Collision-avoiding sample rack transport method and computer-readable storage medium and analyzer

Abstract

The application discloses a collision-preventing sample rack transportation method, and judges whether there is an obstacle in a rack channel before driving a rack unit to move along the rack channel; if yes, an alarm is given and the rack unit is kept in a stop state; if not, the rack unit is driven to move along the rack channel to a specified position. The application further discloses a computer readable storage medium, which stores a computer program, and the computer program is executed by a processor to realize the steps of the collision-preventing sample rack transportation method. The collision-preventing sample rack transportation method can detect whether there is an obstacle in the rack channel before driving the rack unit to move along the rack channel each time, and the rack unit can be driven to move only when no obstacle is detected in the rack channel, so that the rack unit cannot collide with other structures, and the operation safety is ensured.

Description

TECHNICAL FIELD

[0001] The utility model belongs to in-vitro diagnostic equipment technical field, specifically for a kind of anti-collision sample rack transport method and computer readable storage medium and analyzer. BACKGROUND

[0002] In order to meet the requirement of automatic analysis, sample rack transport system is widely applied in biochemical analyzer, immune analyzer and laboratory flow line analysis system.Sample rack transport system includes workbench, sample rack is stored in workbench, and sample is placed in sample rack for detection.During detection, sample rack is transferred to detection equipment by rack unit to realize the detection of sample, and after detection, sample rack is stored in sample rack transport system by rack unit again.The existing sample rack transport system can meet the use requirement to some extent, but rack unit moves in rack channel, and there is the risk of collision between sample basket or sample rack in rack channel, which may interrupt the detection process, or even damage the equipment. SUMMARY

[0003] Therefore, the purpose of the present application is to provide an anti-collision sample rack transport method, computer readable storage medium and analyzer, which can prevent the collision of rack unit.

[0004] To achieve the above purpose, the present application provides the following technical scheme:

[0005] The present application first provides an anti-collision sample rack transport method, which is applied to an anti-collision sample rack transport system, and the anti-collision sample rack transport system comprises:

[0006] Rack channel;

[0007] Rack unit, which can move along the rack channel to transfer sample rack;

[0008] Detection unit for detecting whether there is an obstacle in the rack channel;

[0009] Judgment unit for judging whether there is an obstacle in the rack channel according to the detection data of the detection unit;

[0010] Alarm unit for issuing alarm;

[0011] The anti-collision sample rack transport method is: before driving the rack unit to move along the rack channel, it is judged whether there is an obstacle in the rack channel: if yes, alarm, and the rack unit remains in the stopped state;If not, drive the rack unit to move along the rack channel to the specified position.

[0012] Further, the anti-collision sample rack transportation system further comprises a rack separating unit, which is used to transport the sample rack to be detected on the rack transportation unit to a sample analyzer through the interface unit, or to transport the detected sample rack input through the interface unit to the rack transportation unit; when transporting the sample rack to be detected to the sample analyzer, it is judged whether there is an obstacle in the rack transportation channel before driving the rack transportation unit to move along the rack transportation channel; if yes, an alarm is given and the rack transportation unit remains in a stop state; if no, the rack transportation unit is driven to move along the rack transportation channel to a sample site where the sample rack to be detected is stored, and the rack transportation unit is used to transfer the sample rack to be detected placed on the sample site; during the transferring process, after detecting that there is a sample rack on the rack transportation unit and obtaining a detection signal that the rack driving mechanism reaches the first position, it is indicated that the sample rack transferring is completed, otherwise, the sample rack transferring is not completed and the rack transportation unit remains in a stop state; after the sample rack transferring is completed, it is judged whether there is an obstacle in the rack transportation channel; if yes, an alarm is given and the rack transportation unit remains in a stop state; if no, the rack transportation unit is driven to move along the rack transportation channel to a sample rack transferring area, and the sample rack on the rack transportation unit is transferred to the rack separating unit; during the transferring process, after detecting that there is no sample rack on the rack transportation unit and obtaining a detection signal that the rack driving mechanism reaches the second position, it is indicated that the sample rack transferring is completed, otherwise, the sample rack transferring is not completed and the rack transportation unit remains in a stop state; after the sample rack transferring is completed, the rack transportation unit is reset or enters the next sample rack transferring work.

