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

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 for test tube rack, sample analysis device and storage medium

technical field

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

Background technique

The autosampler is an intelligent and automatic sampling instrument. It only needs to set the sampling parameters, put the sample to be tested into the test tube, and the conveyor belt can automatically transport the sample to the testing instrument to complete the automatic injection. sample process. Autosampler can greatly reduce manual operation and improve detection efficiency, and has been widely used in the field of medical detection.

The existing automatic sampling equipment needs to support the re-inspection function to realize the repeated transportation of the test tube racks on the conveyor belt. During the transportation process, it is usually necessary to calculate the moving step of the motor to drive the conveyor belt to rotate. The accuracy of the step distance is low, and the accuracy of the test tube displacement cannot be guaranteed.

SUMMARY OF THE INVENTION

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

In order to solve the above-mentioned technical problems, a technical solution adopted in the present application is to provide a method for controlling the displacement of test tube racks. The method is used to drive the rotation of the conveyor belt by controlling the motor to drive the displacement of the test tube racks on the conveyor belt. The method includes: obtaining Test tube displacement instruction; wherein, the test tube displacement instruction means to move the first test tube on the test tube rack to the target position; determine the second test tube currently in the identification position; according to the distance between the first test tube and the second test tube, as well as the target position and the identification position The distance between the first test tube and the target position is determined; according to the distance between the first test tube and the target position, the test tube rack is driven to move the first test tube to the target position.

Wherein, according to the distance between the first test tube and the second test tube, and the distance between the target position and the mark position, determining the distance between the first test tube and the target position includes: determining the first distance between the first test tube and the second test tube; and determining the target The second distance between the position and the identification position; according to the first distance and the second distance, the distance between the first test tube and the target position is determined.

Wherein, determining the first distance between the first test tube and the second test tube includes: determining the distance between two adjacent test tubes; obtaining the first number of the first test tube, and obtaining the second number of the second test tube; The distance between the two test tubes and the difference between the first number and the second number determine the first distance between the first test tube and the second test tube; wherein, the test tubes on the test tube rack are sequentially numbered according to the order of the test tubes.

Among them, the test tubes on the test tube rack are sequentially numbered according to the order of the test tubes and corresponding to the moving direction of the conveyor belt; The first distance of the second test tube includes: when the first number is greater 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 the first distance The first distance between the test tube and the second test tube is a negative value.

Wherein, determining the second distance between the target position and the identification position includes: determining the distance between the target position and the origin; and determining the distance between the identification position and the origin; according to the distance between the target position and the origin, the identification position and the origin The distance between the target position and the identification position is determined.

Wherein, determining the distance between the first test tube and the target position according to the first distance and the second distance includes: calculating the sum of the first distance and the second distance as the distance between the first test tube and the target position.

Among them, the identification position is the loading position, the target position is the scanning position, the loading position is the position of the first test tube on the test tube rack closest to the scanning position when the test tube rack is loaded on the conveyor belt, and the scanning position is provided with a scanning mechanism. It is used to scan the barcode on the test tube; or the identification position is the loading position, the target position is the sampling position, and the sampling position is provided with a sampling mechanism for sampling the liquid in the test tube; or the identification position is the scanning position. , the target bit is the sampling bit.

Wherein, the method further includes: when the first test tube moves, acquiring the actual moving distance of the first test tube; determining an error value between the actual moving distance and the calculated distance; accumulating the error values, and when the accumulated error value meets a preset threshold , the next displacement control will be compensated.

In order to solve the above technical problem, another technical solution adopted in the present application is to provide a sample analysis device, the device includes: a conveyor belt for carrying and transporting test tube racks; a motor, connected to the conveyor belt, for driving the conveyor belt to rotate to drive the The test tube rack on the conveyor belt is displaced; the controller is connected to the motor, and is used for controlling the motor by the above method.

In order to solve the above-mentioned technical problem, another technical solution adopted in this application is to provide a computer-readable storage medium, in which a computer program is stored, and when the computer program is executed by a processor, it is used to realize the above method .

The beneficial effects of the embodiments of the present application are: different from the prior art, the displacement control method of the test tube rack provided by the present application can accurately obtain the distance between the first test tube and the second test tube, and the distance between the target position and the mark position, The distance from the first test tube corresponding to the test tube displacement instruction to the target position is determined, so as to drive the first test tube to move to the target position according to the distance. In this way, accurate displacement control can be provided for the directional movement of the test tube, which improves the accuracy of the displacement of the test tube.

Description of drawings

In order to illustrate the technical solutions in the embodiments of the present application more clearly, the following briefly introduces the drawings that are used in the description of the embodiments. Obviously, the drawings in the following description are only some embodiments of the present application. For those of ordinary skill in the art, other drawings can also be obtained from these drawings without creative effort. in:

1 is a schematic structural diagram of an embodiment of a sample feeding mechanism provided by the present application;

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

3 is a schematic flowchart of an embodiment of a sample analysis method provided by the present application;

4 is a schematic flowchart of another embodiment of the sample analysis method provided by the present application;

5 is a schematic flowchart of an embodiment of a displacement control method for a test tube rack provided by the present application;

6 is a schematic flowchart of another embodiment of the displacement control method of the test tube rack provided by the present application;

Fig. 7 is the specific flow chart of step 603 in Fig. 6;

Fig. 8 is the specific flow chart of step 604 in Fig. 6;

9 is a schematic flowchart of another embodiment of the displacement control method of the test tube rack provided by the present application;

10 is a schematic flowchart of another embodiment of the displacement control method of the test tube rack provided by the present application;

Fig. 11 is the specific flow chart of step 1007 in Fig. 10;

12 is a schematic structural diagram of an embodiment of a sample analysis device provided by the present application;

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

Detailed ways

The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application. It should be understood that the specific embodiments described herein are only used to explain the present application, but not to limit the present application. In addition, it should be noted that, for the convenience of description, the drawings only show some but not all the structures related to the present application. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative efforts 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 present application. The appearances of the phrase in various places in the specification are not necessarily all referring to the same embodiment, nor a separate or alternative embodiment that is mutually exclusive of other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described herein may 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 by 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, and the conveyor belt 10 is used for The loading position 101 receives the loading of the test tube rack 30, and the motor 20 rotates to drive the conveyor belt 10 to rotate, thereby driving the test tube rack 30 from the loading position 101 to pass through the code scanning position 102, the sampling position 103, and the unloading position 104 in sequence. The scanning position 102 is used for setting The code scanning mechanism is used for scanning code identification of the test tubes, the sampling position 103 is used for sampling the test tubes on the test tube rack 30 , and the unloading position 104 is used for unloading the test tube rack 30 .

