A displacement control method for a test tube rack, a sample analysis device, and a storage medium

Abstract

The present application discloses a displacement control method for a test tube rack, a sample analysis device, and a storage medium. The method is used to drive a conveyor belt to rotate by controlling a motor so as to drive at least two test tube racks on the conveyor belt to displace. The method includes: obtaining a test tube displacement instruction; wherein, the test tube displacement instruction indicates moving a first test tube on the test tube rack to a target position; determining a second test tube currently at an identification position; determining the distance between the first test tube and the second test tube according to the test tube rack numbers corresponding to the first test tube and the second test tube; determining the distance between the first test tube and the target position according to the first distance between the first test tube and the second test tube and the second distance between the target position and the identification position; driving the test tube rack according to the distance between the first test tube and the target position so as to move the first test tube to the target position. In this way, the accuracy of test tube displacement can be improved.

Description

Technical Field

[0001] The present application relates to the technical field of medical devices, and in particular to a displacement control method of a test tube rack, a sample analysis device, and a computer-readable storage medium. Background Art

[0002] The automatic sampler is an intelligent and automated sample injection instrument. You only need to set the injection parameters and put the sample to be tested into the test tube. The conveyor belt can automatically transport the sample to the test instrument to complete the automatic injection process. The automatic sampler can greatly reduce manual operations and improve detection efficiency. It has been widely used in the field of medical testing.

[0003] Existing automatic sampling equipment needs to support the re-inspection function to realize the repeated transportation of the test tube rack on the conveyor belt. During the transportation process, it is usually necessary to calculate the moving step of the motor to drive the conveyor belt to rotate. However, the step accuracy obtained by the conventional calculation method is low and the accuracy of the test tube displacement cannot be guaranteed. Summary of the invention

[0004] In order to solve the above problems, the present application provides a displacement control method of a test tube rack, a sample analysis device and a computer-readable storage medium, which can improve the accuracy of test tube displacement.

[0005] To solve the above technical problems, a technical solution adopted in the present application is: to provide a displacement control method for a test tube rack, the method is used to drive the conveyor belt to rotate by controlling a motor to drive at least two test tube racks on the conveyor belt to move, the method comprising: obtaining a test tube displacement instruction; wherein the test tube displacement instruction indicates moving the first test tube on the test tube rack to a target position; determining the second test tube currently in the identification position; determining the distance between the first test tube and the second test tube according to the test tube rack serial numbers corresponding to the first test tube and the second test tube; determining the distance between the first test tube and the target position according to the first distance between the first test tube and the second test tube, and the second distance between the target position and the identification position; and driving the test tube rack according to the distance between the first test tube and the target position to move the first test tube to the target position.

[0006] Wherein, determining the distance between the first test tube and the second test tube according to the test tube rack serial numbers corresponding to the first test tube and the second test tube includes: adding serial numbers to the test tube racks according to the order of the test tube racks on the conveyor belt; taking the first test tube on the test tube rack with the first serial number as a reference, sequentially numbering the test tubes on at least two test tube racks according to the order in which the test tubes are arranged; obtaining the first serial number of the first test tube, and obtaining the second serial number of the second test tube; and determining the first distance between the first test tube and the second test tube according to the distance between two adjacent test tubes, the distance between two adjacent test tube racks, and the difference between the first serial number and the second serial number.

[0007] Among them, the method further includes: when a test tube rack is unloaded on the conveyor belt, re-numbering the test tube racks in the order of the test tube racks on the conveyor belt.

[0008] Among them, determining the distance between the first test tube and the target position according to the first distance between the first test tube and the second test tube and the second distance between the target position and the identification position includes: determining the second distance between the target position and the identification position; and determining the distance between the first test tube and the target position according to the first distance and the second distance.

[0009] Among them, determining the second distance between the target position and the identification position includes: determining the distance between the target position and the origin; and determining the distance between the identification position and the origin; and determining the second distance between the target position and the identification position according to the distance between the target position and the origin and the distance between the identification position and the origin.

[0010] Among them, determining the distance between the first test tube and the target position according to the first distance and the second distance includes: calculating the sum value of the first distance and the second distance as the distance between the first test tube and the target position.

[0011] Among them, the identification position is the loading position, the target position is the scanning position. The loading position is the position of the first test tube closest to the scanning position on the test tube rack when the test tube rack is loaded onto the conveyor belt. A scanning mechanism is provided at the scanning position for scanning the bar code on the test tube; or the identification position is the loading position, the target position is the sampling position, and a sampling mechanism is provided at the sampling position for performing a sampling operation on the liquid in the test tube; or the identification position is the scanning position and the target position is the sampling position.

[0012] Among them, the method further includes: when the first test tube moves, obtaining the actual moving distance of the first test tube; determining the error value between the actual moving distance and the calculated distance; accumulating the error value, and when the accumulated error value meets a preset threshold, compensating for the next displacement control.

[0013] To solve the above technical problems, another technical solution adopted by this application is: providing a sample analysis device, which includes: a conveyor belt for carrying and transporting test tube racks; a motor connected to the conveyor belt for driving the conveyor belt to rotate to drive at least two test tube racks on the conveyor belt to displace; a controller connected to the motor for controlling the motor by using the above method.

[0014] To solve the above technical problems, another technical solution adopted by this application is: providing a computer-readable storage medium, in which a computer program is stored, and when the computer program is executed by a processor, it is used to implement the above method.

[0015] The beneficial effects of the embodiments of the present application are as follows: Different from the prior art, the method for controlling the displacement of the test tube rack provided by the present application can determine the distance from the first test tube to the target position corresponding to the test tube displacement instruction by accurately obtaining the distance between the first test tube and the second test tube and the distance between the target position and the identification position, so as to drive the first test tube to move to the target position according to this distance. In this way, accurate displacement control can be provided for the directional movement of the test tube, improving the accuracy of the test tube displacement. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following will briefly introduce the drawings required for the description of the embodiments. Obviously, the drawings in the following description are only some embodiments of the present application. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained according to these drawings. Among them:

[0017] Figure 1 is a schematic structural diagram of an embodiment of the sample injection mechanism provided by the present application;

[0018] Figure 2 is a schematic structural diagram of an embodiment of the conveyor belt provided by the present application

[0019] Figure 3 is a schematic flowchart of an embodiment of the sample analysis method provided by the present application;

[0020] Figure 4 is a schematic flowchart of another embodiment of the sample analysis method provided by the present application;

[0021] Figure 5 is a schematic flowchart of an embodiment of the method for controlling the displacement of the test tube rack provided by the present application;

[0022] Figure 6 is a schematic flowchart of another embodiment of the method for controlling the displacement of the test tube rack provided by the present application;

[0023] Figure 7 is Figure 6 a specific flowchart of step 603;

[0024] Figure 8 is Figure 6 a specific flowchart of step 604;

[0025] Figure 9 is a schematic flowchart of another embodiment of the method for controlling the displacement of the test tube rack provided by the present application;

[0026] Figure 10 is a schematic flowchart of yet another embodiment of the method for controlling the displacement of the test tube rack provided by the present application;

[0027] Figure 11 is Figure 10 a schematic diagram of the specific process of step 1007 in

[0028] Figure 12 a schematic structural diagram of an embodiment of a sample analysis device provided by the present application;

[0029] Figure 13 a schematic structural diagram of an embodiment of a computer-readable storage medium provided by the present application. Detailed implementation manners

[0030] Next, the technical solutions in the embodiments of the present application will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present application. It can be understood that the specific embodiments described herein are only used to explain the present application, rather than limiting the present application. Additionally, it should be noted that for the sake of description, only parts related to the present application rather than all structures are shown in the accompanying drawings. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative efforts fall within the scope of protection of the present application.

[0031] Referring to "embodiment" herein means that the specific features, structures, or characteristics described in connection with the embodiment can be included in at least one embodiment of the present application. The phrase appears in various places in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment mutually exclusive with other embodiments. Those skilled in the art explicitly and implicitly understand that the embodiments described herein can be combined with other embodiments.

