Sample In-and-Out Warehouse Control Method and Device, Sample Transfer Component, Analyzer and Medium

Abstract

An embodiment of the present invention provides a sample entry and exit control method and device, a sample transfer component, a sample analyzer and a computer-readable storage medium. The sample entry and exit control method includes: obtaining a target position; based on the current position of the sample transfer component and the relative position relationship between the target position and the warehouse door area, controlling the sample transfer component to move from the current position to the target position, passing through the warehouse door area at a safe speed lower than a set value.

Description

Technical Field

[0001] The present invention relates to the field of sample detection technology, and in particular to a sample entry and exit control method and device, a sample transport component, a sample analyzer, and a computer-readable storage medium. Background Art

[0002] At present, the detection equipment for testing blood samples has basically developed towards the direction of intelligent detection with automatic sampling and detection. Through automatic sampling and detection, manual operation can be greatly reduced and detection efficiency can be improved. It has been widely used in the field of medical testing.

[0003] Typically, a testing device includes a sample introduction mechanism, a sample transport assembly, and a measuring unit. The sample introduction mechanism automatically introduces samples and transfers them to the corresponding sampling points in the measuring unit. The sample transport assembly then transfers the samples from the sampling points to the measuring unit's testing chamber for testing. During this process, the sample transport assembly can easily collide with the measuring unit's chamber door, causing damage. Summary of the Invention

[0004] In order to solve the existing technical problems, the present invention provides a sample entry and exit control method and device, a sample transfer component, a sample analyzer and a computer-readable storage medium that can optimize the sample transfer process and reduce the damage rate of the warehouse door.

[0005] To achieve the above-mentioned purpose, the technical solution of the embodiment of the present invention is implemented as follows:

[0006] A sample entry and exit control method, comprising:

[0007] Get the target location;

[0008] According to the current position of the sample transport component, the relative position relationship between the target position and the warehouse door area, the sample transport component is controlled to pass through the warehouse door area at a safe speed lower than the set value during the process of moving from the current position to the target position.

[0009] The sample entry and exit control method further includes:

[0010] A position located inside the door and spaced a set distance from the door is used as a preset entry and exit position, and a position where the end of the sample transport component separates from the door during the process of the sample transport component entering and exiting the door is used as a preset end position, and the door area is formed between the preset entry and exit position and the preset end position; or

[0011] The position of the warehouse door is used as the preset entry and exit position, and the position where the end of the sample transfer component is separated from the warehouse door during the process of the sample transfer component entering and exiting the warehouse door is used as the preset end point position. The warehouse door area is formed between the preset entry and exit position and the preset end point position.

[0012] The method of controlling the sample transport component to move from the current position to the target position so as to pass through the door area at a safe speed lower than a set value according to the relative positional relationship between the current position of the sample transport component, the target position, and the door area includes:

[0013] When the current position is located on the side of the warehouse door area close to the interior of the warehouse door, and the target position is located in the warehouse door area or on the side of the warehouse door area close to the interior of the warehouse door, the sample transport component is controlled to move from the current position to the target position at a transport speed higher than the set value.

[0014] The method of controlling the sample transport component to move from the current position to the target position so as to pass through the door area at a safe speed lower than a set value according to the relative positional relationship between the current position of the sample transport component, the target position, and the door area includes:

[0015] When the current position is located on the side of the warehouse door area close to the outside of the warehouse door, and the target position is located in the warehouse door area or on the side of the warehouse door area close to the inside of the warehouse door, the sample transport component is controlled to move from the current position to the target position at a safe speed lower than the set value.

[0016] The method of controlling the sample transport component to move from the current position to the target position so as to pass through the door area at a safe speed lower than a set value according to the relative positional relationship between the current position of the sample transport component, the target position, and the door area includes:

[0017] When the current position is located on the side of the door area close to the inside of the door, and the target position is located on the side of the door area close to the outside of the door, the sample transport component is controlled to move from the current position to the preset entry and exit position at a transport speed higher than the set value, and then move from the preset entry and exit position to the target position at a safety speed lower than the set value.

[0018] The method of controlling the sample transport component to move from the current position to the target position so as to pass through the door area at a safe speed lower than a set value according to the relative positional relationship between the current position of the sample transport component, the target position, and the door area includes:

[0019] When the current position is located on the side of the door area close to the outside of the door, and the target position is located on the side of the door area close to the inside of the door, the sample transport component is controlled to move from the current position to the preset entry and exit position at a safety speed lower than the set value, and then move from the preset entry and exit position to the target position at a transport speed higher than the set value.

[0020] The method of controlling the sample transport component to move from the current position to the target position so as to pass through the door area at a safe speed lower than a set value according to the relative positional relationship between the current position of the sample transport component, the target position, and the door area includes:

[0021] When both the current position and the target position are located within the door area, controlling the sample transport component to move from the current position to the target position at a safety speed lower than a set value;

[0022] When neither the current position nor the target position is located within the door area, the sample transport component is controlled to move from the current position to the target position at a safety speed lower than a set value, or the sample transport component is controlled to move from the current position to the target position at a transport speed higher than the set value.

[0023] Wherein, in the process of controlling the sample transport component to move from the current position to the target position according to the relative positional relationship between the target position and the door area, before passing through the door area at a safe speed lower than a set value, the method further includes:

[0024] When the initialization conditions are met, initializing the sample transport component;

[0025] The real-time position of the sample transport component after initialization is recorded to determine the current position of the sample transport component.

[0026] The initializing of the sample transport component includes:

[0027] Determining whether the sample transport component is currently in an initial position;

[0028] When it is determined that the current position is not the initial position, controlling the sample transport component to run a specified number of steps at a safety speed lower than a set value;

[0029] During the movement of the sample transport component, it is determined whether the sample transport component has reached the initial position optical coupler;

[0030] If the initial position optocoupler is reached, the remaining steps of the driving motor are modified to the set motor compensation steps to complete the initialization;

[0031] If the sample transport component has not reached the initial position optical coupler, the sample transport component is controlled to move at a transport speed higher than the set value and at the maximum number of steps, and the process of determining whether the sample transport component has reached the initial position optical coupler during the movement of the sample transport component is returned to.

[0032] The initializing of the sample transport component further includes:

[0033] When it is determined that the sample transport component is currently in the initial position, controlling the sample transport component to move a fixed number of steps from the current position toward the outside of the chamber door, and then returning to the initial position with a maximum number of steps;

[0034] Determining whether the sample transport component has reached the initial position optical coupler;

[0035] If the initial position optocoupler is reached, the remaining steps of the driving motor are modified to the set motor compensation steps to complete the initialization;

[0036] If the optical coupler has not reached the initial position, the process returns to determining whether the sample transport component is currently in the initial position.

[0037] Wherein, when it is determined that the current position is not the initial position, controlling the sample transport component to run at a safety speed lower than a set value for a specified number of steps before the speed is controlled includes:

[0038] The specified number of steps is determined based on the distance of the warehouse door area.

[0039] Wherein, when the initialization condition is met, before initializing the sample transport component, the method further includes:

[0040] Determine whether at least one of the following conditions is met: the current position of the sample transport component cannot be determined, the target position of the sample transport component cannot be determined, the number of times the current position is used to calculate the travel of the sample transport component exceeds a set value, the detection device is initially powered on after being shut down, the detection device is restarted, and the sample transport component obtains a new sample to be detected from the sampling position;

[0041] If so, the initialization condition is met.

