A fully automatic slide arrangement device, method and computer storage medium

Abstract

The present application relates to the technical field of glass slide equipment, and more particularly to a fully automatic glass slide sorting device, method, and computer storage medium, comprising a body, a positioning frame, a glass slide rack, an identification element, a scanning mechanism, a driving mechanism, a gripping mechanism, a control module, a heating module, and a host computer; the positioning frame is disposed within the body, the glass slide rack is slidably disposed within the positioning frame, and the glass slide rack is horizontally provided with a plurality of placement slots for placing glass slides; the identification element is disposed on the glass slide to serve as a unique identification mark for the glass slide, the gripping mechanism is disposed within the body for gripping the glass slide, the driving mechanism drives the gripping mechanism to move, the scanning mechanism scans the glass slide and the identification element to obtain a glass slide identification signal, and the host computer receives a sorting instruction and outputs a sorting control signal to the control module based on the glass slide identification signal and the sorting instruction to control the operation of the driving mechanism. The present application has the effect of efficiently and correctly sorting and classifying glass slides.

Description

Technical Field

[0001] The present application relates to the technical field of glass slide equipment, and in particular to a fully automatic glass slide arrangement device, method, and computer storage medium. Background Art

[0002] A glass slide is a thin piece of glass with high light transmittance used when observing cells under a microscope.

[0003] In pharmacological diagnosis, it is generally necessary to diagnose patients using immunohistochemistry projects, and the entire diagnostic process requires multiple projects to make a comprehensive judgment. The pathology department of a large hospital needs to process more than hundreds of immunohistochemistry slides from dozens of patients every day.

[0004] To improve slide preparation efficiency and results, each hospital typically organizes slides based on their immunohistochemistry equipment and categorizes them so that each slide can be placed in the appropriate location on the equipment. After slide preparation is complete, slides are further categorized based on the ordering physician, tissue sample, and other factors to facilitate diagnosis.

[0005] In the related technology, after receiving the glass slides, the relevant personnel need to manually sort and classify the glass slides into appropriate positions. After waiting for the production to be completed, several glass slides need to be manually reclassified. The work is cumbersome and inefficient. Moreover, if the relevant personnel place the glass slides in the wrong position on the equipment due to work errors, the experimental results will not be associated with the relevant pathology or patients, and misdiagnosis may occur. Summary of the Invention

[0006] In order to efficiently and correctly organize and classify glass slides, the present application provides a fully automatic glass slide organization device, method and computer storage medium.

[0007] In the first aspect, the present application provides a fully automatic slide arrangement device, which adopts the following technical solutions:

[0008] A fully automatic slide arrangement device comprises a body, a positioning frame, a slide rack, an identification element, a scanning mechanism, a driving mechanism, a gripping mechanism, a control module, a heating module and a host computer;

[0009] The positioning frame is arranged in the body, and is provided with a plurality of positioning slots in a vertical direction. The slide rack is slidably arranged in the positioning frame, and is provided with a plurality of placement slots for placing slides in a horizontal direction.

[0010] The identification member is provided on the glass slide to serve as a unique identification mark of the glass slide, the grabbing mechanism is provided in the fuselage to grab the glass slide, the driving mechanism is provided on the fuselage to drive the grabbing mechanism to move in the horizontal and vertical directions, the scanning mechanism is provided on the grabbing mechanism to scan the glass slide and the identification member to obtain a glass slide identification signal, the scanning mechanism is electrically connected to the host computer to send the glass slide identification signal to the host computer, the host computer is used to receive a sorting instruction, and output a corresponding sorting control signal to the control module according to the glass slide identification signal and the sorting instruction, the control module receives the sorting control signal and controls the operation of the driving mechanism, and the heating module is electrically connected to the control module to heat the glass slide on the glass slide rack.

[0011] Preferably, the opening of one end of the placement groove on the glass slide rack is smaller than the opening of the other end, and the size of the smaller opening is smaller than the size of the glass slide. A positioning groove is provided on one side of the positioning rack in the vertical direction, and a positioning piece corresponding to the positioning groove is provided on one side of the glass slide rack, and the positioning piece slides in the positioning groove in the vertical direction.

[0012] Preferably, the grabbing mechanism includes a first pushing mechanism and a second pushing mechanism, and the first pushing mechanism and the second pushing mechanism are respectively located on both sides of the clamping frame, wherein:

[0013] The first pushing mechanism includes a first pushing body, a first pushing rod, and a first pushing motor. The first pushing body is located at an end of the placement slot on the slide rack with a larger opening. The first pushing rod is arranged on the first pushing body in a horizontal direction and faces the placement slot on the slide rack. The first pushing motor is arranged on the first pushing body and electrically connected to the driving mechanism. The first pushing motor is used to drive the first pushing rod to move in a horizontal direction. A grabbing groove that fits the gap between the slides is provided on the end of the first pushing body close to the slide rack.

[0014] The second pushing mechanism includes a second pushing body, a second pushing rod and a second pushing motor. The second pushing body is located at the end with the smaller opening of the placement slot on the slide rack. The second pushing rod is arranged on the second pushing body in a horizontal direction and faces the placement slot on the slide rack. The second pushing motor is arranged on the second pushing body and is electrically connected to the driving mechanism. The second pushing motor is used to drive the second pushing rod to move in the horizontal direction.

[0015] Preferably, a rotating mechanism is provided on the body, and the rotating mechanism is electrically connected to the driving mechanism to drive the positioning frame to rotate according to the driving of the driving mechanism, and the rotating axis of the positioning frame is along the horizontal direction.