[0032] Please refer to Figure 1 , Figure 1 is a schematic structural diagram of an embodiment of a sample loading mechanism provided by the present application. The sample loading mechanism includes a conveyor belt 10 and a motor 20. In this embodiment, the conveyor belt 10 is a single conveyor belt. The conveyor belt 10 is used to receive the loading of the test tube rack 30 at the loading position 101. The motor 20 rotates to drive the conveyor belt 10 to rotate, thereby driving the test tube rack 30 to sequentially pass through the barcode scanning position 102, the sampling position 103, and the unloading position 104. The barcode scanning position 102 is used to set a barcode scanning mechanism to scan and identify the test tube. The sampling position 103 is used to sample the test tubes on the test tube rack 30. The unloading position 104 is used to unload the test tube rack 30.

[0033] Further refer to Figure 2 , Figure 2It is a schematic structural diagram of an embodiment of the conveyor belt provided by this application. The conveyor belt 10 includes a belt body 11 and a positioning structure 12. Among them, the belt body 11 is used to carry and transport the test tube rack or test tube 30, and the positioning structure 12 is arranged on the surface of the belt body 11 and is used to position the test tube rack or test tube 30 carried on the belt body 11, so as to ensure that during the reciprocating movement of the belt body 11, relative sliding between the belt body 11 and the test tube rack or test tube 30 is prevented, and the role of accurately positioning the test tube rack or test tube 30 is played.

[0034] Among them, the belt body 11 is in a loop shape and can be a flat belt with a smooth inner surface. Optionally, the belt body 11 can also be a synchronous belt with a toothed inner surface, and its transmission accuracy and transmission efficiency are relatively high.

[0035] Among them, the positioning structure 12 can be a stopper 12 protruding from the outer surface of the belt body 11. The stopper 12 is used for stop positioning cooperation with the end of the test tube rack 30 or sliding positioning cooperation with the bottom of the test tube rack 30, so as to position the test tube rack or test tube 30 carried on the belt body 11. Of course, optionally, the positioning structure 12 can also be a recessed area recessed in the outer surface of the belt body 11, and the recessed area is used to accommodate the bottom of the test tube rack 30 or the bottom of the test tube 30.

[0036] Optionally, the stopper 12 can be connected to the belt body 11 in a variety of connection methods. Preferably, the belt body 11 and the stopper 12 are an integral structure, and the belt body 11 and the stopper 12 are made of the same material and are integrally formed by a stamping process. Or, the belt body 11 includes a first layer structure and a second layer structure. The first layer structure is used to carry the test tube rack or test tube 30, and the stopper is integrally formed with the first layer structure.

[0037] In this embodiment, the number of stoppers 12 is not limited and can be multiple. The multiple stoppers 12 can be non-equidistantly distributed. In some other embodiments, the multiple stoppers 12 can also be equidistantly distributed.

[0038] Optionally, the above-mentioned sample injection mechanism further includes a buffer area (not shown in the figure). The buffer area can be set at any end of the belt body 11 near the loading position 101 or the unloading position 104, or buffer areas can be set at both ends of the belt body 11, respectively near the loading position 101 and the unloading position 104. When the number of test tube racks 30 on the belt body 11 is multiple, the buffer area can support the overall backward or forward movement of multiple test tube racks 30, realizing the simultaneous back-and-forth movement of multiple test tube racks 30 along with the conveyor belt 10.

[0039] Optionally, the above sample loading mechanism may further include a backup power supply, such as a UPS power supply (Uninterruptible Power Supply). When multiple test tube racks 30 move on the conveyor belt 10 for various tests, if a power outage occurs, the UPS power supply can be used to provide uninterrupted power to the entire device, so as to maintain the normal operation of the device, protect the hardware from damage, and enable power outage recovery.

[0040] In addition, a storage device may be configured in the backup power supply. During the process of using the backup power supply to supply power for the device operation, the data generated by the device operation can also be temporarily stored in the backup power supply. After the device resumes power supply, the data temporarily stored in the backup power supply can be stored in the memory of the device again.

[0041] Refer to Figure 3 , Figure 3 which is a schematic flowchart of an embodiment of the sample analysis method provided by this application. The method of this embodiment specifically includes:

[0042] S301: Load at least one test tube rack onto the conveyor belt.

[0043] Among them, the conveyor belt in this embodiment is a single belt, and a positioning mechanism is provided on the conveyor belt. The positioning mechanism is arranged on the surface of the belt body of the conveyor belt and is used to fix the test tube rack carried on the conveyor belt, which can prevent relative sliding between the belt body and the test tube rack and play a role in accurately positioning the test tube rack.

[0044] Optionally, the positioning mechanism may be a block protruding from the outer surface of the belt body. The number of blocks is usually an even number, and two blocks form a pair. The distance between a pair of blocks is the same as the length of the test tube rack and is used for stop cooperation with the two ends of the test tube rack, so as to position the test tube rack carried on the belt body. When the test tube rack is aligned with the loading position corresponding to the sample loading mechanism, the loading action of the test tube rack can be performed to complete the loading.

[0045] S302: According to the test tube displacement instruction, control the test tube on the test tube rack to move to the target position to complete corresponding operations on the test tube on the test tube rack.

[0046] Among them, the target position may include a barcode scanning position and a sampling position, etc. When the target position is the barcode scanning position, the test tube on the test tube rack can be scanned to determine the presence or absence of the test tube or the type of the test tube, as well as scan the test tube rack or the test tube; when the target position is the sampling position, the test tube on the test tube rack can be sampled to facilitate other devices to analyze the sample in the test tube. In addition, the target position may also be a position set according to actual analysis needs, and the corresponding operation implementation method should be a conventional means in the art and will not be elaborated here.

[0047] S303: Unload the test tube rack that has completed the operation from the conveyor belt.

[0048] After the test tube rack has completed operations such as scanning or sampling, the unloading condition is met. Further, the test tube rack can be moved to the unloading position and pushed out of the feeding track to complete the entire sample analysis and detection of the test tube rack.

[0049] Different from the prior art, the sample analysis method provided in this embodiment sets a positioning mechanism on the conveyor belt to fix the position of the test tube rack on the conveyor belt by using the positioning mechanism, avoiding the relative sliding between the test tube rack and the conveyor belt due to inertia, and driving the test tube rack to complete corresponding sample detection and other operations through the conveyor belt with the positioning mechanism, ensuring the stable progress of the sample analysis work.

[0050] Refer to Figure 4 , Figure 4 which is a schematic flowchart of another embodiment of the sample analysis method provided by this application. The method of this embodiment specifically includes:

[0051] S401: Reset the conveyor belt so that the positioning mechanism on the conveyor belt is aligned with the test tube rack loading area.

[0052] It can be understood that the operation of the conveyor belt can be continuous or stop at the termination state corresponding to the previous moment. However, the test tube rack in the loading area usually requires a certain preparation time before loading. When the test tube rack in the loading area is ready, the positioning mechanism on the conveyor belt may not be aligned with the corresponding loading area of the test tube rack. At this time, even if the test tube rack is ready, the loading operation cannot be performed on the test tube rack.

[0053] Therefore, before loading the test tube rack, the test tube rack corresponding loading area can be detected by using the presence / absence recognition optocoupler of the test tube rack. Specifically, it can include: detecting whether there is a test tube rack in the test tube rack loading area; if there is, reset the conveyor belt so that the positioning mechanism on the conveyor belt is aligned with the test tube rack loading area. This way can improve a certain loading efficiency or detection and analysis efficiency while ensuring the accurate fixation of the test tube rack.

[0054] Among them, the motors in the loading area include a loading motor and a loading return motor. Resetting the conveyor belt means controlling the loading motor to rotate forward or controlling the loading return motor to rotate backward. When the test tube rack is ready, the feeding track on the conveyor belt is reset and compensated or retracted by using the motor so that the positioning mechanism on the conveyor belt is aligned with the test tube rack loading area.

