to move according to the unique instruction, and may include a sampling position or a code scanning position. Therefore, the original point and the target point are preset position points in the sample feeding mechanism, and the distance between the original point and the target point can be accurately obtained.

S10072: the distance between the identification bit and the origin is determined.

The identification position is a position point used for calculating and referencing the movement distance required by the first test tube, and the identification position and the origin point are preset position points, so that the distance between the identification position and the origin point can be accurately obtained.

Optionally, when the identification position is a loading position, the target position is a code scanning position, and the loading position is a position where a first test tube closest to the scanning position on the test tube rack is loaded to the conveyor belt, that is, a position where the first test tube in the running direction of the conveyor belt is located is used as the loading position; sweep and be provided with on the code position and sweep a yard mechanism for sweep the sign indicating number to the bar code on the test tube.

S10073: and determining a second distance between the target position and the identification position according to the distance between the target position and the origin and the distance between the identifications positioned at the origin.

In an application scenario, for example, the target position where the first test tube needs to be moved is a sampling position, the identification position where the second test tube is located is a scanning position, it can be obtained that the distance between the sampling position and the origin is 800 units (steps), and the distance between the scanning position and the origin is 200 units (steps), so that the second distance between the target position and the identification position can be calculated to be 800 units and 200 units.

S1008: and determining the distance between the first test tube and the target position according to the first distance and the second distance.

Specifically, S1008 can be implemented by the following steps: the sum of the first distance and the second distance is calculated as the distance between the first cuvette and the target site.

In the present embodiment, since the first distance may be a positive value or a negative value, according to the above example, when the first distance is +305 unit lengths, the distance between the first cuvette and the target bit is 600+305 unit lengths; when the first distance is-305 units long, the distance between the first test tube and the target site is 600-305 units long.

S1009: and driving the test tube rack according to the distance between the first test tube and the target position so as to move the first test tube to the target position.

According to the above example, the first test tube can be moved to the target position to be reached by controlling the motor to move for example 905 or 295 motor steps.

Therefore, according to the method of the embodiment, the test tube number of the first test tube which needs to be moved, the test tube number of the second test tube which is used for reference identification, the distance between two adjacent test tube racks, the identification position where the second test tube is located and the target position where the first test tube needs to reach can be accurately calculated, the corresponding step distance of the displacement which needs to advance or retreat can be calculated, the motor is further controlled to move, and the movement of the test tube position is realized. Through the mode, the distance from any test tube to any position in different test tube racks can be accurately and quickly calculated, so that the test tube displacement is accurately controlled, the calculation complexity of test tube movement is reduced, and the working efficiency is improved.

Therefore, the displacement control method provided by the embodiments can accurately control the movement of the test tube on the test tube rack, so that the target test tube can be accurately displaced to the target position to complete corresponding operation, and the efficiency of automatic sample introduction is improved.

Optionally, since the motor may lose steps or overshoot during the operation, and at this time, when the motor controls the conveyor belt according to the distance calculated in the above step, the accuracy of the test tube displacement may still be partially affected, so that after S1009, the position correction may be performed by using the encoder, specifically including:

a: when the first test tube moves, the actual moving distance of the first test tube is acquired.

B: an error value between the actual movement distance and the calculated distance is determined.

The calculated distance is a theoretical distance that the first test tube needs to move and is calculated through the distance between the first test tube, the second test tube, the identification position and the target position, and the theoretical distance is equal to an actual moving distance when the motor does not lose steps, overshoot and the like. Therefore, in practice, due to the error caused by the motor, the error value needs to be calculated by using the actual moving distance calculated by the encoder.

C: and accumulating the error values, and compensating the next displacement control when the accumulated error values meet a preset threshold value.

Optionally, in other embodiments, the control of the motor can be corrected through the position optical coupler, for example, the position of the optical coupler positioning conveyor belt at the initial position can be reset once after each row of test tube racks are detected, so that the optical coupler can be corrected.

S404: and unloading the test tube racks which are finished with the operation from the conveyor belt.

Specifically, the unloading operation of S404 can be realized by the following steps: moving the test tube rack to be unloaded to a test tube rack unloading area so as to align the positioning mechanism on the conveying belt with the test tube rack unloading area; pushing the test tube rack out of the conveyor belt.

