Blood layering recognition method and device for blood distribution station

Abstract

This invention belongs to the field of automated biological sample processing technology, and discloses a blood stratification identification method and device for a blood sorting workstation. The device includes: a test tube rack loading and conveying platform with a rectangular circulating flow channel, with an opening station and a detection station sequentially arranged in the middle of the feed channel; an automatic opening mechanism for performing precise opening or closing operations on the sample tubes; a supplementary lighting unit containing independently switchable white light and blue light sources for providing vertically downward multispectral supplementary lighting; and a camera unit located to the side of the detection station. The identification method includes: the step of transferring the tube back to the test tube rack after opening the cap for further detection, and the logic of cyclically processing multiple sample tubes on the same test tube rack. This invention eliminates reflective interference through top multi-color vertical supplementary lighting, significantly improving the identification accuracy of the blood leukocyte layer interface; simultaneously, the rectangular circulating flow platform achieves a high-throughput, fully automated sample processing workflow within a compact space.

Description

Technical Field

[0001] This invention relates to the field of biological sample testing and automated experimental equipment, and in particular to a method and integrated device for automatically opening caps, multispectral stratification identification and flow control of centrifuged whole blood sample tubes in a blood sorting workstation. Background Technology

[0002] In clinical testing, biobanking, and drug development, precise stratification and separation of centrifuged whole blood samples are routine procedures. Centrifuged blood exhibits typical stratification within the sample tube: a pale yellow plasma layer on top, a very thin white blood cell layer (white membrane layer) in the middle, and a deep red red blood cell layer at the bottom. Automated equipment relies on machine vision systems to accurately identify the spatial coordinates of each stratification interface to guide the pipetting robot arm in precise liquid aspiration.

[0003] Currently, the main technical bottlenecks for visual recognition of blood layering interfaces are as follows: (1) Existing technologies mostly employ no supplementary lighting or side supplementary lighting schemes. Under conditions without supplementary lighting, image contrast is greatly affected by ambient light, leading to blurred layered interfaces. For example... Figure 1 As shown, while side illumination can increase brightness, the cylindrical sample tube wall produces severe specular reflection, forming bright spots in the image. These spots often happen to cover the cell layer interface area, causing image processing algorithms to misidentify the edge of the spot as the liquid surface boundary, resulting in a high recognition error rate and poor system robustness.

[0004] (2) The leukocyte layer is usually only 1-2 mm thick and its color is very close to that of blood plasma. Under ordinary white light, the gray gradient change at the edge of this layer is weak, and conventional algorithms are difficult to locate it accurately, which limits the purity and yield of subsequent pipetting.

[0005] (3) Although some existing equipment has identification functions, the connection between opening the cap, detection and pipetting is not smooth enough. In particular, for the processing of multiple sample tubes on the same test tube rack, there is a lack of efficient circulation mechanism, resulting in large equipment footprint but low processing throughput, which is difficult to meet the construction needs of large-scale sample banks.

[0006] Therefore, how to overcome the problems of large light source interference and low contrast of layered interfaces in existing identification devices, and provide an automated circulation solution with high throughput and compact structure, is a problem that urgently needs to be solved by those skilled in the art. Summary of the Invention

[0007] To address the technical deficiencies of the prior art, this invention proposes a blood stratification identification method and device for a blood sorting workstation, which can effectively eliminate optical interference, enhance the contrast of specific stratifications, and has efficient circulation capability, thereby improving work efficiency.

[0008] To achieve the above objectives, the present invention adopts the following technical solution: The first aspect of the present invention is to provide a blood stratification identification device for a blood sorting workstation, comprising: The test tube rack loading and conveying platform has a feed channel for linearly conveying the test tube rack, and the feed channel has an opening station and an inspection station arranged sequentially along the conveying direction in the middle. An automatic capping mechanism is located above the test tube rack loading and conveying platform, corresponding to the capping station, and is configured to perform capping or capping operations on the sample tubes loaded on the test tube rack that are conveyed to the capping station. A supplementary lighting unit is located directly above the detection station and is configured to provide vertically downward supplementary lighting from the top to the sample tube located at the detection station. The supplementary lighting unit includes at least a white light source and a blue light source that can be switched on independently. The camera unit is located to the side of the detection station, and its shooting angle forms an angle with the output light path of the supplementary light unit. It is configured to acquire images of the sample tube when the white light source is on and when the blue light source is on.