[0055] Optionally, if the presence / absence recognition optocoupler of the test tube rack does not detect a test tube rack in the test tube rack loading area, the detection action is continuously performed until the detection result is that there is a test tube rack, and then the reset before loading can be performed.

[0056] S402: Load one test tube rack in the test tube rack loading area onto the conveyor belt.

[0057] When loading the test tube rack, it is necessary to ensure that the loading return motor has no interference with the loading propulsion to avoid the impact of loading return on the test tube rack loading. Optionally, the loading action of the test tube rack can be detected by using the loading-in-place recognition optocoupler to monitor whether the loading is completed. When the loading-in-place recognition optocoupler is triggered, it indicates that the loading is successful. At this time, the remaining test tube racks in the test tube rack loading area can also be moved away from the conveyor belt. Specifically, the other test tube racks outside the feeding track can be peeled off the feeding track by the loading return motor to avoid the remaining test tube racks interfering with the feeding movement.

[0058] S403: According to the test tube displacement instruction, control the test tubes on the test tube rack to move to the target position to complete corresponding operations on the test tubes on the test tube rack.

[0059] In an application scenario, according to the test tube displacement instruction, the test tubes on the test tube rack can be controlled to move to the scanning position to perform a scanning operation on the test tubes on the test tube rack. The scanning position can identify the presence or absence of test tubes or the types of test tubes, as well as barcode scanning of the test tubes and test tube racks. Further, according to the scanning results, the test tubes on the test tube rack can be controlled to move to the sampling position to perform a sampling operation on the liquid in the test tubes on the test tube rack.

[0060] Optionally, if the above test tube scanning fails, default values will be automatically assigned. If the sample information of the test tube is scanned, the sample information will be uploaded to the detection instrument terminal. If the sampling mechanism at the sampling position needs to detect the sample, at this time, the sampling mechanism will pause the scanning process and give priority to responding to the sample allocation to enable the test tube to be sampled and detected first. When the sample allocation for sampling detection is completed but there is no new sample allocation request, the sampling mechanism will continue to scan the remaining sample test tubes.

[0061] Optionally, the above sampling mechanism can also include a backup power supply, such as a UPS power supply (Uninterruptible Power Supply). When multiple test tube racks 30 move on the conveyor belt 10 for various detections, if a power outage occurs, the UPS power supply can be used to provide uninterrupted power to the entire device to maintain the normal operation of the device, protect the hardware from damage, and enable power failure recovery.

[0062] In addition, a storage device can also be configured in the backup power supply. During the process of using the backup power supply to supply power for the device operation, the data generated by the device operation can also be temporarily stored in the backup power supply. After the device resumes power supply, the data temporarily stored in the backup power supply can be stored in the device's memory again.

[0063] Optionally, in this embodiment, when the maximum number of test tube racks that can be loaded and operated simultaneously on the conveyor belt is two, the length of the conveyor belt should be long enough at this time, and there are certain buffer zones at both ends of the sampling mechanism to enable the loading of multiple rows of test tube racks. When the first row of test tube racks has been loaded and a specific test tube is detected during sampling, if the second row of test tube racks in the loading area is ready to meet the loading conditions, the feed track on the conveyor belt can preferentially perform a reset operation at this time, so that another positioning mechanism behind the positioning mechanism of the first row of test tube racks is aligned with the loading area to load the second row of test tube racks. After the second row of test tube racks is loaded, the feeding movement can continue to enable operations such as barcode scanning and sampling of the second row of test tube racks.

[0064] In some embodiments, before the second row of test tube racks is ready to start loading, the first row of test tube racks needs to meet certain conditions when performing corresponding operations, that is, as described above, the first row of test tube racks has been loaded and a specific test tube has been detected during sampling. Among them, the specific test tube is usually a certain test tube in the first row of test tube racks that is closer to the second row of test tube racks. In one embodiment, a test tube rack has a total of 10 test tube positions and can hold 10 test tubes. Considering various factors such as the length of the track, the setting position of the positioning mechanism, and the length of the test tube rack in this embodiment, it is determined that the specific test tube is the 9th test tube in the first row of test tube racks. When the 9th test tube in the first row of test tube racks is grabbed and ready for sampling and detection, the second row of test tube racks that has met the loading conditions can start loading to perform subsequent operations after loading. It can be understood that the position or number of the specific test tube can be set according to the actual situation or actual needs of the device. For example, due to the length of the conveyor belt, only when the previous row of test tube racks is fed to the 9th test tube, the distance of the corresponding conveyor belt part in the loading area can carry the loading of the subsequent row of test tube racks, so the specific test tube is set in advance.

[0065] In other embodiments, before the second row of test tube racks is ready to start loading, the first row of test tube racks can also meet some other conditions when performing corresponding operations. Continuing with the above example where a test tube rack has a total of 10 test tube positions and can hold 10 test tubes, also considering various factors such as the length of the track, the setting position of the positioning mechanism, and the length of the test tube rack, there may be a situation where sampling fails during the sampling process and the test tube must be detected again. At this time, the conveyor belt usually needs to rotate in the reverse direction to enable the test tube that needs to be re-inspected to move back to the sampling position again. However, due to the limitations of the above-mentioned various reasons (such as the length of the track), when the second row of test tube racks has been loaded and a backward movement occurs, there may be problems such as being unable to move backward or being unable to feed again after moving backward. Therefore, in this embodiment, before loading the second row of test tube racks, it is necessary to wait for the 10th test tube in the first row of test tube racks to complete the re-inspection, that is, all the test tubes on the test tube rack have completed the re-inspection, including the cases where re-inspection is not required.

[0066] Optionally, the re-inspection problems of the first row of test tube racks and the conditions of specific test tubes can also be comprehensively considered. For example, it is necessary to ensure that all the test tubes (including the specific test tube) before a certain specific test tube in the first row of test tube racks have completed re-inspection or do not require re-inspection. After that, the second row of test tube racks can be loaded to ensure the stable progress of the entire feeding process.

[0067] When the feeding track cannot scan all the test tubes on the track due to physical limitations, the scanning can be paused until the conditions for continuing the scanning are met (such as the first row of test tube racks being unloaded), and then the scanning of the remaining test tubes can be restarted until the scanning is completed. Further, according to the actual situation of the feeding track, the specific number of test tubes in the second row of test tube racks that are allowed to be scanned before the first row of test tube racks is unloaded can be determined. For example, due to the feeding track, when the first row of test tube racks is not unloaded and the second row of test tube racks starts to enter the scanning stage, the maximum number of test tubes allowed to be scanned in the second row of test tube racks is two. That is to say, after the first two test tubes in the second row of test tube racks are scanned, only after the first row of test tube racks is unloaded can the scanning be continued to be completed.

[0068] Further, in this embodiment, when the maximum number of test tube racks that can work simultaneously on the conveyor is two, if the second row of test tube racks is in a specific stage, such as sampling a specific test tube, but at this time the first row of test tube racks has completed the entire detection process and needs to be unloaded, the second row of test tube racks can pause the sampling operation and give priority to unloading the first row of test tube racks. And during the unloading of the first row of test tube racks, the sampled samples can be distributed for detection until after the first row of test tube racks is unloaded, the feeding track is reset to continue the scanning of the remaining test tubes in the second row of test tube racks.

[0069] In the embodiment where multiple rows of test tube racks run on the conveyor belt, when a test tube has completed a certain operation and the conveyor belt is ready to rotate according to the next instruction, if there are multiple operations that need to be executed simultaneously in such a situation, the operations need to be selected and executed according to the priority of the instructions corresponding to the operations. Specifically, it can be achieved through the following steps: obtain at least two control instructions; execute at least two control instructions in sequence according to the preset priority order.