[0016] Preferably, a detection alarm module is further included, which includes a detection component and an alarm component. The detection component is used to detect the working status of each component in the fully automatic slide sorting device to output a corresponding detection signal. The control module receives the detection signal and controls the on and off of the alarm component according to the detection signal.

[0017] In a second aspect, the present application provides a fully automatic slide arrangement method, which adopts the following technical solutions:

[0018] A fully automatic slide arrangement method, characterized in that it comprises the following steps:

[0019] S100, obtaining and storing initial quantity information and initial position information of the slides;

[0020] S200, drying the glass slide;

[0021] S300, obtaining identification information of the slide, wherein the identification information includes the number, classification, pathology number, doctor's name, etc. corresponding to the slide;

[0022] S400, obtaining a sorting instruction, and selecting a target slide according to the sorting instruction and the identification information, and obtaining initial position information and target position information of the target slide;

[0023] S500 , grabbing the target slide according to the initial position information of the target slide, and placing the target slide at a corresponding position according to the target position information for slide sorting.

[0024] Preferably, obtaining and storing the initial quantity information and initial position information of the slides includes the following steps:

[0025] S110, driving the scanning mechanism to move upward along the bottom of the slide rack at the initial end to scan to obtain the column number i of the slide rack, where the initial value of the column number i is 0;

[0026] S120, determining whether the scanning mechanism has moved to the maximum stroke position;

[0027] S130, if the scanning mechanism has not moved to the maximum stroke position, determining whether the scanning mechanism has a falling edge output, wherein the falling edge output is characterized by an output signal of the scanning mechanism when a slide is placed on the slide rack;

[0028] S140, if yes, count once and mark the position to obtain the initial slide position; if no, keep moving upward to obtain the number of slides on a row of slide racks;

[0029] S150: If the scanning mechanism moves to the maximum stroke position, the scanning mechanism is driven to move downward, and i=i+1. When the scanning mechanism moves to the minimum stroke position, the scanning mechanism is driven to move in the adjacent direction and the above steps are repeated:

[0030] S160, determining whether the number of columns i is less than a preset number;

[0031] S170, if yes, repeat the above steps S110-S150;

[0032] S160: If not, calculate the total number of slides M based on the number of slide rack columns i and the number of slides on each slide rack column.

[0033] Preferably, the target glass slide is grabbed according to the initial position information of the target glass slide, and the target glass slide is placed at a corresponding position according to the target position information, further comprising:

[0034] S510, obtaining the number N of free positions on the slide rack according to the total number M of slides;

[0035] S520, determining whether the number of available positions N is greater than 0;

[0036] S530: If N is not greater than 0, a corresponding error message is output and the film sorting process stops.

[0037] Preferably, the method further comprises the following steps:

[0038] S540, obtaining a preset target position area on the slide rack, wherein the target position area is characterized as a final target area where a plurality of slides are placed when being sorted, and the target position area has a plurality of target positions corresponding to the target position information;

[0039] S550, obtaining the number N1 of available positions in the target location area;

[0040] S560, obtaining the number J of slides in the target location area;

[0041] S570, determining whether the number of slides J in the target position area is greater than 0;

[0042] S580: If the value is greater than 0, a corresponding error message is output and the film sorting process is stopped;

[0043] S590: If it is not greater than 0, determine whether the total number of slides M is greater than the number of free positions N1 in the target position area. If it is greater, output a corresponding error prompt and stop the slide sorting.

[0044] In a third aspect, the present application provides a computer storage medium, which adopts the following technical solution:

[0045] A computer storage medium stores a computer program, which implements the above-mentioned fully automatic slide arrangement method when executed by a processor.

[0046] In summary, this application includes at least one of the following beneficial technical effects:

[0047] 1. The scanning mechanism obtains and records the number of slide racks, the position and quantity of the slides, and other information on the positioning rack. The host computer obtains the corresponding sorting instructions, which include the initial position of the target slide and the position to be sorted. The host computer sends the sorting instructions to the control module, which controls the drive mechanism to drive the gripping mechanism to move, grab the corresponding slides and sort them to the appropriate position, thereby realizing fully automatic slide sorting and reducing manual workload.

[0048] 2. Output different sorting instructions through the host computer, and realize the sorting and movement of the glass slides through steps such as scanning the position of the glass slides and recording the quantity, and alarm for different abnormal situations during the sorting process. BRIEF DESCRIPTION OF THE DRAWINGS

[0049] Figure 1 This is a schematic diagram of the overall module of an embodiment of the present application;

[0050] Figure 2 This is a schematic diagram of the overall structure of the fully automatic slide arrangement device in an embodiment of the present application;

[0051] Figure 3 This is a schematic diagram of the structure of the glass slide in the embodiment of the present application;

[0052] Figure 4 This is a schematic structural diagram of the gripping mechanism in an embodiment of the present application;

[0053] Figure 5 This is a structural diagram of the gripping mechanism from another angle in an embodiment of the present application;

[0054] Figure 6 1 is a flow chart of the fully automatic slide arrangement method in an embodiment of the present application;

[0055] Figure 7 1 is a flow chart of the film processing mode A in the embodiment of the present application;

[0056] Figure 8 1 is a flow chart of the B-processing mode in the embodiment of the present application;

[0057] Figure 9 This is a schematic diagram of the process of driving the scanning mechanism in an embodiment of the present application;

[0058] Figure 10This is a schematic diagram of the process of identifying an identification element on a glass slide in an embodiment of the present application;

[0059] Figure 11 This is a flowchart of an error information judgment process in an embodiment of the present application;

[0060] Figure 12 It is a flowchart of another error information judgment process in an embodiment of the present application.