[0042] A sample entry and exit control device, comprising:

[0043] Acquisition module, used to obtain the target position;

[0044] The speed control module is used to control the sample transport component to move from the current position to the target position according to the relative position relationship between the target position and the warehouse door area, so that the sample transport component passes through the warehouse door area at a safe speed lower than the set value.

[0045] A sample transport component includes a processor, a memory, and a computer program stored in the memory and executable by the processor. When the computer program is executed by the processor, it implements the sample entry and exit control method described in any embodiment of the present application.

[0046] The sample transport assembly further comprises a sample moving device, which comprises a drive motor connected to the processor, an endless belt driven by the drive motor, a moving member provided on the endless belt, and a first sample placing member and a second sample placing member provided on the moving member;

[0047] The first sample placing component and the second sample placing component are respectively used to carry sample containers containing samples to be tested.

[0048] Wherein, the sample moving device further includes a connecting member for detachably mounting the first sample placing member and the second sample placing member on the moving member.

[0049] A sample analyzer comprises a sample injection mechanism, a measuring unit, and a sample transport component as described in any embodiment of the present application, wherein the sample injection mechanism is used to automatically inject samples and transport the sample to be tested to a sampling point corresponding to the measuring unit, the sample transport component is used to transport the sample to be tested at the sampling point to the measuring unit for testing, and the measuring unit is used to detect and analyze the sample to be tested and report the test results to the processor.

[0050] A computer-readable storage medium stores a computer program, which, when executed by a processor, is used to implement the sample entry and exit control method described in any embodiment of the present application.

[0051] The above-mentioned embodiments provide a method and device for controlling the entry and exit of samples, a sample transfer component, a sample analyzer, and a computer-readable storage medium. In the process of transferring the sample to be tested from the sampling mechanism to the detection chamber of the measuring unit for testing through the sample transfer component, by obtaining the target position, the sample transfer component is controlled to move from the current position to the target position according to the current position of the sample transfer component and the relative position relationship between the target position and the chamber door area, so as to pass through the chamber door area at a safe speed lower than the set value. By setting the chamber door area, the sample transfer component is controlled to always pass through the chamber door position at a safe speed lower than the set value, and always enter and exit the chamber door at a slower speed, which can largely avoid collision with the chamber door and causing damage. BRIEF DESCRIPTION OF THE DRAWINGS

[0052] Figure 1 A schematic diagram of a sample analyzer in an optional application scenario of a sample entry and exit control method in an embodiment;

[0053] Figure 2 Flowchart of a sample entry and exit control method in one embodiment;

[0054] Figure 3 This is a flow chart of a sample entry and exit control method in another embodiment;

[0055] Figures 4 to 7 Schematic diagrams of the current position, target position, and relative position of the door area of the sample transport component;

[0056] Figure 8 This is a flowchart of the initialization process in the sample entry and exit control method in an optional specific example;

[0057] Figure 9 This is a flowchart of the walking process in the sample entry and exit control method in an optional specific example;

[0058] Figure 10 Schematic diagram of a sample entry and exit control device in one embodiment;

[0059] Figure 11 is a schematic diagram of a sample transport component in one embodiment;

[0060] Figure 12 for Figure 11 Schematic diagram of the structure of the sample moving device;

[0061] Figure 13 for Figure 12 Side view of the sample moving device. DETAILED DESCRIPTION

[0062] The technical solution of this application is further elaborated in detail below with reference to the accompanying drawings and specific embodiments.

[0063] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the art to which the present invention pertains. The terms used herein in the specification of the present invention are for the purpose of describing specific embodiments only and are not intended to limit the implementation of the present invention. The term "and / or" as used herein includes any and all combinations of one or more of the associated listed items.

[0064] In the following description, reference is made to “some embodiments” which describe a subset of possible embodiments, but it should be understood that “some embodiments” may be the same subset or different subsets of all possible embodiments and may be combined with each other without conflict.

[0065] See also Figure 1 , is a schematic diagram of the structure of a sample analyzer provided in one embodiment of the present application, wherein the sample analyzer includes a sample injection mechanism 30, a measuring unit 20, and a control device 10. The sample injection mechanism 30 is used to automatically inject a sample to be tested, the measuring unit 20 includes a first measuring unit 21 and a second measuring unit 22 arranged in parallel, and the control device 10 may include one or more physically separate processors. As an optional embodiment, the control device 10 is composed of multiple separate processors that are respectively connected to the first measuring unit 21, the second measuring unit 22, and the sample injection mechanism 30. As another optional embodiment, the control device 10 may also be a single processor that is connected to the first measuring unit 21, the second measuring unit 22, and the sample injection mechanism 30.

[0066] The first measuring unit 21 and the second measuring unit 22 are essentially the same type of measuring devices. The first measuring unit 21 and the second measuring unit 22 can include multiple working modes, and can respectively detect different indicators of the sample to be tested in different working modes. In the same working period of the detection equipment, the first measuring unit 21 and the second measuring unit 22 can select the same working mode or different working modes. The first measuring unit 21 and the second measuring unit 22 can respectively include a sample aspirator for aspirating samples from the sample container, a sample maker for preparing a test sample based on the sample aspirated by the sample aspirator, and a detector for detecting the test sample prepared by the oxygenator. The first detection unit 21 and the second detection unit 22 can also respectively include a shell that houses the sample aspirator and the sample maker, a sensor arranged at a specified position in the shell, and a sample transport component that aspirates the sample to be tested into the shell and transports it to the sample aspirator, detector and other positions in the shell. Taking a sample to be tested as an example, the detection process of the detection device includes: the sample feeding mechanism 30 loads the sample container carrying the sample to be tested into the detection device, the control device 10 distributes the sample to be tested to the corresponding measurement unit according to the set sample distribution strategy, the sample feeding mechanism 30 transports the sample to be tested to the sampling position of the corresponding measurement unit, and the sample transport component sucks the sample to be tested at the sampling position into the housing and transports it to the detection chamber of the measurement unit, that is, the sample aspirator, detector and other positions located in the housing of the measurement unit for detection. In the embodiment of the present application, the sample transport component can also be called a relay component.

[0067] See also Figure 2 , a sample entry and exit control method provided in an embodiment of the present application, applied to a processing device, includes the following steps:

[0068] S101, obtaining a target position.

[0069] The target location refers to the destination to which the current sample to be tested will be transported. Optionally, the analyzer may be a cascade analyzer, comprising multiple parallel measurement units. After the testing device transports the sample to the corresponding sampling position of the measurement unit via a sample feed mechanism, the sample transport assembly then transfers the sample from the sampling position to the detection chamber of the measurement unit for testing. After the sample to be tested is loaded into a sample container via the sample feed mechanism, the control device determines the target location of the sample to be tested based on a preset sample allocation strategy.

[0070] S103, according to the current position of the sample transport component, the relative position relationship between the target position and the warehouse door area, controlling the sample transport component to move from the current position to the target position and pass through the warehouse door area at a safe speed lower than the set value.

[0071] During the process of transporting the sample to be tested by the sample transport component, the control device will record the movement trajectory of the sample transport component in real time to obtain the current position of the sample transport component in real time. The door area is usually related to the size of the area where the sample transport component maintains contact with the door when the sample transport component exits the detection chamber of the measurement unit. The speed of opening or closing the door is related to the movement speed of the sample transport component. Among them, the sample transport component passing through the door area includes two states: entering the chamber and exiting the chamber. When the sample transport component exits the chamber, according to the movement direction of the sample transport component, the end that first approaches and abuts the door is the front end, and the end that finally passes through the door is the end end. After the front end of the sample transport component abuts the door, the door is pressed under the sample transport component as the sample transport component moves until the sample transport component continues to move until its end separates from the door, and the door elastically returns to the closed state. When the sample transport component enters the chamber, according to the movement direction of the sample transport component, the end that first approaches the door is the end end, and the end that finally passes through the door is the front end.