Referring further to FIG. 2 , FIG. 2 is a schematic structural diagram of an embodiment of a conveyor belt provided by the present application. The conveyor belt 10 includes a belt body 11 and a positioning structure 12 . The belt body 11 is used for carrying and transporting the test tube racks or test tubes 30, and the positioning structure 12 is provided on the surface of the belt body 11 for positioning the test tube racks or test tubes 30 carried on the belt body 11, so as to ensure that the test tube racks or test tubes 30 are placed on the belt body During the back and forth movement of the 11 , the relative sliding between the belt body 11 and the test tube rack or the test tube 30 is prevented, and the function of accurately positioning the test tube rack or the test tube 30 is achieved.

Wherein, the belt body 11 is in the shape of a ring, can be a flat belt, and has a smooth inner surface. Optionally, the belt body 11 can also be a synchronous belt with a toothed inner surface, and its transmission precision and transmission efficiency are high.

Wherein, the positioning structure 12 can be a block 12 protruding from the outer surface of the belt body 11, and the block 12 is used for positioning and matching with the end stop of the test tube rack 30, or sliding positioning and matching with the bottom of the test tube rack 30, so as to The test tube racks or test tubes 30 carried on the belt body 11 are positioned. Of course, optionally, the positioning structure 12 can also be a concave area recessed on the outer surface of the belt body 11, and the concave area is used to accommodate the bottom of the test tube rack 30 or The bottom of the test tube 30 is accommodated.

Optionally, the stopper 12 can be connected to the belt body 11 through various connection methods. Preferably, the belt body 11 and the stopper 12 are integrally formed, and the belt body 11 and the stopper 12 are made of the same material and are integrally formed by a stamping process. made. Alternatively, the belt body 11 includes a first layer structure and a second layer structure, the first layer structure is used to carry the test tube rack or the test tube 30, and the stopper is integrally formed with the first layer structure.

In this embodiment, the number of the stoppers 12 is not limited, and it may be multiple, and the multiple stoppers 12 may be distributed at a non-equidistant distance. In other embodiments, the multiple stoppers 12 may also be distributed distributed equidistantly.

Optionally, the above-mentioned sample feeding mechanism also includes a buffer area (not shown in the figure), and the buffer area can be set at either end of the belt body 11 near the loading position 101 or the unloading position 104, or at both ends of the belt body 11, Buffers are set at positions close to the load bit 101 and the unload bit 104, respectively. When the number of the test tube racks 30 on the belt body 11 is multiple, the buffer zone can support the multiple test tube racks 30 to retreat or advance as a whole, so that the multiple test tube racks 30 can move back and forth with the conveyor belt 10 at the same time.

Optionally, the above-mentioned sample feeding mechanism may also include a backup power supply, such as a UPS power supply (Uninterruptible Power Supply, uninterruptible power supply). UPS power supply can be used to provide uninterrupted power supply to the entire device to maintain the normal operation of the device, protect the hardware from damage, and realize power failure recovery.

In addition, a storage device may also be configured in the backup power supply, and data generated by the operation of the device may be temporarily stored in the backup power supply during the operation of the device using the backup power supply. After the power supply of the device is restored, the data temporarily stored in the backup power supply can be re-stored in the memory of the device.

Referring to FIG. 3, FIG. 3 is a schematic flowchart of an embodiment of a sample analysis method provided by the present application. The method of this embodiment specifically includes:

S301: Load at least one test tube rack onto the conveyor belt.

Among them, the conveyor belt in this embodiment is a single belt, and a positioning mechanism is provided on the conveyor belt. The positioning mechanism is arranged on the surface of the belt body of the conveyor belt, and is used to fix the test tube rack carried on the conveyor belt, which can prevent the belt body from being connected to the test tube. Relative sliding occurs between the racks, which plays the role of accurately positioning the test tube racks.

Optionally, the positioning mechanism can be a stopper protruding from the outer surface of the belt, 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. It cooperates with the two end stops of the test tube rack, thereby positioning the test tube rack carried on the belt body. When the test tube rack is aligned with the loading position corresponding to the sampling mechanism, the loading action of the test tube rack can be performed to complete the loading.

S302: Control the test tube on the test tube rack to move to the target position according to the test tube displacement instruction, so as to complete the corresponding operation on the test tube on the test tube rack.

Among them, the target position can include code scanning position and sampling position, etc. When the target position is the scanning code position, the code scanning operation can be performed on the test tubes on the test tube rack, so as to realize the judgment of the existence of test tubes or the type of test tubes, and the test tube rack or the test tube type. Scanning of test tubes; when the target position is the sampling position, the test tubes on the test tube rack can be sampled, so that other devices can analyze the samples in the test tubes. In addition, the target position may also be a position set according to actual analysis requirements, and the corresponding operation implementation manner should be a conventional means in the field, which will not be repeated here.

S303: Unload the completed test tube rack from the conveyor belt.

When the test tube rack has completed scanning or sampling operations, and the unloading conditions have been met, the test tube rack can be further moved to the unloading position, and the test tube rack can be pushed out of the feed track to complete the entire sample analysis and detection of the test tube rack.

Different from the prior art, in the sample analysis method provided in this embodiment, a positioning mechanism is provided on the conveyor belt to use the positioning mechanism to fix the position of the test tube rack on the conveyor belt, so as to avoid the relative sliding of the test tube rack and the conveyor belt due to inertial action, In addition, the test tube rack is driven by a conveyor belt with a positioning mechanism to complete operations such as corresponding sample detection, which ensures the stable progress of the sample analysis work.

Referring to FIG. 4, FIG. 4 is a schematic flowchart of another embodiment of the sample analysis method provided by the present application. The method of this embodiment specifically includes:

S401: Reset the conveyor belt to align the positioning mechanism on the conveyor belt with the test tube rack loading area.

It can be understood that the operation of the conveyor belt can be continuous or stop at the corresponding termination state at the previous moment, but the test tube racks in the loading area usually require a certain preparation time before loading, and when the test tube racks in the loading area are ready. At this time, the positioning mechanism on the conveyor belt may not be able to align with the loading area corresponding to the test tube rack. At this time, even if the test tube rack is ready, the test tube rack cannot be loaded.

Therefore, before loading the test tube rack, you can first use the test tube rack to identify the optical coupler to detect the corresponding loading area of the test tube rack, which may include: detecting whether there is a test tube rack in the test tube rack loading area; Make a reset to align the positioning mechanism on the carousel with the rack loading area. This method can improve a certain loading efficiency or detection and analysis efficiency on the basis of ensuring the accurate fixing of the test tube rack.

Among them, the motor in the loading area includes a loading motor and a loading callback motor. To reset the conveyor belt means to control the loading motor to rotate forward, or control the loading callback motor to reverse. Reset compensation or retract the track to align the positioning mechanism on the carousel with the rack loading area.

Optionally, if the photocoupler for identifying the existence of the test tube rack does not detect the existence of the test tube rack in the loading area of the test tube rack, the detection action is continued until the detection result indicates that the test tube rack exists, and then the reset before loading can be performed.