[0061] Explanation of reference numerals: 1. body; 2. positioning frame; 3. positioning slot; 4. slide rack; 5. placement slot; 6. identification element; 7. scanning mechanism; 8. driving mechanism; 81. horizontal movement motor driving circuit; 82. vertical movement motor driving circuit; 83. first pushing motor driving circuit; 84. second pushing motor driving circuit; 85. rotation motor driving motor; 9. gripping mechanism; 91. first pushing mechanism; 911. first pushing body; 912. first push rod; 913. first pushing motor; 914. gripping slot; 92. second pushing mechanism; 921. second pushing body; 922 , second push rod; 923, second pushing motor; 93, lateral moving assembly; 931, lateral guide rail; 932, lateral moving frame; 933, lateral moving motor; 934, rack belt; 935, first gear shaft; 936, second gear shaft; 94, longitudinal moving assembly; 941, vertical guide rail; 942, lead screw; 943, vertical moving motor; 10, control module; 11, heating module; 12, upper computer; 13, alignment groove; 14, alignment part; 15, rotating mechanism; 151, electric cylinder; 152, rotating arm; 16, detection alarm module; 17, motor position sensor. DETAILED DESCRIPTION

[0062] The following is combined with Figure 1-12 This application is described in further detail.

[0063] The embodiment of the present application discloses a fully automatic slide arrangement device.

[0064] like Figure 1 and Figure 2 As shown, a fully automatic slide arrangement device includes a body 1, a positioning frame 2, a slide rack 4, an identification component 6, a scanning mechanism 7, a driving mechanism 8, a gripping mechanism 9, a control module 10, a heating module 11 and a host computer 12.

[0065] The fuselage 1 is made of metal and includes a cabin body and a cabin door. The cabin door is rotatably connected to the cabin body. The fuselage 1 is mainly used to place subsequent experimental devices, modules, circuits, etc. and provide protection.

[0066] The holder 2 is a metal rectangular frame with a plurality of vertical slots 3 formed thereon. The bottom ends of the slots 3 are closed and the top ends are open. The holder 2 is provided inside the body 1 and is used to place a slide rack 4.

[0067] The slide rack 4 is slidably inserted into the locking groove 3 through the opening at the top of the locking groove 3. A number of placement grooves 5 for placing slides are opened horizontally on the slide rack 4. Partitions are set between each placement groove 5 so that when a slide is placed in the placement groove 5, a gap is generated between the adjacent slides.

[0068] The length of the slide rack 4 can be the same as that of the positioning rack 2, or a shorter slide rack 4 can be selected according to actual conditions, so that in different experimental situations, a long slide rack 4 or several short slide holders can be placed in the positioning slot 3 on a positioning rack 2.

[0069] The opening at one end of the placement groove 5 is smaller than the opening at the other end, and the smaller end opening size is smaller than the size of the slide. In this way, the slide can be inserted into the placement groove 5 from the end with the larger opening, and the slide will not slide off from the other end opening when inserted.

[0070] At the same time, because the openings at both ends of the placement groove 5 are of different sizes, the insertion direction of the glass slide is fixed. In order to avoid the situation where the staff places the glass slide rack 4 in the placement groove 5 in reverse, a positioning groove 13 is further provided on one side of the positioning rack 2 in the vertical direction, and a positioning piece 14 corresponding to the positioning groove 13 is provided on one side of the glass slide rack 4, and the positioning piece 14 slides in the positioning groove 13 in the vertical direction.

[0071] In the embodiment of the present application, the alignment groove 13 and the alignment member 14 are close to the insertion position of the glass slide. When installing, the operator aligns the alignment member 14 with the alignment groove 13 and installs it to avoid reverse installation.

[0072] In the embodiment of the present application, a total of 16 rows of locking slots 3 are provided on the locking frame 2 .

[0073] like Figure 2 and Figure 3 As shown, the identification part 6 is set on the glass slide, which serves as the unique identification mark of the glass slide. The identification part 6 can be a component with information storage function such as a QR code, a barcode, etc., on which corresponding patient information, classification information, pathological items, doctor information, etc. can be stored.

[0074] like Figure 4 and Figure 5As shown, a gripping mechanism 9 is disposed within the body 1 for gripping slides, a driving mechanism 8 is disposed on the body 1 for driving the gripping mechanism 9 to move horizontally and vertically, a scanning mechanism 7 is disposed on the gripping mechanism 9 for scanning the slides and the identification element 6 to obtain slide identification information, and the scanning mechanism 7 is also electrically connected to a host computer 12 for transmitting the slide identification information to the host computer 12. The host computer 12 is configured to receive a sorting instruction and output a corresponding sorting control signal to the control module 10 based on the slide identification signal and the sorting instruction. The control module 10 receives the sorting control signal and controls the operation of the driving mechanism 8. The heating module 11 is electrically connected to the control module 10 for heating the slides on the slide rack 4.

[0075] In the embodiment of the present application, the control module 10 is an STM32F103 microcontroller, which is connected to the host computer 12 via an RJ45 network port. The microcontroller uses its internal timer resources to control the motor, and different acceleration and deceleration schemes can be used for motors of different types or speeds.

[0076] The scanning mechanism 7 includes a camera module and a laser. The camera module is used to shoot the information of the identification element 6 and obtain the slide information of the slide through image recognition, while the laser determines whether a slide is placed on the slide rack 4 through laser scanning.

