An intelligent contactless nucleic acid sample transportation system and its working method

Abstract

The present invention discloses an intelligent contactless nucleic acid sample transportation system and its working method. The system includes a nucleic acid sampling tube registration and storage device, a navigation path-finding robot delivery system, a drone transportation system, and a sample box recycling and preservation system. Through the nucleic acid sampling tube registration and storage device, the automatic transmission, detection registration, disinfection treatment of nucleic acid sample tubes, and the loading of sample tubes into nucleic acid sample boxes are realized. At the same time, the nucleic acid sample boxes containing sample tubes are sequentially transmitted through the navigation path-finding robot delivery system and the drone transportation system and finally transmitted to the sample box recycling and preservation system. Personnel contact is avoided in the middle, and the automatic transfer and transportation of nucleic acid sample boxes are realized throughout the process. Moreover, automatic disinfection is carried out in each transportation link throughout the process, effectively reducing the human resource consumption in the process of nucleic acid sample transportation, protecting the health of participants to the greatest extent, avoiding cross-infection, and improving the efficiency of nucleic acid sample processing and transportation.

Description

Technical Field

[0001] The present invention relates to the technical field of nucleic acid sample transportation and preservation, and particularly relates to an intelligent contactless nucleic acid sample transportation system and its working method. Background Art

[0002] The patent with application number 202020219450.0 discloses a transportation and preservation device for viral nucleic acids. Through the settings of a sleeve rod, a sleeve and a spring, shock absorption can be carried out on the storage tube. When vibration occurs, the placement plate and the sleeve rod will move, and at this time, the spring will generate a force in the opposite direction of the movement direction for shock absorption, avoiding the rupture of the storage tube containing viral nucleic acids during transportation, resulting in the leakage of viral nucleic acids and causing unnecessary economic losses, thereby improving the safety during the transportation of viral nucleic acids. Through the settings of the inner cavity and the liquid inlet, liquid nitrogen can be added into the inner cavity from the liquid inlet, and the transportation and preservation device can be cooled by the liquid nitrogen, so that it always remains in a low temperature state, avoiding the increase in temperature during transportation, resulting in the destruction of the gene sequence of viral nucleic acids and causing unnecessary economic losses, thereby increasing the stability of viral nucleic acids during transportation.

[0003] However, it still cannot effectively reduce the human resource consumption during the transportation of nucleic acid samples, maximize the protection of the health of participants, and improve the efficiency of nucleic acid sample processing and transportation. Summary of the Invention

[0004] (I) Technical Problems to be Solved

[0005] The purpose of the present invention is to provide an intelligent contactless nucleic acid sample transportation system and its working method to solve the problems of low efficiency, easy environmental pollution, and infection of transportation personnel in the prior art during the transportation of nucleic acid samples.

[0006] (II) Technical Solutions

[0007] To achieve the above intelligent contactless nucleic acid sample transportation system and its working method to solve the problems of low efficiency, easy environmental pollution, and infection of transportation personnel in the prior art during the transportation of nucleic acid samples, the present invention provides the following technical solutions:

[0008] An intelligent contactless nucleic acid sample transportation system includes a nucleic acid sampling tube registration and storage device, a navigation and path-finding robot delivery system, an unmanned aerial vehicle transfer system, and a sample box recycling and preservation system, wherein:

[0009] The nucleic acid sampling tube registration and storage device is composed of a sampling tube conveyor belt, a first identification camera, a nucleic acid sample box slot, a first nucleic acid sample box conveyor belt, and a first disinfection device. A sampling tube placement groove is provided on the sampling tube conveyor belt. The first identification camera is arranged on the nucleic acid sampling tube registration and storage device. The nucleic acid sample box slot is arranged at the end of the sampling tube conveyor belt. A nucleic acid sample box is arranged below the nucleic acid sample box slot. The first nucleic acid sample box conveyor belt is arranged below the nucleic acid sample box. The first disinfection device is arranged inside the nucleic acid sampling tube registration and storage device. Sample tube placement slots are provided in both the nucleic acid sample box slot and the nucleic acid sample box, and the sample tube placement slots correspond to each other one by one.

[0010] The navigation and pathfinding robot delivery system is composed of a navigation and pathfinding robot and a second nucleic acid sample box conveyor belt.

[0011] The UAV transfer system is composed of a third nucleic acid sample box conveyor belt, a UAV, and a second disinfection device.

