Sampling method and device, sampling equipment, storage medium and computer program product

Abstract

This application proposes a sampling method and device, a sampling device, a storage medium, and a computer program product. Among them, the sampling method is used for a sampling device including a robotic arm, and the sampling method includes: obtaining sampling registration information of at least one person to be sampled; determining the sampling type and reserved sampling time of each person to be sampled according to the sampling registration information; controlling the robotic arm to perform a sampling action according to the sampling type and reserved sampling time to sample the person to be sampled.

Description

Technical Field

[0001] The present application relates to the technical field of sampling. Specifically, it relates to a sampling method and device, a sampling device, a storage medium, and a computer program product. Background Art

[0002] Currently, in order to meet the need for a large number of sample collections and improve the sampling speed, automated nucleic acid testing devices based on robotic arms have gradually been put into use. However, in the existing automated nucleic acid testing methods based on robotic arms, due to the low intelligence level of the sampling robot, there are problems such as a relatively fixed and single sampling process and poor adaptability, which increases the time consumed by sampling and reduces the sampling efficiency. Summary of the Invention

[0003] The present application aims to solve at least one of the technical problems existing in the prior art or related technologies.

[0004] To this end, a first aspect of the present application is to propose a sampling method.

[0005] A second aspect of the present application is to propose a sampling device.

[0006] A third aspect of the present application is to propose a sampling device.

[0007] A fourth aspect of the present application is to propose a sampling device.

[0008] A fifth aspect of the present application is to propose a readable storage medium.

[0009] A sixth aspect of the present application is to propose a computer program product.

[0010] In view of this, according to one aspect of the present application, a sampling method is proposed. The sampling method is used for a sampling device including a robotic arm. The sampling method includes: obtaining the sampling registration information of at least one person to be sampled; determining the sampling type and the reserved sampling time of each person to be sampled according to the sampling registration information; and controlling the robotic arm to perform a sampling action according to the sampling type and the reserved sampling time to sample the person to be sampled.

[0011] The execution subject of the technical solution of the sampling method provided by the present application can be a sampling device, and can also be determined according to actual usage requirements, which is not specifically limited herein. To more clearly describe the sampling method provided by the present application, the following will illustrate with the execution subject of the sampling method being a sampling device.

[0012] The sampling method provided by this application, during the process of sampling a person to be sampled by a sampling device equipped with a robotic arm, collects the sampling registration information of at least one user who needs to have a sample collected, that is, the person to be sampled, and determines the sampling type and the reserved sampling time for each user to be sampled based on the collected registration information. On this basis, according to the sampling type and the reserved sampling time of the user to be sampled determined above, each sampling operation of the robotic arm is adaptively adjusted, so as to determine the sampling action corresponding to the sampling type of the user to be sampled. Further, control the robotic arm to move according to the determined sampling action above to complete the sample collection work for the user to be sampled. In this way, the sampling action of the robotic arm is adaptively adjusted according to the specific requirements during the sampling of the user to be sampled, ensuring the flexibility and rationality of the sampling action of the robotic arm. With only one sampling device, it can meet the sampling requirements of different sampling types such as single test and pooled test at the same time, thus reducing the time, space and economic costs consumed during the sample collection process and improving the sampling efficiency.

[0013] According to the above sampling method of this application, it may also have the following additional technical features:

[0014] In the above technical solution, controlling the robotic arm to perform a sampling action according to the sampling type and the reserved sampling time includes:

[0015] Determine the target sampling container according to the sampling type and the reserved sampling time; when the target sampling container is placed in the preset area, control the robotic arm to open the target sampling container; when the target sampling container is not placed in the preset area, control the robotic arm to take out the target sampling container from the first target area, place the target sampling container in the preset area, and control the robotic arm to open the target sampling container; after the target sampling container is opened, control the robotic arm to sample the person to be sampled and put the sampled sample into the target sampling container.

[0016] In this technical solution, during the process of sampling the user to be sampled, determine the target sampling container, that is, the target sampling test tube, required for sampling the user to be sampled according to the sampling type and the reserved sampling time of the user to be sampled. On this basis, when the target sampling test tube, that is, the target sampling container required by the user to be sampled, is placed in the preset area of the sampling device, directly control the robotic arm to open the corresponding target sampling test tube, and control the robotic arm to collect the test sample of the user to be sampled through the target sampling test tube and put the sampled sample into the target sampling test tube.

[0017] In the case where the target sampling test tube required by the user to be sampled is not placed in the preset area of the sampling device, the robotic arm is controlled to pick out an unused sampling test tube from the container storage area, i.e., the first target area, as the above-mentioned target sampling test tube, and the robotic arm is controlled to place the picked target sampling test tube in the above-mentioned preset area. At the same time, the robotic arm is controlled to open the taken-out target sampling test tube, and the robotic arm is controlled to collect the test sample of the user to be sampled through the target sampling test tube, and the sampled sample is put into the target sampling test tube.

[0018] In this way, according to the sampling type of the user to be sampled, different sampling test tubes are adaptively selected to sample the user to be sampled. Thus, only one sampling device can meet the sampling requirements of different sampling types such as single test and mixed test at the same time, reducing the time, space and economic costs of sample collection and improving the sampling efficiency.

[0019] In any of the above technical solutions, determining the target sampling container according to the sampling type and the reserved sampling time includes: when the number of the first users to be sampled whose reserved sampling time is within the first preset time period is greater than or equal to the first preset value, determining the first sampling container as the target sampling container for the first users to be sampled; when the number of the first users to be sampled whose reserved sampling time is within the first preset time period is less than the first preset value and the number of the second users to be sampled is less than the second preset value, determining the second sampling container as the target sampling container for the first users to be sampled; wherein, the first users to be sampled correspond to the first sampling type, the number of samples corresponding to the first sampling container is the same as the number of samples corresponding to the first sampling type, the second users to be sampled correspond to the second sampling type, the number of samples corresponding to the second sampling container is the same as the number of samples corresponding to the second sampling type, and the number of samples corresponding to the second sampling type is less than the number of samples corresponding to the first sampling type.

[0020] In this technical solution, in the process of determining the target sampling container required for sampling the user to be sampled according to the sampling type of the user to be sampled and the reserved sampling time, it is determined that the reserved sampling time is within the first preset time period and the number of the first users to be sampled with the sampling type being the first sampling type. Among them, when the number of the first users to be sampled is greater than or equal to the first preset value, the sampling container corresponding to the first sampling type, i.e., the first sampling container, is determined as the target sampling container required for sampling the first users to be sampled.

[0021] In the case where the number of first subjects to be sampled is less than a first preset value, the number of second subjects to be sampled is further determined, where the appointment sampling time is within a first preset period and the sampling type is a second sampling type, and the number of samples corresponding to the second sampling type is less than the number of samples corresponding to the first sampling type. In the case where the number of second subjects to be sampled is less than a second preset value, the sampling container corresponding to the second sampling type, that is, the second sampling container, is determined as the target sampling container required for sampling the first subject to be sampled.

[0022] That is to say, in this technical solution, when the number of subjects to be sampled of at least two sampling types is small within a certain period of time, the target sampling containers for the subjects to be sampled of the two sampling types are made compatible. Specifically, the sampling container corresponding to the sampling type with a smaller number of samples is used to sample the subjects to be sampled of the sampling type with a larger number of samples. In this way, the utilization rate of the sampling container is improved, and the sampling cost is reduced. At the same time, to a certain extent, the steps of the robotic arm clamping the target sampling container from the above-mentioned first target area are reduced, and the sampling efficiency is improved.