[0009] Preferably, the test tube rack loading and conveying platform includes: Support base plate; The feeding unit consists of two sets arranged parallel to each other on the support base plate, used to linearly transport the test tube rack along the first direction; The loading unit consists of two sets arranged parallel to each other on the support base plate, used to transport the test tube rack along a second direction perpendicular to the first direction; Among them, the two sets of feeding units and the two sets of loading units are alternately connected end to end on the support base plate, together forming a rectangular flow channel for the test tube rack to move cyclically. Furthermore, the opening station and the inspection station are located in the middle of the feed channel of at least one of the feeding units, and are situated between the two loading units on both sides.

[0010] More preferably, the feed unit includes: The feed plate is vertically fixed to the end edge of the support base plate, and a push block guide groove is provided at its lower part to connect with the feed channel inside it. A feed timing belt is arranged parallel to the feed channel and is rotatably mounted on the feed vertical plate via first timing pulleys at both ends; A feed motor is fixed to the feed vertical plate, and its output shaft is connected to the first synchronous pulley at one end of the feed synchronous belt. An L-shaped pusher block, one end of which is fixedly connected to the feed timing belt, and the other end of which extends through the pusher block guide groove to the bottom of the feed channel, is used to push the test tube rack to move along the feed channel under the drive of the feed motor.

[0011] More preferably, each of the loading units includes: A linear transfer guide rail is fixedly installed at the end edge of the supporting base plate; The transfer conveyor belt consists of two sets, which are respectively arranged parallel to each other on both sides of the linear transfer guide rail via second synchronous pulleys at both ends; and its upper belt body is located above the support base plate, forming a transfer channel connecting the feed channel together with the linear transfer guide rail. A transfer motor is located at one end of the supporting base plate, and its output shaft is connected to the second synchronous pulley shaft at one end of the two transfer conveyor belts. It is used to drive the transfer conveyor belts to move the test tube rack on them along the transfer channel.

[0012] More preferably, the test tube rack loading and conveying platform further includes: The protective base shell has an opening at the top, and a second synchronous pulley shaft and several supporting square tubes for supporting the supporting base plate are arranged inside the opening; A protective upper shell is installed above the feeding unit, and a test tube clamping hole is provided on the top of the protective upper shell near the side of the automatic opening mechanism.

[0013] More preferably, the automatic lid-opening mechanism includes: The first moving mechanism is horizontally mounted above the test tube rack loading and conveying platform via a bracket; The second moving mechanism is installed at the moving end of the first moving mechanism and can be driven to move along the second direction; A rotating mechanism, installed at the moving end of the second moving mechanism, and capable of being driven to move up and down in a third direction, is used to screw the cap of the sample tube so that the cap is detached from the tube body. The first electric gripper is installed on the moving end of the rotating mechanism and can be driven to rotate circumferentially along the sample tube to grip the tube cap of the sample tube. The second electric gripper is fixedly installed on the outer wall of the feed plate corresponding to the opening station. Its gripper cooperates with the first electric gripper through the test tube holding hole above, and is used to hold the tube body of the sample tube.

[0014] More preferably, the automatic lid-opening mechanism further includes: A proximity sensor is disposed at the moving end of the second moving mechanism to control the lateral positioning of the second electric gripper; A temporary storage box is located in the middle area of ​​the test tube rack loading and conveying platform and below the movement path of the first moving mechanism, for temporarily storing the opened tube caps.

[0015] Preferably, the white light source and blue light source of the supplementary lighting unit are arranged adjacent to each other along the first direction directly above the detection station.

[0016] Preferably, the camera unit is an industrial area scan camera, with its lens arranged along the second direction toward the detection station, and the shooting direction of its lens forming an angle of 85-95° with the illumination direction of the supplementary lighting unit.