[0070] Among them, at least two control instructions include a code scanning instruction, a sampling instruction, and an unloading instruction. The preset priority order is the unloading instruction, the sampling instruction, and the code scanning instruction, corresponding to the unloading operation priority > the sampling operation priority > the code scanning operation priority, that is, the priority execution when a certain test tube rack needs to be unloaded or sampled. For example, when there is a test tube rack that meets the unloading conditions among multiple rows of test tube racks, an unloading instruction will be obtained. At this time, the unloading operation of the corresponding test tube rack will be preferentially executed, and the sampling or code scanning operations that other test tube racks may be about to perform will be paused until the unloading is completed; when there is a test tube rack that meets the sampling conditions among multiple rows of test tube racks, a sampling instruction will be obtained, but since no high-priority unloading instruction is obtained, the sampling operation of the corresponding test tube rack will be preferentially executed at this time, and the code scanning operations that other test tube racks may be about to perform will be paused until the sampling is completed.

[0071] Optionally, in order to accurately move the test tubes on the test tube rack, before each step of feeding of the test tube rack, the conveyor belt can be reset first to make the test tube rack return to the loading area, so that the corresponding positioning mechanism of the test tube rack is aligned with the loading area, and then the next feeding action can be started. For example, after the 3rd test tube on the test tube rack is scanned, the 4th test tube needs to be scanned next. Normally, it will be directly fed to move the 4th test tube to the code scanning position. In this embodiment, after the 3rd test tube is scanned, the conveyor belt is reset first to make the test tube rack return to the loading position, which is equivalent to clearing the previous displacement of the test tube rack. At this time, the 4th test tube is directly moved to the code scanning position, which can avoid errors caused by multiple displacements and improve the movement accuracy of the test tube rack.

[0072] Optionally, in order to accurately move the test tubes on the test tube rack in S403, the following steps can be used to control the displacement of the test tube rack Figure 5 as shown, Figure 5 is a schematic flowchart of an embodiment of the method for controlling the displacement of the test tube rack provided by the present application. In this embodiment, calculations are based on the fact that there is only one row of test tube racks on the conveyor belt feeding track at the same time. This method is used to drive the conveyor belt to rotate by controlling the motor to drive the test tube rack on the conveyor belt to displace. The method specifically includes:

[0073] S501: Obtain a test tube displacement instruction.

[0074] Among them, the test tube displacement instruction indicates moving the first test tube on the test tube rack to the target position. The first test tube refers to the test tube to be moved, or the test tube to be scanned or sampled. The target position refers to the position where the test tube to be moved needs to reach next as indicated in the test tube displacement instruction, including the code scanning position, the sampling position, etc.

[0075] S502: Determine the second test tube currently at the identification position.

[0076] Among them, the identification bit represents multiple operating positions in the sample injection mechanism, including the loading position, the code scanning position, the sampling position, etc., and the second test tube represents the test tube that is undergoing or preparing to undergo corresponding detection at the code scanning position or the sampling position.

[0077] S503: Determine the distance between the first test tube and the target position according to the distance between the first test tube and the second test tube, and the distance between the target position and the identification bit.

[0078] In this embodiment, since there is only one row of test tube racks on the conveyor belt feeding track at the same time, at this time, the distance between the first test tube and the second test tube is fixed and can be calculated, and the positions of multiple different identification bits and the target position are fixed and known. Therefore, the distance between the identification bit and the target position can also be calculated according to the specific references of the identification bit and the target position, and finally the distance between the first test tube and the target position can be accurately calculated.

[0079] S504: Drive the test tube rack according to the distance between the first test tube and the target position, so that the first test tube moves to the target position.

[0080] Among them, the unit of the calculated distance between the first test tube and the target position can correspond to the unit of the distance moved during the operation control of the motor. For example, the distances between the first test tube and the second test tube are all calculated and represented based on the motor step (N steps) to achieve accurate control of the test tube displacement.

[0081] Different from the prior art, the test tube rack displacement control method provided in this embodiment can determine the distance from the first test tube to the target position corresponding to the test tube displacement instruction by accurately obtaining the distance between the first test tube and the second test tube, and the distance between the target position and the identification bit, so as to drive the first test tube to move to the target position according to this distance. In this way, accurate displacement control can be provided for the directional movement of the test tube, and the accuracy of the test tube displacement is improved.

[0082] Optionally, the test tube rack can also be displacement-controlled through steps such as Figure 6 shown, Figure 6 is a schematic flowchart of another embodiment of the test tube rack displacement control method provided by the present application. In this embodiment, calculations are based on the fact that there is only one row of test tube racks on the conveyor belt feeding track at the same time. This method is used to drive the conveyor belt to rotate by controlling the motor to drive the displacement of the test tube rack on the conveyor belt. The method specifically includes:

[0083] S601: Obtain a test tube displacement instruction.

[0084] Among them, the test tube displacement instruction indicates moving the first test tube on the test tube rack to the target position.

[0085] S602: Determine the second test tube currently at the identification bit.

[0086] S603: Determine the first distance between the first test tube and the second test tube.

[0087] Optionally, the specific steps of S603 can be implemented by Figure 7 the method shown as follows, which specifically includes:

[0088] S6031: Determine the distance between two adjacent test tubes.

[0089] The distance between adjacent test tubes is usually set according to the specifications of the test tube rack or correspondingly set according to the length of the conveyor belt. For example, it can usually be fixedly set to 50 unit lengths, and no excessive restrictions are imposed here.

[0090] S6032: Obtain the first number of the first test tube and the second number of the second test tube.

[0091] Among them, the test tubes on the test tube rack are numbered in sequence according to the arrangement order of the test tubes. Specifically, it can correspond to the moving direction of the conveyor belt and the numbers decrease in sequence. That is, the number of the test tube close to the sampling position is small, and the number of the test tube far from the sampling position is large. For example, taking a row of test tube racks with 10 test tubes as an example, the first test tube in the moving direction of the conveyor belt is numbered 1, and the second to tenth test tubes in the opposite direction of the conveyor belt movement are numbered 2, 3... 10 in sequence. Furthermore, the numbers corresponding to the first test tube and the second test tube can be determined according to the needs and the numbering situation.

[0092] S6033: Determine the first distance between the first test tube and the second test tube according to the distance between two adjacent test tubes, the difference between the first number and the second number.

[0093] In this embodiment, since the specifications of the test tube rack are known, the distance between any two adjacent test tubes is usually fixed, such as 50 unit lengths. Further, according to the difference between the first number and the second number, the distance between the first test tube and the second test tube is calculated. Among them, when the first number is greater than the second number, the first distance between the first test tube and the second test tube is determined to be a positive value; or when the first number is less than the second number, the first distance between the first test tube and the second test tube is determined to be a negative value.

[0094] For example, if the first number is 2 and the second number is 7, the difference between them is -5 distances between adjacent test tubes at this time. From this, the first distance between the first test tube and the second test tube can be calculated as -250 unit lengths. For example, if the first number is 7 and the second number is 2, the difference between them is +5 distances between adjacent test tubes at this time. From this, the first distance between the first test tube and the second test tube can be calculated as +250 unit lengths.

[0095] S604: Determine the second distance between the target position and the identification position.

[0096] Optionally, the specific steps of S604 can be implemented by Figure 8 the method shown below, which specifically includes:

[0097] S6041: Determine the distance between the target position and the origin.

[0098] Among them, the origin is a fixed point on the conveyor belt, used to mark the position distances of each target position or identification position. The origin can be set according to the actual situation. The setting of the origin position actually does not affect the positions of the target position and the identification position, nor does it change the distance between the two. For example, in this embodiment, the position where the 10th test tube is located in the test tube rack when the 1st test tube is at the loading position can be used as the origin; in some other embodiments, a point outside the test tubes loaded on the conveyor belt can also be used as the origin, such as at a position where the above-mentioned 10th test tube continues to move a certain distance away from the loading position, and even can extend to the back of the conveyor belt, that is, the side of the conveyor belt that cannot carry the test tube rack. The setting method of the origin is not limited too much here, and it is only used to represent the relationship between each working position.