[0012] The sample box recycling and storage system is composed of a fourth nucleic acid sample box conveyor belt, a second identification camera, a third disinfection device, and a storage refrigerating refrigerator.

[0013] Preferably, radio frequency induction modules are arranged on the nucleic acid sampling tube registration and storage device, the navigation and pathfinding robot delivery system, the UAV transfer system, and the sample box recycling and storage system.

[0014] Preferably, a cruising device is arranged on the navigation and pathfinding robot delivery system. The cruising device includes a positioning module / map module and an ultrasonic obstacle avoidance module.

[0015] Preferably, the first disinfection device, the second disinfection device, and the third disinfection device are ultraviolet disinfection devices and alcohol spray disinfection devices.

[0016] Preferably, the first identification camera and the second identification camera are bar code or two-dimensional code identification cameras.

[0017] The present invention also provides a working method of the intelligent contactless nucleic acid sample transportation system as described above, including:

[0018] The sample tubes filled with nucleic acid samples after sampling are placed on the sampling tube placement grooves on the sampling tube conveyor belt after attaching corresponding two-dimensional codes or bar codes, and are transported to the detection port of the nucleic acid sampling tube registration and storage device through the sampling tube conveyor belt. The two-dimensional code or bar code information is identified by the first identification camera. Before the sampling tube conveyor belt completes a cycle of sampling tube transportation and resumes sampling tube transportation, the sampling tube conveyor belt is disinfected by irradiating with ultraviolet light source and spraying alcohol through the first disinfection device.

[0019] Then, the sampling tube continues to be transported by the sampling tube conveyor belt to the nucleic acid sample box card slot. After the first recognition camera recognizes that all the sampling tube slots on the nucleic acid sample box card slot are filled with sampling tubes, the nucleic acid sample box card slot transfers all the sampling tubes to the nucleic acid sample box to complete the filling of the sample tubes. After the first recognition camera recognizes that the sampling tube slots in the nucleic acid sample box are filled with sampling tubes, the nucleic acid sample box is capped. The nucleic acid sample box is sent to the designated area through the first nucleic acid sample box conveyor belt. At the same time, the first nucleic acid sample box conveyor belt is continuously irradiated with ultraviolet light source and sprayed with alcohol by the first disinfection device for continuous disinfection treatment.

[0020] The navigation and pathfinding robot moves in a circular patrol mode at the designated nucleic acid sampling site through a pre-set path. When it reaches the designated area equipped with the nucleic acid sampling tube registration and storage device, it activates the first nucleic acid sample box conveyor belt and the second nucleic acid sample box conveyor belt through radio frequency induction, and transfers the nucleic acid sample box from the first nucleic acid sample box conveyor belt to the second nucleic acid sample box conveyor belt. After the navigation and pathfinding robot retrieves the nucleic acid sample box, it transports the nucleic acid sample box to the designated area equipped with the drone transfer system through the set path, and activates the second nucleic acid sample box conveyor belt and the third nucleic acid sample box conveyor belt through radio frequency induction, and transfers the nucleic acid sample box from the second nucleic acid sample box conveyor belt to the third nucleic acid sample box conveyor belt to transfer the nucleic acid sample box into the drone transfer system.

[0021] After the nucleic acid sample box is transferred into the drone transfer system, the nucleic acid sample box loading structure of the drone fixes the nucleic acid sample box, and then the drone starts and transports the nucleic acid sample box to the designated area of a nearby pre-planned nucleic acid testing institution. After arriving at the nucleic acid testing institution, the drone lands, and its nucleic acid sample box loading structure accurately docks with the designated area of the sample box recovery and storage system through positioning. At this time, the drone stops operating, and the nucleic acid sample box loading structure of the drone releases the fixation of the nucleic acid sample box. At this time, the third nucleic acid sample box conveyor belt and the fourth nucleic acid sample box conveyor belt are activated, and the nucleic acid sample box is transferred from the third nucleic acid sample box conveyor belt to the fourth nucleic acid sample box conveyor belt to transport the nucleic acid sample box from the drone operation system to the nucleic acid sample box recovery and storage system.

[0022] After transporting the nucleic acid sample box from the drone operation system to the nucleic acid sample box recycling and storage system, when the second recognition camera recognizes the nucleic acid sample box on the fourth nucleic acid sample box conveyor belt, the third disinfection device is controlled to disinfect the nucleic acid sample box by irradiating with ultraviolet light source and spraying alcohol. After the third disinfection device completes disinfection, the nucleic acid sample box recycling and storage system controls the window on the storage refrigerating refrigerator to automatically open, and transports the nucleic acid sample box into the refrigerator for storage through the fourth nucleic acid sample box conveyor belt.

