Sample rack recovery method, manipulation device, detection system and computer readable medium

Abstract

The present application relates to a method for recovering a sample rack after a sample rack manipulator unexpectedly interrupts operation. The sample rack manipulator includes a docking device adapted to move in a transfer area to transport sample racks between a loading / unloading area, a sampling area, and a buffer area. The method includes: a docking device detection step for detecting the state of the docking device; a sample rack detection step for detecting the position of a sample rack in the sample rack manipulator; and a sample rack recovery step in which the docking device transports the sample rack to the loading / unloading area based on the detection results of the docking device and the sample rack. The present application also relates to a sample rack manipulator capable of executing the sample rack recovery method, an automatic detection system including the sample rack manipulator, and a computer-readable medium storing a program for executing the sample rack recovery method.

Description

Technical Field

[0001] The present application relates to the field of medical technology, and more particularly, to a method for recovering a sample rack after an unexpected interruption of operation of a sample rack manipulation device, a sample rack manipulation device capable of executing the sample rack recovery method, an automatic detection system including the sample rack manipulation device, and a computer-readable medium storing a program for executing the sample rack recovery method. Background Art

[0002] The statements in this section merely provide background information related to the present disclosure and may not necessarily constitute prior art.

[0003] Automated testing systems (also known as analytical testing instruments) are typically used to analyze the contents of sample tubes for various purposes. These instruments typically include a sample handling unit, a sampling unit, and a testing unit. The sample handling unit transports sample tubes to the sampling unit, which then transfers the sample from the tubes to the testing unit for testing.

[0004] The sample rack is used to receive, support, align, hold, and / or carry one or more sample tubes to ensure that the sample tubes are properly positioned and / or transported within the analytical instrument. The sample rack handling device (sample rack handling unit) is configured to load, transport, and / or unload one or more sample racks and therefore includes a loading / unloading area, a transfer area, a sampling area, etc. The sample rack handling device includes a cover, an upper cover connected to the cover by bolts or the like to cover various areas, and a door.

[0005] After the sample rack manipulator unexpectedly loses power and its operation is interrupted, the operator usually needs to open the door and upper cover of the sample rack manipulator to allow the operator to reach various areas, manually remove the sample racks parked in various areas of the sample rack manipulator one by one, then close the door of the sample rack manipulator, and then restart and restore the sample rack manipulator.

[0006] Manually removing the sample rack is inconvenient and thus inefficient. Moreover, the sampling channel of the sample rack is usually narrow, so manually removing the sample rack easily causes the sample to splash, which may contaminate other samples and even pose a safety hazard to the operator.

[0007] Therefore, it is desirable in the art to provide a sample rack manipulation device that can automatically recycle the sample rack after an unexpected interruption of operation. Summary of the Invention

[0008] This section provides a general summary of the disclosure, and is not a comprehensive disclosure of its full scope or all of its features.

[0009] According to one aspect of the present invention, a method for recovering a sample rack after an unexpected interruption of operation of a sample rack manipulator is provided. The sample rack manipulator includes a docking device adapted to move within a transfer area to transport sample racks between a loading / unloading area, a sampling area, and a buffer area. The method comprises: a docking device detection step for detecting the status of the docking device; a sample rack detection step for detecting the position of a sample rack within the sample rack manipulator; and a sample rack recovery step in which the docking device transports the sample rack to the loading / unloading area based on the detection results of the docking device and the sample rack.

[0010] According to the method disclosed herein, the sample rack can be automatically recovered to the loading / unloading area after the sample rack manipulation device is restarted. This sample rack recovery method solves some problems that arise during manual recovery. For example, because the sample racks in the sampling area and buffer area are automatically recovered to the loading / unloading area by the docking device, the operator can easily remove the sample rack from the loading / unloading area near the door without having to open the upper cover of the sample rack manipulation device and reach into the sampling area and buffer area far from the door to manually remove the sample rack, thereby improving the sample rack recovery efficiency. In addition, the automatic recovery of the sample rack by the docking device can prevent contamination and safety hazards caused by sample splashing due to improper operation by the operator.

[0011] In some embodiments, in the docking device detection step, the position of the docking device and the loading status of the sample rack are detected.

[0012] In some embodiments, the sample rack recovery method further includes: determining whether the docking device is in a non-interactive state capable of free movement or in an interactive state with the loading / unloading area, the sampling area, or the buffer area based on the position of the docking device and the sample rack loading status.

[0013] In some embodiments, the sample rack recovery method further includes: when it is determined that the docking device is in the non-interactive state, determining whether a sample rack is loaded on the docking device; when it is determined that there is a sample rack on the docking device, the docking device first transports the sample rack back to the loading / unloading area.

[0014] In some embodiments, when it is determined that the docking device is in an interactive state with the loading / unloading zone, the docking device first completely transfers the sample rack on the docking device to the loading / unloading zone.

[0015] In some embodiments, the sample rack recovery method further includes: when it is determined that the docking device is in an interactive state with the buffer zone, the docking device completely transfers the sample rack on the docking device to the buffer zone, or completely transfers the sample rack on the docking device to the docking device and transports it back to the loading / unloading area.

[0016] In some embodiments, the sample rack recovery method further comprises: when it is determined that the docking device is in an interactive state with the sampling area, determining whether the docking device interferes with resetting of a pushing device for controlling movement of the sample rack in the sampling area.

[0017] In some embodiments, the sample rack recovery method further comprises: when it is determined that the docking device does not interfere with the resetting of the pushing device, resetting the pushing device and determining whether there is a sample rack on the docking device. If it is determined that there is a sample rack on the docking device, the docking device first transports the sample rack back to the loading / unloading area.

[0018] In some embodiments, the sample rack recovery method further includes: when it is determined that the docking device interferes with the resetting of the pushing device, first moving the docking device so that it no longer interferes with the resetting of the pushing device, and then resetting the pushing device.