[0099] The target position is the target position point where the first test tube needs to move according to the displacement instruction, and can include the sampling position or the barcode scanning position, etc. Therefore, since both the origin and the target position are pre-set position points in the sample injection mechanism, the distance between the two can be accurately obtained.

[0100] S6042: Determine the distance between the identification position and the origin.

[0101] Among them, the identification position is the position point used as a reference for calculating the moving distance required for the first test tube. As described above, it can be known that both the identification position and the origin are pre-set position points, so the distance between the two can also be accurately obtained.

[0102] Optionally, when the identification position is the loading position and the target position is the barcode scanning position, when the test tube rack is loaded onto the conveyor belt, the loading position is the position of the first test tube closest to the scanning position on the test tube rack, that is, the position of the first test tube in the running direction of the conveyor belt is used as the loading position. When the test tube rack moves, the position of the loading position remains unchanged, and the test tube number located at the loading position changes accordingly, and this is used as the calculation reference; a barcode scanning mechanism is provided at the barcode scanning position for scanning the barcode on the test tube.

[0103] Optionally, when the identification position is the loading position and the target position is the sampling position, a sampling mechanism is provided at the sampling position for sampling the liquid in the test tube; in some other embodiments, the identification position can also be the barcode scanning position and the target position is the sampling position, which can be specifically set according to the actual situation and will not be elaborated here.

[0104] S6043: Determine the second distance between the target position and the identification position according to the distances between the target position and the origin, and between the identification position and the origin.

[0105] In an application scenario, for example, the target position where the first test tube needs to be moved is the barcode scanning position, and the identification position where the second test tube is located is the loading position. It can be obtained that the distance between the barcode scanning position and the origin is 1000 unit lengths (steps), and the distance between the loading position and the origin is 600 unit lengths (steps). Therefore, at this time, the second distance between the target position and the identification position can be calculated as 1000 - 600 = 400 unit lengths. Among them, when the selection of the identification position and the target position changes, the second distance between the two also changes accordingly, which is not limited here.

[0106] S605: Determine the distance between the first test tube and the target position according to the first distance and the second distance.

[0107] Specifically, S605 can be implemented by the following steps: Calculate the sum value of the first distance and the second distance as the distance between the first test tube and the target position.

[0108] In this embodiment, since the first distance may be positive or negative, according to the above example, when the first distance is +250 unit lengths, the distance between the first test tube and the target position is 400 + 250 = 750 unit lengths; when the first distance is -250 unit lengths, the distance between the first test tube and the target position is 400 - 250 = 150 unit lengths.

[0109] S606: Drive the test tube rack according to the distance between the first test tube and the target position, so that the first test tube moves to the target position.

[0110] According to the above example, controlling the motor to move, for example, 750 or 150 motor steps can move the first test tube to the target position it needs to reach.

[0111] Therefore, for the method of this embodiment, according to the test tube number of the first test tube that needs to be moved, the test tube number of the second test tube used for reference identification, the identification position where the second test tube is located, and the target position that the first test tube needs to reach, the corresponding number of steps that need to be advanced or retreated for this displacement can be accurately calculated, and then the motor movement can be controlled to realize the movement of the test tube position. In this way, the distance between any test tube in the same test tube rack and any position can be accurately and quickly calculated, so as to accurately control the test tube displacement, reduce the calculation complexity of the test tube movement, and improve the work efficiency.

[0112] Optionally, during the operation of the motor, there may be situations of lost steps or overshoot. At this time, when the conveyor belt is controlled by the motor according to the distance calculated by the above steps, the accuracy of the test tube displacement will still be partially affected. Therefore, after S606, position correction can be performed using an encoder, specifically including:

[0113] S607: When the first test tube moves, obtain the actual moving distance of the first test tube.

[0114] It can be known that the accuracy of the encoder is higher than that of the motor. Therefore, the encoder can more accurately identify, monitor, and feedback the displacement of the test tube. Since the control of the motor operates in units of 1 step, when the first test tube moves driven by the motor, the encoder synchronously obtains the actual moving distance of the first test tube. Due to lost steps or overshoot of the motor, the actual moving distance may be greater than or less than the control step of the motor.

[0115] S608: Determine the error value between the actual moving distance and the calculated distance.

[0116] Among them, the calculated distance is the theoretical distance that the first test tube needs to move, calculated based on the distances between the first test tube, the second test tube, the identification position, and the target position. This theoretical distance should be equal to the actual moving distance when the motor does not have lost steps, overshoot, etc. Therefore, in actual situations, due to the errors caused by the motor, the error value needs to be calculated using the actual moving distance calculated by the encoder.

[0117] S609: Accumulate the error value. When the accumulated error value meets the preset threshold, compensate for the next displacement control.

[0118] Among them, the preset threshold can be set according to the actual situation. In this embodiment, it can be set to 1 unit length, that is, 1 step.

[0119] In an application scenario, when the error value between the actual moving distance obtained by the encoder and the calculated distance is greater than 0 but less than 1 step due to lost steps or overshoot of the motor, the error value calculated in the 0 - 1 stage is accumulated. When the accumulated error value meets the condition of being greater than 1 step, when performing the displacement control of the test tubes on the test tube rack next time, this one-step error value is added to the control step of the motor to further improve the displacement accuracy of the test tubes.

[0120] It can be understood that when the accumulated error value is not an integer, only the error value of the integer number of steps will be compensated, and the error value less than 1 step will continue to accumulate. The compensated accumulated error value will be compensated in a rounding manner. For example, when the accumulated error value is 2.3, then 2 units of the step distance will be compensated currently, and the remaining 0.3 will continue to accumulate; another example is when the accumulated error value is 1.8, then 2 steps will also be compensated by rounding, and at this time the accumulated error value becomes -0.2.

[0121] Optionally, in some other embodiments, the control of the motor can also be corrected by a position optocoupler. For example, after each row of test tube racks is detected, a reset can be performed, and the position of the conveyor belt can be located by the optocoupler at the initial position to achieve optocoupler correction.

[0122] In this way, on the basis of accurately calculating the displacement amount of the test tube, the encoder or the position optocoupler can be used to ensure that the displacement accuracy remains at a high level, thereby further improving the accuracy of the test tube displacement.

[0123] Optionally, the displacement control of the test tube rack can also be performed through the steps as Figure 9 shown. Figure 9 FIG. is a schematic flow chart of another embodiment of the displacement control method of the test tube rack provided by the present application. In this embodiment, calculations are based on the fact that two rows of test tube racks can be on the conveyor feed track at the same time. This method is used to drive the conveyor belt to rotate by controlling the motor to drive the displacement of the test tube rack on the conveyor belt. The method specifically includes:

[0124] S901: Obtain a test tube displacement instruction.

[0125] Among them, the test tube displacement instruction indicates moving the first test tube on the test tube rack to the target position. The first test tube is located on the first test tube rack, representing the test tube to be moved, or representing the test tube to be scanned or sampled. The target position indicates the position where the test tube to be moved needs to reach next in the test tube displacement instruction, including the scanning position, the sampling position, etc.

[0126] S902: Determine the second test tube currently at the identification position.

[0127] Among them, the identification position represents multiple operating positions in the sampling mechanism, including the loading position, the scanning position, the sampling position, etc. The second test tube is located on the second test tube rack, representing the test tube that is currently being or about to be subjected to the corresponding test at the scanning position or the sampling position.

[0128] S903: Determine the distance between the first test tube and the second test tube according to the test tube rack numbers corresponding to the first test tube and the second test tube.

[0129] In this embodiment, it is default that the first test tube and the second test tube are on different test tube racks. If the first test tube and the second test tube are on the same test tube rack, then the method of this embodiment can be calculated according to the foregoing embodiment.