[0013] Further, the anti-collision sample rack transportation system further comprises a rack separating unit, which is used to transport the sample rack to be detected on the rack transportation unit to a sample analyzer through the interface unit, or to transport the detected sample rack input through the interface unit to the rack transportation unit; when transporting the sample rack to be detected to the sample analyzer, it is judged whether there is an obstacle in the rack transportation channel before driving the rack transportation unit to move along the rack transportation channel; if yes, an alarm is given and the rack transportation unit remains in a stop state; if no, the rack transportation unit is driven to move along the rack transportation channel to a sample site where the sample rack to be detected is stored, and the rack transportation unit is used to transfer the sample rack to be detected placed on the sample site; during the transferring process, after detecting that there is a sample rack on the rack transportation unit and obtaining a detection signal that the rack driving mechanism reaches the first position, it is indicated that the sample rack transferring is completed, otherwise, the sample rack transferring is not completed and the rack transportation unit remains in a stop state; after the sample rack transferring is completed, it is judged whether there is an obstacle in the rack transportation channel; if yes, an alarm is given and the rack transportation unit remains in a stop state; if no, the rack transportation unit is driven to move along the rack transportation channel to a sample rack transferring area, and the sample rack on the rack transportation unit is transferred to the rack separating unit; during the transferring process, after detecting that there is no sample rack on the rack transportation unit and obtaining a detection signal that the rack driving mechanism reaches the second position, it is indicated that the sample rack transferring is completed, otherwise, the sample rack transferring is not completed and the rack transportation unit remains in a stop state; after the sample rack transferring is completed, the rack transportation unit is reset or enters the next sample rack transferring work.

[0014] Further, during the sample rack transfer process, if the sample rack has not been transferred after reaching a set time threshold, an alarm is given.

[0015] Further, the rack transporting unit is provided with a second detection sensor for detecting whether a sample rack is placed in a sample site; before the rack transporting unit moves to the sample site to be detected, it is determined whether there is an obstacle in the rack channel; if yes, an alarm is given and the rack transporting unit remains in a stop state; if no, the rack transporting unit is driven to move to the sample site to be detected, and the second detection sensor is used to detect whether a sample rack is placed in the sample site.

[0016] Further, the rack transporting unit is provided with a first sample rack detection sensor for detecting whether a sample rack is placed on the rack transporting unit; when a sample rack placed on a sample site is transferred to the rack transporting unit or a sample rack on the rack separating unit is transferred to the rack transporting unit, the first sample rack detection sensor is used to detect whether a sample rack is placed on the rack transporting unit; if yes, the rack transporting unit is driven to move along the rack channel; if no, an alarm is given.

[0017] Further, the detection unit comprises an obstacle detection sensor for detecting whether there is an obstacle on both sides of the rack channel.

[0018] Further, when a detection instruction is received, the rack transporting unit is driven to sequentially transfer the sample racks to be detected stored in the regular storage area according to a set order;

[0019] When an emergency detection instruction is received, the rack transporting unit is driven to transfer the sample racks to be detected stored in the emergency storage area, and then sequentially transfer the sample racks to be detected stored in the regular storage area according to a set order.

[0020] The application further provides a computer readable storage medium, wherein the computer readable storage medium stores a computer program, and the computer program is executed by a processor to implement the steps of the anti-collision sample rack transporting method.

[0021] The application further provides an analyzer comprising a sample rack transporting system, wherein the sample rack transporting system is provided with a rack channel and a rack transporting unit, and the rack transporting unit moves along the rack channel according to the anti-collision sample rack transporting method.

[0022] The application has the following advantages:

[0023] The anti-collision sample rack transporting method of the application detects whether there is an obstacle in the rack channel before driving the rack transporting unit to move along the rack channel each time, and the rack transporting unit can only be driven to move when it is detected that there is no obstacle in the rack channel, so that the rack transporting unit will not collide with other structures, and the running safety performance is ensured. Attached Figure Description

[0024] To make the objectives, technical solutions, and beneficial effects of this invention clearer, the following figures are provided for illustration:

[0025] Figure 1 This is a schematic diagram of the structure of an embodiment of the sample rack transportation system of the present invention;

[0026] Figure 2 This is a structural schematic diagram of the transport unit;

[0027] Figure 3 A schematic diagram of the basket locking mechanism;

[0028] Figure 4 This is a structural schematic diagram of the transport unit and the transport drive mechanism.

[0029] Explanation of reference numerals in the attached figures:

[0030] 10-Workbench; 11-Sample rack; 12-Sample position; 13-Transportation channel; 14-Transportation unit; 15-Separation unit; 16-Direction detection sensor; 17-Sample rack placement position; 18-Separation rack placement position; 19-Basket locking mechanism; 20-Sample basket; 21-Second detection sensor; 22-Third detection sensor; 23-Detection indicator button; 24-Slot; 25-Locking block; 26-Rotation motor; 27-Motor bracket; 28-Detection optocoupler; 29-Light shield; 30-Emergency storage area; 31-Emergency sample 32-Emergency Sample Basket; 33-Fourth Detection Sensor; 34-Emergency Indicator Button; 35-Online Channel Area; 36-Online Sample Basket; 37-Online Sample Position; 38-Online Sample Basket; 39-Main Button; 40-Obstacle Detection Element; 41-Fifth Detection Sensor; 42-Push Unit; 43-Emergency Sample Channel; 44-Regular Sample Channel; 45-Return Channel; 46-First Sample Rack Detection Sensor; 48-Synchronous Belt Pulley; 49-Drive Motor; 50-Optical Coupler Sensor; 51-Optical Coupler Sensor. Detailed Implementation

[0031] The present invention will be further described below with reference to the accompanying drawings and specific embodiments, so that those skilled in the art can better understand and implement the present invention. However, the embodiments described are not intended to limit the present invention.