[0019] In some embodiments, the sample rack recovery method further comprises: determining whether there is a sample rack on the docking device; and when it is determined that there is a sample rack on the docking device, the docking device first transports the sample rack on the docking device back to the loading / unloading area.

[0020] In some embodiments, the sample rack detection step includes detecting whether the loading / unloading area is fully loaded with sample racks. When the loading / unloading area is detected to be fully loaded with sample racks, the sample rack recovery step is performed after waiting for an operator to remove one or more sample racks from the loading / unloading area.

[0021] In some embodiments, the sample rack recovery method further comprises: before the sample rack recovery step, returning the docking device to an initial position.

[0022] In some embodiments, the sample rack recovery method further comprises: after the sample rack recovery step, returning the docking device to an initial position.

[0023] In some embodiments, the sample rack recovery step includes determining a recovery priority level of the sample rack based on a detected distance between the sample rack and the docking device.

[0024] In some embodiments, the sample rack recovery step includes: first transporting the sample rack in the sampling area to the loading / unloading area, and then transporting the sample rack in the buffer area to the loading / unloading area.

[0025] In some embodiments, the sample rack detecting step includes: detecting the position of the sample rack in the buffer zone by a sensor disposed on the docking device when the docking device moves together with the docking device.

[0026] In some embodiments, the docking device detecting step includes detecting a sample rack loading status of the docking device by sensors disposed at both ends and a middle portion of the docking device.

[0027] In some embodiments, the docking device detection step includes: detecting a state of a sample rack track in the sampling area to determine whether the docking device is in an interactive state with the sampling area.

[0028] In some embodiments, the docking device detection step further comprises: detecting the interaction between a pushing device for controlling the movement of the sample holder in the sampling area and the docking device through a sensor disposed on the docking device.

[0029] According to another aspect of the present disclosure, a sample rack manipulation device capable of executing the above-mentioned sample rack recovery method is provided.

[0030] According to yet another aspect of the present disclosure, an automatic detection system including the above-mentioned sample rack manipulation device is provided.

[0031] According to another aspect of the present disclosure, a computer-readable medium is provided, wherein a program is stored on the computer-readable medium, and when the program is executed by a processor, the sample rack recovery method described above is implemented.

[0032] The above and other objects, features and advantages of the present disclosure will be more fully understood from the detailed description given hereinafter and the accompanying drawings, which are given by way of illustration only and thus are not to be considered as limiting the present disclosure. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] The drawings described herein are for illustrative purposes only of selected embodiments and not all possible implementations, and are not intended to limit the scope of the present disclosure.

[0034] Figure 1 is a schematic diagram of the main structure of an automatic detection system including a sample rack manipulation device according to an embodiment of the present disclosure;

[0035] Figure 2 yes Figure 1 A schematic diagram of a sample holder manipulation device showing the arrangement of sensors in various areas thereof;

[0036] Figure 3 is a schematic diagram showing a sample rack loading state of a docking device;

[0037] Figure 4 is a schematic diagram showing another sample rack loading state of the docking device;

[0038] Figure 5 is a schematic diagram showing another loading state of the docking device;

[0039] Figure 6 is a schematic diagram showing the location of the docking device;

[0040] Figure 7 is a schematic diagram showing another position of the docking device;

[0041] Figure 8 is a schematic diagram showing another position of the docking device;

[0042] Figure 9 is a schematic diagram showing yet another position of the docking device;

[0043] Figure 10 is a schematic diagram showing another position of the docking device;

[0044] Figure 11 is a flow chart of a sample rack recovery method according to an embodiment of the present disclosure; and

[0045] Figure 12 is a flow chart of detecting the status of a docking device according to an embodiment of the present disclosure.

[0046] Corresponding reference numerals indicate corresponding parts throughout the several views of the drawings. DETAILED DESCRIPTION

[0047] Exemplary embodiments according to the present disclosure will now be described more fully with reference to the accompanying drawings.

[0048] Exemplary embodiments are provided so that this disclosure will be thorough and will fully convey the scope to those skilled in the art. Many specific details, such as examples of specific components, devices, and methods, are set forth to provide a thorough understanding of the embodiments of the present disclosure. It will be apparent to those skilled in the art that specific details need not be employed, and that the exemplary embodiments can be implemented in many different forms and should not be construed as limiting the scope of the present disclosure. In some exemplary embodiments, well-known methods, well-known device structures, and well-known technologies are not described in detail.

[0049] Overview of Automatic Detection Systems

[0050] The main structure and working principle of the automatic detection system 1 will be described below with reference to FIG. 1 . Figure 1 is a schematic diagram of the main structure of the automatic detection system 1. For the sake of clarity, Figure 1 Some components of the automated detection system 1 are omitted, specifically the cover, support structure, and control device. The automated detection system 1 is configured to automatically perform assays, such as those for clinical chemistry, immunology, or genetics, on multiple samples. As shown, the automated detection system 1 primarily includes a sample rack manipulator 10, a sampler 11, a reaction station 12, a reagent dispenser 13, a reagent reservoir 14, an optical analysis device 15, a stirring device 16, and a cleaning device 17.