[0130] Optionally, since there can be two rows of test tube racks on the conveyor belt feeding track at the same time, it can be known that a plurality of positioning structures are arranged on the conveyor belt at a certain distance. Each positioning structure includes two stoppers for positioning the test tube rack. Therefore, usually when setting the positioning structure, the distance between adjacent stoppers of different positioning mechanisms can be set according to the actual situation. This distance can also represent the interval distance between two adjacent rows of test tube racks (when ignoring the length of the stopper). Therefore, the distance between the first row of test tube racks and the second row of test tube racks is fixed and known.

[0131] Furthermore, as can be seen from the foregoing embodiment, the test tubes on each row of test tube racks can be numbered. In this embodiment, different test tube racks are further numbered. Since the specifications of the test tube racks are the same and the distance between any two test tubes is also the same, the distance between the first test tube and the second test tube can be calculated according to the relationship of the test tube numbers, the distance between the test tubes, and the distance between the test tube racks.

[0132] S904: Determine the distance between the first test tube and the target position according to the first distance between the first test tube and the second test tube and the second distance between the target position and the identification position.

[0133] In this embodiment, since the positions of multiple different identification positions and the target position are fixed, and the distances between them are usually also known when setting the sampling mechanism. Therefore, on the basis of obtaining the first distance between the first test tube and the second test tube, the final distance between the first test tube and the target position can be calculated according to the specific positions of the identification position and the target position.

[0134] S905: Drive the test tube rack according to the distance between the first test tube and the target position, so that the first test tube moves to the target position.

[0135] Among them, the unit of the calculated distance between the first test tube and the target position can correspond to the unit of the distance moved during the operation control of the motor. For example, the distances between the first test tube and the second test tube are all calculated and represented based on the motor step (N steps) to achieve accurate control of the test tube displacement.

[0136] Different from the prior art, the method for controlling the displacement of the test tube rack provided in this embodiment can determine the distance from the first test tube to the target position corresponding to the test tube displacement instruction by accurately obtaining the distance between the first test tube and the second test tube, as well as the distance between the target position and the identification position, so as to drive the first test tube to move to the target position according to this distance. In this way, accurate displacement control can be provided for the directional movement of the test tube, improving the accuracy of the test tube displacement.

[0137] Optionally, the displacement of the test tube rack can also be controlled through the steps as Figure 10 shown. Figure 10 FIG. is a schematic flow chart of another embodiment of the method for controlling the displacement of the test tube rack provided in the present application. In this embodiment, calculations are based on the fact that there can be two rows of test tube racks on the conveyor belt feeding track at the same time. This method is used to drive the conveyor belt to rotate by controlling the motor to drive the displacement of the test tube rack on the conveyor belt. The method specifically includes:

[0138] S1001: Obtain a test tube displacement instruction.

[0139] Among them, the test tube displacement instruction indicates moving the first test tube on the test tube rack to the target position.

[0140] S1002: Determine the second test tube currently at the identification position.

[0141] S1003: Add serial numbers to the test tube racks in the order of the test tube racks on the conveyor belt.

[0142] Among them, the order of the test tube racks can be expressed as the order when the test tube racks are loaded onto the conveyor belt. The test tube rack loaded first is the first serial number test tube rack, and the test tube rack loaded later is the second serial number test tube rack. In an actual scenario, more than two rows of test tube racks can be set according to the length of the conveyor belt or the length of the sampling mechanism. The method of this embodiment performs displacement control based on two rows of test tube racks, and the principle of the displacement control method for multiple rows of test tube racks is the same as that for two rows of test tube racks.

[0143] S1004: Taking the first test tube on the first serial number test tube rack as a reference, number the test tubes on at least two test tube racks in the order of test tube arrangement.

[0144] Among them, the test tubes on the test tube rack are numbered in sequence according to the arrangement order of the test tubes. Specifically, it can correspond to the moving direction of the conveyor belt, and the numbers decrease in sequence. That is, the test tube close to the sampling position has a smaller number, and the test tube far from the sampling position has a larger number. Moreover, the first-sequence test tube rack and the second-sequence test tube rack are numbered as a whole when numbering. For example, taking a row of test tube racks with 10 test tubes as an example, the first test tube on the first-sequence test tube rack corresponding to the moving direction of the conveyor belt is numbered 1, and the position of the test tube numbered 1 is used as a reference point to correspondingly represent the first test tube on multiple rows of test tube racks. Further, the remaining test tubes on the first-sequence test tube rack are sequentially numbered 2...10. When numbering the second-sequence test tube rack, the first test tube on the second-sequence test tube rack corresponding to the moving direction of the conveyor belt is numbered 11, and the remaining test tubes are sequentially numbered 11...20; when more test tube racks can be carried on the conveyor belt, the numbering method of the test tube racks and test tubes can be arranged and set continuously according to the above method.

[0145] Optionally, when a test tube rack is unloaded on the conveyor belt, the serial number of the test tube rack is re-added according to the order of the test tube racks on the conveyor belt. That is to say, when the first-sequence test tube rack is completed and unloaded, the serial number of the second-sequence test tube rack is updated to become the new first-sequence test tube rack, and the test tubes numbered 11 to 20 on the original second-sequence test tube rack also become numbered 1 to 10 as the first-sequence test tube rack changes, and the position of the new test tube numbered 1 is used as the new reference point.

[0146] S1005: Obtain the first number of the first test tube and obtain the second number of the second test tube.

[0147] As described above, the numbers corresponding to the first test tube and the second test tube can be determined according to the needs and the numbering situation.

[0148] S1006: Determine the first distance between the first test tube and the second test tube according to the distance between two adjacent test tubes, the distance between two adjacent test tube racks, and the difference between the first number and the second number.

[0149] In this embodiment, since the specifications of the test tube racks are known, the distance between any two adjacent test tubes is usually fixed, such as 50 unit lengths. Further, according to the difference between the first number and the second number and the distance between two adjacent test tube racks, the distance between the first test tube and the second test tube can be calculated. Among them, when the first number is greater than the second number, the first distance between the first test tube and the second test tube is determined to be a positive value; or when the first number is less than the second number, the first distance between the first test tube and the second test tube is determined to be a negative value.

[0150] Among them, the distance between two adjacent test tube racks can be determined by the positioning structure for fixing the test tube racks, specifically determined by multiple stoppers in the positioning structures corresponding to two adjacent test tube racks. Each positioning structure includes two stoppers. The distance between the two stoppers in one positioning structure corresponds to the length of the test tube rack. The distance between adjacent stoppers of two different positioning structures can be set according to the actual situation. For example, it can be set to a length of about one test tube width apart, such as 55 unit lengths, which is the distance between adjacent test tube racks. Specifically, the distance between adjacent test tube racks can be adjusted according to the actual thickness of the stoppers, and no excessive restrictions are imposed here.

[0151] In a specific application scenario, for example, the number of the first test tube is 7, and the number of the second test tube is 13. At this time, the difference between the two, -6, is the distance between adjacent test tubes. Further, based on the known distance between adjacent test tube racks, the first distance between the first test tube and the second test tube can be calculated. It should be noted that when calculating using the number difference here, one distance between adjacent test tubes needs to be subtracted because the distance between the 11th test tube and the 10th test tube belongs to the calculation of the distance between adjacent test tube racks and cannot be double-counted. Therefore, the first distance between the 7th test tube and the 13th test tube is -((13 - 7 - 1) * 50 + 55) = -305 unit lengths. Similarly, when the first number is 13 and the second number is 7, the finally calculated first distance is +305 unit lengths.

[0152] S1007: Determine the second distance between the target position and the identification position.

[0153] Optionally, the specific steps of S1007 can be implemented by Figure 11 the method shown, specifically including:

[0154] S10071: Determine the distance between the target position and the origin.

[0155] Among them, the origin is a fixed point on the conveyor belt, used to mark the position distances of each target position or identification position. The origin can be set according to the actual situation. The setting of the origin position actually does not affect the positions of the target position and the identification position, nor does it change the distance between the two. The target position is the target position point where the first test tube needs to move according to the unique instruction, and can include a sampling position or a code scanning position, etc. Therefore, since both the origin and the target position are pre-set position points in the sample injection mechanism, the distance between the two can be accurately obtained.