[0017] A second aspect of the present invention is to provide a blood stratification identification method for a blood sorting workstation, based on the apparatus described in any of the above claims, comprising the following steps: S1, Place the test tube rack containing the centrifuged sample tubes on the loading unit of the test tube rack loading and conveying platform, start the loading unit and the feeding unit, send the test tube rack into the feeding channel and convey and position it to the cap opening station. S2, start the automatic cap opening mechanism, control the first electric gripper to clamp the cap of the sample tube and move it into the test tube holding hole, the second electric gripper clamps the tube body, the rotating mechanism rotates to separate the cap from the tube body, and the separated cap is transferred to the temporary storage box for temporary storage. S3, restart the automatic capping mechanism, control the first electric gripper to clamp the upper end of the separated sample tube, and transfer the tube to the test tube rack at the capping station, and continue to be conveyed and positioned to the testing station along with the test tube rack; S4, control the supplementary light unit to turn on the white light source, and use the camera unit to capture the first image of the sample tube under vertical white light illumination; turn off the white light source and turn on the blue light source, and use the camera unit to capture the second image of the sample tube under vertical blue light illumination; S5, based on the first image and the second image, extract the position coordinates of the blood layering interface in each sample tube using an image processing algorithm, and output the position coordinates to the subsequent pipetting mechanism; S6. Repeat steps S1 to S5 above to open and identify each sample tube on the same test tube rack in sequence. Then the test tube rack is conveyed to the pipetting position at the end of the feed channel so that the pipetting mechanism can perform subsequent layered sample aspiration and transfer to cryopreservation tubes according to the position coordinates. S7. After the pipetting is completed, the test tube rack is transferred to the opening station on another feed channel via the downstream transfer channel. The automatic opening mechanism is controlled to retrieve the tube caps from the temporary storage box and tighten them onto the tube bodies of each sample tube. Then the test tube rack is moved out of the working area.

[0018] The present invention adopts the above technical solution and has the following technical effects compared with the prior art: (1) By placing the supplementary light unit directly above the detection station to provide vertical downward illumination, and arranging the camera unit on the side, the camera lens mainly receives the diffuse reflected light generated by the liquid in the sample tube, thus avoiding the interference of the mirror reflection spot on the tube wall at the physical level. At the same time, by switching between white light and blue light, the differences in the penetrability and scattering characteristics of different wavelengths of light in blood components are utilized to greatly improve the image contrast of the upper and lower interfaces of the white blood cell layer, and the recognition accuracy is significantly better than the existing solution.

[0019] (2) A rectangular circulating flow channel is formed by two sets of feeding units and two sets of loading units connected end to end; this design realizes seamless circulation of the test tube rack in the whole process of "loading - opening the cap - detection - pipetting - closing the cap - output" within a limited platform; in particular, multiple sample tubes on the same test tube rack can be processed in sequence without manual intervention, which greatly improves the throughput of single batch sample processing.

[0020] (3) The automatic cap opening mechanism adopts a double-claw design with the first electric gripper clamping the cap and the second electric gripper clamping the tube body, and is combined with the rotating mechanism to perform the screwing action. The cap opening action is stable and reliable. The structure has a clear division of labor, which avoids the tube body rotating or cap slippage problems that are easily caused when the single gripper screws the cap. The action is stable and provides good protection for the sample tube.

[0021] (4) The test tube rack loading and conveying platform adopts a modular design. The protective bottom shell and the protective top shell effectively isolate the transmission components and the operating area, which not only ensures the safety of operation, but also facilitates daily cleaning and maintenance. In addition, the integrated identification and transfer device has a compact structure and is easy to maintain. Attached Figure Description

[0022] Figure 1 A schematic diagram illustrating the generation of reflective light spots on the pipe wall using side supplemental lighting in existing technologies; Figure 2 This is a schematic diagram illustrating the principle of top vertical supplementary lighting and side shooting to eliminate reflective interference in this invention; Figure 3 This is a three-dimensional structural diagram of a blood stratification identification device for a blood sorting workstation according to the present invention. Figure 1 ; Figure 4 This is a three-dimensional structural diagram of a blood stratification identification device for a blood sorting workstation according to the present invention. Figure 2 ; Figure 5 This is a top view schematic diagram of a blood stratification identification device for a blood sorting workstation according to the present invention; Figure 6 This is a schematic diagram of the main structure of a blood stratification identification device for a blood sorting workstation according to the present invention; Figure 7 for Figure 6 A schematic diagram of the cross-sectional structure at section AA shown; Figure 8 This is a three-dimensional structural diagram of the present invention, showing the supplementary lighting unit and the camera unit after the automatic opening mechanism is hidden. Figure 9 This is a schematic diagram of the transmission structure of the feeding unit and loading unit behind the concealed protective upper shell of the present invention. Figure 1 ; Figure 10 This is a schematic diagram of the transmission structure of the feeding unit and loading unit behind the concealed protective upper shell of the present invention. Figure 2 ; Figure 11 This is a schematic diagram of the transmission structure in this invention, in which the feed unit and loading unit are arranged in a rectangular pattern with alternating ends. Figure 1 ; Figure 12 This is a schematic diagram of the transmission structure in this invention, in which the feed unit and loading unit are arranged in a rectangular pattern with alternating ends. Figure 2 ; Figure 13 This is a schematic diagram of the main structure of the automatic lid opening mechanism in this invention; Figure 14 This is a three-dimensional structural diagram of the automatic lid-opening mechanism in this invention; The accompanying figures are labeled as follows: 100-Test tube rack loading and conveying platform, 110-Protective bottom shell, 111-Opening, 112-Supporting square tube, 120-Supporting base plate, 130-Feeding unit, 131-Feeding long vertical plate, 132-Push block guide groove, 133-Feeding synchronous belt, 134-Feeding motor, 135-L-shaped push block, 140-Loading unit, 141-Linear transfer guide rail, 142-Transfer conveyor belt, 143-Transfer motor, 150-Protective upper shell, 151-Test tube clamping hole, 160-Test tube rack, 170-Sample tube; 200-Automatic opening mechanism, 210-First moving mechanism, 220-Second moving mechanism, 230-Rotation mechanism, 240-First electric gripper, 250-Second electric gripper, 260-Proximity sensor, 270-Temporary storage box; 300 - Supplemental lighting unit, 302 - White light source, 303 - Blue light source; 400-camera unit. Detailed Implementation