[0051] When a sample (e.g., biological fluid) needs to be tested and analyzed, Figure 1 As shown, a test tube (container) 31 containing a sample is placed on the sample rack 30, and then the door 101 of the sample rack manipulation device 10 is opened and the sample rack 30 is loaded into the loading / unloading area TA of the sample rack manipulation device 10. In the example shown in the figure, the sample rack 30 is elongated and is used to accommodate a plurality of sample test tubes 31. Figure 1 The sample rack 30 is transported from the loading / unloading area TA to the sampling area TD via the docking device 103. The sample in the test tube 31 is collected by the sampler 11 and placed on the reaction table 12. The reaction table 12 rotates to transport the sample to the reagent dispenser 13, which dispenses the corresponding reagent stored in the reagent reservoir 14 into the sample. The stirring device 16 stirs the sample and reagent mixture to uniformly mix them for reaction. The reaction table 12 rotates to the detection position, where the reaction products are detected and analyzed by the optical analysis device 15 to obtain the detection and analysis results. After all samples on the sample rack 30 are detected and analyzed, the reaction table 12 is cleaned by the cleaning device 17 to prepare for the next detection and analysis. After the sample detection and analysis is completed, the sample rack handling device 10 transports the detected sample rack 30 back to the loading / unloading area TA. The operator then opens the door 101 and removes the detected sample rack 30.

[0052] From the above description, it can be seen that the sample rack manipulation device 10 constitutes the sample rack manipulation unit of the automatic detection system 1. Figure 1 The components 11 to 17 shown constitute the sample detection unit of the automatic detection system 1. However, it should be understood that Figure 1 The automatic detection system 1 shown in FIG is for illustrative purposes only and does not limit the present invention. In addition, it should be understood that the sample rack manipulation device 10 can be connected to more than one sample detection unit. For example, the right side of the sample rack manipulation device 10 can also be connected to another sample detection unit ( Figure 1 not shown).

[0053] Sample rack manipulator

[0054] As described above, the sample rack manipulator 10 constitutes the sample rack manipulation unit of the automated detection system 1. The sample rack manipulator 10 includes a generally rectangular parallelepiped housing (not shown) and a door 101. The door 101 can be opened to allow the sample rack 30 to be placed in the loading / unloading area TA of the sample rack manipulator 10 or to allow the sample rack 30 to be removed from the loading / unloading area TA. Furthermore, the door 101 can be closed to form an enclosed space, providing a safe and secure environment for handling sample racks.

[0055] The sample rack manipulator 10 further includes a docking device 103 for transporting the sample rack to a desired area for various operations (eg, loading, unloading, sampling, or waiting, etc.). Figure 1 Depending on the operating state of the sample rack 30, the sample rack manipulator 10 includes a loading / unloading area TA, a transfer area TB, a buffer area TC, and sampling areas TD and TE (in the case of two sample testing units). It should be understood that if the automated testing system 1 has only one sample testing unit, the sample rack manipulator 10 may have only one sampling area TD or TE.

[0056] The sample rack 30 to be tested is first loaded into the loading / unloading area TA. Then, the sample rack 30 is transported to the buffer area TC via the transfer area TB by the docking device 103, and then transported from the buffer area TC via the transfer area TB to the sampling areas TD and TE on both sides that are docked with the corresponding sample detection units for sampling and testing. The tested sample rack is returned to the buffer area TC via the transfer area TB again by the docking device 103 to wait for the test results. If the tested sample rack does not need to be retested, the tested sample rack is finally returned to the loading / unloading area TA by the docking device 103 for unloading (i.e., taking out). If the tested sample rack still needs to be retested, the tested sample rack is made to wait in the buffer area TC so that it can be sent to the sampling area TD or TE again for sampling and testing. It should be understood that the sample rack manipulation device 10 according to the present disclosure is not limited to the specific operating process described above. For example, the sample rack 30 can be directly transported from the loading / unloading area TA via the transfer area TB to the sampling area TD or TE. Similarly, the tested sample rack can also be directly returned from the sampling area TD or TE to the loading / unloading area TA via the transfer area TB.

[0057] Loading / unloading area TA

[0058] The loading / unloading area TA is disposed adjacent to the door 101 and along the length (ie, Figure 1The loading / unloading area TA is roughly rectangular. Figure 1 In the example shown, the loading / unloading area TA has a plurality of sample rack channels S01 to S12 extending substantially perpendicular to the door 101 for accommodating elongated sample racks 30. However, it should be understood that the shape or structure of the sample racks may vary, and accordingly, the shape or structure of the sample rack channels may also vary, and are not limited to the specific example shown in the figure.

[0059] The door 101 is pivotally connected to a housing (not shown) at its bottom, whereby the door 101 can be pivoted outward about its bottom to open, allowing an operator to conveniently load the sample rack 30 carrying the sample tubes 31 into or remove it from the channel of the loading / unloading area TA.

[0060] Reference Figure 2 Sensors TAS01 to TAS12 are provided corresponding to channels S01 to S12 for detecting whether a sample rack 30 is loaded in the channel. An indicator light (not shown) can be provided for each channel to indicate the loading and testing status of the sample rack in the channel, for example, whether a sample rack is not loaded, a sample rack to be tested is loaded, or a sample rack that has been tested is loaded.

[0061] A sensor TAS15 is provided at a position adjacent to the transfer area TB in the loading / unloading area TA. Figure 2 In the example of FIG, the sensor TAS15 is arranged in the horizontal direction to detect whether a sample rack exceeds the sample rack channel and partially enters the transfer area TB during loading or transfer. Figure 2 In the example, the sensor TAS15 detects that the sample rack 30a exceeds the sample rack channel S08.

[0062] It should be understood that the sensor for detecting the sample rack of the loading / unloading area TA is not limited to the specific example shown in the figure, but can be changed as needed.

[0063] Buffer TC

[0064] The buffer area TC is arranged on both sides of the transfer area TB opposite to the loading / unloading area TA. Figure 2 In the example, the buffer zone TC is located above the transfer zone TB, while the loading / unloading zone TA is located below the transfer zone TB. The buffer zone TC is used to temporarily store sample racks, for example, while they are waiting to be transported to the sampling zone TD or TE for testing or awaiting test results.

[0065] The buffer zone TC can have substantially the same size and configuration as the loading / unloading area TA. Like the loading / unloading area TA, the buffer zone TC can have multiple sample rack channels arranged side by side to accommodate multiple sample racks. The sample rack channels of the buffer zone TC can correspond to or align with the sample rack channels of the loading / unloading area TA.