Wherein, when having multirow test-tube rack simultaneously when feeding on the track, if some test-tube racks carry out the scanning in scanning the code bit, and other part test-tube racks satisfy the uninstallation condition, then the work of scanning the code bit will be interrupted to the uninstallation flow, waits to satisfy the test-tube rack uninstallation of uninstallation condition and accomplishes the scanning of surplus part test-tube rack again.

It can be known that, because there may be a sampling failure in the test tube sampling process, if the test tube rack has been unloaded at this time, the test tubes on the test tube rack cannot be retested, so to avoid this, retest decision information of all test tubes needs to be detected and confirmed, which may specifically be solved through the following steps: judging whether a sample corresponding to the last test tube on the target test tube rack needs to be subjected to rechecking operation or not; if so, unloading the target test tube rack from the conveying belt after the sample recheck corresponding to the last test tube is finished; and if not, unloading the target test tube rack from the conveyor belt.

The target test tube rack is a test tube rack which has completed all detection operations but may have test tube samples needing to be retested; in this embodiment, the last test tube of the target test tube rack is determined, the retest decision information of the last test tube can be detected and confirmed, when the retest decision information of the last test tube indicates completion, it indicates that all test tubes of the whole target test tube rack have been retested or do not need to be retested, and at this time, the target test tube rack can be directly unloaded from the conveyor belt.

If the review decision information of the last test tube indicates that the review decision information of the last test tube is not completed, it indicates that the last test tube needs to be reviewed but not reviewed, at this time, the last test tube needs to be moved to the sampling position again to perform sampling detection on samples in the test tubes, corresponding operations can be performed on the test tubes on other test tube racks according to the preset priority order during detection, and the target test tube rack can not be unloaded from the conveyor belt until the review decision information of the last test tube indicates that the review decision information of the last test tube is completed.

Therefore, according to the sample analysis method provided by the embodiment, the positioning mechanism is arranged on the conveyor belt, so that the test tube rack on the conveyor belt is fixed in position by the positioning mechanism, the test tube rack is prevented from sliding relative to the conveyor belt due to inertia, the conveyor belt with the positioning mechanism and the displacement control method accurately drive the test tube rack to move, corresponding operations such as sample detection are completed, stable sample analysis work is guaranteed, and sample analysis efficiency is improved.

Referring to fig. 12, fig. 12 is a schematic structural diagram of an embodiment of the sample analysis apparatus provided in the present application, where the sample analysis apparatus 120 includes a conveyor belt 121, a motor 122, and a controller 123, where the conveyor belt 121 is used to carry and transport the test tube rack, the motor 122 is connected to the conveyor belt 121 and is used to drive the conveyor belt 121 to rotate so as to drive at least one test tube rack on the conveyor belt 121 to displace, and the controller 123 is connected to the motor 122 and is used to control the motor by using the following method:

loading at least one test tube rack onto a conveyor belt; the conveying belt is provided with a positioning mechanism, and the positioning mechanism is used for fixing the test tube rack borne on the conveying belt; controlling the test tube on the test tube rack to move to a target position according to the test tube displacement instruction so as to complete corresponding operation on the test tube rack; and unloading the test tube racks which are finished with the operation from the conveyor belt.

Further, the sample analyzer 120 further includes a loading mechanism, a code scanning mechanism, a sampling mechanism, an unloading mechanism, and a sample injection mechanism (not shown) in the previous embodiments. The loading mechanism is arranged at the loading position and used for loading the test tube rack; the sampling mechanism is arranged at a sampling position, namely the downstream of the loading mechanism, and is used for sampling the test tubes on the test tube rack; sweep a yard mechanism and locate and sweep the code bit, locate promptly between loading mechanism and the sampling mechanism for carry out a sweep yard discernment one by one to the test tube. The unloading mechanism is arranged at an unloading position, namely the unloading mechanism is arranged at the downstream of the loading mechanism and is used for unloading the test tube rack; the sample analyzer 120 can automatically and intelligently complete the functions of loading, code scanning, sample introduction, sampling, detection, unloading, and the like.

Referring to fig. 13, fig. 13 is a schematic structural diagram of an embodiment of a computer-readable storage medium provided in the present application. The computer-readable storage medium 130 of the present embodiment is used for storing a computer program 131, the computer program 131, when being executed by a processor, is used for realizing the following method steps:

It should be noted that the method steps executed by the computer program 131 of the present embodiment are based on the above-mentioned method embodiments, and the implementation principle and steps are similar. Therefore, when being executed by the processor, the computer program 131 may also implement other method steps in any of the above embodiments, which are not described herein again.