[0023] In any of the above technical solutions, the sampling method further includes: determining the placement duration of the target sampling container in a preset area; in the case where the placement duration is greater than or equal to a first preset threshold, controlling the robotic arm to close the target sampling container and placing the target sampling container into a second target area.

[0024] In this technical solution, during the process of controlling the robotic arm to collect the test sample of the subject to be sampled through the target sampling tube, the placement duration of the target collection tube in the preset area is also determined. In the case where the placement duration is greater than or equal to a first preset threshold, it indicates that the target sampling tube has been stored in the preset area of the normal temperature environment for a long time. At this time, in order to ensure the effectiveness of the test sample in the target sampling tube, the robotic arm is controlled to close the target sampling tube and move the target sampling tube to a sample storage area with a lower temperature, that is, the second target area, for storage. In this way, in the case where the target sampling tube has been placed in the normal temperature environment for a long time, the robotic arm is directly controlled to close the target sampling tube and transfer the target sampling tube to a low temperature environment for storage, ensuring the activity and effectiveness of the test sample, and thus ensuring the accuracy of the subsequent test results.

[0025] In any of the above technical solutions, after the sampled sample is placed into the target sampling container, the sampling method further includes: determining the number of samples in the target sampling container; in the case where the number of samples is equal to a second preset threshold, controlling the robotic arm to close the target sampling container and placing the target sampling container into a second target area.

[0026] In this technical solution, after controlling the robotic arm to place the sampled sample into the target sampling test tube, the number of samples already stored in the target sampling test tube is also determined. When the number of samples in the target sampling test tube reaches the upper limit value, i.e., the second preset threshold, the robotic arm is controlled to close the target sampling test tube and move the target sampling test tube to the above-mentioned second target area with a lower temperature for storage. In this way, after the number of samples in the target sampling test tube reaches the upper limit value, the robotic arm is directly controlled to close the target sampling test tube and transfer the target sampling test tube to a low-temperature environment for storage, ensuring the activity and effectiveness of the test samples, and thus ensuring the accuracy of subsequent test results.

[0027] In any of the above technical solutions, after placing the sampled sample into the target sampling container, the sampling method further includes: when the number of subjects to be sampled is not zero and there is a target subject to be sampled whose scheduled sampling time is within the second preset period, controlling the robotic arm to sample the target subject to be sampled according to the sampling type and scheduled sampling time of the target subject to be sampled; when the number of subjects to be sampled is zero, or when the number of subjects to be sampled is not zero and the scheduled sampling time of any subject to be sampled is outside the second preset period, determining the working duration of the sampling device and controlling the robotic arm to work according to the working duration of the sampling device.

[0028] In this technical solution, after controlling the robotic arm to place the sampled sample into the target sampling test tube, it is also determined whether there are still users to be sampled in the current sample collection queue. When there are users to be sampled in the sample collection queue, that is, the number of subjects to be sampled is greater than zero, and there is a target subject to be sampled whose scheduled sampling time is within the second preset period in the sample collection queue, according to the above method steps, the corresponding target sampling container is selected according to the sampling type and scheduled sampling time of the target subject to be sampled, and then the robotic arm is controlled to sample the target subject to be sampled. When there are no users to be sampled in the sample collection queue, that is, the number of subjects to be sampled is zero, or when there are still users to be sampled in the sample collection queue, but the scheduled sampling time of each user to be sampled in the sample collection queue is outside the above-mentioned second preset period, in any of the above cases, the working duration of the sampling device is determined, and then the robotic arm is controlled to perform subsequent work according to the working duration of the sampling device.

[0029] In this way, after sampling the current user, when there are subsequent subjects to be sampled with reservation sampling times relatively close, the robotic arm is continuously controlled to sample the subject to be sampled according to the above steps, improving the sampling efficiency. When there are no users waiting for sampling subsequently, or when the time interval between the reservation sampling time of the next subject to be sampled and the current moment is relatively large, the robotic arm is controlled to continue the sampling work or end the sampling work according to the working duration of the sampling device, so as to ensure the service life of the sampling device. In any of the above technical solutions, controlling the robotic arm to work according to the working duration of the sampling device includes: when the working duration is greater than or equal to a third preset threshold, controlling the robotic arm to close the opened sampling container and place the sampling container in the second target area.

[0030] In this technical solution, during the process of sampling the subject to be sampled by the above sampling device, the working duration of the sampling device is also determined. When the preset third preset threshold is less than or equal to the working duration of the sampling device, the robotic arm is controlled to close the opened sampling test tubes in the above preset area and transfer the sampling test tubes in the preset area to the second target area with a lower temperature for storage. In this way, when the sampling device works for a long time, the robotic arm is controlled to move all the sampling test tubes to a low-temperature environment for storage, thus ending the sampling work of the sampling device, avoiding damage to the sampling device caused by overwork, and ensuring the service life of the sampling device.

[0031] According to the second aspect of the present application, a sampling device is proposed. The sampling device is used for a sampling device including a robotic arm. The sampling device includes: an acquisition unit for acquiring the sampling registration information of at least one subject to be sampled; a processing unit for determining the sampling type and reservation sampling time of each subject to be sampled according to the sampling registration information; and a sampling unit for controlling the robotic arm to perform a sampling action according to the sampling type and reservation sampling time to sample the subject to be sampled.

[0032] The sampling device provided by the present application, during the process of sampling a person to be sampled by a sampling device equipped with a robotic arm, acquires, through an acquisition unit, the sampling registration information of at least one user who needs to have a sample collected, that is, the person to be sampled, and determines, through a processing unit, the sampling type and the reserved sampling time of the user to be sampled based on the acquired registration information. On this basis, the sampling unit further adaptively adjusts each sampling operation of the robotic arm according to the determined sampling type and reserved sampling time of the user to be sampled, so as to determine the sampling action corresponding to the sampling type of the user to be sampled. Further, the sampling unit controls the robotic arm to move according to the determined sampling action, so as to complete the sample collection work for the user to be sampled. In this way, the sampling action of the robotic arm is adaptively adjusted according to the specific requirements during the sampling of the user to be sampled, ensuring the flexibility and rationality of the sampling action of the robotic arm. Only through one sampling device, the sampling requirements of different sampling types such as single test and mixed test can be satisfied simultaneously, thereby reducing the time, space, and economic costs consumed during the sample collection process and improving the sampling efficiency.

[0033] According to the third aspect of the present application, a sampling device is proposed, including: a memory storing programs or instructions; a processor, when the processor executes the programs or instructions, implementing the steps of the sampling method in any of the above technical solutions. Therefore, the sampling device proposed in the third aspect of the present application has all the beneficial effects of the sampling method in any of the technical solutions in the first aspect above, and will not be elaborated here.

[0034] According to the fourth aspect of the present application, a sampling device is proposed, including: a robotic arm; the sampling device in the technical solution of the third aspect above, and the sampling device controls the robotic arm to perform sampling actions. Therefore, the sampling device proposed in the fourth aspect of the present application has all the beneficial effects of the sampling device in the technical solution of the third aspect above, and will not be elaborated here.

[0035] In this technical solution, the sampling device further includes: an interaction device for acquiring the sampling type and the reserved sampling time of the person to be sampled.