[0032] like Figure 1 As shown, the sample rack transportation system of this embodiment includes a workbench 10, on which a sample rack storage area, a sample rack transfer area and a rack transportation channel are provided.

[0033] Specifically, the sample rack storage area is equipped with sample slots 12 for storing sample racks 11. For example... Figure 1As shown, the sample rack storage area of the embodiment is provided with a conventional storage area, the conventional storage area is provided with a basket station for placing a sample basket 20, and the sample basket 20 is provided with a sample site 12 for placing a sample rack 11. Each sample basket 20 of the embodiment is provided with 10 sample sites 12, of course, the number of sample sites 12 in each sample basket 20 can be set according to actual needs, and will not be repeated. The conventional storage area is provided with a third detection sensor 22 for detecting whether a sample basket 20 is placed in the basket station, and the third detection sensor 22 is one-to-one corresponding to the basket station. In the preferred embodiment of the present embodiment, the conventional storage area further includes a detection indication button 23, which is one-to-one corresponding to the basket station. When the third detection sensor 22 detects that the corresponding basket station is placed with a sample basket, the corresponding detection indication button 23 is pressed to trigger a detection instruction to detect the sample rack 11 placed in the sample basket 20, of course, the detection instruction can also be issued by the upper computer, and will not be repeated. In the preferred embodiment of the present embodiment, the conventional storage area further includes a detection state indication lamp, which is one-to-one corresponding to the basket station and is used for indicating the detection state of the sample rack in the corresponding basket station. The detection state indication lamp of the present embodiment is integrated with the detection indication button 23, and the detection state indication lamp can display the detection state of the sample rack in the corresponding basket station through different colors or different flashing frequencies, and the detection state includes not starting testing, taking sample, waiting for results, having completed testing, etc.

[0034] As Figure 1As shown, the sample rack storage area of the embodiment is provided with an emergency storage area 30, and the sample site 11 arranged in the emergency storage area 30 is an emergency sample site 31. In some embodiments, the emergency sample site 31 can be directly arranged on the workbench of the emergency storage area 30, and in other embodiments, an emergency basket work station for placing an emergency sample basket 32 can also be arranged in the emergency storage area 30, and the emergency sample site 31 is arranged in the emergency sample basket 32. Specifically, the emergency storage area 30 of the embodiment is provided with an emergency basket work station for placing an emergency sample basket 32, and the emergency sample site 31 is arranged in the emergency sample basket 32. In the preferred embodiment of the present embodiment, the emergency storage area 30 is provided with a fourth detection sensor 33 for detecting whether the sample rack 11 is stored in the emergency sample site 31, and the fourth detection sensor 33 is arranged one-to-one with the emergency sample site 31. In the preferred embodiment of the present embodiment, the emergency storage area 30 further comprises an emergency indication button 34, which is arranged one-to-one with the emergency sample site 31, and when the fourth detection sensor 33 detects that the sample rack 11 is placed on the emergency sample site 31, the emergency indication button 34 is pressed to trigger the emergency detection instruction, that is, to detect the sample rack 11 placed on the emergency sample site 31. In the preferred embodiment of the present embodiment, the emergency storage area 30 further comprises an emergency state indication lamp which is arranged one-to-one with the emergency sample site 31 and is used to indicate the detection state of the sample rack 11 in the corresponding emergency sample site 31. In the present embodiment, the emergency state indication lamp and the emergency start button 34 are integrally arranged together, and the emergency state indication lamp can display the detection state of the sample rack 11 in the corresponding emergency basket work station through different colors or different flashing frequencies, and the detection state includes not starting testing, taking sample, waiting for result, having completed testing, etc. Of course, in other embodiments, a separate emergency storage area 30 can not be provided. At this time, a specific basket work station in the conventional storage area can be set as an emergency work station, and the sample site 12 arranged in the sample basket 20 placed in the basket work station can be used as an emergency sample site 31, which has the same technical effect as the emergency storage area 30. Of course, in use, if the number of emergency sample sites 31 in the emergency storage area 30 is insufficient, a specific basket work station in the conventional storage area can also be set as an emergency work station to increase the number of emergency sample sites 31.

[0035] As Figure 1As shown, the sample rack storage area of the embodiment is provided with an online channel area 35, and the sample sites 12 arranged in the online channel area 35 are online sample sites 37. In some embodiments, the online sample sites 37 can be arranged directly on the workbench 10 of the online channel area, and in other embodiments, online basket workstations for placing online sample baskets 36 can be arranged in the online channel area 35, and the online sample sites 37 are arranged in the online sample baskets 38. The online channel area 35 is used to connect the pipeline, and the sample flow on the pipeline is transferred to the sample analyzer for testing, and the samples after testing are returned to the pipeline. The online channel area 35 has two directions of movement: the sample rack stop lever rotation R direction movement and the stop lever left and right X direction movement. The stop lever rotation R direction movement controls the rotation of the stop lever away from or blocks the channel, which is driven by a stepping motor, and the position is controlled by a zero sensor and a stepping motor movement. When the sample rack 11 on the pipeline is ready to enter, the R direction motor of the stop lever rotates to rotate the stop lever away from the online channel, and then the pipeline hook claw pushes the sample rack to the online sample site, the R direction motor of the stop lever rotates to block the stop lever on both sides of the sample rack, the X direction motor of the stop lever moves to the right, and drives the sample rack to move to the right to the rack carrying unit hooking position, and the R direction motor of the stop lever rotates away from the channel to facilitate the rack carrying unit to hook the sample rack. The pipeline sample rack after testing moves in the reverse direction according to the above steps, and the sample rack can be transported back to the pipeline.