[0072] During the process of the sample transfer component moving from the current position to the target position, according to the current position of the sample transfer component, the relative position relationship between the target position and the warehouse door area, when the sample transfer component enters the warehouse from outside the warehouse door, the sample transfer component is first controlled to pass through the warehouse door area at a lower speed, and then switches to a faster speed to move to the target position; when the sample transfer component moves out of the warehouse from inside the warehouse door, the sample transfer component is first controlled to reach a position close to the warehouse door at a faster speed, and then passes through the warehouse door area at a lower speed. In this way, by setting the warehouse door area, the sample transfer component is controlled to always pass through the warehouse door position at a safe speed lower than the set value, and always enters and exits the warehouse door at a slower speed. This can effectively improve the rapid movement of the sample transfer component in the detection warehouse of the measurement unit to ensure detection efficiency, and can largely avoid collision with the warehouse door and causing damage.

[0073] In some embodiments, see Figure 4 The sample entry and exit control method further includes:

[0074] S102, setting a position located inside the door and spaced a set distance from the door as a preset entry and exit position, setting a position where the end of the sample transport component is separated from the door during the process of the sample transport component entering and exiting the door as a preset end position, and the door area is formed between the preset entry and exit position and the preset end position; or

[0075] The position of the warehouse door is used as the preset entry and exit position, and the position where the end of the sample transfer component is separated from the warehouse door during the process of the sample transfer component entering and exiting the warehouse door is used as the preset end point position. The warehouse door area is formed between the preset entry and exit position and the preset end point position.

[0076] The preset entry and exit position is set in the chamber door or at the location of the chamber door. Preferably, after the sample transfer component as a whole enters the detection chamber of the measurement unit, when the first sample to be tested at one end of the sample transfer component arrives at the designated detection position, a certain point in the interval between the other end of the sample transfer component and the chamber door is used as the preset entry and exit position.

[0077] When the sample transfer component exits the detection chamber of the measuring unit, the front end of the sample transfer component abuts against the chamber door and pushes the chamber door open, so that the chamber door is pressed under the sample transfer component as the sample transfer component moves, until the sample transfer component continues to move to its end and separates from the chamber door, and the chamber door elastically returns to a closed state. During this process, the position where the end of the sample transfer component separates from the chamber door is the preset end position, which means that the sample transfer component has completed the chamber exit action.

[0078] In the above embodiment, a position in front of the warehouse door or the position where the warehouse door is located is used as the preset entry and exit position, and the position where the end of the sample transfer component is separated from the warehouse door during the process of the sample transfer component entering and exiting the warehouse door is used as the preset end point position. The warehouse door area is determined by the preset entry and exit position and the preset end point position. During the process of the sample transfer component transferring the sample to be tested, the sample transfer component always passes through the warehouse door area at a slower speed when entering and exiting the warehouse door, so that the speed of the sample transfer component entering and exiting the warehouse door matches the closing speed of the warehouse door. When the sample transfer component transports the sample to be tested to the detection warehouse of the measurement unit, the warehouse door will not collide with the end of the sample transfer component when closing, thereby damaging the warehouse door.

[0079] In some embodiments, controlling the sample transport assembly to pass through the door area at a safe speed lower than a set value during the process of moving from the current position to the target position based on the relative positional relationship between the current position of the sample transport assembly, the target position, and the door area includes:

[0080] When the current position is located on the side of the warehouse door area close to the interior of the warehouse door, and the target position is located in the warehouse door area or on the side of the warehouse door area close to the interior of the warehouse door, the sample transport component is controlled to move from the current position to the target position at a transport speed higher than the set value.

[0081] The control device records the movement trajectory of the sample transport component in real time, thereby obtaining the current position of the sample transport component. When the sample to be tested is loaded into the detection device by the sample feeding mechanism, the control device determines the target position of the sample to be tested according to the preset sample distribution strategy. Figure 4The control device controls the sample transport component to move from the current position to the target position at a transport speed higher than the set value according to the current position of the sample transport component and the relative position relationship between the target position and the warehouse door area, when the current position is located on the side of the warehouse door area close to the inside of the warehouse door, and the target position is located in the warehouse door area or on the side of the warehouse door area close to the inside of the warehouse door, thereby ensuring the transport efficiency of the sample to be tested in the measurement unit.

[0082] In the above embodiment, a position in front of the warehouse door is used as the preset entry and exit position. After the sample transport component transports the sample to be tested into the warehouse door of the detection unit, the sample transport component realizes the transportation of the sample to be tested between different positions in the detection warehouse. When it is determined that the current position is located in the warehouse door area on the side close to the warehouse door, and the target position is located in the warehouse door area or on the side close to the warehouse door in the warehouse door area, a relatively high transport speed can be maintained, which can effectively avoid the end of the sample transport component from causing collision and damaging the warehouse door, and can improve the transportation efficiency of the sample transport component for the sample to be tested.

[0083] In some embodiments, controlling the sample transport assembly to pass through the door area at a safe speed lower than a set value during the process of moving from the current position to the target position based on the relative positional relationship between the current position of the sample transport assembly, the target position, and the door area includes:

[0084] When the current position is located on the side of the warehouse door area close to the outside of the warehouse door, and the target position is located in the warehouse door area or on the side of the warehouse door area close to the outside of the warehouse door, the sample transport component is controlled to move from the current position to the target position at a safe speed lower than the set value.

[0085] The control device records the movement trajectory of the sample transport component in real time, thereby obtaining the current position of the sample transport component. When the sample to be tested is loaded into the detection device by the sample feeding mechanism, the control device determines the target position of the sample to be tested according to the preset sample distribution strategy. Figure 5The control device controls the sample transport component to move from the current position to the target position at a safety speed lower than the set value based on the current position of the sample transport component, the relative position relationship between the target position and the warehouse door area, when the current position is located on the side of the warehouse door area close to the outside of the warehouse door, and the target position is located in the warehouse door area or on the side of the warehouse door area close to the inside of the warehouse door. This can avoid the sample to be tested from colliding with the warehouse door and damaging the warehouse door when passing through the warehouse door. The opening and closing speed of the warehouse door is associated with the running speed of the sample transport component. When the target position of the sample transport component is in the warehouse door area or on the side of the warehouse door area close to the inside of the warehouse door, it indicates that when the sample transport component moves to the target position, the warehouse door will collide with the end of the sample transport component if it is fully closed. In the process of the control device controlling the sample transport component to always pass through the warehouse door at a safety speed lower than the set value, the closing speed of the warehouse door ensures that the real-time state of the warehouse door will not collide with the end of the sample transport component.

[0086] In the above embodiment, a position in front of the warehouse door is used as a preset entry and exit position and a warehouse door area is set. During the process of the sample transfer component transporting the sample to be tested from the outside of the measuring unit to the inside of the detection warehouse, when the target position of the sample transfer component is in the warehouse door area or on the side of the warehouse door area close to the inside of the warehouse door, the control device controls the sample transfer component to always pass through the warehouse door at a safe speed lower than the set value. The closing speed of the warehouse door is associated with the running speed of the sample transfer component, so as to ensure that when the sample transfer component moves to the target position and stops, the state of the warehouse door will not collide with the end of the sample transfer component and cause damage to the warehouse door.