[0066] The buffer zone TC can be provided with sensors to detect the loading status of the sample racks in each sample rack channel, just like the loading / unloading zone TA. However, it should be understood that the arrangement of the sensors in the buffer zone TC can be different from the arrangement of the sensors in the loading / unloading zone TA. For example, see Figure 2 In order to reduce costs, a sensor TBS09 may be provided on the end of the docking device 103 facing the buffer zone TC. Figure 2 As the docking device 103 moves horizontally, the sensor TBS09 can detect whether there is a sample rack in each sample rack channel of the buffer zone TC.

[0067] Sampling area TD and TE

[0068] The sampling areas TD and TE are respectively arranged on both sides of the loading / unloading area TA and the buffer area TC arranged side by side in the lateral direction ( Figure 2 The sampling areas TD and TE are the interface areas between the sample rack handling device 10 and the corresponding detection units. When the sample rack 30 to be detected is transferred from the buffer area TC or the loading / unloading area TA to the sampling area TD or TE by the docking device 103, as described above, the sample rack 30 is transferred from the buffer area TC or the loading / unloading area TA to the sampling area TD or TE by the sampler 11 (see Figure 1 ) Collect the sample in the test tube 31 to the reaction station 12 (see Figure 1 ) for detection.

[0069] After the sample in a test tube 31 is collected, the sample rack 30 is moved so that the next test tube 31 reaches the sampling position of the sampler 11 for the next sampling, until the sampling of the samples in all the test tubes 31 on one sample rack 30 is completed. Afterwards, the docking device 103 transfers the tested sample rack 30 from the sampling area TD or TE to the buffer area TC to wait for the test results. If no further testing is required, the docking device 103 transfers the tested sample rack in the buffer area TC to the loading / unloading area TA for unloading. If further testing is required (it can be testing of the same testing unit or testing of different testing units), the sample rack that has been tested once waits in the buffer area TC to be sent to the sampling area TD or TE for the next sampling test. In order to improve the detection efficiency, while one sample rack is sampling, another sample rack can be transported to the sampling area TD and TE to wait for sampling.

[0070] See also Figure 2, a sensor TDS03 may be provided in the sampling area TD to detect whether a sample rack exists in the sampling area TD. Similarly, a sensor TES03 may be provided in the sampling area TE to detect whether a sample rack exists in the sampling area TE.

[0071] Transfer Area TB

[0072] The docking device 103 moves within the transport zone TB to transport sample racks to various areas of the sample rack handling device 10. To this end, the loading / unloading area TA, buffer area TC, and sampling areas TD and TE of the sample rack handling device 10 are arranged adjacent to and around the transport zone TB. As shown in the figure, the docking device 103 can move in the transport zone TB along the X direction (horizontal direction in the figure) and the Y direction (vertical direction in the figure) to access the loading / unloading area TA, buffer area TC, and sampling areas TD and TE. Therefore, the transport zone TB can be considered the area in which the docking device 103 moves.

[0073] Connecting device

[0074] The docking device 103 may be provided with multiple motors to enable the docking device 103 to move in the X and Y directions and to lift and lower in the transfer area TB, and also to enable the docking device 103 to interact with the loading / unloading area TA, the buffer area TC, and the sampling areas TD and TE.

[0075] Since the docking device 103 is an important movable component for transporting the sample rack, the position of the docking device 103 needs to be precisely controlled and the sample rack loading status of the docking device 103 needs to be accurately known.

[0076] To this end, an initial position is typically set for the docking device 103, for example, adjacent to the buffer zone TC and the sampling zone TD. Before the sample rack manipulator 10 is activated, the docking device 103 is typically docked at the initial position. When the sample rack manipulator 10 completes its operation and is about to shut down, the docking device 103, after transporting all sample racks to the loading / unloading area TA, returns to the initial position to facilitate the next operation of the sample rack manipulator 10. Setting the initial position allows the position of the docking device 103 to be advantageously and accurately calculated, eliminating accumulated errors in the position of the docking device 103. A sensor (not shown) is provided at the initial position to detect whether the docking device 103 is in the initial position.

[0077] However, when the sample rack manipulation device 10 is interrupted, for example, due to an unexpected power outage, the docking device 103 is often not in the initial position, but stops at any possible position, for example, at any position on the way to transport the sample rack or at a position when interacting with the loading / unloading area TA, the buffer area TC, and one of the sampling areas TD and TE.

[0078] The term "interactive state" is used herein to refer to a state in which a sample rack has not been completely transferred between the docking device 103 and one of the loading / unloading area TA, buffer area TC, and sampling areas TD and TE, and a state in which there are elements that interact with the docking device 103 and may hinder relative movement (e.g., a push rod for pushing the sample rack within the sampling area). Furthermore, the term "non-interactive state" is used to refer to a state in which the docking device 103 can freely move within the transfer area TB to transport a loaded sample rack to another area or to remove a sample rack from another area.

[0079] In order to determine the status of the docking device 103, sensors TBS06, TBS07 and TBS08 are arranged on the docking device 103 along its longitudinal direction. Figure 2 Sensor TBS06 is located at the end facing the loading / unloading area TA. Sensor TBS08 is located at the end facing the buffer area TC, that is, it is arranged opposite to sensor TBS06. Sensor TBS07 is located between sensors TBS06 and TBS08.

[0080] See also Figure 2 When sensors TBS06, TBS07, and TBS08 do not detect a sample rack 30, it indicates that there is no sample rack 30 on the docking device 103. At this time, the docking device 103 is in a non-interactive state, about to transport a sample rack 30 from the loading / unloading area TA, the buffer area TC, and one of the sampling areas TD and TE.