S402: Load one test tube rack in the test tube rack loading area onto the conveyor belt.

Among them, when loading the test tube rack, it is necessary to ensure that the loading callback motor is in a state of no interference with the loading advancement, so as to avoid the loading callback from affecting the loading of the test tube rack. Optionally, the loading action of the test tube rack can be detected by using the loading-in-position identification optocoupler to monitor whether the loading is completed. When the loading-in-position identification optocoupler is triggered, it indicates that the loading is successful. At this time, the remaining test tube rack loading area can also be The test tube rack is moved away from the conveyor belt. Specifically, the other test tube racks outside the feed track can be separated from the feed track by the loading and dialing motor, so as to avoid the remaining test tube racks interfering with the feeding movement.

S403: Control the test tubes on the test tube rack to move to the target position according to the test tube displacement instruction, so as to complete the corresponding operation on the test tubes on the test tube rack.

In an application scenario, according to the test tube displacement command, the test tubes on the test tube rack can be controlled to move to the scan code position to scan the test tubes on the test tube rack. The code scan position can identify the presence or absence of test tubes or the type of test tubes, and Barcode scanning of test tubes and test tube racks, and further according to the scanning results, the test tubes on the test tube racks can be controlled to move to the sampling position to sample the liquid in the test tubes on the test tube racks.

Optionally, if the above-mentioned test tube scanning fails, a default value will be automatically assigned, and if the sample information of the test tube is scanned, the sample information will be uploaded to the detection instrument. If the sampling mechanism at the sampling position needs to detect the sample, the sampling mechanism will suspend the scanning process at this time, and give priority to responding to the sample allocation so that the test tube can be sampled first. When the sample allocation for the sampling test is completed but there is no new sample allocation request, the The sample agency will continue to scan the remaining sample tubes.

In one embodiment, when the test tube rack is moved to the scanning position for scanning, a preliminary scan of the test tube rack may be performed first to determine, for example, the type of the entire test tube rack or the number of test tube positions on the test tube rack, and then the test tube rack may be scanned. The test tubes on the test tube rack are scanned to further determine the specific information of each test tube, such as test tube type, capacity, sample type, test items, etc. In this way, the scanning efficiency can be accelerated. Among them, the scanning of the test tube rack can be realized by means of a scanning gun, that is, the barcode/QR code on the test tube rack is scanned by the scanning gun to obtain the information of the test tube rack; it can also be realized by RFID (Radio Frequency Identification System _, Radio Frequency Identification System). ) card, that is, install a radio frequency transmitting device on each test tube rack, and then set up a radio frequency receiving device in the scanning position, and obtain the test tube rack information by identifying the radio frequency signal.

Optionally, in this embodiment, when the maximum number of test tube racks that can be loaded on the conveyor and work at the same time is two, the length of the conveyor belt should be long enough, and there are certain buffer zones at both ends of the sample feeding mechanism. It can realize the loading of multi-row test tube racks. When the first row of test tube racks has been loaded and a specific test tube is detected by sampling, if the second row of test tube racks in the loading area is ready to meet the loading conditions, the feed track on the conveyor belt can be reset first, so that the first row of test tube racks can be reset. Another positioning mechanism after the positioning mechanism of one row of test tube racks is aligned with the loading area for loading the second row of test tube racks. After the second row of test tube racks is loaded, the feeding motion can be continued to make the second row Test tube racks for scanning, sampling and other operations.

In some embodiments, before the second row of test tube racks is ready to be loaded, the first row of test tube racks needs to meet certain conditions when performing corresponding operations, that is, the first row of test tube racks has been loaded as described above and Sampling detects a specific test tube, wherein the specific test tube is usually a test tube located closer to the second row of test tube racks in the first row of test tube racks. In one embodiment, a test tube rack has a total of 10 test tube positions, and 10 test tubes can be placed. According to comprehensive consideration of 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. The test tube is the No. 9 test tube in the first row of test tube racks. After the No. 9 test tube of the first row of test tube racks is ready for sampling and testing, the second row of test tube racks that meet the loading conditions can start to be loaded. for subsequent operations after the load is complete. It can be understood that the position or number of a specific test tube can be set according to the actual situation or actual 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 the No. 9 test tube, the loading area corresponds to the conveyor belt part. Only the distance can carry the loading of the next row of test tube racks, so that specific test tubes are pre-set.

In other embodiments, before the second row of test tube racks is ready to start loading, the first row of test tube racks may also meet some other conditions when performing corresponding operations. Continue to take the above-mentioned test tube rack with a total of 10 test tube positions, and 10 test tubes can be placed as the basis. Also, due to the length of the track, the setting position of the positioning mechanism, the length of the test tube rack and other reasons, the test tube may have a sampling failure during the sampling process. In the case where the test must be carried out again, the conveyor belt usually needs to rotate in the opposite direction, so that the test tube that needs to be re-tested can be moved to the sampling position again. When the racks are already loaded, the test tube racks are retracted, and there may be a problem that the test tube racks cannot be retracted or cannot be fed again after retraction. Therefore, in this embodiment, before loading the test tube racks in the second row, it is necessary to wait for the third row of test tube racks to be loaded. The 10th test tube in a row of test tube racks has completed the re-inspection, that is, the re-inspection of all the test tubes on the test-tube rack is completed, including the cases where re-inspection is not required.

Optionally, it is also possible to comprehensively consider the re-inspection of the first row of test tube racks and specific test tubes. For example, it is necessary to ensure that all test tubes (including specific test tubes) located before a specific test tube in the first row of test tube racks are completed. Re-inspection or no re-inspection is required, after which the second row of test tube racks is loaded to ensure the stability of the entire feeding process.

When the feed track cannot scan all the test tubes on the track due to physical limitations, the scan can be paused until the conditions for continuing scanning are met (for example, the first row of test tube racks is unloaded), and the remaining test tubes can be scanned again. until the scan is complete. Further, according to the actual situation of the feeding track, the specific number of test tubes allowed to be scanned in the second row of test tube racks before the first row of test tube racks is not unloaded, for example, due to the feeding track, when the first row of test tube racks is not unloaded When the second row of test tube racks is not unloaded, and the second row of test tube racks starts to enter the scanning phase, the maximum number of tubes allowed to be scanned in the second row of test tube racks is two. , the scan can be continued only after the first row of test tube racks has been unloaded.

Further, in this embodiment, when the maximum number of test tube racks that can work at the same time is two, if the second row of test tube racks is in a specific stage, such as sampling a specific test tube, but at this time the first row of test tube racks has finished the whole process. When unloading is required during the detection process, the sampling operation of the second row of test tube racks can be suspended and the first row of test tube racks can be unloaded first. Until the first row of test tube racks is unloaded, reset the feed track to continue scanning the remaining tubes in the second row of test tube racks.