[0036] According to the fifth aspect of the present application, a readable storage medium is proposed, on which programs or instructions are stored, and when the programs or instructions are executed by a processor, implementing the sampling method in any of the above technical solutions. Therefore, the readable storage medium proposed in the fifth aspect of the present application has all the beneficial effects of the sampling method in any of the technical solutions in the first aspect above, and will not be elaborated here.

[0037] According to the sixth aspect of the present application, a computer program product is provided, which includes a computer program that, when executed by a processor, implements the sampling method in any of the above technical solutions. Therefore, the computer program product proposed in the sixth aspect of the present application has all the beneficial effects of the sampling method in any of the technical solutions in the first aspect above, which will not be elaborated here.

[0038] The additional aspects and advantages of the present application will become apparent in the following description section or be learned through the practice of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] The above and / or additional aspects and advantages of the present application will become apparent and be readily understood from the description of the embodiments in conjunction with the following drawings, where:

[0040] Figure 1 FIG. 1 shows one of the schematic flowcharts of the sampling method according to an embodiment of the present application;

[0041] Figure 2 FIG. 2 shows another schematic flowchart of the sampling method according to an embodiment of the present application;

[0042] Figure 3 FIG. 3 shows yet another schematic flowchart of the sampling method according to an embodiment of the present application;

[0043] Figure 4 FIG. 4 shows still another schematic flowchart of the sampling method according to an embodiment of the present application;

[0044] Figure 5 FIG. 5 shows yet another schematic flowchart of the sampling method according to an embodiment of the present application;

[0045] Figure 6 FIG. 6 shows still another schematic flowchart of the sampling method according to an embodiment of the present application;

[0046] Figure 7 FIG. 7 shows yet another schematic flowchart of the sampling method according to an embodiment of the present application;

[0047] Figure 8 FIG. 8 shows still another schematic flowchart of the sampling method according to an embodiment of the present application;

[0048] Figure 9 FIG. 9 shows one of the structural block diagrams of the sampling device according to an embodiment of the present application;

[0049] Figure 10 FIG. 10 shows another structural block diagram of the sampling device according to an embodiment of the present application;

[0050] Figure 11 FIG. 11 shows the structural block diagram of the sampling device according to an embodiment of the present application. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0051] In order to more clearly understand the above-mentioned objects, features, and advantages of the present application, the present application will be further described in detail below in conjunction with the accompanying drawings and specific embodiments. It should be noted that, without conflict, the embodiments of the present application and the features in the embodiments may be combined with each other.

[0052] In the following description, many specific details are set forth in order to fully understand the present application. However, the present application may also be implemented in other ways different from those described herein. Therefore, the protection scope of the present application is not limited to the limitations of the specific embodiments disclosed below.

[0053] The following Figures 1 to 11 , through specific embodiments and their application scenarios, will elaborate in detail on the sampling method, device, sampling equipment, storage medium, and computer program product provided by the embodiments of the present application.

[0054] The execution subject of the technical solution of the sampling method provided by the present application may be a sampling device, and it may also be determined according to actual usage requirements, without specific limitation herein. In order to more clearly describe the sampling method provided by the present application, the following will describe it with the execution subject of the sampling method being a sampling device.

[0055] Embodiment 1 Figure 1 shows one of the flow diagrams of the sampling method of the embodiments of the present application.

[0056] Among them, the sampling method includes the following steps 102 to 106:

[0057] Step 102, obtain the sampling registration information of at least one person to be sampled;

[0058] Step 104, determine the sampling type and reserved sampling time of each person to be sampled according to the sampling registration information;

[0059] Step 106, control the robotic arm to perform a sampling action according to the sampling type and reserved sampling time to sample the person to be sampled.

[0060] The sampling method provided by the present application is applied to an automated or semi-automated sampling device including a robotic arm. The sampling device may specifically include one or more robotic arms. In actual application, the above-mentioned sampling device may specifically be an automatic sampling booth with one or more sampling robotic arms, a movable sampling robot with one or more sampling robotic arms, a semi-automatic sampling booth with an automatic sampling robotic arm and manned, a semi-automatic sampling robot with an automatic sampling robotic arm and manned, etc., without specific limitation herein.

[0061] During the sampling process of the above sampling device, by controlling the movement of the robotic arm thereon, the robotic arm performs sampling operations such as obtaining a sampling container, installing the sampling container, clamping a sampling swab, opening the sampling container, opening the sampling swab, sampling the user, collecting the user's sample, closing the sampling container, transporting the sampling container, and disinfection, so as to complete the sample collection work for the person to be sampled.

[0062] Specifically, in the sampling method provided by the present application, during the process of sampling the person to be sampled by the above sampling device, the sampling registration information of at least one user who needs to have a sample collected, that is, the person to be sampled, is collected, and the sampling type and the reserved sampling time of the user to be sampled are determined according to the collected registration information. Among them, the sampling type can specifically be single-test sampling, 5-in-1 sampling, 10-in-1 sampling, 15-in-1 sampling, 20-in-1 sampling, etc. On this basis, according to the sampling type and the reserved sampling time of the user to be sampled determined above, each sampling operation of the above robotic arm is adaptively adjusted to determine the sampling action corresponding to the sampling type of the user to be sampled. Further, control the robotic arm to move according to the determined sampling action to complete the sample collection work for the user to be sampled.

[0063] That is to say, in the sampling method proposed in the present application, according to the specific requirements when sampling the user to be sampled, each sampling operation of the above robotic arm is adaptively adjusted to determine the corresponding sampling action. In this way, the sampling action of the robotic arm is adaptively adjusted according to the specific requirements when sampling the user to be sampled, ensuring the flexibility and rationality of the robotic arm's sampling action. With only one sampling device, it can meet the sampling requirements of different sampling types such as single-test and pooled testing, thus reducing the time, space, and economic costs consumed during the sample collection process and improving the sampling efficiency.

[0064] Among them, in the process of collecting the sampling registration information of users who need to collect samples, that is, the subjects to be sampled, the interactive device set in the sampling device can be used to collect the sampling registration information of each user. Specifically, the above-mentioned interactive device may include a barcode scanning module, which automatically collects the sampling registration information of the user to be sampled by scanning the barcode; the above-mentioned interactive device may specifically further include an information input module, which may specifically be a web page, an application program, etc., and automatically determines the sampling registration information of the user through the information input by the user in the information input module; the above-mentioned interactive device may specifically further include a voice interaction module, which automatically obtains the sampling registration information of the user by analyzing the voice information of the user to be sampled; the above-mentioned interactive device may specifically further include a key input module, which automatically determines the sampling registration information of the user through the input operation of the user to be sampled on the key input module. In addition, in the actual application process, the sampling registration information of each user to be sampled can also be manually collected by the on-site staff at the sampling site. For the acquisition method of the sampling registration information, those skilled in the art can set it according to the actual situation, and no specific limitation is made here.

[0065] In summary, the sampling method proposed in this application determines the specific requirements when sampling the user to be sampled according to the sampling type and the reserved sampling time of the user to be sampled, and then adaptively adjusts each sampling operation of the robotic arm according to the specific sampling requirements to determine the corresponding sampling actions, and controls the robotic arm to sample the user to be sampled according to the determined sampling actions. In this way, the sampling actions of the robotic arm are adaptively adjusted according to the specific requirements when sampling the user to be sampled, which ensures the flexibility and rationality of the sampling actions of the robotic arm. Only one sampling device can meet the sampling requirements of different sampling types such as single test and mixed test at the same time, thereby reducing the time, space and economic costs consumed in the sample collection process and improving the sampling efficiency.