[0087] In some embodiments, controlling the sample transport assembly to pass through the door area at a safe speed lower than a set value during the process of moving from the current position to the target position based on the relative positional relationship between the current position of the sample transport assembly, the target position, and the door area includes:

[0088] When the current position is located on the side of the door area close to the inside of the door, and the target position is located on the side of the door area close to the outside of the door, the sample transport component is controlled to move from the current position to the preset entry and exit position at a transport speed higher than the set value, and then move from the door entry and exit position to the target position at a safety speed lower than the set value.

[0089] The control device records the movement trajectory of the sample transport component in real time, thereby obtaining the current position of the sample transport component. When the sample to be tested is loaded into the detection device by the sample feeding mechanism, the control device determines the target position of the sample to be tested according to the preset sample distribution strategy. Figure 6, the control device controls the sample transport component to move from the current position to the preset entry and exit position at a transport speed higher than the set value, and then move from the preset entry and exit position to the target position at a safety speed lower than the set value, based on the current position of the sample transport component, the target position and the warehouse door area. When the current position is located on the inner side of the warehouse door area and the target position is located on the outer side of the warehouse door area, the sample transport component is controlled to move from the current position to the preset entry and exit position at a transport speed higher than the set value. The sample transport component is located on the inner side of the warehouse door area and the target position is located on the outer side of the warehouse door. The sample transport component moves inside the detection chamber of the measuring unit. At this time, the sample transport component moves at a relatively high speed, which can not only ensure the efficiency of the sample transport component in transporting the sample to be tested, but also prevent the chamber door from closing and colliding with the end of the sample transport component to be damaged; in the process of the sample transport component moving from the preset entry and exit position to the target position outside the measuring unit, the sample transport component is controlled to run at a safe speed lower than the set value, which can ensure that when the sample transport component exits the chamber door, the chamber door closing speed matches the running speed of the sample transport component and there will be no collision between the chamber door and the end of the sample transport component, thereby reducing the damage rate of the chamber door to a certain extent.

[0090] In the above embodiment, a position in front of the chamber door is used as a preset entry and exit position and the chamber door area is determined. In the process of the sample transfer component moving the sample to be tested from the inside of the measuring unit to the outside, the control device divides the travel area of the sample transfer component into two sections. The first section is the movement inside the detection chamber of the measuring unit, and the second section is the movement from the inside of the detection chamber to the outside of the chamber. The sample transfer component can maintain high-speed operation in the first section and maintain a safe speed lower than the set value in the second section. In this way, it can ensure the efficient operation efficiency of the sample transfer component in the detection chamber of the measuring unit, and avoid the sample transfer component colliding with the chamber door when passing through the chamber door and damaging the chamber door.

[0091] In some embodiments, controlling the sample transport assembly to pass through the door area at a safe speed lower than a set value during the process of moving from the current position to the target position based on the relative positional relationship between the current position of the sample transport assembly, the target position, and the door area includes:

[0092] When the current position is located on the side of the door area close to the outside of the door, and the target position is located on the side of the door area close to the inside of the door, the sample transport component is controlled to move from the current position to the preset entry and exit position at a safety speed lower than the set value, and then move from the preset entry and exit position to the target position at a transport speed higher than the set value.

[0093] The control device records the movement trajectory of the sample transport component in real time, thereby obtaining the current position of the sample transport component. When the sample to be tested is loaded into the detection device by the sample feeding mechanism, the control device determines the target position of the sample to be tested according to the preset sample distribution strategy. Figure 7 The control device controls the sample transfer component to move from the current position to the preset entry and exit position at a safety speed lower than the set value, and then to move from the preset entry and exit position to the target position at a transfer speed higher than the set value, based on the current position of the sample transfer component, the target position and the relative position relationship between the warehouse door area and the warehouse door area, when the current position is on the side of the warehouse door area close to the outside and the target position is on the side of the warehouse door area close to the inside of the warehouse door. The current position is on the side of the warehouse door area close to the outside of the warehouse door, and the interval in which the sample transfer component moves from the current position to the preset entry and exit position belongs to the movement process of the measuring unit entering the detection chamber from outside the detection chamber. At this time, the movement of the sample transfer component at a safety speed lower than the set value can ensure that the sample transfer component will not collide with the warehouse door and be damaged during the entry process; the interval in which the sample transfer component moves from the preset entry and exit position to the target position inside the measuring unit belongs to the movement process inside the detection chamber of the measuring unit. Controlling the sample transfer component to always run at a higher operating speed inside the detection chamber can ensure the efficiency of the sample transfer component in transporting the samples to be tested.

[0094] In the above embodiment, a position in front of the chamber door is used as a preset entry and exit position and the chamber door area is determined. In the process of the sample transfer component moving the sample to be tested from the outside to the inside of the measuring unit, the control device divides the travel area of the sample transfer component into two sections. The first section is the movement from the outside of the detection chamber to the inside of the chamber, and the second section is the movement inside the detection chamber of the measuring unit. The sample transfer component is controlled to maintain a safe speed in the first section and a high speed in the second section. In this way, it can ensure the efficient operation efficiency of the sample transfer component in the detection chamber of the measuring unit, and avoid the sample transfer component colliding with the chamber door when passing through the chamber door and damaging the chamber door.

[0095] In some embodiments, controlling the sample transport assembly to pass through the door area at a safe speed lower than a set value during the process of moving from the current position to the target position based on the relative positional relationship between the current position of the sample transport assembly, the target position, and the door area includes:

[0096] When both the current position and the target position are located within the door area, controlling the sample transport component to move from the current position to the target position at a safety speed lower than a set value;

[0097] When neither the current position nor the target position is located within the door area, the sample transport component is controlled to move from the current position to the target position at a safety speed lower than a set value, or the sample transport component is controlled to move from the current position to the target position at a transport speed higher than the set value.

[0098] The control device records the motion trajectory of the sample transport component in real time, thereby obtaining the current position of the sample transport component. After the sample to be tested is loaded into the detection device by the sample injection mechanism, the control device determines the target position of the sample to be tested according to the preset sample distribution strategy. Based on the current position of the sample transport component, the relative position relationship between the target position and the door area, if the current position and the target position are both within the door area, the control device controls the sample transport component to move from the current position to the target position at a safe speed lower than the set value; on the contrary, if the current position and the target position are both not within the door area, that is, the current position and the target position may be simultaneously located on the side of the door area close to the outside of the door, or the current position and the target position may be simultaneously located on the side of the door area close to the inside of the door, the sample transport component can also be controlled to always maintain a low speed or always maintain a high speed to move from the current position to the target position.

[0099] In the above embodiment, the control device controls the sample transport component to maintain the same speed of movement according to whether the current position and the target position are both within the warehouse door area or outside the warehouse door area, and adopts a low-speed passage condition if it needs to pass through the warehouse door area. In this way, the control strategy can be simplified and the sample transport component can be prevented from colliding with the warehouse door and damaging the warehouse door when passing through the warehouse door.

[0100] In some embodiments, the process of controlling the sample transport assembly to move from the current position to the target position based on the relative positional relationship between the current position of the sample transport assembly, the target position, and the door area, before passing through the door area at a safe speed lower than a set value, further includes:

[0101] When the initialization conditions are met, initializing the sample transport component;

[0102] The real-time position of the sample transport component after initialization is recorded to determine the current position of the sample transport component.

[0103] The initialization conditions are pre-set trigger conditions that control the sample transport component to perform initialization when met.