[0156] S10072: Determine the distance between the identification position and the origin.

[0157] Among them, the identification bit is the position point used as a reference for calculating the required moving distance of the first test tube. As described above, it can be known that the identification bit and the origin are pre-set position points. Therefore, the distance between the two can also be accurately obtained.

[0158] Optionally, when the identification bit is the loading position and the target position is the barcode scanning position, the loading position is the position of the first test tube closest to the scanning position on the test tube rack when the test tube rack is loaded onto the conveyor belt, that is, the position of the first test tube in the running direction of the conveyor belt is used as the loading position. When the test tube rack moves, the position of the loading position remains unchanged, and the test tube number located at the loading position changes accordingly, and this is used as the calculation reference; a barcode scanning mechanism is provided at the barcode scanning position for scanning the barcode on the test tube.

[0159] Optionally, when the identification bit is the loading position and the target position is the sampling position, a sampling mechanism is provided at the sampling position for performing a sampling operation on the liquid in the test tube; in some other embodiments, the identification bit can also be the barcode scanning position and the target position is the sampling position, which can be specifically set according to the actual situation and will not be elaborated here.

[0160] S10073: Determine the second distance between the target position and the identification position according to the distance between the target position and the origin and the distance between the identification position and the origin.

[0161] In an application scenario, for example, the target position where the first test tube needs to move is the sampling position, and the identification position where the second test tube is located is the barcode scanning position. It can be obtained that the distance between the sampling position and the origin is 800 unit lengths (steps), and the distance between the barcode scanning position and the origin is 200 unit lengths (steps). Therefore, at this time, the second distance between the target position and the identification position can be calculated as 800 - 200 = 600 unit lengths.

[0162] S1008: Determine the distance between the first test tube and the target position according to the first distance and the second distance.

[0163] Specifically, S1008 can be implemented by the following steps: Calculate the sum value of the first distance and the second distance as the distance between the first test tube and the target position.

[0164] In this embodiment, since the first distance may be positive or negative, according to the above example, when the first distance is +305 unit lengths, the distance between the first test tube and the target position is 600 + 305 = 905 unit lengths; when the first distance is -305 unit lengths, the distance between the first test tube and the target position is 600 - 305 = 295 unit lengths.

[0165] S1009: Drive the test tube rack according to the distance between the first test tube and the target position, so that the first test tube moves to the target position.

[0166] According to the above example, by controlling the motor to move, for example, 905 or 295 motor steps, the first test tube can be moved to the target position required to reach.

[0167] Therefore, for the method of this embodiment, according to the test tube number of the first test tube to be moved, the test tube number of the second test tube used for reference identification, the distance between adjacent two test tube racks, as well as the identification position where the second test tube is located and the target position where the first test tube needs to reach, the corresponding step distance that needs to be advanced or retreated for this displacement can be accurately calculated, and then the motor movement can be controlled to achieve the movement of the test tube position. In this way, the distance from any test tube in different test tube racks to any position can be accurately and quickly calculated, so as to accurately control the test tube displacement, reduce the calculation complexity of the test tube movement, and improve the work efficiency.

[0168] Therefore, through the displacement control method provided by the above multiple embodiments, the movement of the test tubes on the test tube rack can be accurately controlled, so that the target test tube can be accurately displaced to the target position to complete the corresponding operation, and the efficiency of automatic sampling is improved.

[0169] Optionally, since the motor may experience step loss or overshoot during operation, when the motor controls the conveyor belt according to the distance calculated in the above steps, the accuracy of the test tube displacement will still be partially affected. Therefore, after S1009, an encoder can be used for position correction, which specifically includes:

[0170] A: When the first test tube moves, obtain the actual moving distance of the first test tube.

[0171] It can be known that the accuracy of the encoder is higher than that of the motor. Therefore, the encoder can more accurately identify, monitor, and feedback the situation of the test tube displacement. Since the control of the motor operates in units of 1 step, when the first test tube moves under the drive of the motor, the encoder synchronously obtains the actual moving distance of the first test tube. Due to step loss or overshoot of the motor, the actual moving distance may be greater than or less than the control step distance of the motor.

[0172] B: Determine the error value between the actual moving distance and the calculated distance.

[0173] Among them, the calculated distance is the theoretical distance that the first test tube needs to move calculated through the distances between the first test tube, the second test tube, the identification position, and the target position. This theoretical distance should be equal to the actual moving distance when the motor does not experience step loss, overshoot, etc. Therefore, in actual situations, due to the error caused by the motor, the error value needs to be calculated using the actual moving distance calculated by the encoder.

[0174] C: Accumulate the error value, and when the accumulated error value meets the preset threshold, perform compensation for the next displacement control.

[0175] Among them, the preset threshold can be set according to the actual situation. In this embodiment, it can be set to 1 unit length, that is, 1 step.

[0176] In an application scenario, when the error value between the actual movement distance obtained by the encoder and the calculated distance is greater than 0 but less than 1 step due to the motor losing steps or overshooting, the error value calculated in the 0-1 stage is accumulated. When the accumulated error value satisfies being greater than 1 step, in the next execution of the displacement control of the test tube rack, this one-step error value is compensated into the control step distance of the motor to further improve the displacement accuracy of the test tube.

[0177] It can be understood that when the accumulated error value is not an integer, only the error value of the integer number of steps will be compensated, and the error value less than 1 step will continue to be accumulated. The compensated accumulated error value will be compensated in a rounding manner. For example, when the accumulated error value is 2.3, then currently 2 units of step distance will be compensated, and the remaining 0.3 will continue to be accumulated; another example is when the accumulated error value is 1.8, then currently 2 steps will also be compensated by rounding, and at this time the accumulated error value becomes -0.2.

[0178] Optionally, in some other embodiments, the control of the motor can also be corrected by a position optocoupler. For example, after each row of test tube racks is detected, a reset can be performed, and the position of the conveyor belt can be located by the optocoupler at the initial position to achieve optocoupler correction.

[0179] In this way, on the basis of accurately calculating the displacement amount of the test tube, the encoder or the position optocoupler can be used to ensure that the displacement accuracy is maintained at a high level, thereby further improving the accuracy of the test tube displacement.

[0180] S404: Unload the test tube rack that has completed the operation from the conveyor belt.

[0181] Specifically, the unloading operation of S404 can be realized through the following steps: Move the test tube rack to be unloaded to the test tube rack unloading area so that the positioning mechanism on the conveyor belt is aligned with the test tube rack unloading area; Push the test tube rack out of the conveyor belt.

[0182] Among them, when there are multiple rows of test tube racks on the feeding track at the same time, if some test tube racks are performing scanning at the scanning position while other test tube racks meet the unloading conditions, then the unloading process will interrupt the work at the scanning position. After the test tube racks that meet the unloading conditions are unloaded, the scanning of the remaining test tube racks will continue.

[0183] It can be known that since sampling failure may occur during the test tube sampling process, if the test tube rack has been unloaded at this time, it is impossible to recheck the test tubes on the test tube rack. Therefore, to avoid this situation, it is necessary to detect and confirm the recheck decision information of all test tubes, which can be specifically solved through the following steps: Determine whether the sample corresponding to the last test tube on the target test tube rack needs to be rechecked; if it is necessary, after the recheck of the sample corresponding to the last test tube is completed, unload the target test tube rack from the conveyor belt; if it is not necessary, unload the target test tube rack from the conveyor belt.

[0184] Among them, the target test tube rack refers to the test tube rack that has completed all detection operations but may have test tube samples that need to be rechecked; in this embodiment, to judge the last test tube of the target test tube rack, it can be through detecting and confirming the recheck decision information of the last test tube. When the recheck decision information of the last test tube indicates completion, it means that all the test tubes of the entire target test tube rack have completed recheck or do not need recheck. At this time, the target test tube rack can be directly unloaded from the conveyor belt.