[0066] Embodiment 2 Figure 2 Fig. 2 shows the second flow chart of the sampling method according to the embodiment of the present application. Among them, on the basis of the above-mentioned Embodiment 1, the above-mentioned step 106 may specifically include the following steps 106a to 106d:

[0067] Step 106a, determine the target sampling container according to the sampling type and the reserved sampling time;

[0068] Step 106b, when the target sampling container is placed in the preset area, control the robotic arm to open the target sampling container;

[0069] Step 106c, when the target sampling container is not placed in the preset area, control the robotic arm to take out the target sampling container from the first target area, and after controlling the robotic arm to place the target sampling container in the preset area, open the target sampling container;

[0070] Step 106d, control the robotic arm to sample the person to be sampled, and put the sampled sample into the target sampling container.

[0071] In this embodiment, on the basis of Embodiment 1, during the process of sampling the user to be sampled, determine the target sampling container, that is, the target sampling test tube, required for sampling the user to be sampled according to the sampling type of the user to be sampled and the reserved sampling time. On this basis, if the target sampling test tube is placed in the preset area of the sampling device, directly control the robotic arm to open the corresponding target sampling test tube, and control the robotic arm to collect the test sample of the user to be sampled through the target sampling test tube. Among them, the above-mentioned preset area is a waiting area in the sampling device where sampling test tubes, that is, sampling containers, can be placed, and tube opening and closing operations can be performed.

[0072] In the case that the above-mentioned target sampling test tube is not placed in the preset area of the sampling device, control the robotic arm to clamp out an unused sampling test tube from the container storage area, that is, the first target area, as the above-mentioned target sampling test tube, and control the robotic arm to place the clamped target sampling test tube in the waiting area where tube opening and closing operations can be performed, that is, the preset area. At the same time, control the robotic arm to open the taken-out target sampling test tube, and control the robotic arm to collect the test sample of the user to be sampled through the target sampling test tube. In this way, according to the sampling type of the user to be sampled, adaptively select different sampling test tubes to sample the user to be sampled, so that only one sampling device can meet the sampling requirements of different sampling types such as single test and mixed test at the same time, reducing the time, space and economic costs of sample collection and improving the sampling efficiency.

[0073] Among them, during the process of controlling the robotic arm to collect the test sample of the user to be sampled through the target sampling test tube, specifically control the robotic arm to hold the opened sampling swab to sample the user to be sampled, so as to obtain the test sample of the user to be sampled, and then control the robotic arm to put the sampled test sample into the target sampling test tube. Specifically, during the process of controlling the robotic arm to put the sampled test sample into the target sampling test tube, the robotic arm can be first controlled to put the sampling swab with the sample into the sampling test tube in the direction of the head facing the bottom of the test tube, and then control the robotic arm to cut off the swab rod of the sampling swab to leave the head of the sampling swab in the sampling test tube for subsequent testing, and control the robotic arm to discard the redundant swab rod into the trash can. Or, first control the robotic arm to remove the head of the sampling swab or cut off the swab rod of the sampling swab to obtain the head of the sampling swab with the sample, and then control the robotic arm to put the head of the sampling swab with the sample into the sampling test tube, and control the robotic arm to discard the redundant swab rod into the trash can.

[0074] Embodiment 3Figure 3 FIG. 3 shows a schematic flow chart of the sampling method according to an embodiment of the present application. Based on the above Embodiment 2, step 106a may specifically include the following steps 106a1 and 106a2:

[0075] Step 106a1, when the number of first subjects to be sampled whose reserved sampling time is within the first preset period is greater than or equal to the first preset value, determining the first sampling container as the target sampling container for the first subjects to be sampled;

[0076] Step 106a2, when the number of first subjects to be sampled whose reserved sampling time is within the first preset period is less than the first preset value and the number of second subjects to be sampled is less than the second preset value, determining the second sampling container as the target sampling container for the first subjects to be sampled;

[0077] In this embodiment, based on the above Embodiment 2, in the process of determining the target sampling container required for sampling a subject to be sampled according to the sampling type of the subject to be sampled and the reserved sampling time, the number of first subjects to be sampled whose reserved sampling time is within the first preset period and whose sampling type is the first sampling type is determined. Wherein, when the number of first subjects to be sampled is greater than or equal to the first preset value, the sampling container corresponding to the first sampling type, i.e., the first sampling container, is determined as the target sampling container required for sampling the first subjects to be sampled. When the number of first subjects to be sampled is less than the first preset value, the number of second subjects to be sampled whose reserved sampling time is within the first preset period and whose sampling type is the second sampling type is further determined, wherein the number of samples corresponding to the second sampling type is less than the number of samples corresponding to the first sampling type. When the number of second subjects to be sampled is less than the second preset value, the sampling container corresponding to the second sampling type, i.e., the second sampling container, is determined as the target sampling container required for sampling the first subjects to be sampled.

[0078] Among them, the number of samples corresponding to the first sampling container is the same as the number of samples corresponding to the first sampling type, and the number of samples corresponding to the second sampling container is the same as the number of samples corresponding to the second sampling type. The above-mentioned first sampling container and second sampling container can specifically be single-test sampling tubes, 5-in-1 sampling tubes, 10-in-1 sampling tubes, 15-in-1 sampling tubes, 20-in-1 sampling tubes, etc., without specific limitations here. That is to say, in this embodiment, when the number of subjects to be sampled with at least two sampling types within a certain period of time is small, the target sampling containers for the subjects to be sampled with two sampling types are made compatible. Specifically, the sampling container corresponding to the sampling type with a smaller number of samples is used to sample the subjects to be sampled with the sampling type having a larger number of samples. In this way, the utilization rate of the sampling container is improved, and the sampling cost is reduced. At the same time, to a certain extent, the steps of the robotic arm picking up the target sampling container from the above-mentioned first target area are reduced, and the sampling efficiency is improved.

[0079] Further, in the actual application process, when the number of the first subjects to be sampled is less than the first preset value and the number of the second subjects to be sampled is greater than or equal to the second preset value, the above-mentioned first sampling container is still determined as the target sampling container required for sampling the first subjects to be sampled. Or, first use the above-mentioned second sampling container as the target sampling container to sample the first subjects to be sampled, and after the number of samples in the second sampling container reaches the upper limit, then use the first sampling container as the target sampling container to sample the first subjects to be sampled.

[0080] It should be noted that the above-mentioned first subjects to be sampled and second subjects to be sampled do not refer to a specific subject to be sampled. The first subjects to be sampled refer to a group of subjects to be sampled with the first sampling type, and the second subjects to be sampled refer to a group of subjects to be sampled with the second sampling type.

[0081] Further, the above-mentioned first preset value is the minimum requirement for the number of samples in the first sampling container, and the above-mentioned second preset value is the minimum requirement for the number of samples in the second sampling container. For the specific values of the above-mentioned first preset value and second preset value, those skilled in the art can set them according to the actual situation, without specific limitations here.

[0082] Further, the above-mentioned first preset period can specifically be 20 minutes, 25 minutes, 30 minutes, etc. Those skilled in the art can set it according to the actual situation, and there are no specific limitations here either.