[0104] Optionally, when the initialization conditions are met, before initializing the sample transport component, the process further includes determining whether at least one of the following conditions is met: the current position of the sample transport component cannot be determined, the target position of the sample transport component cannot be determined, the number of times the current position is used to calculate the travel of the sample transport component exceeds a set value, the detection device is initially powered on after being shut down, the detection device is restarted, and the sample transport component obtains a new sample to be detected from the sampling position;

[0105] If so, the initialization condition is met.

[0106] The initialization conditions can be adjusted according to actual application requirements. The control device can determine that the initialization conditions are met when the current position cannot be obtained, when the current position is used to calculate the number of times the sample transport component's travel exceeds a set value, when the detection device is initially powered on after being shut down, when the detection device is restarted, or when the sample transport component obtains a new sample to be detected from the sampling position. The control device can then control the sample transport component to perform an initialization according to the initialization process, and by recording the relative position of the sample transport component relative to the initial position in real time after the initialization is performed, a more accurate current position of the sample transport component can be obtained.

[0107] In the above embodiment, the control device can control the initialization of the sample transport component based on the pre-set initialization conditions, when it is determined that the initialization conditions are met. Through initialization, it can be ensured that the current position based on which the motion control of the sample transport component is based is more accurate, thereby improving the accuracy of the motion control of the sample transport component.

[0108] In some embodiments, initializing the sample transport component includes:

[0109] Determining whether the sample transport component is currently in an initial position;

[0110] When it is determined that the current position is not the initial position, controlling the sample transport component to run a specified number of steps at a safety speed lower than a set value;

[0111] During the movement of the sample transport component, it is determined whether the sample transport component has reached the initial position optical coupler;

[0112] If the initial position optocoupler is reached, the remaining steps of the driving motor are modified to the set motor compensation steps to complete the initialization;

[0113] If the sample transport component has not reached the initial position optical coupler, the sample transport component is controlled to move at a transport speed higher than the set value and at the maximum number of steps, and the process of determining whether the sample transport component has reached the initial position optical coupler during the movement of the sample transport component is returned to.

[0114] The initial position refers to a reference position that is pre-set based on the transport stroke of the sample to be tested by the sample transport component. An initial position optical coupler is provided at the initial position. When the sample transport component runs to the initial position, the motor block of the sample transport component just blocks the initial position optical coupler. When the initial position optical coupler detects the blockage, it sends the corresponding blockage information to the control device, thereby determining that the sample transport component has reached the initial position. In the embodiment of the present application, the initial position can be used as the coordinate origin for determining the entire motion stroke of the sample transport component. The current position, the door area position, and the target position of the sample transport component are all determined with the initial position as the reference point. In the process of initializing the sample transport component, first, based on the blockage information of whether the initial position optical coupler is blocked, it is determined whether the sample transport component is currently in the initial position. When the control device determines that the sample transport component is not currently in the initial position, the control device controls the sample transport component to run a specified number of steps at a safe speed lower than the set value, and when the sample transport component moves the specified number of steps, it determines whether the initial position optical coupler is reached based on the shielding information of whether the initial position optical coupler is blocked. When the sample transport component reaches the initial position optical coupler at a certain moment during this process, the remaining steps of the drive motor are modified to the set compensation steps to complete the initialization. After the initialization is completed, the position of the sample transport component relative to the initial position is recorded in real time to determine the current position of the sample transport component. The specified number of steps refers to a fixed number of steps set in advance, which can be determined based on the length of the stroke of the sample transport component from outside the detection chamber of the measurement unit to inside the detection chamber. During the process of the sample transfer component moving the specified number of steps, it is determined whether the initial position optocoupler is reached based on the occlusion information of whether the initial position optocoupler is blocked. If the sample transfer component has not encountered the initial position optocoupler during this process, the sample transfer component is controlled to switch to a faster speed to continue running, and in the process of running at a faster speed, it is determined in real time whether the initial position optocoupler is reached based on the occlusion information of whether the initial position optocoupler is blocked. If the initial position optocoupler is reached at some point, the remaining steps of the drive motor are modified to the set compensation steps to complete the initialization. After the initialization is completed, the position of the sample transfer component relative to the initial position is recorded in real time to determine the current position of the sample transfer component.

[0115] In the above embodiment, during the process of initializing the sample transfer component, the control device first controls the sample transfer component to run a specified number of steps at a safe speed lower than the set value. If the sample transfer component reaches the initial position optocoupler at some point during the process of running the specified number of steps, the initialization is completed; if the sample transfer component does not reach the initial position optocoupler during the process of running the specified number of steps, the setting of the specified number of steps can ensure that the sample transfer component passes through the warehouse door. At this time, the control device can control the sample transfer component to switch to a faster speed to continue running, and continue to judge whether the sample transfer component reaches the initial position optocoupler during the process of switching to a faster speed. After the drive motor baffle encounters the initial position optocoupler, the remaining steps of the drive motor will be modified to the set compensation steps. After the drive motor stops, the drive motor baffle aligns with the initial position optocoupler, indicating that the initialization is successfully executed. This can improve the accuracy of the current position based on which the motion control of the sample transfer component is based, thereby improving the accuracy of the motion control of the sample transfer component.

[0116] In some embodiments, the initializing the sample transport component further comprises:

[0117] When it is determined that the sample transport component is currently in the initial position, controlling the sample transport component to move a fixed number of steps from the current position toward the outside of the chamber door, and then returning to the initial position with a maximum number of steps;

[0118] Determining whether the sample transport component has reached the initial position optical coupler;

[0119] If the initial position optocoupler is reached, the remaining steps of the driving motor are modified to the set motor compensation steps to complete the initialization;

[0120] If the optical coupler has not reached the initial position, the process returns to determining whether the sample transport component is currently in the initial position.

[0121] During the initialization of the sample transport component, first, based on the shielding information of whether the initial position optical coupler is blocked, it is determined whether the sample transport component is currently in the initial position. When the control device determines that the sample transport component is currently in the initial position, it controls the sample transport component to run a fixed number of steps from the current position toward the outside of the chamber door, and then returns to the initial position with the maximum number of steps to determine whether the sample transport component has reached the initial position optical coupler. If it has reached the initial position optical coupler, the remaining steps of the drive motor are modified to the set motor compensation steps. If the drive motor stops and the drive motor block is aligned with the initial position optical coupler, it indicates that the initialization is successful. After the initialization is completed, the position of the sample transport component relative to the initial position is recorded in real time to determine the current position of the sample transport component. If it has not reached the initial position optical coupler, it returns to the step of determining whether the sample transport component is currently in the initial position, and re-initializes the sample transport component until the initialization is successful.

[0122] In the above embodiment, during the process of the control device initializing the sample transfer component, the control device determines that the sample transfer component is currently in the initial position based on the blocking information of whether the initial position optical coupler is blocked. The control device controls the sample transfer component to move outward for a specified number of steps first, and then return to the initial position optical coupler with the maximum number of steps. When the drive motor baffle encounters the initial position optical coupler, the remaining steps of the drive motor are modified to the motor compensation steps. After the drive motor stops, the drive motor baffle is aligned with the initial position optical coupler, indicating that the initialization is successfully performed. This can improve the accuracy of the current position based on which the motion control of the sample transfer component is based, thereby improving the accuracy of the motion control of the sample transfer component.

[0123] In some embodiments, when determining that the current position is not the initial position, controlling the sample transport component to run a specified number of steps at a safety speed lower than a set value includes:

[0124] The specified number of steps is determined based on the distance of the warehouse door area.