[0081] See also Figure 3 When sensors TBS06, TBS07, and TBS08 can all detect the sample rack 30, it indicates that the sample rack 30 is completely loaded on the docking device 103. At this time, the docking device 103 is in a non-interactive state of transporting the sample rack 30 to one of the loading / unloading area TA, the buffer area TC, and the sampling areas TD and TE.

[0082] See also Figure 4 When both sensors TBS06 and TBS07 detect sample rack 30, but sensor TBS08 does not, this indicates that a portion of sample rack 30 is on docking device 103, while another portion of sample rack 30 is in loading / unloading area TA. In an example not shown, when only sensor TBS06 detects sample rack 30, this also indicates that a portion of sample rack 30 is on docking device 103, while another portion of sample rack 30 is in loading / unloading area TA. At this point, docking device 103 is in an interactive state with loading / unloading area TA.

[0083] See also Figure 5When both sensors TBS08 and TBS07 detect sample rack 30, but sensor TBS06 does not, this indicates that a portion of sample rack 30 is on docking device 103, while another portion is in buffer zone TC. In an example not shown, when only sensor TBS08 detects sample rack 30, this also indicates that a portion of sample rack 30 is on docking device 103, while another portion is in buffer zone TC. At this point, docking device 103 is in an interactive state with buffer zone TC.

[0084] See also Figure 2 A sensor TBS16 may also be provided on the docking device 103. The sensor TBS16 is adapted to cooperate with a detection feature (eg, a detection tab or a detection notch) on the moving track of the docking device 103 to detect the position of the docking device 103 in the X direction.

[0085] Furthermore, a sensor TBS01 may be provided in the transport zone TB to detect whether the docking device 103 is in a position adjacent to the sampling zone TD for unloading a sample rack from the sampling zone TD or loading a sample rack into the sampling zone TD. Similarly, a sensor TBS18 may also be provided in the transport zone TB to detect whether the docking device 103 is in a position adjacent to the sampling zone TE for unloading a sample rack from the sampling zone TE or loading a sample rack into the sampling zone TE.

[0086] Optionally, a sensor TDS05 may be provided to detect whether the sample rack channel of the sampling area TD is in its initial position, thereby determining whether the docking device 103 is in an interactive state with, for example, the aforementioned push rod (not shown). Similarly, a sensor TES05 may be provided to detect whether the sample rack channel of the sampling area TE is in its initial position, thereby determining whether the docking device 103 is in an interactive state with, for example, the push rod (not shown).

[0087] A push rod (not shown) is adapted to push the sample rack in sampling area TD so that the samples in each test tube on the rack are sampled one by one. Furthermore, if two sample racks are present in sampling area TD, the push rod is adapted to push the sample racks so that one rack is loaded or unloaded while the other rack is pushed to the sampling position. When the docking device 103 and the push rod interact, their relative motion may be obstructed. To this end, the interaction between the docking device 103 and the push rod can be determined by combining the detection results of sensors TDS05, TES05, ​​and TBS16 (see Table 1 below).

[0088] Table 1

[0089] Location of the docking device TDS05 TBS16 TES05 Position A1 Initial position ---- Initial position Position A2 Non-initial position put one's oar in Initial position Position A3 Non-initial position Non-interference Initial position Position A4 Initial position put one's oar in Non-initial position Position A5 Initial position Non-interference Non-initial position

[0090] When the sensors TDS05 and TES05 detect that the sample rack channels of the sampling areas TD and TE are in the initial position, it indicates that the docking device 103 is in the transport area TB and does not interact with the sampling areas TD and TE, that is, it is located at Figure 6 In this case, there is no need to refer to the detection result of sensor TBS16.

[0091] When sensor TDS05 detects that the sample rack channel of sampling zone TD is in a non-initial position and sensor TES05 detects that the sample rack channel of sampling zone TE is in an initial position, it indicates that docking device 103 is in an interactive state with sampling zone TD. At this time, in order to further determine the position of docking device 103, it is necessary to refer to the detection result of sensor TBS16.

[0092] When the sensor TBS16 detects that the docking device 103 interferes with the reset of the push rod, it further indicates that the docking device 103 is in Figure 7 The position A2 shown is in the interference interaction state.

[0093] When the sensor TBS16 detects that the docking device 103 does not interfere with the reset of the push rod, it further indicates that the docking device 103 is in Figure 8 The position A3 shown is in a non-interference interaction state.

[0094] When sensor TDS05 detects that the sample rack channel of sampling zone TD is in the initial position and sensor TES05 detects that the sample rack channel of sampling zone TE is in the non-initial position, it indicates that docking device 103 is in an interactive state with sampling zone TE. At this time, in order to further determine the position of docking device 103, it is necessary to refer to the detection result of sensor TBS16.

[0095] When the sensor TBS16 detects that the docking device 103 interferes with the reset of the push rod, it further indicates that the docking device 103 is in Figure 9 Position A4 shown.

[0096] When the sensor TBS16 detects that the docking device 103 does not interfere with the reset of the push rod, it further indicates that the docking device 103 is in Figure 10 Position A5 shown.

[0097] It should be understood that the push rod is only an example of a pushing device for pushing the sample rack to move in the sampling area. When the structure, arrangement or pushing method of the pushing device changes, the interaction method between the docking device 103 and the sampling area may also change.

[0098] It should also be understood that the types and arrangements of the various components and regions and sensors of the sample rack manipulation device according to the present disclosure are not limited to the specific examples shown in the drawings, as long as they can achieve the above functions.

[0099] For example, in the embodiment described above, the sample rack loading and unloading areas are not provided separately, but rather function as a shared loading / unloading area. However, the present invention is not limited thereto, and a separate unloading area may also be provided in the downstream area of ​​the conveyor belt, opposite the upstream loading area.