In the embodiment of the multi-row test tube rack running on the conveyor belt, when there are test tubes that have completed a certain operation and the conveyor belt is ready to rotate according to the next command, if there are multiple operations that need to be performed at the same time, in this case, it is necessary to Select and execute according to the priority of the corresponding operation of the instruction. Specifically, it can be implemented through the following steps: acquiring at least two control instructions; and executing the at least two control instructions in sequence according to the preset priority order.

Among them, the at least two control instructions include a code scanning instruction, a sampling instruction and an unloading instruction, and the preset priority order is an unloading instruction, a sampling instruction, and a code scanning instruction, corresponding to the unloading operation priority > the sampling operation priority > the scanning operation priority level, that is, the priority execution when a certain test tube rack needs to be unloaded or sampled. For example, when there are test tube racks that meet the unloading conditions in the multi-row test tube racks, the unloading instruction will be obtained. At this time, the unloading operation of the corresponding test tube rack will be performed first, and the sampling or scanning operation that may be prepared for all other test tube racks will be suspended. , until the unloading is completed; when there are test tube racks that meet the sampling conditions in the multi-row test tube racks, the sampling instruction will be obtained, but since no high-priority unloading instruction has been obtained, the corresponding test tube rack will be executed first at this time. Sampling operation, and suspend all other scanning operations that the rack may be ready to perform until sampling is complete.

Optionally, in order to realize the accurate movement of the test tubes on the test tube rack, before the test tube rack performs each step of feeding, the conveyor belt can be reset to return 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 start the next feeding action. For example, after the No. 3 test tube of the test tube rack is scanned, the next step needs to scan the No. 4 test tube. Under normal circumstances, the No. 4 test tube is directly fed to move the No. 4 test tube to the scanning position. In this embodiment, the No. 3 test tube is scanned. After completing the scan, first reset the conveyor belt to make the test tube rack return to the loading position, which is equivalent to clearing the previous displacement of the test tube rack. At this time, directly move the No. 4 test tube to the scanning position, which can avoid multiple displacement The resulting error improves the movement accuracy of the test tube rack.

Optionally, in order to realize the accurate movement of the test tubes on the test tube rack in S403, the steps shown in FIG. 5 can be adopted to control the displacement of the test tube rack, and FIG. 5 is the process flow of an embodiment of the displacement control method of the test tube rack provided by the present application. Schematic diagram, in this embodiment, the calculation is based on the fact that there is only one row of test tube racks on the feeding track of the conveyor belt at the same time. This method is used to drive the rotation of the conveyor belt by controlling the motor to drive the displacement of the test tube racks on the conveyor belt. The method specifically includes:

S501: Obtain a test tube displacement instruction.

Among them, the test tube displacement command means to move the first test tube on the test tube rack to the target position, the first test tube means the test tube to be moved, or the test tube to be scanned and sampled, and the target position means that the test tube displacement command indicates that the test tube is to be moved. Move the position where the test tube needs to reach in the next step, including the scanning position, sampling position, etc.

S502: Determine the second test tube currently at the identification position.

Among them, the identification bit represents multiple operating positions in the sampling mechanism, including the loading position, the scanning position, the sampling position, etc., and the second test tube indicates the test tube that is in the scanning position or the sampling position and is currently undergoing or preparing for corresponding detection. .

S503: Determine 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 marker position.

In this embodiment, since there is only one row of test tube racks on the feeding track of the conveyor belt at the same time, the distance between the first test tube and the second test tube is fixed and can be calculated. The position is fixed and known, so the distance between the marker position and the target position can also be calculated according to the specific designation of the marker position and the target position, and finally the distance between the first test tube and the target position can be accurately calculated.

S504: Drive 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.

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

Different from the prior art, the displacement control method of the test tube rack provided in this embodiment can determine the first test tube corresponding to the test tube displacement instruction by accurately obtaining the distance between the first test tube and the second test tube, as well as the distance between the target position and the marking position. The distance from a test tube to the target position, so as to drive the first test tube to move to the target position according to the distance. In this way, accurate displacement control can be provided for the directional movement of the test tube, which improves the accuracy of the displacement of the test tube.

Optionally, displacement control can also be performed on the test tube rack through the steps shown in FIG. 6 . FIG. 6 is a schematic flowchart of another embodiment of the displacement control method for the test tube rack provided by the present application. The calculation is based on only one row of test tube racks on the track at the same time. This method is used to drive the rotation of the conveyor belt by controlling the motor to drive the displacement of the test tube racks on the conveyor belt. The method specifically includes:

S601: Obtain a test tube displacement instruction.

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

S602: Determine the second test tube currently at the identification position.

S603: Determine a first distance between the first test tube and the second test tube.

Optionally, the specific steps of S603 can be implemented by the method shown in FIG. 7 , which specifically includes:

S6031: Determine the distance between two adjacent test tubes.

The distance between adjacent test tubes is usually set according to the specifications of the test tube rack, or according to the length of the conveyor belt. For example, it can usually be fixedly set to 50 units of length, which is not limited here.

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

Among them, the test tubes on the test tube rack are numbered sequentially according to the order of the test tubes. Specifically, the numbers may be sequentially decreased according to the moving direction of the conveyor belt, that is, the number near the sampling position is small, and the number far from the sampling position is large. For example, taking a row of test tube racks with 10 test tubes as an example, number the first test tube in the moving direction of the conveyor belt as No. 1, and sequentially move the second test tube to the tenth test tube in the opposite direction of the conveyor belt. 2, 3...10, and then the numbers corresponding to the first test tube and the second test tube can be determined according to the needs and the numbering situation.

S6033: Determine the first distance between the first test tube and the second test tube according to the distance between two adjacent test tubes and the difference between the first number and the second number.

In this embodiment, since the specifications of the test tube racks are known, the distance between any two adjacent test tubes is usually fixed, such as 50 unit lengths, and further according to the difference between the first number and the second number , calculate the distance between the first test tube and the second test tube. Wherein, when the first number is greater than the second number, the first distance between the first test tube and the second test tube is determined to be a positive value; or when the first number is less than the second number, the first distance between the first test tube and the second test tube is determined. Distance is negative.

For example, the first number is No. 2 and the second number is No. 7. At this time, the difference between the two is the distance between -5 adjacent test tubes. From this, the difference between the first test tube and the second test tube can be calculated. The first distance between is -250 units of length. For example, the first number is No. 7, and the second number is No. 2. At this time, the difference between the two is +5 the distance between adjacent test tubes. From this, the difference between the first test tube and the second test tube can be calculated. The first distance between them is +250 units of length.

S604: Determine the second distance between the target position and the identification position.

Optionally, the specific steps of S604 can be implemented by the method shown in FIG. 8 , which specifically includes:

S6041: Determine the distance between the target position and the origin.