[0083] Exemplarily, when the minimum requirement for the number of samples in a 10-in-1 sampling container is 5 and the minimum requirement for the number of samples in a 20-in-1 sampling container is 10, if within 30 minutes, the number of subjects to be sampled with a sampling type of 10-in-1 is 3, and the number of subjects to be sampled with a sampling type of 20-in-1 is 5, within these 30 minutes, for subjects to be sampled with a sampling type of 10-in-1 or 20-in-1, a 10-in-1 sampling container is used to sample them.

[0084] Embodiment 4 Figure 4 Fig. 4 shows a schematic flowchart of the sampling method according to an embodiment of the present application. On the basis of the above embodiment, the sampling method may specifically further include the following steps 108 and 110:

[0085] Step 108: Determine the placement duration of the target sampling container in the preset area.

[0086] Step 110: When the first preset threshold is less than or equal to the placement duration, control the robotic arm to close the target sampling container and control the robotic arm to move the target sampling container into the second target area.

[0087] In this embodiment, on the basis of the above embodiment, during the process of controlling the robotic arm to collect the test sample of the subject to be sampled through the target sampling tube, the duration of taking out the target sampling tube from the container storage area, that is, the target area, will also be determined, that is, the storage duration of the target sampling tube in the above preset area will be determined, that is, the placement duration of the target sampling tube in the normal temperature environment will be determined. When the preset first preset threshold is less than or equal to the placement duration of the target sampling tube in the normal temperature environment, it indicates that the target sampling tube has been stored in the normal temperature environment for a long time. At this time, in order to ensure the effectiveness of the test sample in the target sampling tube, control the robotic arm to close the target sampling tube and move the target sampling tube to the above sample storage area, that is, the second target area, for storage. Among them, the temperature in the above sample storage area is relatively low. In this way, when the target sampling tube has been placed in the normal temperature environment for a long time, directly control the robotic arm to close the target sampling tube and transfer the target sampling tube to a low temperature environment for storage, which ensures the activity and effectiveness of the test sample, thereby ensuring the accuracy of the subsequent test results.

[0088] Among them, the above first preset threshold is related to the storage requirements of the detection sample. For example, when the above detection sample is a nucleic acid detection sample, according to the storage requirements of the nucleic acid detection sample, the storage time of the nucleic acid detection sample at room temperature shall not exceed 4 hours. That is, within 4 hours at room temperature, the nucleic acid detection sample must be transferred to a low-temperature environment for storage. At this time, the value of the above first preset threshold should be less than 4 hours, such as 3 hours and 30 minutes, 3 hours and 40 minutes, 3 hours and 50 minutes, etc. For the specific value of the above first preset threshold, those skilled in the art can set it according to the actual situation, and no specific limitation is made here.

[0089] Embodiment 5 Figure 5 Fig. 5 shows a schematic flowchart of the sampling method according to an embodiment of the present application. Among them, on the basis of the above Embodiment 2, after the above step 106d, the sampling method may specifically further include the following steps 112 and 114:

[0090] Step 112: Determine the number of samples in the target sampling container;

[0091] Step 114: When the number of samples is equal to the second preset threshold, control the robotic arm to close the target sampling container and control the robotic arm to move the target sampling container into the second target area.

[0092] In this embodiment, on the basis of the above Embodiment 2, after controlling the robotic arm to put the sampled detection sample into the target sampling test tube, determine the number of detection samples already stored in the target sampling test tube, that is, determine the number of sampling swab heads placed in the target sampling test tube. When the number of sampling swab heads in the target sampling test tube reaches the upper limit value, that is, the second preset threshold, control the robotic arm to close the target sampling test tube and move the target sampling test tube to the above-mentioned second target area with a lower temperature for storage. In this way, after the number of samples in the target sampling test tube reaches the upper limit value, directly control the robotic arm to close the target sampling test tube and transfer the target sampling test tube to a low-temperature environment for storage, ensuring the activity and effectiveness of the detection sample, and thus ensuring the accuracy of the subsequent detection result.

[0093] Among them, the specific value of the second preset threshold corresponds to the sampling type corresponding to the target sampling test tube. Specifically, when the target sampling test tube is the sampling test tube corresponding to the single-test sampling type, the value of the second preset threshold is 1; when the target sampling test tube is the sampling test tube corresponding to the 5-in-1 sampling type, the value of the second preset threshold is 5; when the target sampling test tube is the sampling test tube corresponding to the 10-in-1 sampling type, the value of the second preset threshold is 10; when the target sampling test tube is the sampling test tube corresponding to the 20-in-1 sampling type, the value of the second preset threshold is 20. For the specific value of the second preset threshold, it can be set according to the actual situation and is not limited here.

[0094] Embodiment Six Figure 6 It shows the sixth flow chart of the sampling method according to the embodiment of the present application. Among them, on the basis of the above Embodiment Two, after the above step 106d, the sampling method may specifically further include the following steps 116 to 120:

[0095] Step 116, when the number of subjects to be sampled is not zero and there is a target subject to be sampled whose reserved sampling time is within the second preset period, control the robotic arm to sample the target subject to be sampled according to the sampling type and reserved sampling time of the target subject to be sampled;

[0096] Step 118, when the number of subjects to be sampled is zero, or when the number of subjects to be sampled is not zero and the reserved sampling time of any subject to be sampled is outside the second preset period, determine the working duration of the sampling device;

[0097] Step 120, control the robotic arm to work according to the working duration of the sampling device.

[0098] In this embodiment, based on the above embodiment, after the robotic arm is controlled to place the sampled sample into the target sampling test tube, it is also determined whether there are still users to be sampled in the current sample collection queue. When there are users to be sampled in the sample collection queue, that is, the number of people to be sampled is greater than zero, and there is a target person to be sampled in the sample collection queue whose reserved sampling time is within the second preset period, according to the above method steps, the corresponding target sampling container is selected according to the sampling type and reserved sampling time of the target person to be sampled, and then the robotic arm is controlled to sample the target person to be sampled. When there are no users to be sampled in the sample collection queue, that is, the number of people to be sampled is zero, or when there are still users to be sampled in the sample collection queue, but the reserved sampling time of each user to be sampled in the sample collection queue is outside the above-mentioned second preset period, in any of the above cases, the working duration of the sampling device is determined, and then the robotic arm is controlled to perform subsequent work according to the working duration of the sampling device. In this way, after sampling the current user, when there are people to be sampled with relatively close reserved sampling times in the future, the robotic arm is continuously controlled to sample the person to be sampled according to the above steps, improving the sampling efficiency. When there are no users waiting to be sampled in the future, or when the time interval between the reserved sampling time of the next person to be sampled and the current time is relatively large, the robotic arm is controlled to continue the sampling work or end the sampling work according to the working duration of the sampling device to ensure the service life of the sampling device.

[0099] Among them, the above-mentioned second preset period can specifically be 5 minutes, 8 minutes, 10 minutes, etc. For the specific value of the above-mentioned second preset period, those skilled in the art can set it according to the actual situation, and no specific limitation is made here.

[0100] Embodiment Seven Figure 7 Fig. 7 shows a schematic flowchart of the sampling method according to an embodiment of the present application. Among them, based on the above-mentioned Embodiment Six, step 120 may specifically include the following step 120a:

[0101] Step 120a, when the working duration is greater than or equal to the third preset threshold, control the robotic arm to close the opened sampling container and control the robotic arm to move the sampling container into the second target area.