[0077] Through the above module, the number of columns of the slide racks 4 on the positioning rack 2 and the position and quantity of the slides are obtained and recorded through the mechanism 7. The host computer 12 obtains the corresponding sorting instructions. The sorting instructions include the initial position of the target slide and the position to be sorted. The host computer 12 sends the sorting instructions to the control module 10. The control module 10 controls the driving mechanism 8 to drive the grabbing mechanism 9 to move, so as to grab the corresponding slides and sort them to the appropriate position, thereby realizing fully automatic slide sorting and reducing manual workload.

[0078] Specifically, the grabbing mechanism 9 includes a first pushing mechanism 91 and a second pushing mechanism 92 , and the first pushing mechanism 91 and the second pushing mechanism 92 are respectively located on both sides of the positioning frame 2 .

[0079] The first pushing mechanism 91 includes a first pushing body 911, a first pushing rod 912 and a first pushing motor 913. The first pushing body 911 is located at the end with the larger opening of the placement slot 5 on the glass slide rack 4. The first pushing rod 912 is arranged on the main body of the first pushing rod 912 in the horizontal direction and faces the placement slot 5 on the glass slide rack 4. The first pushing motor 913 is arranged on the first pushing body 911 and is electrically connected to the driving mechanism 8. The first pushing motor 913 is used to drive the first pushing rod 912 to move horizontally. A grabbing groove 914 that cooperates with the gap between the glass slides is provided on the end of the first pushing body 911 close to the glass slide clamp.

[0080] Among them, the connection relationship between the first pushing motor 913 and the first push rod 912 can be adjusted according to different needs. In the embodiment of the present application, the output end of the first push rod 912 motor faces downward, and a rotating tooth is fixedly connected to the output end. A rack that engages with the rotating tooth is provided on the side of the first push rod 912. When the first push rod 912 motor works and rotates, the rotating tooth rotates with the vertical direction as the rotation axis, and the rack is engaged and moves horizontally.

[0081] The second pushing mechanism 92 includes a second pushing body 921, a second pushing rod 922 and a second pushing motor 923. The second pushing body 921 is located at the end with the smaller opening of the placement slot 5 on the glass slide rack 4. The second pushing rod 922 is arranged on the second pushing body 921 in the horizontal direction and faces the placement slot 5 on the glass slide rack 4. The second pushing rod 922 motor is arranged on the second pushing body 921 and is electrically connected to the driving mechanism 8. The second pushing motor 923 is used to drive the second pushing rod 922 to move in the horizontal direction.

[0082] Among them, the connection relationship between the second push motor 923 and the second push rod 922 can be adjusted according to different needs. In the embodiment of the present application, the output end of the second push rod 922 motor faces downward, and a rotating tooth is fixedly connected to the output end. A rack that engages with the rotating tooth is provided on the side of the second push rod 922. When the second push rod 922 motor rotates, the rotating tooth rotates with the vertical direction as the rotation axis, and the rack is engaged and moves horizontally.

[0083] Because the first pushing body 911 and the second pushing body 921 are located on either side of the slide rack 4, respectively, the first push rod 912 and the second push rod 922 are pushed in opposite directions. When a slide in the slide rack 4 needs to be pushed out and removed, the second pushing motor 923 is activated to push the second push rod 922 toward the slide on the slide rack 4. The end of the second push rod 922 abuts the slide and pushes the slide toward the grabbing groove 914 on the first pushing body 911. The slide is then in the grabbing groove 914. When the slide needs to be moved and placed in a different placement groove 5 on a different slide rack 4, the first pushing motor 913 is activated to push the first push rod 912 out. When the first push rod 912 is pushed out, it pushes the slide in the grabbing groove 914 to move it into the placement groove 5. During the whole process, the movement of the first pushing mechanism 91 and the second pushing mechanism 92 remains consistent. When removing the glass slide, the first push rod 912 motor does not move, and the second push rod 922 motor moves. When placing the glass slide, the first push rod 912 motor moves, and the second push rod 922 motor does not move.

[0084] like Figure 4 and Figure 5As shown, specifically, the grasping mechanism 9 also includes a transverse moving component 93 and a longitudinal moving component 94. The transverse moving component 93 is used to drive the first push rod 912 mechanism and the second push rod 922 mechanism to move in the horizontal direction, and the longitudinal moving component 94 is used to drive the first push rod 912 mechanism and the second push rod 922 mechanism to move in the vertical direction.

[0085] The lateral movement assembly 93 includes a lateral guide rail 931, a lateral movement frame 932, a lateral movement motor 933, a rack belt 934, a first gear shaft 935 and a second gear shaft 936, wherein:

[0086] A transverse guide rail 931 is horizontally disposed on the body 1 and is located at the top of the retaining frame 2. The length of the transverse guide rail 931 is aligned with the length of the retaining frame 2. A first gear shaft 935 and a second gear shaft 936 are located at either end of the transverse guide rail 931 and are both rotatably connected to the top of the transverse guide rail 931.

[0087] The transverse movement motor 933 is mounted on the transverse guide rail 931, with its output end vertically upwardly positioned and fixedly connected to the center point of the first gear shaft 935. A rack belt 934 is mounted on the first gear shaft 935 and the second gear shaft 936, respectively, and meshes with each other. The transverse movement frame 932 is slidably connected to the transverse guide rail 931 and fixedly connected to one side of the rack belt 934. The first pusher body 911 and the second pusher body 921 are fixedly connected at each end of the transverse movement frame 932.