[0036] In the preferred scheme of the embodiment, the sample rack storage area is also provided with a general button 39 to realize one-key operation, which is more convenient to operate, as shown. Figure 1 Specifically, after the general button 39 is pressed, the third detection sensor 22 is used to detect whether the sample basket 20 is stored in the corresponding basket workstation, if yes, the detection instruction for the basket workstation is triggered, otherwise, the detection instruction for the basket workstation is not triggered. When the detection instruction for the corresponding basket workstation is triggered, the detection state indication lamp in the detection instruction button 23 starts to indicate the detection state of the basket workstation. Specifically, when the sample rack storage area is provided with an emergency storage area, when the general start button is pressed, the fourth detection sensor 33 is used to detect whether the sample rack 11 is stored in the corresponding emergency sample site 31, if yes, the emergency detection instruction for the emergency sample site 31 is triggered; if not, the emergency detection instruction for the emergency sample site 31 is not triggered. When the emergency detection instruction for the corresponding emergency sample site 31 is triggered, the emergency state indication lamp in the emergency indication button 34 starts to indicate the detection state of the emergency sample site 31.

[0037] As shown, Figure 1As shown, the transport channel 13 of this embodiment is equipped with a transport unit 14, which can move along the transport channel 13 to transfer sample racks. Specifically, the transport unit 14 is used to transport the sample racks 11 to be tested stored in the sample rack storage area to the sample rack transfer area, or to transport the sample racks 11 that have been tested by the sample analyzer from the sample rack transfer area to the corresponding sample position 12. In a preferred embodiment, the sample rack transport system also includes a detection unit for detecting whether there are obstacles in the transport channel. The detection unit includes an obstacle detection sensor 40 installed in the workbench 10 for detecting whether there are obstacles on both sides of the transport channel 13. Of course, the sample rack transport system of this embodiment also includes an alarm unit for issuing an alarm and a judgment unit for determining whether there are obstacles. The alarm unit can issue audible, visual, or other alarm signals. The judgment unit of this embodiment determines whether there are obstacles in the transport channel based on the detection data of the detection unit. Figure 1 As shown. Before the transport unit moves along the transport channel, it is determined whether there is an obstacle in the transport channel 13: if so, an alarm is triggered; if not, the transport unit 14 is driven to move along the transport channel 13, thereby ensuring the safe operation of the transport unit 14 and avoiding collisions and interference with other structures.

[0038] like Figure 1 As shown, the sample rack transfer area in this embodiment is used to transport the sample rack 11 to be tested to the sample analyzer and to receive the sample rack 11 that has been tested by the sample analyzer. The sample rack transfer area in this embodiment includes an interface unit and a rack-splitting unit 15; the rack-splitting unit 15 is used to transport the sample rack 11 to be tested on the rack-transporting unit 14 to the sample analyzer through the interface unit, or to transfer the tested sample rack 11 input through the interface unit to the rack-transporting unit 14. The rack-splitting unit 15 in this embodiment is provided with a direction adjustment mechanism for adjusting the direction of the sample rack to be tested. The direction adjustment mechanism is used to drive the sample rack 11 to rotate 180° to achieve the purpose of changing the direction. Thus, the direction adjustment mechanism can be implemented in various existing ways. For example, the upper part of the rack-splitting unit 15 can be mounted on a vertical rotating shaft, and the vertical rotating shaft can be driven by a motor to rotate to change the direction of the upper part of the rack-splitting unit 15; or the direction of the walking wheels at the bottom of the rack-splitting unit 15 can be controlled to drive the rack-splitting unit 15 to change the direction by walking in an arc. These will not be elaborated further. Of course, in some other embodiments, the orientation adjustment mechanism can also be set on the workbench 10, that is, on the workbench 10 located in the sample rack transfer area. In this case, the orientation adjustment mechanism can use a turntable-like mechanism to drive the rack unit 15 to rotate 180° as a whole.