[0102] In this embodiment, based on the above embodiment, during the process of sampling the person to be sampled by the above sampling device, the total duration of the sampling device working will also be determined, that is, the duration from the device being powered on to the current moment is determined. On this basis, when the preset third preset threshold is less than or equal to the total working duration of the sampling device, the robotic arm is controlled to close the sampling test tubes that have been opened in the above preset area, and the sampling test tubes in the preset area are transferred to the above second target area with a lower temperature for storage. In this way, when the sampling device works for a long time, the robotic arm is controlled to move all the sampling test tubes to a low-temperature environment for storage, thereby ending the sampling work of the sampling device, avoiding damage to the sampling device caused by overwork, and ensuring the service life of the sampling device.

[0103] Among them, in the actual application process, the above third preset threshold can specifically be a specific duration set by the staff, such as 8 hours, 9 hours, etc. In addition, a clock can also be set in the above sampling device. At this time, the above third preset threshold can specifically be the duration between the power-on moment of the sampling device and the shutdown moment set by the staff. The shutdown moment can specifically be 8 pm, 9 pm, 10 pm, etc. every day. For the specific value of the above third preset threshold, the staff can set it according to the actual situation, and no specific limitation is made here.

[0104] Embodiment Eight Figure 8 Shows the eighth flow schematic diagram of the sampling method according to the embodiment of the present application.

[0105] Among them, this sampling method includes the following steps 202 to step 234:

[0106] Step 202, power on and start sampling;

[0107] Step 204, determine whether there is a user coming for sampling within time T max If so, execute step 206; if not, end the process;

[0108] Step 206, the user selects the detection type N;

[0109] Step 208, determine whether there is a corresponding collection test tube for type N. If so, execute step 210; if not, execute step 212;

[0110] Step 210, open the test tube corresponding to type N;

[0111] Step 212, take out a blank test tube to the normal temperature environment for collecting samples of type N;

[0112] Step 214, record the time T N ;

[0113] Step 216, perform a sampling operation;

[0114] Step 218, determine whether the collection tube of type N is full. If it is, execute Step 222; if not, execute Step 220;

[0115] Step 220, seal the tube of type N;

[0116] Step 222, seal the tube of type N and transfer it to a low-temperature environment;

[0117] Step 224, according to T N determine whether it is close to timeout. If it is, execute Step 226; if not, execute Step 228;

[0118] Step 226, seal the tube of the timed-out type and transfer it to a low-temperature environment;

[0119] Step 228, determine whether there is a user coming for sampling within the waiting time T W If there is, execute Step 206; if not, execute Step 230;

[0120] Step 230, determine whether the time has reached T max If it is, execute Step 232; if not, execute Step 224;

[0121] Step 232, seal all the untransferred tubes and transfer them to a low-temperature environment;

[0122] Step 234, shut down and end the sampling.

[0123] Among them, T max is equivalent to the above-mentioned third preset threshold, the time T N is equivalent to the placement duration of the above-mentioned target sampling container in the preset area, and the waiting time T W is equivalent to the duration of the above-mentioned second preset period.

[0124] Further, in Step 216, the above-mentioned sampling operation includes but is not limited to: clamping a swab by a robotic arm to perform sampling in the oral cavity, removing or cutting off the swab head with the sample and putting it into a test tube, discarding the swab rod, and performing necessary connection actions related to the above operations, etc.

[0125] To sum up, the sampling method provided by the present application can complete the sampling processes of single test and mixed tests with different sampling quantities according to user needs only with one sampling device, saving sampling time, space, and economic costs. At the same time, in the present application, by regularly judging and querying the storage duration of the test tubes at room temperature and timely transferring the test tubes to a low-temperature environment for storage within the specified time, the compliance, effectiveness, and safety of the sampling samples are ensured.

[0126] Embodiment Nine Figure 9 Fig. Figure 9 shows a structural block diagram of a sampling device 900 according to an embodiment of the present application. Among them, the sampling device 900 is used for a sampling device including a robotic arm. Specifically, the sampling device 900 may include an acquisition unit 902, a processing unit 904, and a sampling unit 906:

[0127] The acquisition unit 902 is configured to acquire sampling registration information of at least one person to be sampled;

[0128] The processing unit 904 is configured to determine the sampling type and the reserved sampling time of each person to be sampled according to the sampling registration information;

[0129] The sampling unit 906 is configured to control the robotic arm to perform a sampling action according to the sampling type and the reserved sampling time, so as to sample the person to be sampled.

[0130] The sampling device 900 provided by the present application is applied to an automated or semi-automated sampling device including a robotic arm. The sampling device may specifically include one or more robotic arms. In actual application, the above sampling device may specifically be an automatic sampling booth with one or more sampling robotic arms, a movable sampling robot with one or more sampling robotic arms, a semi-automatic sampling booth with an automatic sampling robotic arm and manned, a semi-automatic sampling robot with an automatic sampling robotic arm and manned, etc., which are not specifically limited herein.

[0131] During the sampling process of the above sampling device, by controlling the movement of the robotic arm thereon, the robotic arm performs sampling operations such as obtaining a sampling container, installing the sampling container, clamping a sampling swab, opening the sampling container, opening the sampling swab, sampling the user, collecting the user sample, closing the sampling container, transporting the sampling container, and disinfection, so as to complete the sample collection work for the person to be sampled.

[0132] Specifically, during the process of sampling the person to be sampled by the above sampling device, the sampling device 900 provided by the present application acquires, through the acquisition unit 902, the sampling registration information of at least one user who needs to have a sample collected, that is, the person to be sampled, and determines, through the processing unit 904, the sampling type and the reserved sampling time of the user to be sampled according to the collected registration information. Among them, the sampling type may specifically be single-test sampling, 5-in-1 sampling, 10-in-1 sampling, 15-in-1 sampling, 20-in-1 sampling, etc. On this basis, the sampling unit 906 further adaptively adjusts each sampling operation of the robotic arm according to the determined sampling type and reserved sampling time of the user to be sampled, so as to determine a sampling action corresponding to the sampling type of the user to be sampled. Further, the sampling unit 906 controls the robotic arm to move according to the determined sampling action, so as to complete the sample collection work for the user to be sampled.

[0133] That is to say, in the sampling device 900 proposed in this application, according to the specific requirements during sampling of the user to be sampled, each sampling operation of the above robotic arm is adaptively adjusted to determine the corresponding sampling action. In this way, by adaptively adjusting the sampling action of the robotic arm according to the specific requirements during sampling of the user to be sampled, the flexibility and rationality of the robotic arm's sampling action are ensured. With only one sampling device, the sampling requirements of different sampling types such as single test and mixed test can be satisfied simultaneously, thereby reducing the time, space, and economic costs required during the sample collection process and improving the sampling efficiency.

[0134] Among them, during the process of collecting the sampling registration information of the user to be sampled, that is, the person to be sampled, the sampling registration information of each user can be collected through the interaction device provided in the sampling device. Specifically, the above interaction device may include a barcode scanning module, which automatically collects the sampling registration information of the user to be sampled by barcode scanning; the above interaction device may specifically further include an information input module, which may specifically be a webpage, an application program, etc., and automatically determines the sampling registration information of the user through the information input by the user in this information input module; the above interaction device may specifically further include a voice interaction module, which automatically obtains the sampling registration information of the user by analyzing the voice information of the user to be sampled; the above interaction device may specifically further include a key input module, which automatically determines the sampling registration information of the user through the input operation of the user to be sampled on the key input module. In addition, in the actual application process, the sampling registration information of each user to be sampled can also be manually collected by the staff on-site at the sampling location. For the acquisition method of the sampling registration information, those skilled in the art can set it according to the actual situation and are not specifically limited herein.