[0125] The designated number of steps can be determined based on the distance to the door area, which can determine the minimum stroke for the sample transport to operate at a low speed. During the movement of the sample transport component from the sampling position to the interior of the door, if the current position of the sample transport component is unclear or there may be an error, if the current position of the sample transport component is at a certain position outside the detection chamber of the measurement unit, and the control device controls the sample transport component to operate for the designated number of steps, if the sample transport component has never passed the initial position, then after the sample transport component has moved the designated number of steps, the sample transport component has passed the door area, and the control device can control the sample transport component to continue operating at a faster speed until it reaches the initial position and performs initialization successfully.

[0126] In the above embodiment, the specified number of steps is determined based on the distance to the door area, which can ensure that during the initialization process, the sample transport component can operate efficiently in the detection chamber of the measurement unit, and can also avoid the sample transport component colliding with the door when passing through the door and damaging the door.

[0127] In order to have a more comprehensive understanding of the sample entry and exit control method provided in the embodiment of this application, please refer to Figure 8 The following is an overall exemplary description of the initialization process in the sample entry and exit control method, using the sample transport component as a relay component. The initialization process includes the following steps:

[0128] S11, determine whether the relay component is in the initial position; if not, execute S121 to S123; if so, execute S131 to S33;

[0129] S121, runs the specified number of steps outward from the current position at a safe speed lower than the set value;

[0130] S122, during the process of the relay component running outward to execute the number of steps, it is determined in real time whether the initial position optocoupler is encountered;

[0131] If not, in S123, the relay component runs the specified number of steps and then runs at the maximum number of steps until it returns to the initial position;

[0132] If yes, execute S14;

[0133] S131, a fixed number of steps away from the current position;

[0134] S132, waiting for the drive motor to stop;

[0135] S133, returning to the initial position with the maximum number of steps of the driving motor;

[0136] S14: When the optocoupler reaches the initial position, the motor stops and then moves a certain number of steps inward. When the drive motor reaches the initial position, the optocoupler indicates successful initialization. Here, the certain number of steps refers to the compensation steps of the drive motor.

[0137] In the above embodiment, the control device initializes the relay component and records the real-time position of the relay component relative to the initial position after successful initialization to determine the current position of the relay component in real time. The initial position can be used as the origin position for determining the real-time position of the relay component, so that the current position relied upon in the calculation and control of the subsequent travel of the relay component is more accurate.

[0138] See also Figure 9 The following is an overall exemplary description of the walking process in the sample entry and exit control method, using the sample transport component as a relay component. The walking process includes the following steps:

[0139] S21, obtaining the target position of the relay component;

[0140] S22, determine whether the target position is outside the detection chamber of the measurement unit; if not, execute S231 to S237; if so, execute S24;

[0141] S231, determine whether the target position is in a position close to the warehouse door area; if so, execute S232; if not, execute S235; wherein, the position of the warehouse door area can be determined by the preset entry and exit position based on the minimum safety distance between the end of the relay component and the warehouse door after the relay component runs into the detection warehouse of the measuring unit, and the preset end point position is determined based on the position where the end of the relay component is separated from the warehouse door when it exits the warehouse, and the warehouse door area is determined by the preset entry and exit position and the preset end point position, wherein the minimum safety distance refers to the minimum distance at which the warehouse door will not collide with the end of the relay component and cause damage when it is closed at a closing speed associated with the safety speed of the relay component.

[0142] S232, determining whether the current position is inside the warehouse door;

[0143] If so, S233, control the relay component to move to the target position at a transfer speed higher than the set value;

[0144] If not, S234 controls the relay component to move to the target position at a safety speed lower than the set value;

[0145] S235, determining whether the current position is located on the side of the door area close to the outside of the door;

[0146] If not, S236, control the relay assembly to move to the target position at a transfer speed higher than the set value;

[0147] If so, S237, control the relay component to move to the preset entry and exit position at a safety speed lower than the set value, and then move to the target position at a transfer speed higher than the set value;

[0148] S24, determining whether the current position is inside the warehouse door;

[0149] If so, S241 controls the relay assembly to move to the preset entry and exit position at a transfer speed higher than the set value, and then moves to the target position at a safety speed lower than the set value.

[0150] In the above embodiment, the travel of the relay component is divided into two sections with the chamber door area as a reference area. The first section is the movement inside the detection chamber of the measuring unit, and the second section is the movement from the inside of the detection chamber to the outside of the detection chamber, or from the outside of the detection chamber to the inside of the detection chamber. The sample transport component can maintain high-speed operation in the first section and maintain a safe speed lower than the set value in the second section. In this way, the efficient operation efficiency of the sample transport component in the detection chamber of the measuring unit can be ensured, and the sample transport component can be prevented from colliding with the chamber door when passing through the chamber door and damaging the chamber door.

[0151] On the other hand, please refer to the embodiment of this application Figure 10, also provides a sample entry and exit control device, including an acquisition module 11, used to obtain the target position; a speed control module 12, used to control the sample transfer component to move from the current position to the target position according to the current position of the sample transfer component and the relative position relationship between the target position and the warehouse door area, and pass through the warehouse door area at a safe speed lower than the set value.

[0152] Optionally, the sample entry and exit control device further includes a determination module for setting a position located inside the chamber door and spaced a set distance from the chamber door as a preset entry and exit position, and a position where the end of the sample transport component is separated from the chamber door during the process of the sample transport component entering and exiting the chamber door as a preset end position, and the chamber door area is formed between the preset entry and exit position and the preset end position; or

[0153] The position of the warehouse door is used as the preset entry and exit position, and the position where the end of the sample transfer component is separated from the warehouse door during the process of the sample transfer component entering and exiting the warehouse door is used as the preset end point position. The warehouse door area is formed between the preset entry and exit position and the preset end point position.

[0154] Optionally, the speed control module is also used to control the sample transport component to move from the current position to the target position at a transport speed higher than the set value when the current position is located on the side of the door area close to the door, and the target position is located in the door area or on the side of the door area close to the door.

[0155] Optionally, the speed control module is also used to control the sample transport component to move from the current position to the target position at a safe speed lower than a set value when the current position is located on the side of the door area close to the outside of the door, and the target position is located in the door area or on the side of the door area close to the inside of the door.

[0156] Optionally, the speed control module is also used to control the sample transport component to move from the current position to the preset entry and exit position at a transport speed higher than the set value, and then move from the preset entry and exit position to the target position at a safety speed lower than the set value, when the current position is located on the side of the door area close to the inside of the door, and the target position is located on the side of the door area close to the outside of the door.

[0157] Optionally, the speed control module is also used to control the sample transport component to move from the current position to the preset entry and exit position at a safety speed lower than the set value, and then move from the preset entry and exit position to the target position at a transport speed higher than the set value, when the current position is located on the side of the door area close to the outside of the door and the target position is located on the side of the door area close to the inside of the door.

[0158] Optionally, the speed control module is further configured to control the sample transport component to move from the current position to the target position at a safety speed lower than a set value when both the current position and the target position are located within the door area;

[0159] When neither the current position nor the target position is located within the door area, the sample transport component is controlled to move from the current position to the target position at a safety speed lower than a set value, or the sample transport component is controlled to move from the current position to the target position at a transport speed higher than the set value.

[0160] Optionally, the sample entry and exit control device also includes an initialization module, which is used to initialize the sample transfer component when the initialization conditions are met; and record the real-time position of the sample transfer component after initialization to determine the current position of the sample transfer component.