Embodiments of the present application may be implemented in software functional units and may be stored in a computer readable storage medium when sold or used as a stand-alone product. Based on such understanding, the technical solution of the present application may be substantially implemented or contributed by the prior art, or all or part of the technical solution may be embodied in a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, a network device, or the like) or a processor (processor) to execute all or part of the steps of the method according to the embodiments of the present application. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.

The above description is only for the purpose of illustrating embodiments of the present application and is not intended to limit the scope of the present application, and all modifications of equivalent structures and equivalent processes, which are made according to the content of the present specification and the accompanying drawings, or which are directly or indirectly applied to other related technical fields, are also included in the scope of the present application.

Claims

1. A displacement control method of a test tube rack is characterized in that the method is used for driving a conveyor belt to rotate by controlling a motor so as to drive the test tube rack on the conveyor belt to displace, and the method comprises the following steps:

acquiring a test tube displacement instruction; wherein the tube displacement instructions are indicative of moving a first tube on the tube rack to a target position;

determining a second test tube currently at the identification position;

determining the distance between the first test tube and the target position according to the distance between the first test tube and the second test tube and the distance between the target position and the identification position;

and driving the test tube rack according to the distance between the first test tube and the target position so as to move the first test tube to the target position.

2. The method of claim 1,

the determining the distance between the first test tube and the target position according to the distance between the first test tube and the second test tube and the distance between the target position and the identification position comprises:

determining a first distance between the first and second tubes; and

determining a second distance between the target bit and the identification bit;

and determining the distance between the first test tube and the target position according to the first distance and the second distance.

3. The method of claim 2,

said determining a first distance of the first and second tubes comprises:

determining the distance between two adjacent test tubes;

acquiring a first number of the first test tube and a second number of the second test tube;

determining a first distance between the first test tube and the second test tube according to the distance between the two adjacent test tubes and the difference value of the first number and the second number;

wherein, test tubes on the test-tube rack are numbered in proper order according to the test tube sequence.

4. The method of claim 3,

the test tubes on the test tube rack are sequentially numbered in a descending order corresponding to the moving direction of the conveyor belt;

the determining a first distance between the first test tube and the second test tube according to a distance between the two adjacent test tubes and a difference value between the first number and the second number includes:

when the first number is larger than the second number, determining that a first distance between the first test tube and the second test tube is a positive value; or

Determining that a first distance of the first tube and the second tube is a negative value when the first number is less than the second number.

5. The method of claim 2,

the determining a second distance between the target bit and the identification bit includes:

determining a distance between the target location and an origin; and

determining the distance between the identification position and the origin;

and determining a second distance between the target position and the identification position according to the distance between the target position and the origin and the distance between the identification position and the origin.

6. The method of claim 2,

the determining the distance between the first test tube and the target site according to the first distance and the second distance comprises:

calculating a sum of the first distance and the second distance as a distance between the first cuvette and the target site.

7. The method according to any one of claims 1 to 6,

the identification position is a loading position, the target position is a code scanning position, the loading position is the position of the first test tube closest to the scanning position on the test tube rack when the test tube rack is loaded to the conveying belt, and a code scanning mechanism is arranged on the code scanning position and used for scanning a code on a bar code on the test tube; or

The identification position is a loading position, the target position is a sampling position, and a sampling mechanism is arranged on the sampling position and used for sampling the liquid in the test tube; or

The identification bit is a code scanning bit, and the target bit is a sampling bit.

8. The method of claim 1,

the method further comprises the following steps:

when the first test tube moves, acquiring the actual moving distance of the first test tube;

determining an error value between the actual movement distance and the calculated distance;

and accumulating the error values, and compensating the next displacement control when the accumulated error values meet a preset threshold value.

9. A sample analysis device, comprising:

the conveying belt is used for bearing and conveying the test tube rack;

the motor is connected with the conveying belt and used for driving the conveying belt to rotate so as to drive the test tube rack on the conveying belt to move;

a controller connected to the motor for controlling the motor using the method of any of claims 1-8.

10. A computer-readable storage medium, in which a computer program is stored, which, when being executed by a processor, is configured to implement the method of displacement control of a test tube rack according to any one of claims 1 to 8.