Among them, the origin is a fixed point on the conveyor belt, which is used to mark the position distance of each target position or identification position. The origin can be set according to the actual situation. The setting of the origin position will not actually affect the position of the target position and the identification position. It also doesn't change the distance between the two. For example, in this embodiment, the position of the test tube No. 1 in the test tube rack when the No. 1 test tube is at the loading position can be used as the origin; For example, in the position where the above-mentioned No. 10 test tube continues to be far away from the loading position, it can even extend to the back of the conveyor belt, that is, the side of the conveyor belt that cannot carry the test tube rack. The setting method of the origin is not limited here. The relationship between the various work positions.

The target position is the target position point that the first test tube needs to move according to the displacement instruction, which may include a sampling position or a code scanning position. Therefore, since the origin and the target position are both preset positions in the sampling mechanism, the distance between the two can be accurately obtained.

S6042: Determine the distance between the identification position and the origin.

Among them, the marker position is the position point used to calculate the reference for the moving distance required by the first test tube. From the above, it can be seen that the marker position and the origin are preset positions, so the distance between the two can also be Accurately obtained.

Optionally, when the identification position is the loading position, when the target position is the 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 on the conveyor belt, that is, the position of the first test tube on the test tube rack is closest to the scanning position. The position of the first test tube in the running direction is used as the loading position. When the test tube rack moves, the position of the loading position remains unchanged, and the number of the test tube on the loading position changes immediately, which is used as a reference for calculation; A scanning mechanism is provided for scanning the barcode on the test tube.

Optionally, when the identification position is the loading position, the target position is the sampling position, and the sampling position is provided with a sampling mechanism for sampling the liquid in the test tube; in other embodiments, the identification position can also be a scan code. bit, the target bit is the sampling bit, which can be set according to the actual situation, and will not be repeated here.

S6043: Determine 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.

In an application scenario, for example, the target position that the first test tube needs to move is the scanning position, and the identification position where the second test tube is located is the loading position. It can be obtained that the distance between the scanning position and the origin is 1000 units Length (step), the distance between the loading position and the origin is 600 unit lengths (steps), so the second distance between the target position and the identification position can be calculated as 1000-600=400 unit lengths. Wherein, when the selection of the identification bit and the target bit changes, the second distance between them also changes, which is not limited here.

S605: Determine 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: calculating the sum of the first distance and the second distance as the distance between the first test tube and the target position.

In this 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 test tube and the target position is 400+250 =750 unit length; when the first distance is -250 unit length, the distance between the first test tube and the target position is 400-250=150 unit length.

S606: According to the distance between the first test tube and the target position, drive the test tube rack to move the first test tube to the target position.

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

Therefore, in the method of this embodiment, the test tube number of the first test tube to be moved, the test tube number of the second test tube for reference identification, the identification position of the second test tube and the target that the first test tube needs to reach position, you can accurately calculate the corresponding step distance that the displacement needs to move forward or backward, and then control the movement of the motor to realize the movement of the position of the test tube. In this way, the distance from any test tube to any position in the same test tube rack can be accurately and quickly calculated, so that the displacement of the test tube can be accurately controlled, the computational complexity of the test tube movement is reduced, and the work efficiency is improved.

Optionally, since the motor may lose steps or overshoot during operation, when the motor controls the conveyor belt according to the distance calculated in the above steps, the accuracy of the test tube displacement will still be partially affected. , the encoder can also be used for position correction after S606, including:

S607: When the first test tube moves, obtain the actual moving distance of the first test tube.

It can be known that the accuracy of the encoder will be higher than that of the motor, so the encoder can more accurately identify, monitor and feedback the displacement of the test tube. Since the motor is controlled by one step, when the first test tube moves under the drive of the motor, the encoder synchronously obtains the actual moving distance of the first test tube. Because the motor loses steps or overshoots, the actual moving distance may be It will be larger or smaller than the control step of the motor.

S608: Determine the error value between the actual moving distance and the calculated distance.

Among them, the calculated distance is the theoretical distance that the first test tube needs to move calculated by the distance between the first test tube, the second test tube, the marking position and the target position. In this case, it should be equal to the actual moving distance. Therefore, in practice, due to the error caused by the motor, it is necessary to use the actual moving distance calculated by the encoder to calculate the error value.

S609: Accumulate the error value, and perform compensation for the next displacement control when the accumulated error value meets the preset threshold.

Wherein, the preset threshold can be set according to the actual situation, and in this embodiment, it can be set as one unit length, that is, one step.

In an application scenario, when the error value between the actual moving distance obtained by the encoder and the calculated distance is greater than 0 but less than 1 step due to the motor lost step or overshoot, the error calculated in the 0-1 stage is calculated. When the accumulated error value is greater than 1 step, the next time the displacement control of the test tube rack is performed, the error value of this step is added to the control step of the motor to further improve the displacement accuracy of the test tube.

It can be understood that when the accumulated error value is not an integer, only the error value of the integer number of steps will be compensated, and the error value of less than 1 step will continue to be accumulated, and the accumulated accumulated error value will be compensated by rounding, for example, the accumulated error value is 2.3 , then the current compensation will be 2 steps, and the remaining 0.3 will continue to be accumulated; for example, when the accumulated error value is 1.8, the rounding will also compensate for 2 steps, and the accumulated error value will become -0.2.

Optionally, in other embodiments, the control of the motor can also be corrected through the position optocoupler. For example, after each row of test tube racks is tested, a reset can be performed, and the position of the conveyor belt can be positioned through the optocoupler at the initial position. , to achieve optocoupler correction.

In this way, on the basis of accurately calculating the displacement of the test tube, an encoder or a position optical coupler can be used to ensure that the displacement accuracy is kept at a high level, thereby further improving the accuracy of the test tube displacement.

Optionally, displacement control can also be performed on the test tube rack through the steps shown in FIG. 9 . FIG. 9 is a schematic flowchart of another embodiment of the displacement control method for the test tube rack provided by the present application. There can be two rows of test tube racks on the track at the same time for calculation. This method is used to drive the rotation of the conveyor belt by controlling the motor to drive the displacement of the test tube racks on the conveyor belt. The method specifically includes:

S901: Obtain a test tube displacement instruction.

Among them, the test tube displacement command means to move the first test tube on the test tube rack to the target position. The first test tube is located on the first test tube rack, which means the test tube to be moved, or the test tube to be scanned and sampled. The target position means The test tube displacement instruction indicates the position that the test tube to be moved needs to reach in the next step, including code scanning position, sampling position, etc.

S902: Determine the second test tube currently at the identification position.

Among them, the identification bit represents multiple operating positions in the sampling mechanism, including the loading position, the scanning position, the sampling position, etc. The second test tube is located on the second test tube rack, indicating that it is in the scanning position or the sampling position. Prepare test tubes for the corresponding assays.

S903: Determine the distance between the first test tube and the second test tube according to the serial numbers of the test tube racks corresponding to the first test tube and the second test tube.