[0088] The two gear shafts and the rack belt 934 together constitute a long rectangular crawler structure, which drives the first gear shaft 935 to rotate through the rotation of the transverse moving motor 933. The rotation of the first gear shaft 935 causes the rack belt 934 to rotate clockwise or counterclockwise, and the second gear shaft 936 rotates accordingly to play an auxiliary support role. The transverse moving frame 932 is fixedly connected to one side of the rack belt 934, so that when the rack belt 934 moves, it drives the transverse moving frame 932 to move. For example, when the motor rotates forward, the rack belt 934 moves in the clockwise direction as a whole. Then, from the forward direction of the positioning frame 2, the moving direction of the rack belt 934 is to the left, which drives the transverse moving frame 932 to move to the left. In this way, the transverse moving frame 932 further drives the first pushing body 911 and the second pushing body 921 to move laterally at the same time.

[0089] like Figure 4 and Figure 5As shown, the longitudinal movement assembly 94 includes a vertical guide rail 941, a screw rod 942 and a vertical movement motor 943, wherein one end of the vertical guide rail 941 is fixedly connected to the horizontal movement frame 932, and the other end is slidably connected to the fuselage 1, and the vertical guide rail 941 is arranged in the vertical direction. The screw rod 942 is rotatably connected to the middle of the vertical guide rail 941, and the vertical movement motor 943 is fixedly connected to the top of the vertical guide rail 941, and its output end is vertically downwardly arranged and its output end is fixedly connected to the screw rod 942. The longitudinal movement assembly 94 is provided with two groups, and each of the first pushing body 911 and the second pushing body 921 corresponds to a longitudinal movement assembly 94, wherein the first pushing body 911 is meshedly connected to one screw rod 942, and the second pushing body 921 is meshedly connected to the other screw rod 942.

[0090] When the vertical movement motor 943 rotates, it drives the screw rod 942 to rotate, and the rotation of the screw rod 942 drives the first pushing body 911 and the second pushing body 921 to move in the vertical direction, thereby achieving vertical movement.

[0091] At the same time, the drive mechanism 8 includes a lateral movement motor 933 drive circuit 81, a longitudinal movement motor drive circuit 82, a first push motor 913 drive circuit 83, and a second push motor 923 drive circuit 84. The first push motor 913 drive circuit 83 is used to drive the first push motor 913, the second push motor 923 drive circuit 84 is used to drive the second push motor, the lateral movement motor 933 drive circuit 81 is used to drive the lateral movement motor 933, and the longitudinal movement motor drive circuit 82 is used to drive the longitudinal movement motor. In the embodiment of the present application, the first push body 911 and the second push body 921 are relatively fixed to the lateral movement frame 932, so when moving horizontally, the movement of the two push bodies is synchronized. Furthermore, the longitudinal movement motors corresponding to the first push body 911 and the second push body 921 also receive synchronized drive commands to achieve synchronized movement. In other words, when the two push bodies move, they always maintain synchronized movement, which can reduce the amount of calculation used in the control drive.

[0092] like Figure 2 As shown, further, a rotating mechanism 15 is provided on the fuselage 1, and the rotating mechanism 15 is electrically connected to the driving mechanism 8 to drive the positioning frame 2 to rotate according to the driving of the driving mechanism 8, and the rotating axis of the positioning frame 2 is arranged in the horizontal direction.

[0093] The rotating mechanism 15 includes an electric cylinder 151 and a rotating arm 152. The electric cylinder 151 is rotatably connected to the outer wall of the machine body 1. One end of the rotating arm 152 is fixedly connected to the output end of the electric cylinder 151, and the other end is fixedly connected to the side of the positioning frame 2 via a connecting rod. The side of the positioning frame 2 away from the electric cylinder 151 is rotatably connected to the machine body 1.

[0094] The electric cylinder 151 is controlled by a rotating motor. The forward and reverse rotation of the rotating motor drives the output end of the electric cylinder 151 to extend and retract. The output end of the electric cylinder 151 extends and retracts to drive the rotating arm 152 to rotate. The rotation of the rotating arm 152 drives the entire positioning rack 2 to rotate, so that the operator can rotate the positioning rack 2 to a suitable position and place the corresponding slide rack 4 and slides.

[0095] The rotary motor in the rotating mechanism is also driven and controlled by the rotary motor driving motor 85 of the driving mechanism 8 .

[0096] like Figure 1 As shown, in other embodiments, a detection alarm module 16 is further included. The detection alarm module 16 includes a detection component and an alarm component. The detection component includes several sensors for detecting the working status of various motors or other components to output corresponding detection signals. The control module 10 receives the detection signals and controls the on and off of the alarm component according to the detection signals. The alarm component is an LED light for reflecting the operation and alarm status of the entire system.

[0097] In other embodiments, a motor position sensor 17 is further included. The motor position sensor 17 is a photoelectric sensor or a Hall device, which can be used to detect the origin position of each motor.

[0098] like Figure 6 As shown, the present application also discloses a fully automatic slide arrangement method, comprising the following steps:

[0099] S100 , obtaining and storing initial quantity information and initial position information of the slides.

[0100] like Figure 9 As shown, specifically including:

[0101] S110 , driving the scanning mechanism 7 to move upward along the bottom of the slide rack 4 at the initial end to scan to obtain the column number i of the slide rack 4 , where the initial value of the column number i is 0.

[0102] In the embodiment of the present application, the initial end is the corner point of the lowest end on one side of the positioning rack 2 , and the scanning mechanism 7 is controlled to move upward along the bottom of the slide rack 4 corresponding to the initial end to scan and obtain the column number i of the slide rack 4 .