[0023] Preferably, the first recognition camera recognizes the two-dimensional code or bar code on the sample tube that has completed sampling and contains nucleic acid samples. The information of the two-dimensional code or bar code corresponds to the identity of the sampled person, and at the same time, the information registered and input corresponds to the position information of the sample tube in the nucleic acid sample box.

[0024] Preferably, after transferring the nucleic acid sample box to the drone transfer system, the navigation path-finding robot goes to the next designated area equipped with a nucleic acid sampling tube registration and storage device at the designated nucleic acid sampling site to collect the nucleic acid sample box.

[0025] Preferably, the first recognition camera recognizes that the sampling tube slot in the nucleic acid sample box is filled with sampling tubes. The specific method is as follows:

[0026] Collect the image when the sampling tube slot is filled with sampling tubes, and then perform image contour extraction to obtain the image contour when the sampling tube slot is filled with sampling tubes; the image contour extraction uses any one of the contour extraction algorithm, boundary tracking algorithm, region growing algorithm, and region splitting and merging algorithm;

[0027] Collect the image of the sampling tube slot in real time during the process of filling the sampling tube, and perform real-time image contour extraction, and compare the real-time contour image obtained by the real-time image contour extraction with the image contour when the sampling tube slot is filled with sampling tubes;

[0028] When the real-time contour image completely coincides with the image contour when the sampling tube slot is filled with sampling tubes, it means that the sampling tube slot in the nucleic acid sample box is filled with sampling tubes.

[0029] Preferably, the navigation path-finding robot moves in a cyclic patrol mode at the designated nucleic acid sampling site by presetting a path. The specific control method is as follows:

[0030] Based on the GIS algorithm, establish an electronic map of the designated nucleic acid sampling site, plan the navigation path of the patrol robot from the initial standby position to the position of each target to be patrolled in the electronic map, and at the same time obtain the positioning of the patrol robot in the electronic map;

[0031] Based on the navigation path and the positioning of the inspection robot, the position of the next inspection target to be inspected by the inspection robot is matched through a graph traversal algorithm, and the loop is repeated until the inspection robot has inspected all the targets;

[0032] After the inspection robot reaches the position of the inspection target to be inspected each time, it stops moving at the trace positioning point of the current inspection target to be inspected in a suitable posture to transfer the nucleic acid sample box.

[0033] (III) Beneficial effects

[0034] Compared with the prior art, the present invention provides an intelligent contactless nucleic acid sample transportation system and its working method, which have the following beneficial effects:

[0035] The present invention is provided with a nucleic acid sampling tube registration and storage device, a navigation path-finding robot delivery system, a drone transfer system, and a sample box recycling and storage system. Through the nucleic acid sampling tube registration and storage device, the automatic transmission, detection registration, disinfection treatment of nucleic acid sample tubes, and the loading of sample tubes into nucleic acid sample boxes are realized. At the same time, the nucleic acid sample boxes containing sample tubes are sequentially transmitted to the sample box recycling and storage system through the navigation path-finding robot delivery system and the drone transfer system. Personnel contact is avoided in the middle, and the automatic transfer and transportation of nucleic acid sample boxes are realized throughout the process. Moreover, all transfer links are automatically disinfected throughout the process, effectively reducing the human resource consumption in the process of nucleic acid sample transportation, protecting the health of participants to the greatest extent, avoiding cross-infection, and improving the efficiency of nucleic acid sample processing and transportation.

[0036] The present invention extracts the image contour of the sampling tube slot when it is filled with sampling tubes through an image contour extraction algorithm, and extracts the image contour of the sampling tube slot during real-time filling of sampling tubes, and compares the real-time sampling tube slot image contour with the sampling tube slot image contour when it is filled with sampling tubes. When the two match, it indicates that the sampling tube slot is filled, and there is no need for manual determination of whether it is full, which is more efficient.