[0023] The present invention will now be described in detail and specifically through specific embodiments to enable a better understanding of the invention. However, the following embodiments do not limit the scope of the invention.

[0024] Example 1 This embodiment provides a test tube rack loading and conveying platform 100 with a specific structural design. The specific structure of the test tube rack loading and conveying platform 100 and the working principle of the closed flow channel it forms are as follows.

[0025] like Figure 3 , Figures 9 to 12 As shown, the test tube rack loading and conveying platform 100 mainly includes a support base plate 120, two sets of feeding units 130 and two sets of loading units 140 installed on the support base plate 120, and a test tube rack 160 that can circulate in a closed flow channel formed by the feeding units 130 and the loading units 140.

[0026] Two sets of feed units 130 are arranged parallel to each other on the front and rear sides of the support base plate 120. Taking one set as an example, it includes a feed elongated plate 131 that is vertically fixed to the end edge of the support base plate 120. The inner side of the feed elongated plate 131 and the bottom support base plate 120 form a straight feed channel extending along the first direction (X-axis direction). A long strip-shaped push block guide groove 132 is provided at the bottom of the feed elongated plate 131.

[0027] First synchronous pulleys are installed at both ends of the rear sidewall of the feed plate 131, and the feed synchronous belt 133 is wrapped around the first synchronous pulleys at both ends. The feed motor 134 is fixed to the rear side of the feed plate 131, and its output shaft is connected to the first synchronous pulley at one end. The vertical section of the L-shaped pusher 135 is fixedly connected to the belt body of the feed synchronous belt 133, and its horizontal section passes through the pusher guide groove 132 and extends to the bottom of the feed channel, and is located in the groove at the bottom of the test tube rack 160. When the feed motor 134 drives the feed synchronous belt 133 to rotate, the L-shaped pusher 135 pushes the test tube rack 160 to move smoothly along the feed channel.

[0028] Two loading units 140 are arranged parallel to each other on the left and right sides of the support base plate 120 for loading or unloading the test tube rack 160 and for translating the test tube rack 160 along the second direction (Y-axis direction). Each loading unit 140 includes a linear transfer guide rail 141 fixed to the end edge of the support base plate 120. On both sides of the linear transfer guide rail 141, two sets of transfer conveyor belts 142 are arranged parallel to each other via second synchronous pulleys at both ends. The upper belt of the transfer conveyor belt 142 is slightly higher than the upper surface of the support base plate 120, and together with the linear transfer guide rail 141, forms a transfer channel connecting the end of the feed channel. A transfer motor 143 is installed below the end of the support base plate 120, and its output shaft synchronously drives the second synchronous pulley shafts of the two sets of transfer conveyor belts 142 through a transmission component, thereby driving the test tube rack 160 to move laterally within the transfer channel.