[0039] In a preferred embodiment, a fifth detection sensor 41 is provided in the sample rack transfer area to detect whether the racking unit 15 has reached a set position, such as... Figure 1The sample rack transfer area is provided between the rack separating unit 15 and the rack conveying unit 14 or the interface unit. The rack separating unit 15 is configured to transfer the sample rack 11 to the rack conveying unit 14 or the interface unit in the sample rack transfer area. In the preferred embodiment of the present application, a pushing unit 42 is further provided in the sample rack transfer area. The pushing unit 42 is configured to push the sample rack 11 placed on the rack separating unit 15 to the interface unit or the rack conveying unit, or push the sample rack input by the interface unit to the rack separating unit. In this way, the power mechanism for driving the sample rack 11 to move is not required to be provided on the rack separating unit 15, and thus the structure of the rack separating unit 15 can be simplified.

[0040] Specifically, as shown in Figure 1 In the preferred embodiment of the present application, the sample rack storage area is provided with a regular storage area and an emergency storage area 30, and the interface unit is provided with an emergency sample channel 43, a regular sample channel 44 and a return channel 45. The sample rack 11 in the emergency storage area 30 is output to the external detection equipment through the emergency sample channel 43, and then is recycled through the return channel 45. The sample rack 11 in the regular storage area is output to the external detection equipment through the regular sample channel 44, and then is recycled through the return channel 45.

[0041] As shown in Figure 2 In the preferred embodiment of the present application, the rack conveying unit 14 is provided with a direction detection mechanism for identifying the direction of the sample rack 11 to be detected. Specifically, the direction detection mechanism of the present application includes a first detection sensor 16 for detecting the direction of the sample rack 11. The first detection sensor 16 is configured to identify the direction mark provided on the sample rack 11. In the present application, a bar code for indicating the direction of the sample rack 11 is provided on the side wall of each sample rack 11. The first detection sensor 16 is a code scanner for scanning the bar code. The bar code can be provided on one side of the sample rack 11, or can be provided on both sides of the sample rack 11. When the bar code is provided on both sides of the sample rack 11, the bar codes on the two sides are different. The direction of the sample rack 11 can be obtained through the scanning results of the two code scanners. The rack conveying unit 14 of the present application is provided with a first sample rack placement position 17 for placing the sample rack. The first detection sensor 16 is provided on both sides of the first sample rack placement position 17. Of course, in other embodiments, the direction detection mechanism can also be provided on the rack separating unit 15. The rack separating unit 15 is provided with a second sample rack placement position 18 for placing the sample rack. In this case, the first detection sensor 16 can also be provided on both sides of the second sample rack placement position 18.

[0042] In the preferred embodiment of the present application, the rack conveying unit 14 is provided with a first sample rack detection sensor 46 for detecting whether there is a sample rack 11 on the first sample rack placement position 17, as shown in Figure 2In the process of transferring the sample rack 11 on the sample site 12 to the rack transferring unit 14, the rack transferring unit 14 stops at the position corresponding to the sample site 12, and after the first sample rack detection sensor detects the sample rack 11 in the first sample rack placing site 17, the rack transferring unit 14 is controlled to perform the next action, so as to ensure that the sample rack 11 is transferred to the rack transferring unit 14. Similarly, in the process of transferring the sample rack 11 from the rack separating unit 15 to the rack transferring unit 14, the rack transferring unit 14 stops at the set position, and after the first sample rack detection sensor 16 detects the sample rack 11 in the first sample rack placing site 17, the rack transferring unit 14 is controlled to perform the next action. Similarly, in the preferred scheme of the embodiment, the second sample rack detection sensor (not shown in the figure) for detecting whether the sample rack 11 in the second sample rack placing site 18 reaches the set position can also be arranged on the rack separating unit 15. In the process of transferring the sample rack 11 from the rack transferring unit 14 to the rack separating unit 15 or transferring the sample rack 11 from the interface unit to the rack separating unit 15, the rack separating unit 15 is controlled to perform the next action after the second sample rack detection sensor detects the sample rack 11 in the second sample rack placing site 18, so as to ensure that the sample rack 11 is transferred to the rack separating unit 15.

[0043] In the preferred scheme of the embodiment, the rack transferring unit 14 is provided with the second detection sensor 21 for detecting whether the sample rack 11 is placed on the sample site 12 in the sample basket 20. After receiving the detection instruction, the rack transferring unit 14 moves to the position corresponding to the sample basket 20, detects whether the sample rack 11 is placed on each sample site 12 in the sample basket 20 by using the second detection sensor 21, and uploads the detection structure to the upper computer. After receiving the emergency detection instruction, the rack transferring unit 14 moves to the position corresponding to the emergency sample site 31, detects whether the sample rack 11 is placed in the emergency sample site 31, and uploads the detection structure to the upper computer.