[0185] If the recheck decision information of the last test tube indicates not completed, it means that the last test tube needs to be rechecked but has not been rechecked yet. At this time, the last test tube needs to be moved to the sampling position again to sample and detect the sample in the test tube. During the detection, corresponding operations can also be performed on the test tubes on other test tube racks according to the preset priority order as described above until the recheck decision information of the last test tube indicates completion, and then the target test tube rack can be unloaded from the conveyor belt.

[0186] Therefore, the sample analysis method provided in this embodiment, by setting a positioning mechanism on the conveyor belt to fix the position of the test tube rack on the conveyor belt using the positioning mechanism, avoids the relative sliding between the test tube rack and the conveyor belt due to inertia, and through the conveyor belt with a positioning mechanism and the displacement control method, accurately drives the test tube rack to move to complete corresponding sample detection and other operations, ensuring the stable progress of the sample analysis work and improving the sample analysis efficiency.

[0187] Refer to Figure 12 , Figure 12 which is a schematic structural diagram of an embodiment of a sample analysis device provided by the present application. The sample analysis device 120 includes a conveyor belt 121, a motor 122, and a controller 123. Among them, the conveyor belt 121 is used to carry and transport the test tube rack. The motor 122 is connected to the conveyor belt 121 and is used to drive the conveyor belt 121 to rotate to drive at least one test tube rack on the conveyor belt to displace. The controller 123 is connected to the motor 122 and is used to control the motor by the following method:

[0188] Load at least one test tube rack onto the conveyor belt; wherein, a positioning mechanism is provided on the conveyor belt for fixing the test tube rack carried on the conveyor belt; according to the test tube displacement instruction, control the test tubes on the test tube rack to move to the target position to complete corresponding operations on the test tubes on the test tube rack; unload the test tube rack that has completed the operation from the conveyor belt.

[0189] Further, the sample analysis device 120 further includes a loading mechanism, a barcode scanning mechanism, a sampling mechanism, an unloading mechanism, and the sample injection mechanism described in the foregoing embodiments (not shown in the figures). The loading mechanism is arranged at the loading position for loading the test tube rack; the sampling mechanism is arranged at the sampling position, that is, downstream of the loading mechanism, for sampling the test tubes on the test tube rack; the barcode scanning mechanism is arranged at the barcode scanning position, that is, between the loading mechanism and the sampling mechanism, for scanning and identifying each test tube one by one. The unloading mechanism is arranged at the unloading position, that is, downstream of the loading mechanism, for unloading the test tube rack; the sample analysis device 120 can automatically and intelligently complete functions such as loading, barcode scanning, sample injection, sampling, detection, and unloading.

[0190] Refer to Figure 13 , Figure 13 FIG. is a schematic structural diagram of an embodiment of a computer-readable storage medium provided by the present application. The computer-readable storage medium 130 of this embodiment is used to store a computer program 131, and when the computer program 131 is executed by a processor, it is used to implement the following method steps:

[0191] Load at least one test tube rack onto the conveyor belt; wherein, a positioning mechanism is provided on the conveyor belt for fixing the test tube rack carried on the conveyor belt; according to the test tube displacement instruction, control the test tubes on the test tube rack to move to the target position to complete corresponding operations on the test tubes on the test tube rack; unload the test tube rack that has completed the operation from the conveyor belt.

[0192] It should be noted that the method steps executed by the computer program 131 in this embodiment are based on the foregoing method embodiments, and their implementation principles and steps are similar. Therefore, when the computer program 131 is executed by a processor, it can also implement other method steps in any of the foregoing embodiments, which will not be elaborated here.

[0193] When the embodiments of the present application are implemented in the form of software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on such understanding, the technical solution of the present application, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) or a processor to execute all or part of the steps of the methods described in various embodiments of the present application. The aforementioned storage medium includes: various media that can store program codes, such as USB flash drives, mobile hard disks, read-only memories (ROMs), random access memories (RAMs), magnetic disks, or optical discs.

[0194] The above are only the embodiments of the present application, and do not limit the patent scope of the present application. Any equivalent structure or equivalent process transformation made according to the content of the specification and drawings of the present application, or directly or indirectly applied in other related technical fields, shall be equally included in the patent protection scope of the present application.

Claims

1. A displacement control method for a test tube rack, characterized in that The method is used to drive a conveyor belt to rotate by controlling a motor, so as to drive at least two test tube racks on the conveyor belt to displace. The method includes: Obtain a test tube displacement instruction; wherein, the test tube displacement instruction indicates moving a first test tube on the test tube rack to a target position; the first test tube is located on a first test tube rack; Determine a second test tube currently at an identification position; wherein, the second test tube is located on a second test tube rack; Determine the distance between the first test tube and the second test tube according to the test tube rack numbers corresponding to the first test tube and the second test tube; Determine the distance between the first test tube and the target position according to the first distance between the first test tube and the second test tube, and the second distance between the target position and the identification position; Drive the test tube rack according to the distance between the first test tube and the target position, so that the first test tube moves to the target position; When the first test tube moves, use an encoder to obtain the actual moving distance of the first test tube; Determine the error value between the actual moving distance and the calculated distance; wherein, the calculated distance is the theoretical distance that the first test tube needs to move calculated through the distances between the first test tube, the second test tube, the identification position and the target position; Accumulate the error value, and when the accumulated error value meets a preset threshold, perform compensation on the next displacement control.

2. The method according to claim 1, wherein The determining the distance between the first test tube and the second test tube according to the test tube rack numbers corresponding to the first test tube and the second test tube includes: Add numbers to the test tube racks in the order of the test tube racks on the conveyor belt; Taking the first test tube on the test tube rack with the first number as a reference, number the test tubes on the at least two test tube racks in sequence according to the test tube arrangement order; Obtain the first number of the first test tube and obtain the second number of the second test tube; Determine the first distance between the first test tube and the second test tube according to the distance between adjacent two test tubes, the distance between adjacent two test tube racks, and the difference between the first number and the second number.

3. The method according to claim 2, wherein The method further includes: When a test tube rack is unloaded on the conveyor belt, re-add numbers to the test tube racks in the order of the test tube racks on the conveyor belt.

4. The method according to claim 1, wherein The determining the distance between the first test tube and the target position according to the first distance between the first test tube and the second test tube, and the second distance between the target position and the identification position includes: Determine the second distance between the target position and the identification position; Determine the distance between the first test tube and the target position according to the first distance and the second distance.

5. The method according to claim 4, wherein The determining the second distance between the target position and the identification position includes: Determine the distance between the target position and the origin; and Determine the distance between the identification position and the origin; Determine a second distance between the target position and the identification position according to the distance between the target position and the origin and the distance between the identification position and the origin.

6. The method according to claim 4, wherein the determining the distance between the first test tube and the target position according to the first distance and the second distance includes: calculating a sum value of the first distance and the second distance as the distance between the first test tube and the target position.

7. The method according to any one of claims 1-6, wherein the identification position is a loading position, the target position is a code scanning position, the loading position is the position of the first test tube closest to the scanning position on the test tube rack when the test tube rack is loaded onto the conveyor belt, and a code scanning mechanism is provided at the code scanning position for scanning the bar code on the test tube; or the identification position is a loading position, the target position is a sampling position, and a sampling mechanism is provided at the sampling position for performing a sampling operation on the liquid in the test tube; or the identification position is a code scanning position and the target position is a sampling position.

8. A sample analysis device, characterized in that, The sample analysis device includes: a conveyor belt for carrying and transporting test tube racks; a motor connected to the conveyor belt for driving the conveyor belt to rotate so as to drive at least two test tube racks on the conveyor belt to displace; a controller connected to the motor for controlling the motor by using the method according to any one of claims 1-7.

9. A computer-readable storage medium, characterized in that, Program data is stored in the computer-readable storage medium, and when the program data is executed by a processor, it is used to implement the method according to any one of claims 1-7.

Images