[0135] In summary, the sampling device 900 proposed in this application determines the specific requirements during sampling of the user to be sampled according to the sampling type and the reserved sampling time of the user to be sampled, and then adaptively adjusts each sampling operation of the robotic arm according to the specific sampling requirements to determine the corresponding sampling action, and controls the robotic arm to sample the user to be sampled according to the determined sampling action. In this way, by adaptively adjusting the sampling action of the robotic arm according to the specific requirements during sampling of the user to be sampled, the flexibility and rationality of the robotic arm's sampling action are ensured. With only one sampling device, the sampling requirements of different sampling types such as single test and mixed test can be satisfied simultaneously, thereby reducing the time, space, and economic costs required during the sample collection process and improving the sampling efficiency.

[0136] In this embodiment, further, the processing unit 904 may specifically be configured to: determine a target sampling container according to the sampling type and the reserved sampling time; the sampling unit 906 may specifically be configured to: when a target sampling container is placed in a preset area, control the robotic arm to open the target sampling container; when a target sampling container is not placed in the preset area, control the robotic arm to take out the target sampling container from a first target area, and after controlling the robotic arm to place the target sampling container in the preset area, open the target sampling container; control the robotic arm to sample the person to be sampled, and put the sampled sample into the target sampling container.

[0137] In this embodiment, further, the processing unit 904 may specifically be configured to: when the number of first persons to be sampled whose reserved sampling time is within a first preset time period is greater than or equal to a first preset value, determine the first sampling container as the target sampling container for the first person to be sampled; when the number of first persons to be sampled whose reserved sampling time is within the first preset time period is less than the first preset value and the number of second persons to be sampled is less than a second preset value, determine the second sampling container as the target sampling container for the first person to be sampled; where the first person to be sampled corresponds to a first sampling type, the number of samples corresponding to the first sampling container is the same as the number of samples corresponding to the first sampling type, the second person to be sampled corresponds to a second sampling type, the number of samples corresponding to the second sampling container is the same as the number of samples corresponding to the second sampling type, and the number of samples corresponding to the second sampling type is less than the number of samples corresponding to the first sampling type.

[0138] In this embodiment, further, the sampling unit 906 may specifically be further configured to: determine the placement duration of the target sampling container in the preset area; when the first preset threshold is less than or equal to the placement duration, control the robotic arm to close the target sampling container, and control the robotic arm to move the target sampling container to a second target area.

[0139] In this embodiment, the sampling unit 906 may specifically be further configured to: determine the number of samples in the target sampling container; when the second preset threshold is equal to the number of samples, control the robotic arm to close the target sampling container, and control the robotic arm to move the target sampling container to a second target area.

[0140] In this embodiment, further, after the sampled sample is placed into the target sampling container, the sampling unit 906 may specifically be further configured to: when the number of subjects to be sampled is not zero and there is a target subject to be sampled whose reserved sampling time is within the second preset period, control the robotic arm to sample the target subject according to the sampling type and reserved sampling time of the target subject; when the number of subjects to be sampled is zero, or when the number of subjects to be sampled is not zero and the reserved sampling time of any subject to be sampled is outside the second preset period, determine the working duration of the sampling device and control the robotic arm to work according to the working duration of the sampling device.

[0141] In this embodiment, further, the sampling unit 906 may specifically be further configured to: when the third preset threshold is less than or equal to the working duration, control the robotic arm to close the opened sampling container and control the robotic arm to move the sampling container into the second target area.

[0142] Embodiment Ten Figure 10 The block diagram of the sampling device 1000 provided by the embodiment of the present application is shown. Among them, the sampling device 1000 includes:

[0143] A memory 1002, on which a program or instruction is stored;

[0144] A processor 1004, when the processor 1004 executes the above program or instruction, implements the steps of the sampling method in any of the above embodiments.

[0145] The sampling device 1000 provided in this embodiment includes a memory 1002 and a processor 1004. When the program or instruction in the memory 1002 is executed by the processor 1004, the steps of the sampling method in any of the above embodiments are implemented. Therefore, the sampling device 1000 has all the beneficial effects of the sampling method in any of the above embodiments, and will not be elaborated here.

[0146] Specifically, the memory 1002 and the processor 1004 may be connected through a bus or other means. The processor 1004 may include one or more processing units. The processor 1004 may be a central processing unit (CPU), a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field programmable gate array (FPGA), etc.

[0147] Embodiment Eleven Figure 11The block diagram of the sampling device 1100 provided by the embodiment of the present application is shown. Among them, the sampling device 1100 includes: a robotic arm 1102 and the sampling device 1000 in the above embodiment.

[0148] The sampling device 1100 provided by the embodiment of the present application includes the sampling device 1000 in the above embodiment. Therefore, the sampling device 1100 has all the technical effects of the sampling device 1000 in the above embodiment, which will not be elaborated here.

[0149] Among them, the above sampling device 1100 includes but is not limited to: an automatic sampling booth with one or more sampling robotic arms, a mobile sampling robot with one or more sampling robotic arms, a manned semi-automatic sampling booth with an automatic sampling robotic arm, a manned semi-automatic sampling robot with an automatic sampling robotic arm, etc., which are not specifically limited here.

[0150] Specifically, during the working process of the above sampling device 1100, the robotic arm 1102 thereon is controlled by the sampling device 1000 therein, so that the robotic arm 1102 performs sampling operations such as obtaining a sampling container, installing a sampling container, clamping a sampling swab, opening a sampling container, opening a sampling swab, sampling a user, collecting a user sample, closing a sampling container, transporting a sampling container, and disinfection, thereby realizing the sample collection work for the person to be sampled.

[0151] In this embodiment, further, as Figure 11 shown, the above sampling device 1100 further includes an interaction device 1104 for obtaining the sampling type of the person to be sampled.

[0152] Among them, the above interaction device 1104 may include a code scanning module, which automatically collects the sampling registration information of the user to be sampled by code scanning; the above interaction device 1104 may specifically further include an information input module, which may specifically be a web page, an application program, etc., and automatically determines the sampling registration information of the user through the information input by the user in the information input module; the above interaction device 1104 may specifically further include a voice interaction module, which automatically obtains the sampling registration information of the user by analyzing the voice information of the user to be sampled; the above interaction device 1104 may specifically further include a key input module, which automatically determines the sampling registration information of the user through the input operation of the user to be sampled in the key input module.

[0153] Specifically, during the working process of the above sampling device 1100, the sampling type of the person to be sampled is obtained through the interaction device 1104 therein, and then the robotic arm 1102 thereon is controlled by the sampling device 1000 according to the sampling type obtained by the interaction device 1104, thereby realizing the sample collection work for the person to be sampled.

[0154] Embodiment Twelve, an embodiment of the fifth aspect of the present application, provides a readable storage medium. A program or instructions are stored thereon, and when the program or instructions are executed by a processor, the steps of the sampling method in any of the above embodiments are implemented. Therefore, this readable storage medium has all the beneficial effects of the sampling method in any of the above embodiments, which will not be elaborated here.