[0161] Optionally, the initialization module is also used to determine whether the sample transport component is currently in the initial position; if it is determined that it is not currently in the initial position, control the sample transport component to run a specified number of steps at a safe speed lower than the set value; determine whether the sample transport component has reached the initial position optical coupler during the movement of the sample transport component; if it has reached the initial position optical coupler, modify the remaining steps of the drive motor to the set motor compensation steps to complete the initialization; if it has not reached the initial position optical coupler, control the sample transport component to move at a transport speed higher than the set value and the maximum number of steps, and return to the step of determining whether the sample transport component has reached the initial position optical coupler during the movement of the sample transport component.

[0162] Optionally, the initialization module is also used to determine that it is currently in the initial position, control the sample transfer component to run a fixed number of steps from the current position toward the outside of the chamber door, and then return to the initial position with a maximum number of steps; judge whether the sample transfer component has reached the initial position optocoupler; if it has reached the initial position optocoupler, modify the remaining steps of the drive motor to the set motor compensation steps to complete the initialization; if it has not reached the initial position optocoupler, return to the judgment of whether the sample transfer component is currently in the initial position.

[0163] Optionally, the determination module is used to determine the specified number of steps based on the distance of the warehouse door area.

[0164] Optionally, the initialization module is also used to determine whether at least one of the following conditions is met: the current position of the sample transport component cannot be determined, the target position of the sample transport component cannot be determined, the number of times the current position is used to calculate the travel of the sample transport component exceeds a set value, the detection device is initially powered on after being shut down, the detection device is restarted, and the sample transport component obtains a new sample to be tested from the sampling position; if so, the initialization condition is met.

[0165] It should be noted that: the sample entry and exit control device provided in the above embodiment only uses the division of the above program modules as an example to illustrate the process of controlling the journey of the relay component to transport the sample to be tested. In actual applications, the above processing flow can be assigned to different program modules as needed, and the internal structure of the sample entry and exit control device can be divided into different program modules to complete all or part of the method steps described above. In addition, the sample entry and exit control device provided in the above embodiment and the sample entry and exit control method embodiment belong to the same concept. The specific implementation process is detailed in the method embodiment and will not be repeated here.

[0166] On the other hand, please refer to the embodiment of this application Figure 11 , further provides a sample transport component, comprising a processor 111, a memory 112, and a computer program stored in the memory 112 and executable by the processor 11, wherein the computer program, when executed by the processor 111, implements the sample entry and exit control method described in any embodiment of the present application. The processor 111 may be one, or may include multiple processors 111 that are physically separated and communicatively connected to each other.

[0167] Please refer to Figure 12 and Figure 13The sample transport assembly further includes a sample moving device 23, which comprises a drive motor 231 connected to the processor 111, an endless belt 232 driven by the drive motor 231, a moving member 233 mounted on the endless belt 232, and a first sample holding member 235 and a second sample holding member 236 mounted on the moving member 233. The first sample holding member 235 and the second sample holding member 236 are respectively configured to hold a sample container containing a sample to be tested. For example, in the case of a blood sample, the sample container can be a test tube containing the blood sample. The first sample holding member 235 and the second sample holding member 236 can be configured identically to hold test tubes of the same type, or they can be configured differently to hold test tubes of different types. In the present embodiment, the first sample holding member 235 is configured to hold relatively short and thick test tubes of the first type, while the second sample holding member 236 is configured to hold relatively long and slender test tubes of the second type.

[0168] Optionally, the sample moving device 23 further includes a connecting member 234 for detachably attaching the first sample-holding member 235 and the second sample-holding member 236 to the moving member. The connecting member 234 is connected between the upper surface of the moving member 233 and the bottom ends of the first sample-holding member 235 and the second sample-holding member 236. The connecting member may be provided with positioning holes for receiving the bottom ends of the first sample-holding member 235 and the second sample-holding member 236, respectively.

[0169] On the other hand, an embodiment of the present application further provides a sample analyzer, which includes a sample injection mechanism, a measuring unit and the sample transport component described in the aforementioned embodiment, wherein the sample injection mechanism is used to automatically inject samples and transport the sample to be tested to a sampling point corresponding to the measuring unit, the sample transport component is used to transport the sample to be tested at the sampling point to the measuring unit for testing, and the measuring unit is used to detect and analyze the sample to be tested and report the test results to the processor.

[0170] On the other hand, the embodiments of the present application further provide a computer-readable storage medium, such as a memory including an executable program, wherein the executable program is executed by a processor to complete the steps of the power-on control method described in any embodiment of the present application, and can achieve the same technical effect. To avoid repetition, the description is not repeated here. The computer-readable storage medium is, for example, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk.

[0171] It should be noted that, in this document, the terms "comprises," "includes," or any other variations thereof are intended to encompass non-exclusive inclusion, such that a process, method, article, or apparatus comprising a series of elements includes not only those elements but also other elements not explicitly listed, or elements inherent to such process, method, article, or apparatus. In the absence of further limitations, an element defined by the phrase "comprises..." does not exclude the presence of other identical elements in the process, method, article, or apparatus comprising the element.

[0172] Through the description of the above embodiments, those skilled in the art can clearly understand that the above-mentioned embodiment methods can be implemented by means of software plus the necessary general hardware platform, and of course can also be implemented by hardware, but in many cases the former is a better embodiment. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, can be embodied in the form of a software product, which is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk), and includes a number of instructions for enabling a terminal (which can be a computer, server, analyzer, sample injection mechanism, or network equipment, etc.) to execute the methods described in various embodiments of the present invention.

[0173] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any modifications or substitutions that can be easily conceived by a person skilled in the art within the technical scope disclosed in the present invention should be included within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be based on the scope of protection of the claims.

Claims

1. A sample entry and exit control method, characterized in that: include: Get the target location; According to the current position of the sample transfer component, the relative position relationship between the target position and the warehouse door area, the sample transfer component is controlled to pass through the warehouse door area at a safety speed lower than the set value during the process of moving from the current position to the target position, including: according to the current position and the target position, when determining that the sample transfer component enters the warehouse from outside the warehouse door, the sample transfer component is first controlled to pass through the warehouse door area at a safety speed lower than the set value, and then switched to a relatively fast speed to move to the target position; according to the current position and the target position, when determining that the sample transfer component exits the warehouse from inside the warehouse door, the sample transfer component is first controlled to reach a position close to the warehouse door at a relatively fast speed, and then pass through the warehouse door area at a safety speed lower than the set value; The warehouse door area includes: The position located inside the warehouse door and spaced a set distance from the warehouse door when the warehouse door is closed is used as the preset entry and exit position. When the end of the sample transfer component is separated from the warehouse door during the process of the sample transfer component entering and exiting the warehouse door, the position where the end of the sample transfer component is located is used as the preset end point position, and the warehouse door area is formed between the preset entry and exit position and the preset end point position; or, the position where the warehouse door is closed is used as the preset entry and exit position. When the end of the sample transfer component is separated from the warehouse door during the process of the sample transfer component entering and exiting the warehouse door, the position where the end of the sample transfer component is located is used as the preset end point position, and the warehouse door area is formed between the preset entry and exit position and the preset end point position.

2. The sample entry and exit control method according to claim 1, characterized in that: The method of controlling the sample transport component to move from the current position to the target position so as to pass through the door area at a safe speed lower than a set value according to the relative positional relationship between the current position of the sample transport component, the target position, and the door area includes: When the current position is located on the side of the warehouse door area close to the interior of the warehouse door, and the target position is located in the warehouse door area or on the side of the warehouse door area close to the interior of the warehouse door, the sample transport component is controlled to move from the current position to the target position at a transport speed higher than the set value.