[0044] As Figure 3As shown, the sample rack storage area is provided with a sample basket locking mechanism 19 for locking the sample basket 20 in the basket station. The basket locking mechanism of the present embodiment includes a clamping groove 24 provided on the sample basket 20, a locking block 25 cooperating with the clamping groove 24, and a basket locking control mechanism for driving the locking block 25 into the clamping groove 24 to lock the sample basket 20 or driving the locking block 25 out of the clamping groove 24 to release the sample basket 20. The basket locking control mechanism can be implemented in various ways. In some embodiments, the basket locking control mechanism can be a rotary drive mechanism for driving the locking block 25 to rotate into or out of the clamping groove 24. In other embodiments, the basket locking drive mechanism can be a linear drive mechanism for driving the locking block 25 to move linearly into or out of the clamping groove 24. The linear drive mechanism can also be implemented in various ways, which will not be repeated here. The basket locking control mechanism of the present embodiment adopts a rotary drive mechanism, which can adopt a rotary motor 26 and a motor bracket 27 for mounting the rotary motor 26. Preferably, the basket locking mechanism of the present embodiment further includes a zero position detection sensor, which includes a detection photocoupler 28 and a light blocking piece 29 provided on the locking block 25 and cooperating with the detection photocoupler 28, to accurately control the rotational position of the locking block 25.

[0045] As shown, Figure 4 The rack driving mechanism of the present embodiment includes a synchronous pulley 48, a synchronous belt (not shown in the figure) provided on the synchronous pulley 48, and a driving motor 49 in transmission connection with one of the synchronous pulleys. The driving motor 49 is used to drive the synchronous pulley 48 to rotate, thereby driving the synchronous belt to move, and thus driving the sample rack 11 to move relative to the rack unit 14, i.e. to drive the sample rack 47 to enter or leave the rack unit 14. Specifically, in order to achieve accurate positioning, the rack platform of the present embodiment is provided with at least one group of photocoupler sensor groups for positioning the moving position of the synchronous belt. The photocoupler sensor group includes two photocoupler sensors. One of the photocoupler sensors 50 is used to position the position of the synchronous belt when the sample rack is hooked, and the other photocoupler sensor 51 is used to position the position of the synchronous belt when the sample rack 11 enters the sample rack placement position 17. That is, the two photocoupler sensors belonging to the same group are respectively located at the two ends of the rack unit 14, and the synchronous belt is provided with a light blocking plate cooperating with the photocoupler sensor. In the photocoupler sensor group of the present embodiment, the two photocoupler sensors 50 for positioning the position of the synchronous belt when the sample rack is hooked are respectively located at the two ends of the rack unit 14. Similarly, the two photocoupler sensors 51 for positioning the position of the synchronous belt when the sample rack 11 enters the sample rack placement position 17 are also respectively located at the two ends of the rack unit 14. Of course, in other embodiments, only one group of photocoupler sensors can be provided, such as only one side of the rack unit 14 being provided with a sample position.

[0046] The anti-collision sample rack transportation method of the present application will be described in detail below in combination with the above sample rack transportation system.

[0047] The rack transportation channel 13 of the present embodiment is provided with an obstacle detection sensor 40 for detecting whether there is an obstacle on both sides of the rack transportation channel. Before driving the rack unit 14 to move along the rack transportation channel 13, the anti-collision sample rack transportation method of the present embodiment uses the obstacle detection sensor 40 to determine whether there is an obstacle in the rack transportation channel 13: if yes, an alarm is given and the rack unit 14 remains in a stopped state; if no, the rack unit 14 is driven to move along the rack transportation channel to a designated position. The anti-collision sample rack transportation method of the present embodiment detects and determines whether there is an obstacle in the rack transportation channel before driving the rack unit to move along the rack transportation channel each time, and the rack unit can be driven to move only when it is detected that there is no obstacle in the rack transportation channel, thereby ensuring that the rack unit will not collide with other structures and ensuring the running safety performance.

[0048] Specifically, when the sample rack 11 to be detected is transported to the sample analyzer, before driving the rack unit 14 to move along the rack transportation channel 13, it is determined whether there is an obstacle in the rack transportation channel 13: if yes, an alarm is given and the rack unit remains in a stopped state; if no, the rack unit 14 is driven to move along the rack transportation channel 13 to the sample site 12 where the sample rack to be detected is stored, and the rack driving mechanism is used to transfer the sample rack to be detected placed on the sample site to the rack unit. During the transfer process, the first sample rack detection sensor 46 detects that there is a sample rack on the rack unit and obtains the detection signal emitted by the optical coupling sensor 50 when the rack driving mechanism reaches the first position, indicating that the sample rack 11 transfer is completed, otherwise, the sample rack 11 transfer is not completed and the rack unit 14 remains in a stopped state, and if the sample rack is still not transferred after a set time threshold is reached, an alarm is given. After the sample rack transfer is completed, it is determined whether there is an obstacle in the rack transportation channel 13: if yes, an alarm is given and the rack unit 14 remains in a stopped state; if no, the rack unit 14 is driven to move along the rack transportation channel 13 to the sample rack transfer area and the sample rack on the rack unit 14 is transferred to the rack separation unit 15. During the transfer process, the first sample rack detection sensor 46 detects that there is no sample rack 11 on the rack unit 14 and obtains the detection signal emitted by the optical coupling sensor 51 when the rack driving mechanism reaches the second position, indicating that the sample rack transfer is completed, otherwise, the sample rack transfer is not completed and the rack unit remains in a stopped state, and if the sample rack is still not transferred after a set time threshold is reached, an alarm is given. After the sample rack transfer is completed, the rack unit is reset or enters the next sample rack transfer work.