[0100] In the given embodiment, the loading / unloading area and the buffer zone of the sample rack handling device are generally symmetrically arranged, but according to actual circumstances, the buffer zone may have a different sample rack capacity than the loading / unloading area.

[0101] Sample rack recovery method

[0102] If the sample rack manipulator 10 unexpectedly loses power and is interrupted, a sample rack may be present in one or more of the loading / unloading area TA, the buffer area TC, and the sampling areas TD and TE, and components such as the docking device 103 and the push rod may not have returned to their initial positions. Therefore, when the sample rack manipulator 10 is restarted, the sample rack must be automatically retrieved to the loading / unloading area TA for removal by the operator, and the docking device 103 must be returned to its initial position, allowing the sample rack manipulator 10 to resume normal testing.

[0103] The following describes the automatic sample rack recovery method according to the present disclosure based on various possible situations after an unexpected power outage of the sample rack manipulation device 10 .

[0104] Example 1: The docking device is in a non-interactive state and no sample rack is loaded

[0105] As described above, when sensors TBS06, TBS07, and TBS08 all fail to detect a sample rack, it can be determined that no sample rack is loaded onto docking device 103, meaning that docking device 103 is not interacting with the loading / unloading area TA or the buffer area TC. Furthermore, when sensors TDS05 and TES05 detect that the sample rack channels of sampling areas TD and TE, respectively, are in their initial positions, this further indicates that docking device 103 is in a non-interactive state.

[0106] Thus, in this example, the sensor detects that the docking device is in a non-interactive state where it can move freely in the transport zone and no sample rack is loaded (see Figure 12 , step S110 in FIG.

[0107] In this case, the docking device 103 can be returned to its initial position. The positions of the sample racks in each area of ​​the sample rack handling device are detected. Then, based on the sensor-detected positions of the sample racks in the loading / unloading area TA, buffer area TC, sampling areas TD, and TE, the docking device 103 can transport the sample racks in the buffer area TC, sampling areas TD, and TE back to the unloaded sample rack channels of the loading / unloading area TA. If the loading / unloading area TA is already full of sample racks, the docking device 103 can wait for the operator to remove one or more sample racks from the loading / unloading area TA before transporting the sample racks in the other areas back to the unloaded sample rack channels of the loading / unloading area TA.

[0108] To improve sample rack recovery efficiency, the docking device 103 can be configured to first recover the sample racks closest to the docking device 103, followed by those farther away. In other words, the order in which sample racks are recovered can be determined based on their distance from the docking device 103. This improves recovery efficiency by reducing the distance traveled by the docking device 103.

[0109] To achieve efficient sensor detection, docking device 103 can first retrieve sample racks from the sampling zone and then from the buffer zone TC. Thus, while docking device 103 is retrieving sample racks from sampling zones TD and TE, sensor TBS09 can detect the presence of sample racks in each sample rack channel of buffer zone TC as docking device 103 moves horizontally (in the X direction).

[0110] Example 2: Docking device is in non-interactive state and loaded with a sample rack

[0111] Example 2 differs from Example 1 in that sensors TBS06 , TBS07 , and TBS08 all detect the sample rack, thereby determining that the docking device 103 is loaded with a sample rack and is in a non-interactive state.

[0112] In Example 2, the docking device 103 may first return the sample rack to its initial position and then transport the sample rack back to the unloaded sample rack channel of the loading / unloading area TA. Subsequently, the docking device 103 may retrieve the sample racks from the sampling area and buffer zone one by one into the loading / unloading area TA, similar to Example 1.

[0113] In an alternative embodiment, the docking device 103 may first transport the sample racks on it back to the loading / unloading area TA and then return to the initial position. Afterwards, the docking device 103 retrieves the sample racks in the sampling area and the buffer area one by one into the loading / unloading area TA.

[0114] If the loading / unloading area TA is fully loaded with sample racks, the sample racks in other areas can be transported back to the unloaded sample rack channel of the loading / unloading area TA after the operator takes out one or more sample racks from the loading / unloading area TA.

[0115] Example 3: The docking device is in interaction with the loading / unloading area or buffer zone

[0116] As described above, when one or both of the sensors TBS06 and TBS07 detect the sample rack 30 and the sensor TBS08 does not detect the sample rack, it indicates that the docking device 103 is in an interactive state with the loading / unloading area TA.

[0117] When the docking device 103 is determined to be in an interactive state with the loading / unloading area TA, it first completely transfers the sample rack into the sample rack channel of the loading / unloading area TA, and then returns the docking device 103 to its initial position. The docking device 103 then retrieves the sample racks from the sampling area and buffer zone one by one into the loading / unloading area TA.

[0118] The interaction between the docking device 103 and the buffer zone TC is similar to the interaction between the docking device 103 and the loading / unloading area TA, and thus will not be described again herein.

[0119] Example 4: The docking device is in an interactive state with the sampling area

[0120] As described above, when the sensor TDS05 or TES05 detects that the sample rack channel of the sampling zone TD or TE is in a non-initial position, it indicates that the docking device 103 is in an interactive state with the sampling zone TD or TE.

[0121] Furthermore, combined with the detection result of the sensor TBS16, it can be determined that the docking device 103 is in an interference interaction state (such as Figure 7 and 9 ) or a non-interference interaction state (as shown in Figure 8 and 10 shown).

[0122] When it is determined that the docking device 103 is in the interference interaction state, the docking device 103 is first moved away from the sampling area (for example, Figure 7 The docking device 103 in the embodiment moves to the right, Figure 9The docking device 103 in the center moves to the left, so that the docking device 103 no longer interferes with the push rod reset. The push rod is then reset. At this point, sensors TBS06, TBS07, and TBS08 determine whether a sample rack is on the docking device 103. If it is determined that there is no sample rack on the docking device 103, the sample rack manipulator 10 can be operated according to the sample rack recovery method described in Example 1. If it is determined that there is a sample rack on the docking device 103, the sample rack manipulator 10 can be operated according to the sample rack recovery method described in Example 2.