[0029] Two sets of feeding units 130 and two sets of loading units 140 are alternately connected on the support base plate 120, with the outlet of the front feeding unit 130 facing the inlet of the right loading unit 140, and the outlet of the right loading unit 140 facing the inlet of the rear feeding unit 130, and so on, together forming a rectangular closed flow channel for the test tube rack 160 to circulate. In this layout, the capping station and the inspection station are arranged sequentially in the middle of the feeding channel of the front feeding unit 130, and these two stations are located in the straight section area between the left and right loading units 140. In addition, a protective bottom shell 110 is provided at the bottom of the platform, with an opening 111 at the top. A supporting square tube 112 is installed in the opening 111 to strengthen the rigidity of the support base plate 120; a protective upper shell 150 is provided at the top, with a test tube clamping hole 151 on the side near the capping mechanism for the first electric gripper 240 to extend into for operation.

[0030] Example 2 This embodiment describes in detail the component composition of the automatic lid opening mechanism 200 and the specific methods by which it performs lid opening and closing operations.

[0031] like Figure 13 and Figure 14 As shown, the automatic cap opening mechanism 200 includes a portal frame spanning above the test tube rack loading and conveying platform 100. A first moving mechanism 210 (such as a lead screw linear module) is mounted on the frame, its slide being capable of lateral movement along the Y-axis. A second moving mechanism 220 (such as a cylinder or electric cylinder module) is vertically mounted on the slide of the first moving mechanism 210, its moving end being capable of vertical movement along the Z-axis.

[0032] A rotating mechanism 230 (such as a stepper motor-driven rotating head) is installed at the moving end of the second moving mechanism 220. A first electric gripper 240 is installed at the rotating end of the lower end of the rotating mechanism 230. The first electric gripper 240 is used to grip the cap of the sample tube 170. A second electric gripper 250, which cooperates with it, is fixedly installed on the outer wall of the feed elongated plate 131 corresponding to the cap opening station and is hidden inside the protective upper shell 150. Its gripper hand is arranged facing the test tube clamping hole 151 at the top of the protective upper shell 150. In use, the first electric gripper 240 grips the sample tube 170 and extends into the test tube clamping hole 151, while the second electric gripper 250 is controlled to firmly grip the lower end of the sample tube 170.

[0033] The automatic cap-opening mechanism 200 operates as follows: When the test tube rack 160 carrying the sample tube 170 arrives at the cap-opening station, the first moving mechanism 210 and the second moving mechanism 220 work together to move the first electric gripper 240 directly above the cap of the sample tube 170. The second moving mechanism 220 descends, and the first electric gripper 240 clamps the cap. Then, the second moving mechanism 220 is activated to rise, and the first moving mechanism 210 is controlled to move laterally to the test tube clamping hole 151. The second moving mechanism 220 is then controlled to descend, moving the lower end of the sample tube 170 into the gripper of the second electric gripper 250. Subsequently, the second electric gripper 250 is activated, clamping the body of the sample tube 170 to prevent it from rotating. At this time, the rotating mechanism 230 drives the first electric gripper 240 and the cap to rotate counterclockwise, separating the cap from the tube body. After separation, the tube cap is moved to the temporary storage box 270 located in the middle of the platform by the second moving mechanism 220 and the first moving mechanism 210. The first electric gripper 240 releases, and the tube cap falls into the temporary storage box 270 for temporary storage.

[0034] The closing action of the automatic capping mechanism 200 is as follows: After pipetting, the test tube rack 160 moves back to the capping position of the other side of the feed channel. Through the coordinated movement of the first moving mechanism 210 and the second moving mechanism 220, the first electric gripper 240 is moved to the temporary storage box 270 and grips the corresponding tube cap, then moved directly above the sample tube 170. The rotating mechanism 230 is controlled to rotate clockwise, tightening the tube cap onto the tube body, completing the capping action of the sample tube 170. The proximity sensor 260 is used to accurately detect the position during lateral movement, ensuring the accuracy of gripping and placement.

[0035] Example 3 This embodiment details the layout design of the optical unit 300 and the camera unit 400, as well as their working principles for solving optical interference and enhancing contrast.

[0036] like Figure 2 , Figure 7 and Figure 8 As shown, the supplementary lighting unit 300 is fixedly mounted on a bracket directly above the testing station. It comprises a white light source 302 (color temperature approximately 5500K-6500K) and a blue light source 303 (wavelength range 450nm-480nm) arranged sequentially adjacent to each other along a first direction (the direction of travel of the test tube rack). The two light sources can be independently controlled to turn on and off. The light emitted by the supplementary lighting unit 300 shines vertically downwards, covering the top opening area of ​​the sample tube 170 passing through this location.

[0037] The camera unit 400 uses an industrial area scan camera, with its lens facing the sample tube 170 at the inspection station along the second direction (sideways). The optical axis of the lens forms an angle of approximately 90° with the vertical illumination direction of the supplementary lighting unit 300 (i.e., within the range of 85° to 95°, almost perpendicular).