[0049] When the detected sample rack is retrieved, the rack moving unit 14 is driven to move along the rack channel 13. Before the movement, it is determined whether there is an obstacle in the rack channel 13. If yes, an alarm is given and the rack moving unit 14 remains in the stopped state. If no, the rack moving unit 14 is driven to move along the rack channel 13 to the sample transfer area, and the detected sample rack on the rack separating unit 15 is transferred to the rack moving unit 14. During the transfer, the first sample rack detection sensor 46 detects that there is a sample rack 11 on the rack moving unit 14 and the light coupling sensor 50 gives a detection signal when the rack driving mechanism reaches the first position, indicating that the sample rack 11 is transferred. If not, the sample rack is not transferred and the rack moving unit remains in the stopped state. If the sample rack is not transferred after a set time threshold is reached, an alarm is given. After the sample rack 11 is transferred, it is determined whether there is an obstacle in the rack channel 13. If yes, an alarm is given and the rack moving unit 14 remains in the stopped state. If no, the rack moving unit 14 is driven to move along the rack channel 13 to the initial sample position of the detected sample rack 11, and then the detected sample rack on the rack moving unit 14 is transferred to the initial sample position. The initial sample position is the sample position where the sample rack is stored when it is not detected. During the transfer, the first sample rack detection sensor 46 detects that there is no sample rack on the rack moving unit 14 and the light coupling sensor 51 gives a detection signal when the rack driving mechanism reaches the second position, indicating that the sample rack 11 is transferred. If not, the sample rack 11 is not transferred and the rack moving unit remains in the stopped state. If the sample rack is not transferred after a set time threshold is reached, an alarm is given. After the sample rack is transferred, the rack moving unit is reset or enters the next sample rack transfer work.

[0050] Specifically, the rack moving unit is provided with a second detection sensor 21 for detecting whether a sample rack is stored in a sample position. When the third detection sensor 22 detects that the sample basket 20 is placed in the basket work station and receives a detection instruction, the basket locking mechanism locks the sample basket 20 in the basket work station. At the same time, the obstacle detection sensor 40 is used to detect whether there is an obstacle in the rack channel 13. If yes, an alarm is given. If no, the rack moving unit 14 is driven to move along the rack channel 13. At this time, the rack moving unit 14 moves along the rack channel to the basket work station, and the second detection sensor 21 is used to detect whether a sample rack 11 is stored in the sample position in the sample basket. At the same time, the positions of the sample positions 12 with and without sample racks are recorded, and the detection results are sent to the upper computer, so that the storage of the sample rack 11 in each sample position can be accurately recorded.

[0051] Further, when receiving the detection instruction, the driving rack unit 14 transports the sample racks stored in the regular storage area to the sample analyzer in sequence according to the set order. When receiving the emergency detection instruction, the driving rack unit 14 transports the sample racks stored in the emergency storage area to the sample analyzer, and then transports the sample racks stored in the regular storage area to the sample analyzer in sequence according to the set order.

[0052] The embodiment further provides a computer readable storage medium, and the computer readable storage medium stores a computer program. The computer program is executed by a processor to implement the steps of the anti-collision sample rack transportation method.

[0053] The embodiment further provides an analyzer, which comprises a sample rack transportation system. The sample rack transportation system is provided with a rack channel 13 and a driving rack unit 14. The driving rack unit 14 moves along the rack channel 13 according to the anti-collision sample rack transportation method.

[0054] The above-mentioned embodiments are only preferred embodiments of the present application, and the protection scope of the present application is not limited to this. Any equivalent replacement or transformation made by the skilled in the art based on the present application is within the protection scope of the present application. The protection scope of the present application is subject to the claims.

Claims

1. A collision-avoiding sample rack transport method, characterized by: The anti-collision sample rack transportation method is applied to an anti-collision sample rack transportation system, and the anti-collision sample rack transportation system comprises: a rack channel; a rack unit, which is movable along the rack channel to transfer a sample rack; a detection unit for detecting whether there is an obstacle in the rack channel; a judgment unit for judging whether there is an obstacle in the rack unit according to the detection data of the detection unit; an alarm unit for issuing an alarm; Before driving the rack unit to move along the rack channel, the anti-collision sample rack transportation method judges whether there is an obstacle in the rack channel: if yes, an alarm is issued, and the rack unit remains in a stopped state; if no, the rack unit is driven to move along the rack channel to a specified position. When a sample rack to be detected is transported to a sample analyzer, before driving the rack unit to move along the rack channel, the anti-collision sample rack transportation method judges whether there is an obstacle in the rack channel: if yes, an alarm is issued, and the rack unit remains in a stopped state; if no, the rack unit is driven to move along the rack channel to a sample site where the sample rack to be detected is stored, and a rack driving mechanism is used to transfer the sample rack to be detected placed on the sample site to the rack unit; during the transfer process, after detecting that there is a sample rack on the rack unit and obtaining a detection signal that the rack driving mechanism reaches a first position, it is indicated that the sample rack transfer is completed, otherwise, the sample rack transfer is not completed, and the rack unit remains in a stopped state; after the sample rack transfer is completed, it is judged whether there is an obstacle in the rack channel: if yes, an alarm is issued, and the rack unit remains in a stopped state; if no, the rack unit is driven to move along the rack channel to a sample rack transfer area; during the transfer process, after detecting that there is no sample rack on the rack unit and obtaining a detection signal that the rack driving mechanism reaches a second position, it is indicated that the sample rack transfer is completed, otherwise, the sample rack transfer is not completed, and the rack unit remains in a stopped state; after the sample rack transfer is completed, the rack unit is reset or enters a next sample rack transfer work.