In this embodiment, the first test tube and the second test tube are located on different test tube racks by default. If the first test tube and the second test tube are located on the same test tube rack, the method of this embodiment can be calculated according to the previous embodiment.

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

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

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

In this embodiment, since the positions of many different identification positions and target positions are fixed, the distances between them are usually known when the sampling mechanism is set, so the first test tube and the second test tube On the basis that a distance has been obtained, the final distance between the first test tube and the target position can be calculated according to the specific position of the identification position and the target position.

S905: Drive 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.

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

Different from the prior art, the displacement control method of the test tube rack provided in this embodiment can determine the first test tube corresponding to the test tube displacement instruction by accurately obtaining the distance between the first test tube and the second test tube, as well as the distance between the target position and the marking position. The distance from a test tube to the target position, so as to drive the first test tube to move to the target position according to the distance. In this way, accurate displacement control can be provided for the directional movement of the test tube, which improves the accuracy of the displacement of the test tube.

Optionally, displacement control can also be performed on the test tube rack through the steps shown in FIG. 10 . FIG. 10 is a schematic flowchart of another embodiment of the displacement control method for the test tube rack provided by the present application. There can be two rows of test tube racks on the track at the same time for calculation. This method is used to drive the rotation of the conveyor belt by controlling the motor to drive the displacement of the test tube racks on the conveyor belt. The method specifically includes:

S1001: Obtain a test tube displacement instruction.

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

S1002: Determine the second test tube currently at the identification position.

S1003: Add serial numbers to the test tube racks according to the order of the test tube racks on the conveyor belt.

The order of the test tube racks can be expressed as the order in which the test tube racks are loaded onto the conveyor belt, with the test tube racks loaded in the front as the first serial numbered test tube racks, and the later loaded test tube racks as the second serial numbered test tube racks. In an actual scenario, the length of the conveyor belt or the length of the sample feeding mechanism can be set to be larger than two rows of test tube racks. The method in this embodiment uses two rows of test tube racks as the standard for displacement control. The principle of the displacement control method for multi-row test tube racks Same with two rows of test tube racks.

S1004: Based on the first test tube on the test tube rack with the first serial number, the test tubes on at least two test tube racks are sequentially numbered according to the order of the test tubes.

Among them, the test tubes on the test tube rack are numbered in sequence according to the order of the test tubes. Specifically, the numbers may be sequentially decreased according to the moving direction of the conveyor belt, that is, the number of the test tubes close to the sampling position is smaller, and the number of the test tubes far from the sampling position is larger. The test tube racks with the first serial number and the test tube racks with the second serial number are numbered as a whole. For example, taking a row of test tube racks with 10 test tubes as an example, the first test tube rack on the first serial number test tube rack corresponds to the first test tube in the moving direction of the conveyor belt. The number is No. 1, and the position of the No. 1 test tube is used as the reference point to correspond to the first test tube on the multi-row test tube rack, and the remaining test tubes on the first serial number test tube rack are numbered in sequence as No. 2...10, when numbering the test tube rack with the second serial number, number the first test tube on the test tube rack with the second serial number corresponding to the moving direction of the conveyor belt as No. 11, and sequentially number the remaining test tubes as No. 11... No. 20; when the conveyor belt can carry more test tube racks, the numbering method of the test tube racks and test tubes can be arranged and arranged in the above-mentioned manner.

Optionally, when there are test tube racks on the conveyor belt to be unloaded, serial numbers are added to the test tube racks according to the order of the test tube racks on the conveyor belt. That is to say, when the test tube rack with the first serial number is detected and unloaded, the serial number of the test tube rack with the second serial number is updated to become a new first serial number test tube rack, and the original second serial number test tube rack is numbered from 11 to 11. The test tube No. 20 is also updated to No. 1 to No. 10 as it becomes the test tube rack with the first serial number, and the position of the new No. 1 test tube is used as a new reference point.

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

From the above, the numbers corresponding to the first test tube and the second test tube can be determined according to the needs and the numbering situation.

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

In this embodiment, since the specifications of the test tube racks are known, the distance between any two adjacent test tubes is usually fixed, such as 50 unit lengths, and further according to the difference between the first number and the second number , and the distance between two adjacent test tube racks, the distance between the first test tube and the second test tube can be calculated. Wherein, when the first number is greater than the second number, the first distance between the first test tube and the second test tube is determined to be a positive value; or when the first number is less than the second number, the first distance between the first test tube and the second test tube is determined. Distance is negative.

The distance between two adjacent test tube racks can be determined by the positioning structure for fixing the test tube racks, specifically determined by a plurality of blocks in the positioning structures corresponding to the two adjacent test tube racks, and each positioning structure includes Two blocks, the distance between two blocks in one positioning structure corresponds to the length of the test tube rack, and the distance between adjacent blocks in two different positioning structures can be set according to the actual situation, such as setting It is the length of about one test tube width, for example, 55 units of length, which is the distance between adjacent test tube racks. Specifically, the distance between adjacent test tube racks can be adjusted according to the actual thickness of the block, which is not done here. Too restrictive.

In a specific application scenario, for example, the number of the first test tube is No. 7, and the number of the second test tube is No. 13. At this time, the difference between the two is the distance between 6 adjacent test tubes. Knowing the confirmed distance between adjacent test tube racks, the first distance between the first test tube and the second test tube can be calculated. It should be noted that the distance between adjacent test tubes needs to be subtracted when using the number difference for calculation here, because the distance between the No. 11 test tube and the No. 10 test tube belongs to the calculation of the distance between adjacent test tube racks. It cannot be double-counted, so the first distance between test tube No. 7 and test tube No. 13 is -((13-7-1)*50+55)=-305 units of length. Similarly, when the first number is number 13 and the second number is number 7, the final calculated first distance is +305 unit lengths.

S1007: Determine the second distance between the target position and the identification position.

Optionally, the specific steps of S1007 can be implemented by the method shown in FIG. 11 , which specifically includes:

S10071: Determine the distance between the target position and the origin.

Among them, the origin is a fixed point on the conveyor belt, which is used to mark the position distance of each target position or identification position. The origin can be set according to the actual situation. The setting of the origin position will not actually affect the position of the target position and the identification position. It also doesn't change the distance between the two. The target position is the target position where the first test tube needs to move according to the unique instruction, which may include a sampling position or a code scanning position. Therefore, since the origin and the target position are both preset positions in the sampling mechanism, the distance between the two can be accurately obtained.

S10072: Determine the distance between the marker position and the origin.

Among them, the marker position is the position point used to calculate the reference for the moving distance required by the first test tube. From the above, it can be seen that the marker position and the origin are preset positions, so the distance between the two can also be Accurately obtained.