[0038] By using top lighting for the 300 supplementary lighting unit, reflective interference can be effectively eliminated. For example... Figure 1 The existing side-illumination scheme shown depicts light entering the tube wall at an oblique angle. According to the law of reflection, the principal direction of the reflected light is towards the other side, making it highly likely to directly enter the horizontally arranged camera lens, forming an overexposed spot area. However, in this invention, as... Figure 2 As shown, the vertically downward supplementary light rays are mainly reflected upwards (towards the light source) and downwards on the cylindrical tube wall. Meanwhile, the horizontally arranged camera unit 400 primarily receives diffuse reflection light generated by scattering and refraction within the blood sample after the light penetrates the tube wall. Therefore, there are almost no specular reflection spots within the camera's field of view, resulting in a clean image background and uniform grayscale distribution, fundamentally avoiding misjudgment of light spots.

[0039] The supplementary lighting unit 300 includes at least a white light source 302 and a blue light source 303, forming a multi-color supplementary lighting system that effectively enhances contrast. First, the white light source 302 is turned on, and the camera unit 400 acquires a first image. This image is primarily used to identify the air-plasma meniscus and the approximate area of ​​red blood cells. Due to the extremely thin leukocyte layer, the edges under white light may not be sharp enough. Then, the white light is turned off, and the blue light source 303 is turned on. Blue light has a shorter wavelength and a shallower penetration depth in blood, resulting in a very high absorption rate by red blood cells, appearing deep black. The scattering characteristics of blue light differ between proteins and cell nuclei in the plasma and leukocyte layers, causing the leukocyte membrane layer to exhibit a high-contrast edge outline against a blue background, distinct from that of plasma and red blood cells. The camera unit 400 acquires a second image, and the image processing system fuses the feature data from both images to accurately calculate the three-dimensional spatial coordinates of the upper and lower interfaces of the leukocyte layer.

[0040] Example 4 This embodiment, based on the apparatus of Embodiments 1, 2, and 3 above, fully describes the steps of an automated identification method for cyclically processing multiple sample tubes on the same test tube rack, specifically including the following steps: Step S1: Sample loading and positioning The test tube rack 160, containing the centrifuged sample tubes 170, is placed on the transfer channel of the loading unit 140 on the right. The system controls the transfer motor 143 to start, moving the test tube rack 160 along the Y-axis to the entrance of the front feed unit 130. Subsequently, the feed motor 134 starts, driving the L-shaped pusher 135 to push the test tube rack 160 along the X-axis into the feed channel, and precisely transfers and positions it to the capping station.

[0041] Step S2: Opening the sample tube The automatic cap-opening mechanism 200 is activated. The first moving mechanism 210, in coordination with the second moving mechanism 220, controls the first electric gripper 240 to clamp the cap of the sample tube 170, slightly lifting it into the test tube holding hole 151 area, and then lowering it into the gripper of the second electric gripper 250. At this time, the second electric gripper 250 is activated, clamping the lower part of the sample tube 170. Subsequently, the rotating mechanism 230 is activated, causing the cap to rotate counterclockwise, separating the cap from the tube body of the sample tube 170. The separated cap is then temporarily stored in the temporary storage box 270 by the first electric gripper 240.

[0042] Step S3: Tube repositioning and flow detection After the sample tube 170 is opened, the automatic capping mechanism 200 activates again. The first electric gripper 240 moves above the tube body, clamps the separated upper end of the tube body (at the tube thread), lifts the tube body vertically, and accurately places it back into the corresponding hole of the test tube rack 160 at the capping station. After this reset action is completed, the feeding unit 130 restarts, continuing to convey the test tube rack 160, which contains the opened sample tube 170, forward and precisely positions it at the testing station.

[0043] Step S4: Multispectral Image Acquisition The test tube rack 160 has come to a stable stop at the testing station. The system controller executes the supplementary lighting logic: White light acquisition: The white light source 302 of the supplementary light unit 300 is turned on, and the camera unit 400 captures the first image of the sample tube 170 under vertical white light illumination.

[0044] Blue light acquisition: Turn off the white light source 302, turn on the blue light source 303, and the camera unit 400 captures the second image of the sample tube 170 under vertical blue light illumination.