3. The sample entry and exit control method according to claim 1, characterized in that: The method of controlling the sample transport component to move from the current position to the target position so as to pass through the door area at a safe speed lower than a set value according to the relative positional relationship between the current position of the sample transport component, the target position, and the door area includes: When the current position is located on the side of the warehouse door area close to the outside of the warehouse door, and the target position is located in the warehouse door area or on the side of the warehouse door area close to the inside of the warehouse door, the sample transport component is controlled to move from the current position to the target position at a safe speed lower than the set value.

4. The sample entry and exit control method according to claim 1, characterized in that: The method of controlling the sample transport component to move from the current position to the target position so as to pass through the door area at a safe speed lower than a set value according to the relative positional relationship between the current position of the sample transport component, the target position, and the door area includes: When the current position is located on the side of the door area close to the inside of the door, and the target position is located on the side of the door area close to the outside of the door, the sample transport component is controlled to move from the current position to the preset entry and exit position at a transport speed higher than the set value, and then move from the preset entry and exit position to the target position at a safety speed lower than the set value.

5. The sample entry and exit control method according to claim 1, characterized in that: The method of controlling the sample transport component to move from the current position to the target position so as to pass through the door area at a safe speed lower than a set value according to the relative positional relationship between the current position of the sample transport component, the target position, and the door area includes: When the current position is located on the side of the door area close to the outside of the door, and the target position is located on the side of the door area close to the inside of the door, the sample transport component is controlled to move from the current position to the preset entry and exit position at a safety speed lower than the set value, and then move from the preset entry and exit position to the target position at a transport speed higher than the set value.

6. The sample entry and exit control method according to claim 1, characterized in that: The method of controlling the sample transport component to move from the current position to the target position so as to pass through the door area at a safe speed lower than a set value according to the relative positional relationship between the current position of the sample transport component, the target position, and the door area includes: When both the current position and the target position are located within the door area, controlling the sample transport component to move from the current position to the target position at a safety speed lower than a set value; When neither the current position nor the target position is located within the door area, the sample transport component is controlled to move from the current position to the target position at a safety speed lower than a set value, or the sample transport component is controlled to move from the current position to the target position at a transport speed higher than the set value.

7. The sample entry and exit control method according to any one of claims 1 to 6, characterized in that: The method further includes: controlling the sample transport assembly to move from the current position to the target position according to the relative positional relationship between the target position and the door area, and before the sample transport assembly passes through the door area at a safe speed lower than a set value. When the initialization conditions are met, initializing the sample transport component; The real-time position of the sample transport component after initialization is recorded to determine the current position of the sample transport component.

8. The sample entry and exit control method according to claim 7, characterized in that: The sample transport component further includes a sample moving device, and the sample moving device includes a driving motor. Initializing the sample transport component includes: Determining whether the sample transport component is currently in an initial position; When it is determined that the current position is not the initial position, controlling the sample transport component to run a specified number of steps at a safety speed lower than a set value; During the movement of the sample transport component, it is determined whether the sample transport component has reached the initial position optical coupler; If the initial position optocoupler is reached, the remaining steps of the driving motor are modified to the set motor compensation steps to complete the initialization; If the sample transport component has not reached the initial position optical coupler, the sample transport component is controlled to move at a transport speed higher than the set value and at the maximum number of steps, and the process of determining whether the sample transport component has reached the initial position optical coupler during the movement of the sample transport component is returned to.

9. The sample entry and exit control method according to claim 8, characterized in that: Also includes: When it is determined that the sample transport component is currently in the initial position, controlling the sample transport component to move a fixed number of steps from the current position toward the outside of the chamber door, and then returning to the initial position with a maximum number of steps; Determining whether the sample transport component has reached the initial position optical coupler; If the initial position optocoupler is reached, the remaining steps of the driving motor are modified to the set motor compensation steps to complete the initialization; If the optical coupler has not reached the initial position, the process returns to determining whether the sample transport component is currently in the initial position.

10. The sample entry and exit control method according to claim 8, characterized in that: When it is determined that the current position is not the initial position, controlling the sample transport component to run a specified number of steps at a safety speed lower than a set value includes: The specified number of steps is determined based on the distance of the warehouse door area.

11. The sample entry and exit control method according to claim 7, characterized in that: When the initialization condition is met, before initializing the sample transport component, the method further includes: Determine whether at least one of the following conditions is met: the current position of the sample transport component cannot be determined, the target position of the sample transport component cannot be determined, the number of times the current position is used to calculate the travel of the sample transport component exceeds a set value, the detection device is initially powered on after being shut down, the detection device is restarted, and the sample transport component obtains a new sample to be detected from the sampling position; If so, the initialization condition is met.

12. A sample entry and exit control device, characterized in that: include: Acquisition module, used to obtain the target position; a speed control module, configured to control the sample transport assembly to move from the current position to the target position so as to pass through the door area at a safe speed lower than a set value according to the current position of the sample transport assembly and the relative positional relationship between the target position and the door area; Wherein, the speed control module is specifically used to determine, based on the current position and the target position, that when the sample transport component enters the warehouse from outside the warehouse door, first control the sample transport component to pass through the warehouse door area at a safety speed lower than the set value, and then switch to a relatively fast speed to move to the target position; and based on the current position and the target position, determine that when the sample transport component exits the warehouse from inside the warehouse door, first control the sample transport component to reach a position close to the warehouse door at a relatively fast speed, and then pass through the warehouse door area at a safety speed lower than the set value; The warehouse door area includes: The position located inside the warehouse door and spaced a set distance from the warehouse door when the warehouse door is closed is used as the preset entry and exit position. When the end of the sample transfer component is separated from the warehouse door during the process of the sample transfer component entering and exiting the warehouse door, the position where the end of the sample transfer component is located is used as the preset end point position, and the warehouse door area is formed between the preset entry and exit position and the preset end point position; or, the position where the warehouse door is closed is used as the preset entry and exit position. When the end of the sample transfer component is separated from the warehouse door during the process of the sample transfer component entering and exiting the warehouse door, the position where the end of the sample transfer component is located is used as the preset end point position, and the warehouse door area is formed between the preset entry and exit position and the preset end point position.

13. A sample transport component, comprising a processor, a memory, and a computer program stored in the memory and executable by the processor, wherein the computer program, when executed by the processor, implements the sample entry and exit control method as described in any one of claims 1 to 11.

14. The sample transport assembly according to claim 13, wherein: The sample transport assembly further includes a sample moving device, which includes a drive motor connected to the processor, an endless belt driven by the drive motor, a moving member provided on the endless belt, and a first sample placement component and a second sample placement component provided on the moving member; The first sample placing component and the second sample placing component are respectively used to carry sample containers containing samples to be tested.

15. The sample transport assembly according to claim 14, wherein: The sample moving device further includes a connecting member for detachably mounting the first sample placing member and the second sample placing member on the moving member.

16. A sample analyzer, characterized in that: The method comprises a sample injection mechanism, a measuring unit and a sample transport component as described in any one of claims 13 to 15, wherein the sample injection mechanism is used for automatically injecting samples and transporting the sample to be tested to a sampling point corresponding to the measuring unit, the sample transport component is used for transporting the sample to be tested at the sampling point to the measuring unit for testing, and the measuring unit is used for testing and analyzing the sample to be tested and reporting the test results to the processor.

17. A computer-readable storage medium, characterized in that The computer-readable storage medium stores a computer program, which, when executed by a processor, is used to implement the sample entry and exit control method according to any one of claims 1 to 11.

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