[0123] Furthermore, when sensor TDS03 detects the presence of a sample rack in the sampling area, the push rod moves to a position interacting with the docking device to unload the sample rack detected in the sampling area onto the docking device, which then transports the sample rack back to the loading / unloading area TA. The process by which the push rod returns to the interactive position and interacts with the docking device to remove the sample rack from the sampling area is identical to the process during normal operation of the sample rack handling device and will not be further described here.

[0124] When it is determined that the docking device 103 is in the Figure 8 and 10 When the non-interference interaction state is shown, the push rod can be reset. Whether a sample rack is on docking device 103 is determined based on the detection results of sensors TBS06, TBS07, and TBS08. If it is determined that there is no sample rack on docking device 103, the sample rack manipulator 10 can be operated according to the sample rack recovery method described in Example 1. If it is determined that there is a sample rack on docking device 103, the sample rack manipulator 10 can be operated according to the sample rack recovery method described in Example 2.

[0125] Through the description of Examples 1 to 4 above, the sample rack recovery method according to the present disclosure can be summarized as follows: Figure 11 See the flowchart shown. Figure 11 The sample rack recovery method includes: a docking device detection step S10 for detecting the status of the docking device; a sample rack detection step S30 for detecting the position of the sample rack in the sample rack handling device, specifically in the loading / unloading area TA, the buffer area TC, and the sampling areas TD and TE; and a sample rack recovery step S50 for transporting the sample rack to the loading / unloading area TA by the docking device 103 based on the detection results of the docking device 103 and the sample rack. After the sample rack recovery step S50, the docking device 103 can be returned to its initial position (step S70) to allow normal sample testing procedures to be performed.

[0126] Figure 12 An embodiment of detecting the status of the docking device is shown. Figure 12 , Figure 11 Step S10 in the method includes detecting the position of the docking device 103 and the loading status of the sample rack (step S100).

[0127] Based on the position of the docking device 103 and the sample rack loading status, it is determined whether the docking device 103 is in a non-interactive state in which it can move freely (step S110) or in an interactive state with the loading / unloading area TA, the sampling area TD or TE, or the buffer area TC (steps S120, S130, and S140).

[0128] When the docking device 103 is determined to be in a non-interactive state (step S110), a determination is made as to whether a sample rack is loaded onto the docking device 103 (step S102). If a sample rack is determined to be present on the docking device 103, the docking device 103 first transports the sample rack back to the loading / unloading area TA (step S104). Prior to step S104, a check may be performed to determine whether the loading / unloading area TA is fully loaded with sample racks (step S107). If the loading / unloading area TA is fully loaded with sample racks, the docking device 103 may wait for the operator to remove one or more sample racks from the loading / unloading area TA before transporting the sample racks in the remaining areas back to the unloaded sample rack channels of the loading / unloading area TA (step S108). If the loading / unloading area TA is not fully loaded with sample racks, the sample racks in the remaining areas may be directly transported back to the unloaded sample rack channels of the loading / unloading area TA (step S104). Subsequently, prior to the sample rack recovery step, the docking device 103 may be returned to its initial position (step S106).

[0129] When the docking device 103 is determined to be in an interactive state with the loading / unloading area TA (step S120), the docking device 103 first completely transfers the sample rack on the docking device 103 to the loading / unloading area TA (step S122). Then, before the sample rack recovery step, the docking device 103 can be returned to its initial position (step S106).

[0130] When the docking device 103 is determined to be in an interactive state with the buffer zone TC (step S130), the docking device 103 transfers all sample racks on the docking device 103 to the buffer zone TC (step S134), or transfers all sample racks on the docking device 103 to the docking device 103 (step S132) and transports them back to the loading / unloading area TA (step S104). Prior to step S104, a check may be performed to determine whether the loading / unloading area TA is fully loaded with sample racks (step S107). If the loading / unloading area TA is fully loaded with sample racks, the sample racks in the remaining areas may be transported back to the unloaded sample rack channels of the loading / unloading area TA after the operator removes one or more sample racks from the loading / unloading area TA (step S108). If the loading / unloading area TA is not fully loaded with sample racks, the sample racks in the remaining areas may be directly transported back to the unloaded sample rack channels of the loading / unloading area TA (step S104). Then, before the sample rack recovery step, the docking device 103 may be returned to the initial position (step S106 ).

[0131] When it is determined that the docking device 103 is in an interactive state with the sampling zone TD or TE (step S140 ), it is determined whether the docking device 103 interferes with the resetting of the pushing device for controlling the movement of the sample rack in the sampling zone (step S142 ).

[0132] If the docking device 103 is determined not to interfere with the resetting of the pusher, the pusher is reset and a determination is made as to whether a sample rack is present on the docking device 103 (step S102). If a sample rack is present, the docking device first transports the sample rack back to the loading / unloading area TA (step S104). The docking device 103 may then be returned to its initial position before the sample rack recovery step (step S106).

[0133] If it is determined that the docking device 103 interferes with the reset of the pusher, the docking device 103 is first moved so that it no longer interferes with the reset of the pusher, and then the pusher is reset (step S144). Next, a determination is made as to whether a sample rack is on the docking device (step S102). If a sample rack is determined to be on the docking device, the docking device first transports the sample rack back to the loading / unloading area TA (step S104). Prior to step S104, a check may be performed to determine whether the loading / unloading area TA is fully loaded with sample racks (step S107). If the loading / unloading area TA is fully loaded with sample racks, the system may wait for the operator to remove one or more sample racks from the loading / unloading area TA before transporting the sample racks in the remaining areas back to the unloaded sample rack channels in the loading / unloading area TA (step S108). If the loading / unloading area TA is not fully loaded with sample racks, the sample racks in the remaining areas may be directly transported back to the unloaded sample rack channels in the loading / unloading area TA (step S104). Then, prior to the sample rack recovery step, the docking device may be returned to its initial position (step S106).