[0103] S120, determining whether the scanning mechanism 7 has moved to the maximum stroke position.

[0104] The maximum stroke position represents the highest limit height to which the scanning mechanism 7 can move in the vertical upward direction. When the maximum stroke position is reached, it means that the scanning mechanism 7 cannot move further upward, which also means that the scanning of the row has been completed.

[0105] S130: If it has not moved to the maximum stroke position, determine whether the scanning mechanism 7 has a falling edge output.

[0106] If it hasn't reached the maximum formation position, indicating that the scanning mechanism 7 hasn't completed scanning the entire column, the scanning mechanism continues scanning and determines whether a falling edge is output. A falling edge represents the output signal from the scanning mechanism 7 when a slide is placed on the slide rack 4. If the microcontroller receives a falling edge, it indicates that a slide is present at that position; otherwise, it indicates that there is no slide.

[0107] S140, if yes, count once and mark the position to obtain the initial slide position; if no, keep moving upward to obtain the number of slides on a column of slide racks 4.

[0108] If there is a falling edge output, a number is recorded to represent the number of slides in that column plus one, and the position is marked to obtain the initial position of the slide. If there is no falling edge output, the slide is moved upward. In this way, the number of slides placed on each column of the slide rack 4 and the corresponding positions can be obtained. Since the number of slides placed and the corresponding positions of the slide racks 4 in each column is fixed, the number of vacant positions and the corresponding positions can be obtained accordingly.

[0109] S150, if the scanning mechanism 7 moves to the maximum stroke position, the scanning mechanism 7 is driven to move downward, and i=i+1. When the scanning mechanism 7 moves to the minimum stroke position, the scanning mechanism 7 is driven to move in the adjacent direction and the above steps are repeated;

[0110] Each time the scanning mechanism 7 reaches its maximum travel position, it indicates that it has completed scanning a column, and the column number i is incremented by 1. For example, the first time it reaches the maximum travel position, the first column scan is complete, and the column number i becomes 1. The second time it reaches the maximum travel position, the second column scan is complete, and the column number i becomes 2, and so on. After the scanning mechanism 7 reaches its maximum travel position, it begins to move downward. When it reaches the lowest point and cannot move downward any further, it reaches its minimum travel position. At this point, the scanning mechanism 7 is driven to move in the adjacent direction, and the above steps are repeated to scan all columns of the slide racks 4. The movement direction of the scanning mechanism 7 remains unchanged.

[0111] S160 , determining whether the number of columns i is less than a preset number. If so, repeat the above steps S110 - S150 . If not, calculate the total number of slides M based on the number of columns i of the slide rack 4 and the number of slides on each column of the slide rack 4 .

[0112] The preset number refers to the number of the positioning slots 3 on the positioning rack 2. Since the slide racks 4 are placed in the positioning slots 3, the number of columns of positioning slots 3 on the positioning rack 2 indicates the total number of slide racks 4. In the embodiment of the present application, 16 columns of positioning slots 3 are provided, that is, the preset number is 16.

[0113] If the number of columns i is less than the preset number, it means that the scanning mechanism 7 has not completed scanning all the slide racks 4, and then the above scanning steps are continued to obtain the number of completed slide racks 4 and the number of slides on each column of slide racks 4.

[0114] When the column number i increases continuously and becomes equal to the preset number, the column number i is no less than the preset number, which indicates that the scanning mechanism 7 has completed scanning all the slide racks 4. At this time, the total number of slides M is obtained based on the column number i of the slide racks 4 and the number of slides on each column of the slide racks 4.

[0115] S200, drying the glass slide.

[0116] The sheet is dried by the heating module 11 .

[0117] S300: Obtain identification information of the slide.

[0118] The identification information includes the label, classification, medical record number, doctor's name, etc. corresponding to the slide, which is recorded on the corresponding identification piece 6 through information storage. The camera in the scanning mechanism 7 shoots the identification piece 6 to obtain the identification information of the slide.

[0119] like Figure 10 As shown, specifically, the identification of the slide includes the following steps:

[0120] S310, the first pushing mechanism 91 and the second pushing mechanism 92 move to corresponding slide positions according to the initial position information of the slide;

[0121] S320, driving the second pushing mechanism 92 to push the slide out a preset distance;

[0122] S330, the first pushing mechanism 91 identifies the identification element 6 on the glass slide through the scanning mechanism 7 provided thereon to obtain identification information;

[0123] S340 , the first pushing mechanism 91 pushes the slide back into the placement slot 5 on the slide rack 4 .

[0124] In this way, the first pushing mechanism 91 and the second pushing mechanism 92 cooperate to push the slide out for identification and return it to its original position.

[0125] Also includes:

[0126] S350, if identification information of a slide is obtained, calculate M=M-1;

[0127] S360, determining whether the total number of slides M is greater than 0. If it is greater than 0, repeating the above steps S310-S350.

[0128] like Figure 7 As shown, this application has two film processing modules:

[0129] In the A slide sorting mode, if M is not greater than 0, the host computer 12 sends a sorting instruction to the control module 10, and the control module 10 sends a control instruction to make the driving mechanism 8 drive the grabbing mechanism 9 to grab and sort the target slide.

[0130] like Figure 8 As shown, in the B slide sorting mode, the upper computer 12 sends a sorting instruction to the control module 10, and the control module 10 sends a control instruction to enable the driving mechanism 8 to drive the grabbing mechanism 9 to grab and sort the target glass slide. The process will be carried out when the scanning mechanism 7 finishes scanning a glass slide. When M is not greater than 0, an instruction to end the slide sorting will be sent to the upper computer 12 to represent the end of the entire sorting process.