[0037] When controlling the path-finding robot to move in a cyclic inspection manner in a designated nucleic acid sampling place, an electronic map established by the GIS algorithm is used to abstractly locate the nucleic acid sampling place and the path-finding robot, and the inspection robot traverses and inspects each nucleic acid sampling place through the graph traversal algorithm, realizing the efficient and accurate inspection of all nucleic acid sampling places by the robot, without omission of inspection, and ensuring the reliable transportation of samples. Brief description of the drawings

[0038] Figure 1 It is a schematic diagram of the overall structure of an intelligent contactless nucleic acid sample transportation system of the present invention;

[0039] Figure 2Specific structural diagram of the navigation and path - finding robot delivery system of an intelligent contactless nucleic acid sample transportation system of the present invention;

[0040] Figure 3 Specific structural diagram of the UAV transfer system of an intelligent contactless nucleic acid sample transportation system of the present invention. Specific embodiments

[0041] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative work belong to the scope of protection of the present invention. Embodiment 1

[0042] As Figure 1 、 2 、shown in Figure 3, an intelligent contactless nucleic acid sample transportation system includes a nucleic acid sampling tube registration and storage device 1, a navigation and path - finding robot delivery system 2, a UAV transfer system 3, and a sample box recycling and storage system 4, where:

[0043] The nucleic acid sampling tube registration and storage device 1 is composed of a sampling tube conveyor belt 11, a first identification camera 12, a nucleic acid sample box slot 13, a first nucleic acid sample box conveyor belt 14, and a first disinfection device 15. Among them, a sampling tube placement groove 111 is provided on the sampling tube conveyor belt 11, the first identification camera 12 is arranged on the nucleic acid sampling tube registration and storage device 1, the nucleic acid sample box slot 13 is arranged at the end of the sampling tube conveyor belt, a nucleic acid sample box 16 is arranged below the nucleic acid sample box slot 13, the first nucleic acid sample box conveyor belt 14 is arranged below the nucleic acid sample box 16, and the first disinfection device 15 is arranged inside the nucleic acid sampling tube registration and storage device 1; sample tube placement slots 17 are provided in both the nucleic acid sample box slot 13 and the nucleic acid sample box 16 and correspond one by one;

[0044] The navigation and path - finding robot delivery system 2 is composed of a navigation and path - finding robot 21 and a second nucleic acid sample box conveyor belt 22;

[0045] The UAV transfer system 3 is composed of a third nucleic acid sample box conveyor belt 31, a UAV 32, and a second disinfection device 33;

[0046] The sample box recycling and storage system 4 is composed of a fourth nucleic acid sample box conveyor belt 41, a second identification camera 42, a third disinfection device 43, and a storage refrigeration refrigerator 44.

[0047] In this embodiment, radio frequency induction modules are provided on the nucleic acid sampling tube registration and storage device 1, the navigation and pathfinding robot delivery system 2, the drone transfer system 3, and the sample box recycling and preservation system 4.

[0048] In this embodiment, a cruising device 23 is provided on the navigation and pathfinding robot delivery system 2. The cruising device 23 includes a positioning module / map module 231 and an ultrasonic obstacle avoidance module 232.

[0049] In this embodiment, the first disinfection device 15, the second disinfection device 33, and the third disinfection device 43 are ultraviolet disinfection devices and alcohol spray disinfection devices.

[0050] In this embodiment, the first identification camera 12 and the second identification camera 42 are barcode or two-dimensional code identification cameras. Embodiment 2

[0051] The present invention also provides a working method of the intelligent contactless nucleic acid sample transportation system as described above, including:

[0052] The sample tube containing the nucleic acid sample that has been sampled is placed on the sampling tube placement groove on the sampling tube conveyor belt after affixing the corresponding two-dimensional code or barcode, and is transported to the detection port of the nucleic acid sampling tube registration and storage device by the sampling tube conveyor belt. The two-dimensional code or barcode information is identified by the first identification camera. Before the sampling tube conveyor belt completes a cycle of sampling tube transportation and resumes sampling tube transportation, the sampling tube conveyor belt is disinfected by the first disinfection device through ultraviolet light irradiation and alcohol spraying.

[0053] Then, the sampling tube continues to be transported to the nucleic acid sample box card slot by the sampling tube conveyor belt. The sampling tube is guided to the nucleic acid sample box card slot through a funnel-shaped opening container. The attitude of the sampling tube is adjusted by the sample tube placement card slot opening on the card slot, so that the sampling tube can directly enter the nucleic acid sample box and be filled into the corresponding card slot after passing through the nucleic acid sample box card slot, completing the filling of the sample tube. After the first identification camera recognizes that the sampling tube slot in the nucleic acid sample box is filled with sampling tubes, the nucleic acid sample box is capped. The nucleic acid sample box is sent to the designated area by the first nucleic acid sample box conveyor belt. At the same time, the first nucleic acid sample box conveyor belt is continuously disinfected by the first disinfection device through ultraviolet light irradiation and alcohol spraying.