Optionally, when the identification position is the loading position, when the target position is the 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 on the conveyor belt, that is, the position of the first test tube on the test tube rack is closest to the scanning position. The position of the first test tube in the running direction is used as the loading position. When the test tube rack moves, the position of the loading position remains unchanged, and the number of the test tube on the loading position changes immediately, which is used as a reference for calculation; A scanning mechanism is provided for scanning the barcode on the test tube.

Optionally, when the identification position is the loading position, the target position is the sampling position, and the sampling position is provided with a sampling mechanism for sampling the liquid in the test tube; in other embodiments, the identification position can also be a scan code. bit, the target bit is the sampling bit, which can be set according to the actual situation, and will not be repeated here.

S10073: Determine 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 marker and the origin.

In an application scenario, for example, the target position of the first test tube to be moved is the sampling position, and the identification position of the second test tube is the scanning position. It can be obtained that the distance between the sampling position and the origin is 800 units of length. (step), the distance between the scan code bit and the origin is 200 unit lengths (steps), so at this time it can be calculated that the second distance between the target bit and the identification bit is 800-200=600 unit lengths.

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

Specifically, S1008 may be implemented by the following steps: calculating the sum of the first distance and the second distance as the distance between the first test tube and the target position.

In this 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 test tube and the target position is 600+305 =905 unit length; when the first distance is -305 unit length, the distance between the first test tube and the target position is 600-305 = 295 unit length.

S1009: Drive 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 desired target position by controlling the motor to move, for example, by 905 or 295 motor steps.

Therefore, in the method of this embodiment, the test tube number of the first test tube to be moved, the test tube number of the second test tube for reference identification, the distance between two adjacent test tube racks, and the mark where the second test tube is located are determined. Position and the target position that the first test tube needs to reach, you can accurately calculate the corresponding step distance that the displacement needs to move forward or backward, and then control the motor movement to realize the movement of the test tube position. In this way, the distance from any test tube to any position in different test tube racks can be accurately and quickly calculated, so that the displacement of the test tube can be accurately controlled, the computational complexity of the test tube movement is reduced, and the work efficiency is improved.

Therefore, the displacement control methods provided in the above embodiments can accurately control the movement of the test tubes on the test tube rack, so that the target test tube can be accurately displaced to the target position to complete the corresponding operation, thereby improving the efficiency of automatic sample injection.

Optionally, since the motor may lose steps or overshoot during operation, when the motor controls the conveyor belt according to the distance calculated in the above steps, the accuracy of the test tube displacement will still be partially affected. , the encoder can also be used for position correction after S1009, including:

A: When the first test tube moves, obtain the actual moving distance of the first test tube.

It can be known that the accuracy of the encoder will be higher than that of the motor, so the encoder can more accurately identify, monitor and feedback the displacement of the test tube. Since the motor is controlled by one step, when the first test tube moves under the drive of the motor, the encoder synchronously obtains the actual moving distance of the first test tube. Because the motor loses steps or overshoots, the actual moving distance may be It will be larger or smaller than the control step of the motor.

B: Determine the error value between the actual moving distance and the calculated distance.

Among them, the calculated distance is the theoretical distance that the first test tube needs to move calculated by the distance between the first test tube, the second test tube, the marking position and the target position. In this case, it should be equal to the actual moving distance. Therefore, in practice, due to the error caused by the motor, it is necessary to use the actual moving distance calculated by the encoder to calculate the error value.

C: Accumulate the error value, and compensate the next displacement control when the accumulated error value meets the preset threshold.

Wherein, the preset threshold can be set according to the actual situation, and in this embodiment, it can be set as one unit length, that is, one step.

In an application scenario, when the error value between the actual moving distance obtained by the encoder and the calculated distance is greater than 0 but less than 1 step due to the motor lost step or overshoot, the error calculated in the 0-1 stage is calculated. When the accumulated error value is greater than 1 step, the next time the displacement control of the test tube rack is performed, the error value of this step is added to the control step of the motor to further improve the displacement accuracy of the test tube.

It can be understood that when the accumulated error value is not an integer, only the error value of the integer number of steps will be compensated, and the error value of less than 1 step will continue to be accumulated, and the accumulated accumulated error value will be compensated by rounding, for example, the accumulated error value is 2.3 , then the current compensation will be 2 steps, and the remaining 0.3 will continue to be accumulated; for example, when the accumulated error value is 1.8, the rounding will also compensate for 2 steps, and the accumulated error value will become -0.2.

Optionally, in other embodiments, the control of the motor can also be corrected through the position optocoupler. For example, after each row of test tube racks is tested, a reset can be performed, and the position of the conveyor belt can be positioned through the optocoupler at the initial position. , to achieve optocoupler correction.

In this way, on the basis of accurately calculating the displacement of the test tube, an encoder or a position optical coupler can be used to ensure that the displacement accuracy is kept at a high level, thereby further improving the accuracy of the test tube displacement.

S404: Unload the completed test tube rack 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 the test tube rack unloading area, so that the positioning mechanism on the conveyor belt is aligned with the test tube rack unloading area; pushing the test tube rack out of the conveyor belt.

Among them, when there are multiple rows of test tube racks on the feed track at the same time, if some test tube racks are scanned at the code scanning position, while other test tube racks meet the unloading conditions, the unloading process will interrupt the work of the code scanning position. After the test tube racks that meet the unloading conditions are unloaded, continue to scan the remaining test tube racks.

It can be known that since sampling failure may occur during 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 re-inspected. Therefore, in order to avoid this situation, It is necessary to detect and confirm the re-inspection decision information of all test tubes, which can be solved by the following steps: determine whether the sample corresponding to the last test tube on the target test tube rack needs to be re-inspected; if necessary, re-test the sample corresponding to the last test tube. After the inspection is completed, the target test tube rack is unloaded from the conveyor belt; if not required, the target test tube rack is unloaded from the conveyor belt.

Among them, the target test tube rack refers to a test tube rack that has completed all detection operations, but there may be test tube samples that need to be re-examined; in this embodiment, to judge the last test tube of the target test tube rack The inspection decision information is tested and confirmed. When the re-inspection decision information of the last test tube is indicated as complete, it indicates that all the test tubes in the entire target test tube rack have been re-inspected or do not need to be re-inspected. Unloading on the conveyor belt.

If the re-inspection decision information of the last test tube indicates that it has not been completed, it indicates that the last test tube needs to be re-inspected but has not been re-inspected. At this time, the last test tube needs to be moved to the sampling position again to sample the sample in the test tube. During the detection, the test tubes on other test tube racks can also be operated correspondingly according to the preset priority order as mentioned above, and the target test tube rack can not be changed from the target test tube rack until the retest decision information of the last test tube is indicated as complete. Unloading on the conveyor belt.