[0134] It should be understood that the automatic sample rack recovery method is not limited to the specific example above, but can be modified as needed. For example, the steps of the automatic sample rack recovery method can be performed in a different order, combined with each other, or have certain steps omitted if they are not contradictory.

[0135] The devices and methods described herein can be implemented by one or more computer programs executed by one or more processors. The computer programs include processor-executable instructions stored on a non-transitory, tangible, computer-readable medium. The computer programs may also include stored data. Non-limiting examples of non-transitory, tangible, computer-readable media are non-volatile memory, magnetic storage devices, and optical storage devices.

[0136] While various embodiments and variations of the present invention have been described above, it should be understood by those skilled in the art that the present invention is not limited to the specific embodiments and variations described above but rather encompasses various other possible combinations and combinations. Other variations and modifications may be implemented by those skilled in the art without departing from the spirit and scope of the present invention. All such variations and modifications fall within the scope of the present invention. Furthermore, all components described herein may be replaced by other technically equivalent components.

Claims

1. A method for recovering a sample rack after an unexpected interruption of operation of a sample rack manipulation device, wherein: The sample rack manipulator comprises a docking device adapted to move in the transport area to transport the sample rack between the loading / unloading area, the sampling area and the buffer area. The method comprises: a docking device detection step for detecting the status of the docking device; a sample rack detecting step for detecting positions of sample racks in the loading / unloading area, the sampling area, and the buffer area of ​​the sample rack manipulation device; and a sample rack recovery step, for transporting the sample rack to the loading / unloading area by the docking device according to the detection status of the docking device and the detection position of the sample rack; Wherein, the docking device detection step includes detecting the position of the docking device and the loading status of the sample rack; The sample rack recovery method further comprises: determining, based on the position of the docking device and the sample rack loading state, whether the docking device is in a non-interactive state capable of free movement or in an interactive state with the loading / unloading area, the sampling area, or the buffer area; The sample rack recovery method further includes: when it is determined that the docking device is in the non-interactive state, determining whether a sample rack is loaded on the docking device; when it is determined that there is a sample rack on the docking device, the docking device first transports the sample rack back to the loading / unloading area.

2. The sample rack recovery method according to claim 1, further comprising: When it is determined that the docking device is in an interactive state with the loading / unloading area, the sample rack on the docking device is first completely transferred to the loading / unloading area.

3. The sample rack recovery method according to claim 1, further comprising: When it is determined that the docking device is in an interactive state with the buffer zone, the sample rack on the docking device is completely transferred to the buffer zone, or the sample rack on the docking device is completely transferred to the docking device and transported back to the loading / unloading area.

4. The sample rack recovery method according to claim 1, further comprising: When it is determined that the docking device is in an interactive state with the sampling area, it is determined whether the docking device interferes with the resetting of a pushing device for controlling the movement of the sample holder in the sampling area.

5. The sample rack recovery method according to claim 4, further comprising: When it is determined that the docking device does not interfere with the resetting of the pushing device, the pushing device is reset and it is determined whether there is a sample rack on the docking device. When it is determined that there is a sample rack on the docking device, the docking device first transports the sample rack back to the loading / unloading area.

6. The sample rack recovery method according to claim 4, further comprising: When it is determined that the docking device interferes with the resetting of the pushing device, the docking device is first moved so that it no longer interferes with the resetting of the pushing device, and then the pushing device is reset.

7. The sample rack recovery method according to claim 6, further comprising: Determine whether there is a sample rack on the docking device; and when it is determined that there is a sample rack on the docking device, the docking device first transports the sample rack on it back to the loading / unloading area.

8. The sample rack recovery method according to any one of claims 1, 3, 5 and 7, wherein: The sample rack detection step includes detecting whether the loading / unloading area is fully loaded with sample racks; When it is detected that the loading / unloading area is fully loaded with sample racks, the sample rack recovery step is performed after waiting for an operator to remove one or more sample racks from the loading / unloading area.

9. The sample rack recovery method according to any one of claims 1 to 3, 5 and 7, further comprising: Before the sample rack retrieving step, the docking device is returned to its initial position.

10. The sample rack recovery method according to any one of claims 1 to 7, further comprising: After the sample rack recovery step, the docking device is returned to its initial position.

11. The sample rack recovery method according to any one of claims 1 to 7, wherein: The sample rack recovery step includes determining a recovery priority level of each sample rack based on a distance measured between each sample rack and the docking device.

12. The sample rack recovery method according to any one of claims 1 to 7, wherein: The sample rack recovery step includes: first transporting the sample rack in the sampling area to the loading / unloading area, and then transporting the sample rack in the buffer area to the loading / unloading area.

13. The sample rack recovery method according to any one of claims 1 to 7, wherein: The sample rack detection step includes: detecting the position of the sample rack in the buffer zone by a sensor provided on the docking device when the sensor moves along with the docking device.

14. The sample rack recovery method according to any one of claims 1 to 7, wherein: The docking device detection step includes: detecting a sample rack loading state of the docking device by using sensors disposed at both ends and a middle portion of the docking device.

15. The sample rack recovery method according to any one of claims 1 to 7, wherein: The docking device detection step includes: detecting the state of the sample rack track in the sampling area to determine whether the docking device is in an interactive state with the sampling area.

16. The sample rack recovery method according to claim 15, wherein: The docking device detection step further includes: detecting the interaction between a pushing device for controlling the movement of the sample rack in the sampling area and the docking device through a sensor provided on the docking device. 17 . A computer-readable medium having a program stored thereon, wherein when the program is executed by a processor, the sample rack recovery method according to claim 1 is implemented.

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