[0054] The navigation and path - finding robot moves in a circular patrol mode in a designated nucleic acid sampling site by presetting a path. When it arrives at a designated area equipped with a nucleic acid sampling tube registration and storage device, it activates the first nucleic acid sample box conveyor belt and the second nucleic acid sample box conveyor belt through radio frequency induction, and transfers the nucleic acid sample box from the first nucleic acid sample box conveyor belt to the second nucleic acid sample box conveyor belt. After the navigation and path - finding robot retrieves the nucleic acid sample box, it transports the nucleic acid sample box to a designated area equipped with a drone transfer system through the set path, activates the second nucleic acid sample box conveyor belt and the third nucleic acid sample box conveyor belt through radio frequency induction, and transfers the nucleic acid sample box from the second nucleic acid sample box conveyor belt to the third nucleic acid sample box conveyor belt, thus realizing the transfer of the nucleic acid sample box into the drone transfer system.

[0055] After the nucleic acid sample box is transferred into the drone transfer system, the nucleic acid sample box load structure of the drone fixes the nucleic acid sample box, and then the drone starts and transports the nucleic acid sample box to a designated area of a nearby pre - planned nucleic acid testing institution. After arriving at the nucleic acid testing institution (the nucleic acid testing institution is not limited to hospitals, qualified companies or laboratories), the drone lands, and its nucleic acid sample box load structure accurately docks with the designated area of the sample box recovery and storage system through positioning. At this time, the drone stops operating, and the nucleic acid sample box load structure of the drone releases the fixation of the nucleic acid sample box. At this time, the third nucleic acid sample box conveyor belt and the fourth nucleic acid sample box conveyor belt are activated, and the nucleic acid sample box is transferred from the third nucleic acid sample box conveyor belt to the fourth nucleic acid sample box conveyor belt, transporting the nucleic acid sample box from the drone operation system to the nucleic acid sample box recovery and storage system.

[0056] After transporting the nucleic acid sample box from the drone operation system to the nucleic acid sample box recovery and storage system, when the second recognition camera recognizes the nucleic acid sample box on the fourth nucleic acid sample box conveyor belt, it controls the third disinfection device to perform disinfection treatment on the nucleic acid sample box through ultraviolet light irradiation and alcohol spraying. After the third disinfection device completes disinfection, the nucleic acid sample box recovery and storage system controls the window on the storage refrigerating refrigerator to automatically open, and transports the nucleic acid sample box to the refrigerator for storage through the fourth nucleic acid sample box conveyor belt.

[0057] In this embodiment, the first recognition camera recognizes the two - dimensional code or bar code on the sample tube that has completed sampling and contains nucleic acid samples. The information of the two - dimensional code or bar code corresponds to the identity of the sampled person, and at the same time, the information registered and input corresponds to the position information of the sample tube in the nucleic acid sample box.

[0058] In this embodiment, after transferring the nucleic acid sample box to the drone transfer system, the navigation and path - finding robot goes to the next designated area equipped with a nucleic acid sampling tube registration and storage device in the designated nucleic acid sampling site to collect nucleic acid sample boxes.

[0059] In this embodiment, the first recognition camera recognizes that the sampling tube slot in the nucleic acid sample box is filled with sampling tubes. The specific method is as follows:

[0060] Collect the image when the sampling tube slot is filled with sampling tubes, and then perform image contour extraction to obtain the image contour when the sampling tube slot is filled with sampling tubes. Any one of the contour extraction algorithm, boundary tracking algorithm, region growing algorithm, and region splitting and merging algorithm can be used for the image contour extraction. The specific content of these algorithms will not be elaborated here. By using the image contour extraction algorithm to extract the image contour when the sampling tube slot is filled with sampling tubes, it provides an image data basis for comparing the real-time image contour of the sampling tube slot with the image contour when the sampling tube slot is filled with sampling tubes later, and then it can be judged whether each sampling tube slot is filled with sampling tubes later.

[0061] Collect the image of the sampling tube slot in real time during the process of filling the sampling tubes, and perform real-time image contour extraction. Compare the real-time contour image obtained by the real-time image contour extraction with the image contour when the sampling tube slot is filled with sampling tubes.

[0062] When the real-time contour image completely coincides with the image contour when the sampling tube slot is filled with sampling tubes, it indicates that the sampling tube slot in the nucleic acid sample box is filled with sampling tubes.