Therefore, in the sample analysis method provided in this embodiment, a positioning mechanism is provided on the conveyor belt, so that the position of the test tube rack on the conveyor belt is fixed by the positioning mechanism, so as to avoid the relative sliding of the test tube rack and the conveyor belt due to the inertia effect, and by having a positioning mechanism The conveyor belt of the mechanism and the displacement control method accurately drive the test tube rack to move to complete the corresponding sample detection and other operations, which ensures the stable progress of the sample analysis work and improves the sample analysis efficiency.

Referring to FIG. 12 , FIG. 12 is a schematic structural diagram of an embodiment of a sample analysis device provided by the present application. The sample analysis device 120 includes a conveyor belt 121 , a motor 122 and a controller 123 , wherein the conveyor belt 121 is used for carrying and transporting test tube racks, and the motor 122 is connected to the conveyor belt 121 for driving the conveyor belt 121 to rotate to drive the displacement of at least one test tube rack on the conveyor belt 121, and the controller 123 is connected to the motor 122 for controlling the motor by the following method:

Load at least one test tube rack onto the conveyor belt; wherein, a positioning mechanism is provided on the conveyor belt, and the positioning mechanism is used to fix the test tube rack carried on the conveyor belt; according to the test tube displacement instruction, the test tube on the test tube rack is controlled to move to the target position, To complete the corresponding operation on the test tubes on the test tube rack; unload the completed test tube rack from the conveyor belt.

Further, the sample analysis device 120 further includes a loading mechanism, a code scanning mechanism, a sampling mechanism, an unloading mechanism, and the sample feeding mechanism described in the foregoing embodiments (none of which are shown in the figures). The loading mechanism is set at the loading position for loading the test tube rack; the sampling mechanism is set at the sampling position, that is, downstream of the loading mechanism, for sampling the test tubes on the test tube rack; the scanning mechanism is set at the scanning position, namely It is located between the loading mechanism and the sampling mechanism, and is used to scan and identify the test tubes one by one. The unloading mechanism is located at the unloading position, that is, downstream of the loading mechanism, for unloading the test tube racks; the sample analysis device 120 can automatically and intelligently complete functions such as loading, scanning, sampling, sampling, testing, and unloading.

Referring to FIG. 13, FIG. 13 is a schematic structural diagram of an embodiment of a computer-readable storage medium provided by the present application. The computer-readable storage medium 130 in this embodiment is used to store a computer program 131, and when the computer program 131 is executed by the processor, is used to implement the following method steps:

Load at least one test tube rack onto the conveyor belt; wherein, a positioning mechanism is provided on the conveyor belt, and the positioning mechanism is used to fix the test tube rack carried on the conveyor belt; according to the test tube displacement instruction, the test tube on the test tube rack is controlled to move to the target position, To complete the corresponding operation on the test tubes on the test tube rack; unload the completed test tube rack from the conveyor belt.

It should be noted that, the method steps executed by the computer program 131 in this embodiment are based on the foregoing method embodiments, and the implementation principles and steps are similar. Therefore, when the computer program 131 is executed by the processor, other method steps in any of the foregoing embodiments may also be implemented, which will not be repeated here.

When the embodiments of the present application are implemented in the form of software functional units and are sold or used as independent products, they may be stored in a computer-readable storage medium. Based on this understanding, the technical solutions of the present application can be embodied in the form of software products in essence, or the parts that contribute to the prior art, or all or part of the technical solutions, and the computer software products are stored in a storage medium , including several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) or a processor (processor) to execute all or part of the steps of the methods described in the various embodiments of the present application. The aforementioned storage medium includes: U disk, mobile hard disk, Read-Only Memory (ROM, Read-Only Memory), Random Access Memory (RAM, Random Access Memory), magnetic disk or optical disk and other media that can store program codes .

The above descriptions are only the embodiments of the present application, and are not intended to limit the scope of the patent of the present application. Any equivalent structure or equivalent process transformation made according to the contents of the description and drawings of the present application, or directly or indirectly applied to other related technologies Fields are similarly included within the scope of patent protection of this application.

Claims (10)

1. a displacement control method of a test tube rack, is characterized in that, described method is used to drive conveyor belt to rotate by controlling motor, to drive the test tube rack displacement on described conveyor belt, described method comprises: Obtaining a test tube displacement instruction; wherein, the test tube displacement instruction represents moving the first test tube on the test tube rack to a target position; Determine the second test tube currently in the marked 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, determine the distance between the first test tube and the target position; According to the distance between the first test tube and the target position, the test tube rack is driven to move the first test tube to the target position. 2. The method according to claim 1, wherein 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, as well as the distance between the target position and the identification position, includes: determining a first distance between the first test tube and the second test tube; and determining the second distance between the target position and the identification position; According to the first distance and the second distance, the distance between the first test tube and the target position is determined. 3. The method of claim 2, wherein The determining of the first distance between the first test tube and the second test tube includes: Determine the distance between two adjacent test tubes; obtaining the first number of the first test tube, and obtaining the second number of the second test tube; Determine the 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 between the first number and the second number; Wherein, the test tubes on the test tube rack are sequentially numbered according to the order in which the test tubes are arranged. 4. The method of claim 3, wherein The test tubes on the test tube rack are sequentially numbered in descending order according to the order of the test tubes and corresponding to the moving direction of the conveyor belt; The determining of the 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 between the first number and the second number includes: When the first number is greater 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, it is determined that the first distance between the first test tube and the second test tube is a negative value. 5. The method of claim 2, wherein The determining of the second distance between the target position and the identification position includes: determining the distance between the target position and the origin; and determining the distance between the identification bit and the origin; The second distance between the target position and the identification position is determined 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, wherein The determining the distance between the first test tube and the target position according to the first distance and the second distance includes: The sum of the first distance and the second distance is calculated as the distance between the first test tube and the target position. 7. The method according to any one of claims 1-6, characterized in that, The identification position is the loading position, the target position is the scanning position, and 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 on the conveyor belt. position, the scanning position is provided with a scanning mechanism for scanning the barcode on the test tube; or The identification position is the loading position, the target position is the sampling position, and the sampling position is provided with a sampling mechanism for sampling the liquid in the test tube; or The identification bits are code scanning bits, and the target bits are sampling bits. 8. The method of claim 1, wherein: The method also includes: When the first test tube moves, obtain the actual moving distance of the first test tube; determining an error value between the actual moving distance and the calculated distance; The error value is accumulated, and when the accumulated error value meets a preset threshold, compensation is performed for the next displacement control. 9. A sample analysis device, wherein the sample analysis device comprises: Conveyor belts for carrying and transporting test tube racks; a motor, connected to the conveyor belt, for driving the conveyor belt to rotate, so as to drive the displacement of the test tube racks on the conveyor belt; A controller, connected to the motor, is used for controlling the motor by using the method according to any one of claims 1-8. 10. A computer-readable storage medium, characterized in that, a computer program is stored in the computer-readable storage medium, and when the computer program is executed by a processor, the computer program is used to realize any one of claims 1-8 The displacement control method of the test tube rack.

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