2. The anti-collision sample rack transport method of claim 1, wherein: The anti-collision sample rack transportation system further comprises a rack separation unit, which is used to transport the sample rack to be detected on the rack unit to a sample analyzer through an interface unit, or to transfer the detected sample rack input through the interface unit to the rack unit; after driving the rack unit to move along the rack channel to a sample rack transfer area, the sample rack on the rack unit is transferred to the rack separation unit.

3. The anti-collision sample rack transport method of claim 1, wherein: The anti-collision sample rack transportation system further comprises a rack separation unit, which is used to transport the sample rack to be detected on the rack unit to a sample analyzer through an interface unit, or to transfer the detected sample rack input through the interface unit to the rack unit; When the detected sample rack is retrieved, the rack moving unit is driven to move along the rack channel, and before the movement, it is determined whether there is an obstacle in the rack channel: if yes, an alarm is given and the rack moving unit remains in the stopped state; if no, the rack moving unit is driven to move along the rack channel to the sample transfer area, and the detected sample rack on the rack separating unit is transferred to the rack moving unit; during the transfer, when it is detected that there is a sample rack on the rack moving unit and a detection signal is obtained that the rack driving mechanism reaches the first position, it is indicated that the sample rack transfer is completed, otherwise, the sample rack transfer is not completed and the rack moving unit remains in the stopped state; after the sample rack transfer is completed, it is determined whether there is an obstacle in the rack channel: if yes, an alarm is given and the rack moving unit remains in the stopped state; if no, the rack moving unit is driven to move along the rack channel to the initial sample position of the detected sample rack, and then the detected sample rack on the rack moving unit is transferred to the initial sample position. During the transfer, when it is detected that there is no sample rack on the rack moving unit and a detection signal is obtained that the rack driving mechanism reaches the second position, it is indicated that the sample rack transfer is completed, otherwise, the sample rack transfer is not completed and the rack moving unit remains in the stopped state; after the sample rack transfer is completed, the rack moving unit is reset or enters the next sample rack transfer work.

4. The anti-collision sample rack transport method of any of claims 1-3, wherein: During the sample rack transfer, if the sample rack is not transferred after a set time threshold is reached, an alarm is given.

5. The anti-collision sample rack transport method of any of claims 1-3, wherein: The rack moving unit is provided with a second detection sensor for detecting whether a sample rack is placed in a sample position; before the rack moving unit moves to the sample position to be detected, it is determined whether there is an obstacle in the rack channel: if yes, an alarm is given and the rack moving unit remains in the stopped state; if no, the rack moving unit is driven to move along the rack channel to the sample position to be detected, and the second detection sensor is used to detect whether a sample rack is placed in the sample position.

6. The anti-collision sample rack transport method of any of claims 1-3, wherein: The rack moving unit is provided with a first sample rack detection sensor for detecting whether there is a sample rack on the rack moving unit; when the sample rack placed on the sample position is transferred to the rack moving unit or the sample rack on the rack separating unit is transferred to the rack moving unit, the first sample rack detection sensor is used to detect whether there is a sample rack on the rack moving unit: if yes, the rack moving unit is driven to move along the rack channel; if no, an alarm is given.

7. The anti-collision sample rack transport method of any of claims 1-3, wherein: The detection unit comprises an obstacle detection sensor for detecting whether there is an obstacle on both sides of the rack channel.

8. The anti-collision sample rack transport method of any of claims 1-3, wherein: When a detection instruction is received, the rack moving unit is driven to transfer the detected sample racks stored in the regular storage area in turn according to a set order; When an emergency detection instruction is received, the rack moving unit is driven to transfer the detected sample racks stored in the emergency storage area, and then to transfer the detected sample racks stored in the regular storage area in turn according to a set order.

9. A computer-readable storage medium, characterized in that: The computer readable storage medium stores a computer program, and the computer program is executed by the processor to implement the steps of the anti-collision sample rack transportation method according to any one of claims 1-8.

10. An analyzer characterized by: A sample rack transportation system is provided, and the sample rack transportation system is provided with a rack channel and a rack moving unit, and the rack moving unit moves along the rack channel according to the anti-collision sample rack transportation method according to any one of claims 1-8.

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