[0063] In this embodiment, the navigation and path-finding robot moves in a cyclic patrol mode in the specified nucleic acid sampling place by presetting a path. The specific control method is as follows:

[0064] Based on the GIS algorithm, establish an electronic map of the specified nucleic acid sampling place. Plan the navigation path of the patrol robot from the initial standby position to the position of each target to be patrolled in the electronic map, and at the same time obtain the positioning of the patrol robot in the electronic map. The nucleic acid sampling place is abstracted as a point in the electronic map, and a topological network is formed after all the nucleic acid sampling places are connected. Each point on this electronic map has a corresponding coordinate, and the trajectory points of the patrol robot patrolling on the electronic map are located by coordinates.

[0065] Then, according to the navigation path and the positioning of the inspection robot, the position of the next inspection target of the inspection robot is matched through the graph traversal algorithm, and the loop is repeated until the inspection robot has inspected all the targets; the nucleic acid sampling sites are used as the inspection targets, and a unique ID code is set for each of them during program design. In the present invention, the inspection robot traverses each nucleic acid sampling site through the graph traversal algorithm. There are mainly two graph traversal algorithms. One is the algorithm that expands the traversal in the order of depth first, that is, depth-first traversal; the other is the algorithm that expands the traversal in the order of breadth first, that is, breadth-first traversal. Breadth-first traversal is to traverse all the nodes of the graph along the depth of the graph. Each time it traverses, it will traverse along the adjacent nodes of the current node until all the points are traversed. If all the adjacent nodes of the current node have been traversed, it will backtrack to the previous node, and repeat this process until all the nodes reachable from the source node have been visited. If there are still unvisited nodes, one of the nodes is selected as the source node and the above process is repeated until all the nodes are visited. Many additional information can be obtained by using the depth-first search of the graph, and many graph theory problems can also be solved. Breadth-first traversal is also known as breadth-first traversal. By traversing the nodes of the graph along the breadth of the graph, if all the nodes have been visited, the algorithm will terminate immediately. The implementation of breadth-first traversal generally requires a queue to assist. Breadth-first traversal, like depth-first traversal, is also a blind traversal method. That is to say, the breadth traversal algorithm does not use the heuristic algorithm and does not consider the possible addresses of the results. It just traverses the whole graph thoroughly until the result is found. The graph traversal problems are divided into four categories:

[0066] Traversing all the edges without repetition, that is, the so-called "Euler path problem" (also known as the one-stroke problem);

[0067] Traversing all the vertices without repetition, that is, the so-called "Hamilton path problem".

[0068] Traversing all the edges with repetition allowed, that is, the so-called "Chinese postman problem";

[0069] Traversing all the vertices with repetition allowed, that is, the so-called "traveling salesman problem".

[0070] The present invention adopts the above method of traversing all the vertices without repetition, that is, the so-called "Hamilton path problem", and each vertex abstractly corresponds to a nucleic acid sampling site.

[0071] Finally, after the inspection robot reaches the position of the inspection target each time, it stops moving at the trace positioning point of the current inspection target in a suitable posture to transfer the nucleic acid sample box.

[0072] In summary, the present invention provides a nucleic acid sampling tube registration and storage device, a navigation and pathfinding robot delivery system, a drone transfer system, and a sample box recycling and preservation system. Through the nucleic acid sampling tube registration and storage device, the automatic transmission, detection registration, disinfection treatment of nucleic acid sample tubes, and the loading of sample tubes into nucleic acid sample boxes are realized. At the same time, the nucleic acid sample boxes containing sample tubes are sequentially transmitted through the navigation and pathfinding robot delivery system and the drone transfer system and finally transmitted to the sample box recycling and preservation system. Personnel contact is avoided in the middle, and the automatic transfer and transportation of nucleic acid sample boxes are realized throughout the process. Moreover, all transfer links are automatically disinfected throughout the process, effectively reducing the human resource consumption during the transportation of nucleic acid samples, protecting the health of participants to the greatest extent, avoiding cross-infection, and improving the efficiency of nucleic acid sample processing and transportation.

[0073] It should be noted that, in this article, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the term "comprising", "including" or any other variant thereof is intended to cover non-exclusive inclusion, so that a process, method, article or device comprising a series of elements not only includes those elements but also includes other elements not expressly listed, or further includes elements inherent to such process, method, article or device. Without further limitation, an element defined by the statement "comprising an..." does not exclude the existence of additional identical elements in the process, method, article or device comprising the element.