[0131] That is, in slide sorting mode A, all slides on slide rack 4 are first identified. After all M slides have been identified and counted, host computer 12 issues a sorting instruction to control module 10 to initiate a unified subsequent sorting process for all slides. In slide sorting mode B, each time a slide is identified, its position is sorted according to the sorting instruction. Each slide is sorted, and after each slide is sorted, M is decremented by one, until M is no greater than 0, at which point the sorting process is complete.

[0132] S400 , obtaining an arrangement instruction, and selecting a target slide according to the arrangement instruction combined with identification information, and obtaining initial position information and target position information of the target slide.

[0133] The sorting instructions are based on the specific sorting rules and instructions input by the operator on the host computer 12. For example, the classification method of the glass slides, the order of taking the glass slides in the initial position, etc. can be set through a specific program, and the host computer 12 outputs different sorting instructions according to the corresponding settings.

[0134] The sorting instruction includes the slide information, location, and location to which the slide is to be moved. The slide to be moved is defined as the target slide, and the location to which it is to be moved is the target location information. For example, if the sorting instruction includes moving slide A from slot 5 in the third column, fourth row to slot 5 in the tenth column, ninth row, then slide A is the target slide, the third column, fourth row is the initial location information, and the tenth column, ninth row is the target location information.

[0135] S500 , grabbing the target slide according to the initial position information of the target slide, and placing the target slide at a relative position according to the target position information for slide sorting.

[0136] The specific grabbing method is that the first pushing body 911 and the second pushing body 921 move together to the initial position of the target glass slide, the second pushing motor 923 works to drive the second push rod 922 to extend, the second push rod 922 extends to push the target glass slide out of the placement slot 5 and move it to the grabbing slot 914 on the first pushing body 911, the first pushing body 911 and the second pushing body 921 move together to the target position again, the first pushing motor 913 works to drive the first push rod 912 to extend, the first push rod 912 drives the glass slide in the grabbing slot 914 to move to the placement slot 5 at the target position, and pushes it into the placement slot 5 at the target position, thereby realizing the grabbing and transfer of the glass slide.

[0137] like Figure 11 As shown, it also includes the error information judgment process, which specifically includes:

[0138] S510 , obtaining the number N of free positions on the slide rack 4 according to the total number M of slides.

[0139] S520, determining whether the number of available positions N is greater than 0.

[0140] S530: If N is not greater than 0, a corresponding error message is output and the film sorting process stops.

[0141] When each slide rack 4 is scanned in advance, the number and position information of the free positions on the slide rack 4 will be obtained. Before sorting, it is necessary to first determine whether the number of free positions is greater than 0. If it is not greater than 0, it means that there is no position for placing a slide on the slide rack 4. Then, when sorting, if a slide is taken out from the initial position, there will be only one free position. Then, the slide can only be put back into the original placement slot 5, and sorting cannot be performed. Therefore, in this case, a corresponding error prompt will be displayed and the sorting process will be stopped.

[0142] like Figure 12 As shown, in some other embodiments, the following error information judgment process is also included:

[0143] S540 , obtaining a preset target position area on the slide rack 4 .

[0144] S550: Obtain the number N1 of available positions in the target location area.

[0145] S560, obtaining the number J of slides in the target position area.

[0146] S570: Determine whether the number of slides J in the target position area is greater than 0.

[0147] S580: If it is greater than 0, a corresponding error message is output and the film processing is stopped.

[0148] S590: If it is not greater than 0, determine whether the total number of slides M is greater than the number of free positions N1 in the target position area. If it is greater, output a corresponding error prompt and stop slide sorting.

[0149] The target position area is characterized as the final target area where a plurality of slides are placed when they are sorted, and the target position area has a plurality of target positions corresponding to the target position information.

[0150] As in the embodiment of the present application, there are a total of 16 columns of slide racks 4, and the slide racks 4 in columns 9-16 are selected as the target position area, and the slides on the slide racks 4 in columns 1-8 are the initial position area. Therefore, the slides in columns 1-8 need to be sorted into the slide racks 4 in columns 9-16, and the slide racks 4 in columns 9-16 can be classified accordingly according to different medical record numbers, doctor names, project names, etc.

[0151] First, it is determined whether there are slides in the target position area. If there are slides, an error message is output and the slide sorting is stopped. After the initial position area and the target position area are divided, the sorting instruction on the host computer 12 is kept to remove the slides from the initial position area and sort them to the target position area. Therefore, if there are slides in the target position area, the host computer 12 cannot sort the slides at that position, which reduces the accuracy of the sorting. Therefore, it is necessary to issue an error message and choose to re-enact the sorting instruction or remove the slides in the target position area and place them in the initial position area.

[0152] If there are no slides in the target position pre-fetch, it is necessary to determine whether the total number of slides M is greater than the number of available positions N1 in the target position area. Sometimes, when dividing the target position area, the target position area may be smaller than the initial position area. For example, in a 16-column slide rack 4, columns 12-16 are the target position area, while columns 1-11 are the initial position area. In this case, the number of slides in the initial position area may be greater than the target position area. In this case, an error message will be output accordingly, because in this case, some slides cannot be placed in the target position area.

[0153] In some other embodiments, a detection method is also included, specifically:

[0154] S600: Detect the status of each sensor to obtain sensor status information.

[0155] S610: Determine whether each sensor has a fault based on the sensor status information.