[0155] Specifically, the above-mentioned readable storage medium may include any medium capable of storing or transmitting information. Examples of the readable storage medium include electronic circuits, semiconductor memory devices, read-only memory (ROM), random access memory (RAM), compact disc read-only memory (CD-ROM), flash memory, erasable ROM (EROM), magnetic tapes, floppy disks, optical discs, hard disks, optical fiber media, radio frequency (RF) links, optical data storage devices, etc. Code segments can be downloaded via computer networks such as the Internet and intranets.

[0156] Embodiment Thirteen, an embodiment of the sixth aspect of the present application, provides a computer program product, which includes a computer program that, when executed by a processor, implements the sampling method in any of the above embodiments. Therefore, the computer program product proposed in the sixth aspect of the present application has all the beneficial effects of the sampling method in any of the embodiments of the first aspect, which will not be elaborated here.

[0157] In the description of this specification, the terms "first" and "second" are only used for descriptive purposes and cannot be construed as indicating or implying relative importance unless otherwise clearly specified and defined; the terms "connection", "installation", "fixation", etc. should all be understood in a broad sense. For example, "connection" can be a fixed connection, a detachable connection, or an integral connection; it can be directly connected or indirectly connected through an intermediate medium. For those of ordinary skill in the art, the specific meanings of the above terms in the present application can be understood according to specific circumstances.

[0158] In the description of this specification, the descriptions of terms such as "one embodiment", "some embodiments", "specific embodiments", etc. mean that the specific features, structures, materials or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of this application. In this specification, the schematic expressions of the above terms do not necessarily refer to the same embodiment or instance. Moreover, the specific features, structures, materials or characteristics described can be combined in a suitable manner in any one or more embodiments or examples. In addition, the technical solutions between various embodiments of this application can be combined with each other, but it must be based on the fact that those of ordinary skill in the art can implement it. When the combination of technical solutions appears to be contradictory or cannot be implemented, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection required by this application. The above are only the preferred embodiments of this application and are not used to limit this application. For those skilled in the art, this application can have various changes and modifications. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of this application shall be included in the scope of protection of this application.

Claims

1. A sampling method, characterized in that, A sampling device for including a robotic arm, the sampling method comprising: Obtaining sampling registration information of at least one person to be sampled; Determining the sampling type and the reserved sampling time of each person to be sampled according to the sampling registration information; Controlling the robotic arm to perform a sampling action according to the sampling type and the reserved sampling time to sample the person to be sampled; The controlling the robotic arm to perform a sampling action according to the sampling type and the reserved sampling time includes: Determining a target sampling container according to the sampling type and the reserved sampling time; When the target sampling container is placed in a preset area, controlling the robotic arm to open the target sampling container; When the target sampling container is not placed in the preset area, controlling the robotic arm to take out the target sampling container from a first target area, place the target sampling container in the preset area, and control the robotic arm to open the target sampling container; After the target sampling container is opened, controlling the robotic arm to sample the person to be sampled and put the sampled sample into the target sampling container; When the number of persons to be sampled is not zero and there is a target person to be sampled whose reserved sampling time is within a second preset period, controlling the robotic arm to sample the target person to be sampled according to the sampling type and the reserved sampling time of the target person to be sampled; When the number of persons to be sampled is zero, or when the number of persons to be sampled is not zero and the reserved sampling time of any person to be sampled is outside the second preset period, determining the working duration of the sampling device and controlling the robotic arm to work according to the working duration of the sampling device.

2. The sampling method according to claim 1, characterized in that The determining a target sampling container according to the sampling type and the reserved sampling time includes: When the number of first persons to be sampled whose reserved sampling time is within a first preset period is greater than or equal to a first preset value, determining a first sampling container as the target sampling container of the first persons to be sampled; When the number of the first persons to be sampled whose reserved sampling time is within the first preset period is less than the first preset value and the number of second persons to be sampled is less than a second preset value, determining a second sampling container as the target sampling container of the first persons to be sampled; Wherein, the first persons to be sampled correspond to a first sampling type, the number of samples corresponding to the first sampling container is consistent with the number of samples corresponding to the first sampling type, the second persons to be sampled correspond to a second sampling type, the number of samples corresponding to the second sampling container is consistent with the number of samples corresponding to the second sampling type, and the number of samples corresponding to the second sampling type is less than the number of samples corresponding to the first sampling type.

3. The sampling method according to claim 1, characterized in that, The sampling method further includes: Determining the placement duration of the target sampling container in the preset area; When the placement duration is greater than or equal to a first preset threshold, controlling the robotic arm to close the target sampling container and put the target sampling container into a second target area.

4. The sampling method according to claim 2, characterized in that, After placing the sampled sample into the target sampling container, the sampling method further includes: Determining the number of samples in the target sampling container; When the number of samples is equal to a second preset threshold, controlling the robotic arm to close the target sampling container and placing the target sampling container into a second target area.

5. The sampling method according to any one of claims 2 to 4, characterized in that, The controlling the robotic arm to work according to the working duration of the sampling device includes: When the working duration is greater than or equal to a third preset threshold, controlling the robotic arm to close the opened sampling container and placing the sampling container into a second target area.

6. A sampling device, characterized in that, For a sampling device including a robotic arm, the sampling device includes: An obtaining unit, configured to obtain sampling registration information of at least one person to be sampled; A processing unit, configured to determine the sampling type and the reserved sampling time of each person to be sampled according to the sampling registration information; A sampling unit, configured to control the robotic arm to perform a sampling action according to the sampling type and the reserved sampling time to sample the person to be sampled; The processing unit is specifically configured to: determine a target sampling container according to the sampling type and the reserved sampling time; The sampling unit is specifically configured to: when the target sampling container is placed in a preset area, control the robotic arm to open the target sampling container; When the target sampling container is not placed in the preset area, control the robotic arm to take out the target sampling container from a first target area, place the target sampling container in the preset area, and control the robotic arm to open the target sampling container; Controlling the robotic arm to sample the person to be sampled and placing the sampled sample into the target sampling container; The sampling unit is specifically further configured to: when the number of persons to be sampled is not zero and there is a target person to be sampled whose reserved sampling time is within a second preset period, control the robotic arm to sample the target person to be sampled according to the sampling type and the reserved sampling time of the target person to be sampled; When the number of persons to be sampled is zero, or when the number of persons to be sampled is not zero and the reserved sampling time of any person to be sampled is outside the second preset period, determine the working duration of the sampling device and control the robotic arm to work according to the working duration of the sampling device.

7. A sampling device, characterized in that, Including: A memory, storing a program or instructions; A processor, when the processor executes the program or instructions, implementing the steps of the sampling method according to any one of claims 1 to 5.

8. A sampling device, characterized in that, Including: A robotic arm; The sampling device according to claim 7, controlling the robotic arm to perform a sampling action through the sampling device.

9. The sampling device according to claim 8, characterized in that, Further including: An interaction device, configured to obtain the sampling type and the reserved sampling time of the person to be sampled.

10. A readable storage medium having a program or instructions stored thereon, characterized in that, When the program or instructions are executed by the processor, implementing the steps of the sampling method according to any one of claims 1 to 5.

11. A computer program product, comprising a computer program, characterized in that, When the computer program is executed by the processor, implementing the steps of the sampling method according to any one of claims 1 to 5.

Images