[0045] Step S5: Extracting the coordinates of the layered interface The host computer image processing system receives the first and second images. First, the first image is used to roughly identify the location of the meniscus at the top of the plasma and the interface between the red blood cells. Then, using the blue-enhanced edge gradient information in the second image, the upper boundary (separation from plasma) and lower boundary (separation from red blood cells) of the white blood cell layer are precisely extracted. The image pixel coordinates are converted into three-dimensional spatial coordinates readable by the robotic arm and output to the subsequent pipetting mechanism.

[0046] Step S6: Circulation and pipetting For multiple sample tubes 170 on the same test tube rack 160, the system repeats steps S1 to S5 (in S1, the test tube rack is already located within the feed channel, mainly for step-by-step positioning), sequentially opening and identifying all sample tubes. After all sample tubes on the rack have been identified, the test tube rack 160 is conveyed to the pipetting position at the end of the feed channel. Based on the coordinates provided in step S5, the external pipetting robot precisely aspirates liquid from each sample tube 170 according to the target layer (e.g., leukocyte layer), and transfers the aspirated sample to cryopreservation tubes.

[0047] Step S7: Closing the lid and outputting After all pipetting operations are completed, the test tube rack 160 circulates with the downstream loading unit 140 and the feed unit 130 on the other side, and is transported back to the capping station of the front feed unit 130. The automatic capping mechanism 200 retrieves the corresponding tube caps sequentially from the temporary storage box 270, and screws the caps onto the tubes of each sample tube 170 according to the reverse of the capping process. Finally, the capped test tube rack 160 is moved out of the working area through the transfer channel, and the entire automated identification process ends.

[0048] The specific embodiments of the present invention have been described in detail above, but they are merely examples, and the present invention is not limited to the specific embodiments described above. For those skilled in the art, any equivalent modifications and substitutions to the present invention are also within the scope of the present invention. Therefore, all equivalent transformations and modifications made without departing from the spirit and scope of the present invention should be covered within the scope of the present invention.

Claims

1. A blood stratification identification device for a blood sorting workstation, characterized in that, include: The test tube rack loading and conveying platform has a feed channel for linearly conveying the test tube rack, and the feed channel has an opening station and an inspection station arranged sequentially along the conveying direction in the middle. An automatic capping mechanism is located above the test tube rack loading and conveying platform, corresponding to the capping station, and is configured to perform capping or capping operations on the sample tubes loaded on the test tube rack that are conveyed to the capping station. A supplementary lighting unit is located directly above the detection station and is configured to provide vertically downward supplementary lighting from the top to the sample tube located at the detection station. The supplementary lighting unit includes at least a white light source and a blue light source that can be switched on independently. The camera unit is located to the side of the detection station, and its shooting angle forms an angle with the output light path of the supplementary light unit. It is configured to acquire images of the sample tube when the white light source is on and when the blue light source is on.

2. The blood stratification identification device for a blood sorting workstation according to claim 1, characterized in that, The test tube rack loading and conveying platform includes: Support base plate; The feeding unit consists of two sets arranged parallel to each other on the support base plate, used to linearly convey the test tube rack along the first direction; The loading unit consists of two sets arranged parallel to each other on the support base plate, used to transport the test tube rack along a second direction perpendicular to the first direction; Among them, the two sets of feeding units and the two sets of loading units are alternately connected end to end on the support base plate, together forming a rectangular flow channel for the test tube rack to move cyclically. Furthermore, the opening station and the inspection station are located in the middle of the feed channel of at least one of the feeding units, and are situated between the two loading units on both sides.

3. The blood stratification identification device for a blood sorting workstation according to claim 2, characterized in that, The feed unit includes: The feed plate is vertically fixed to the end edge of the support base plate, and a push block guide groove is provided at its lower part to connect with the feed channel inside it. A feed timing belt is arranged parallel to the feed channel and is rotatably mounted on the feed vertical plate via first timing pulleys at both ends; A feed motor is fixed to the feed vertical plate, and its output shaft is connected to the first synchronous pulley at one end of the feed synchronous belt. An L-shaped pusher block, one end of which is fixedly connected to the feed timing belt, and the other end of which extends through the pusher block guide groove to the bottom of the feed channel, is used to push the test tube rack to move along the feed channel under the drive of the feed motor.