[0074] Although the embodiments of the present invention have been shown and described, it will be understood by those of ordinary skill in the art that various changes, modifications, substitutions and variations can be made to these embodiments without departing from the principles and spirit of the present invention. The scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A working method of an intelligent contactless nucleic acid sample transportation system, characterized in that, Based on an intelligent contactless nucleic acid sample transportation system, the intelligent contactless nucleic acid sample transportation system includes a nucleic acid sampling tube registration and storage device (1), a navigation and path-finding robot delivery system (2), a drone transfer system (3), and a sample box recycling and preservation system (4), where: The nucleic acid sampling tube registration and storage device (1) consists of a sampling tube conveyor belt (11), a first identification camera (12), a nucleic acid sample box slot (13), a first nucleic acid sample box conveyor belt (14), and a first disinfection device (15). A sampling tube placement groove (111) is provided on the sampling tube conveyor belt (11). The first identification camera (12) is arranged on the nucleic acid sampling tube registration and storage device (1). The nucleic acid sample box slot (13) is arranged at the end of the sampling tube conveyor belt. A nucleic acid sample box (16) is arranged below the nucleic acid sample box slot (13). The first nucleic acid sample box conveyor belt (14) is arranged below the nucleic acid sample box (16). The first disinfection device (15) is arranged inside the nucleic acid sampling tube registration and storage device (1). Sample tube placement slots (17) are provided in both the nucleic acid sample box slot (13) and the nucleic acid sample box (16) and correspond one by one; The navigation and path-finding robot delivery system (2) consists of a navigation and path-finding robot (21) and a second nucleic acid sample box conveyor belt (22); The drone transfer system (3) consists of a third nucleic acid sample box conveyor belt (31), a drone (32), and a second disinfection device (33); The sample box recycling and preservation system (4) consists of a fourth nucleic acid sample box conveyor belt (41), a second identification camera (42), a third disinfection device (43), and a storage refrigeration refrigerator (44); Radio frequency induction modules are provided on the nucleic acid sampling tube registration and storage device (1), the navigation and path-finding robot delivery system (2), the drone transfer system (3), and the sample box recycling and preservation system (4); A cruising device (23) is provided on the navigation and path-finding robot delivery system (2). The cruising device (23) includes a positioning module / map module (231) and an ultrasonic obstacle avoidance module (232); The first disinfection device (15), the second disinfection device (33), and the third disinfection device (43) are ultraviolet disinfection devices and alcohol spray disinfection devices; The first identification camera (12) and the second identification camera (42) are barcode or two-dimensional code identification cameras; The working method of the intelligent contactless nucleic acid sample transportation system further includes the following steps: The sample tube containing the nucleic acid sample after sampling is placed on the sampling tube placement groove on the sampling tube conveyor belt after being affixed with the corresponding two-dimensional code or barcode, and is transported to the detection port of the nucleic acid sampling tube registration and storage device by the sampling tube conveyor belt. The two-dimensional code or barcode information is identified by the first identification camera. Before the sampling tube conveyor belt completes a cycle of sampling tube transportation and resumes sampling tube transportation, the sampling tube conveyor belt is disinfected by irradiating with an ultraviolet light source and spraying alcohol by the first disinfection device; Then, the sampling tube continues to be transported by the sampling tube conveyor belt to the nucleic acid sample box card slot. After the first recognition camera recognizes that all the sampling tube slots on the nucleic acid sample box card slot are filled with sampling tubes, the nucleic acid sample box card slot transfers all the sampling tubes to the nucleic acid sample box to complete the filling of the sample tubes. After the first recognition camera recognizes that the sampling tube slots in the nucleic acid sample box are filled with sampling tubes, the nucleic acid sample box is capped. The nucleic acid sample box is sent to the designated area through the first nucleic acid sample box conveyor belt. At the same time, the first nucleic acid sample box conveyor belt is continuously irradiated with ultraviolet light source and sprayed with alcohol by the first disinfection device for continuous disinfection treatment. The navigation and pathfinding robot moves in a circular patrol mode in the designated nucleic acid sampling site through a pre-set path. When it reaches the designated area equipped with the nucleic acid sampling tube registration and storage device, it activates the first nucleic acid sample box conveyor belt and the second nucleic acid sample box conveyor belt through radio frequency induction, and transfers the nucleic acid sample box from the first nucleic acid sample box conveyor belt to the second nucleic acid sample box conveyor belt. After the navigation and pathfinding robot retrieves the nucleic acid sample box, it transports the nucleic acid sample box to the designated area equipped with the drone transfer system through the set path, and activates the second nucleic acid sample box conveyor belt and the third nucleic acid sample box conveyor belt through radio frequency induction, and transfers the nucleic acid sample box from the second nucleic acid sample box conveyor belt to the third nucleic acid sample box conveyor belt to transfer the nucleic acid sample box into the drone transfer system. After the nucleic acid sample box is transferred into the drone transfer system, the nucleic acid sample box loading structure of the drone fixes the nucleic acid sample box, and then the drone starts and transports the nucleic acid sample box to the designated area of the nearby pre-planned nucleic acid testing institution. After arriving at the nucleic acid testing institution, the drone lands, and its nucleic acid sample box loading structure accurately docks with the designated area of the sample box recovery and preservation system through positioning. At this time, the drone stops operating, and the nucleic acid sample box loading structure of the drone releases the fixation of the nucleic acid sample box. At this time, the third nucleic acid sample box conveyor belt and the fourth nucleic acid sample box conveyor belt are activated, and the nucleic acid sample box is transferred from the third nucleic acid sample box conveyor belt to the fourth nucleic acid sample box conveyor belt to transport the nucleic acid sample box from the drone operation system to the nucleic acid sample box recovery and preservation system. After transporting the nucleic acid sample box from the drone operation system to the nucleic acid sample box recovery and preservation system, when the second recognition camera recognizes the nucleic acid sample box on the fourth nucleic acid sample box conveyor belt, it controls the third disinfection device to disinfect the nucleic acid sample box by irradiating with ultraviolet light source and spraying with alcohol. After the third disinfection device completes disinfection, the nucleic acid sample box recovery and preservation system controls the window on the storage refrigerating refrigerator to automatically open, and transports the nucleic acid sample box into the refrigerator for storage through the fourth nucleic acid sample box conveyor belt.

2. The working method of an intelligent contactless nucleic acid sample transportation system according to claim 1, characterized in that, The first identification camera identifies the two-dimensional code or bar code on the sample tube that has completed sampling and contains the nucleic acid sample. The information of the two-dimensional code or bar code corresponds to the identity of the sampled person, and at the same time, the registered information is kept corresponding to the position information of the sample tube in the nucleic acid sample box.

3. The working method of an intelligent contactless nucleic acid sample transportation system according to claim 1, characterized in that, After transferring the nucleic acid sample box to the UAV transfer system, the navigation path-finding robot goes to the next designated area equipped with a nucleic acid sampling tube registration and storage device in the designated nucleic acid sampling site to collect the nucleic acid sample box.

4. The working method of an intelligent contactless nucleic acid sample transportation system according to claim 1, characterized in that, The first identification camera identifies that the sampling tube slot in the nucleic acid sample box is filled with sampling tubes. The specific method is as follows: Collect the image when the sampling tube slot is filled with sampling tubes, and then perform image contour extraction to obtain the image contour when the sampling tube slot is filled with sampling tubes. The image contour extraction uses any one of the contour extraction algorithm, boundary tracking algorithm, region growing algorithm, and region splitting and merging algorithm. Collect the image of the sampling tube slot in real time during the process of filling the sampling tubes, and perform real-time image contour extraction. Compare the real-time contour image obtained by the real-time image contour extraction with the image contour when the sampling tube slot is filled with sampling tubes. When the real-time contour image completely coincides with the image contour when the sampling tube slot is filled with sampling tubes, it means that the sampling tube slot in the nucleic acid sample box is filled with sampling tubes.

5. The working method of an intelligent contactless nucleic acid sample transportation system according to claim 3, characterized in that, The navigation path-finding robot moves in a cyclic patrol mode in the designated nucleic acid sampling site by pre-setting the path. The specific control method is as follows: Based on the GIS algorithm, establish an electronic map of the designated nucleic acid sampling site, plan the navigation path of the navigation path-finding robot from the initial standby position to the position of each target to be patrolled in the electronic map, and at the same time obtain the positioning of the navigation path-finding robot in the electronic map. According to the navigation path and the positioning of the navigation path-finding robot, match the position of the next target to be patrolled by the navigation path-finding robot through the graph traversal algorithm, and cycle in turn until the navigation path-finding robot has patrolled all the targets. After the navigation path-finding robot reaches the position of the target to be patrolled each time, it stops moving at the trace positioning point of the current target to be patrolled in a suitable posture to transfer the nucleic acid sample box.

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