4. The blood stratification identification device for a blood sorting workstation according to claim 2, characterized in that, Each of the aforementioned loading units includes: A linear transfer guide rail is fixedly installed at the end edge of the supporting base plate; The transfer conveyor belt consists of two sets, which are respectively arranged parallel to each other on both sides of the linear transfer guide rail via second synchronous pulleys at both ends; and its upper belt body is located above the support base plate, forming a transfer channel connecting the feed channel together with the linear transfer guide rail. A transfer motor is located at one end of the supporting base plate, and its output shaft is connected to the second synchronous pulley shaft at one end of the two transfer conveyor belts. It is used to drive the transfer conveyor belts to move the test tube rack on them along the transfer channel.

5. The blood stratification identification device for a blood sorting workstation according to claim 2, characterized in that, The test tube rack loading and conveying platform also includes: The protective base shell has an opening at the top, and a second synchronous pulley shaft and several supporting square tubes for supporting the supporting base plate are arranged inside the opening; A protective upper shell is installed above the feeding unit, and a test tube clamping hole is provided on the top of the protective upper shell near the side of the automatic opening mechanism.

6. The blood stratification identification device for a blood sorting workstation according to claim 1, characterized in that, The automatic lid-opening mechanism includes: The first moving mechanism is horizontally mounted above the test tube rack loading and conveying platform via a bracket; The second moving mechanism is installed at the moving end of the first moving mechanism and can be driven to move along the second direction; A rotating mechanism, installed at the moving end of the second moving mechanism, and capable of being driven to move up and down in a third direction, is used to screw the cap of the sample tube so that the cap is detached from the tube body. The first electric gripper is installed on the moving end of the rotating mechanism and can be driven to rotate circumferentially along the sample tube to grip the tube cap of the sample tube. The second electric gripper is fixedly installed on the outer wall of the feed plate corresponding to the opening station. Its gripper cooperates with the first electric gripper through the test tube holding hole above, and is used to hold the tube body of the sample tube.

7. The blood stratification identification device for a blood sorting workstation according to claim 6, characterized in that, The automatic lid-opening mechanism also includes: A proximity sensor is disposed at the moving end of the second moving mechanism to control the lateral positioning of the second electric gripper; A temporary storage box is located in the middle area of ​​the test tube rack loading and conveying platform and below the movement path of the first moving mechanism, for temporarily storing the opened tube caps.

8. The blood stratification identification device for a blood sorting workstation according to claim 1, characterized in that, The white light source and blue light source of the supplementary lighting unit are arranged adjacent to each other along the first direction directly above the detection station.

9. The blood stratification identification device for a blood sorting workstation according to claim 1, characterized in that, The camera unit is an industrial area scan camera, with its lens arranged along the second direction toward the inspection station, and the shooting direction of its lens forming an angle of 85-95° with the illumination direction of the supplementary lighting unit.

10. A method for blood stratification identification at a blood sorting workstation, based on the apparatus according to any one of claims 1 to 9, characterized in that, Includes the following steps: S1, Place the test tube rack containing the centrifuged sample tubes on the loading unit of the test tube rack loading and conveying platform, start the loading unit and the feeding unit, send the test tube rack into the feeding channel and convey and position it to the cap opening station. S2, start the automatic cap opening mechanism, control the first electric gripper to clamp the cap of the sample tube and move it into the test tube holding hole, the second electric gripper clamps the tube body, the rotating mechanism rotates to separate the cap from the tube body, and the separated cap is transferred to the temporary storage box for temporary storage. S3, restart the automatic capping mechanism, control the first electric gripper to clamp the upper end of the separated sample tube, and transfer the tube to the test tube rack at the capping station, and continue to be conveyed and positioned to the testing station along with the test tube rack; S4, control the supplementary light unit to turn on the white light source, and use the camera unit to capture the first image of the sample tube under vertical white light illumination; turn off the white light source and turn on the blue light source, and use the camera unit to capture the second image of the sample tube under vertical blue light illumination; S5, based on the first image and the second image, extract the position coordinates of the blood layering interface in each sample tube using an image processing algorithm, and output the position coordinates to the subsequent pipetting mechanism; S6. Repeat steps S1 to S5 above to open and identify each sample tube on the same test tube rack in sequence. Then the test tube rack is conveyed to the pipetting position at the end of the feed channel so that the pipetting mechanism can perform subsequent layered sample aspiration and transfer to cryopreservation tubes according to the position coordinates. S7. After the pipetting is completed, the test tube rack is transferred to the opening station on another feed channel via the downstream transfer channel. The automatic opening mechanism is controlled to retrieve the tube caps from the temporary storage box and tighten them onto the tube bodies of each sample tube. Then the test tube rack is moved out of the working area.

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