[0156] S620, if not, repeat the steps of S600-S610, if it appears, stop sorting instructions, issue a corresponding alarm and upload the error information to the host computer 12.

[0157] The sensor is used to detect the working status of various motors or other components to output corresponding detection signals. If the sensor fails, the corresponding detection cannot be performed. Therefore, it is necessary to detect the working status of the sensor to determine whether the sensor fails. If so, the system stops processing, issues an alarm, and sends the corresponding fault information to the host computer 12 to prompt the user.

[0158] The present application also discloses a computer storage medium on which a computer program is stored. When the computer program is executed by a processor, the above-mentioned fully automatic slide arrangement method is implemented.

[0159] The implementation principle is:

[0160] The scanning mechanism 7 obtains and records the number of columns of the slide racks 4 on the positioning rack 2 and the position and quantity of the slides. The host computer 12 obtains the corresponding sorting instructions, which include the initial position of the target slide and the position to be sorted. The host computer 12 sends the sorting instructions to the control module 10. The control module 10 controls the driving mechanism 8 to drive the grabbing mechanism 9 to move, so as to grab the corresponding slides and sort them to the appropriate position, thereby realizing fully automatic slide sorting and reducing manual workload.

[0161] The above are all preferred embodiments of the present application, and are not intended to limit the scope of protection of the present application. Therefore, any equivalent changes made based on the structure, shape, and principle of the present application should be included in the scope of protection of the present application.

Claims

1. A fully automatic slide arrangement device, characterized by: It includes a body (1), a positioning frame (2), a slide frame (4), an identification element (6), a scanning mechanism (7), a driving mechanism (8), a gripping mechanism (9), a control module (10), a heating module (11) and a host computer (12); The positioning frame (2) is arranged in the body (1), and a plurality of positioning slots (3) are provided on the positioning frame (2) in a vertical direction; the glass slide rack (4) is slidably arranged in the positioning frame (2), and a plurality of placement slots (5) for placing glass slides are provided on the glass slide rack (4) in a horizontal direction; The identification element (6) is provided on the glass slide to serve as a unique identification mark of the glass slide, the grabbing mechanism (9) is provided in the body (1) to grab the glass slide, the driving mechanism (8) is provided on the body (1) to drive the grabbing mechanism (9) to move in the horizontal and vertical directions, the scanning mechanism (7) is provided on the grabbing mechanism (9) to scan the glass slide and the identification element (6) to obtain a glass slide identification signal, the scanning mechanism (7) is electrically connected to the host computer (12) to send the glass slide identification signal to the host computer (12), the host computer (12) is used to receive a sorting instruction and output a corresponding sorting control signal to the control module (10) according to the glass slide identification signal and the sorting instruction, the control module (10) receives the sorting control signal and controls the driving mechanism (8) to work, and the heating module (11) is electrically connected to the control module (10) to heat the glass slide on the glass slide rack (4); The opening of one end of the placement slot (5) on the slide rack (4) is smaller than the opening of the other end, and the size of the smaller opening is smaller than the size of the slide; a positioning slot (13) is provided on one side of the positioning rack (2) in the vertical direction; a positioning member (14) corresponding to the positioning slot (13) is provided on one side of the slide rack (4); the positioning member (14) slides in the positioning slot (13) in the vertical direction; The grabbing mechanism (9) comprises a first pushing mechanism (91) and a second pushing mechanism (92), wherein the first pushing mechanism (91) and the second pushing mechanism (92) are respectively located on both sides of the clamping frame (2), wherein: The first pushing mechanism (91) includes a first pushing body (911), a first pushing rod (912) and a first pushing motor (913), wherein the first pushing body (911) is located at an end of the placement slot (5) on the glass slide rack (4) with a larger opening, the first pushing rod (912) is arranged on the first pushing body (911) in a horizontal direction and faces the placement slot (5) on the glass slide rack (4), the first pushing motor (913) is arranged on the first pushing body (911) and is electrically connected to the driving mechanism (8), the first pushing motor (913) is used to drive the first pushing rod (912) to move in a horizontal direction, and a grabbing groove (914) that matches the gap between the glass slides is provided on the end of the first pushing body (911) close to the glass slide rack (4); The second pushing mechanism (92) comprises a second pushing body (921), a second pushing rod (922) and a second pushing motor (923). The second pushing body (921) is located at the end of the placement slot (5) on the slide rack (4) with a smaller opening. The second pushing rod (922) is arranged on the second pushing body (921) in a horizontal direction and faces the placement slot (5) on the slide rack (4). The second pushing motor (923) is arranged on the second pushing body (921) and is electrically connected to the driving mechanism (8). The second pushing motor (923) is used to drive the second pushing rod (922) to move in the horizontal direction.

2. The fully automatic slide arrangement device according to claim 1, characterized in that: A rotating mechanism (15) is provided on the fuselage (1), and the rotating mechanism (15) is electrically connected to the driving mechanism (8) to drive the positioning frame (2) to rotate according to the driving of the driving mechanism (8), and the rotation axis of the positioning frame (2) is along the horizontal direction.

3. The fully automatic slide arrangement device according to claim 1, characterized in that: It also includes a detection alarm module (16), which includes a detection component and an alarm component. The detection component is used to detect the working status of each component in the full-automatic slide arrangement device to output a corresponding detection signal. The control module (10) receives the detection signal and controls the on and off of the alarm component according to the detection signal.

4. A fully automatic slide arrangement method, applicable to the fully automatic slide arrangement device according to claims 1 to 3, characterized in that: The following steps are involved: S100, obtaining and storing initial quantity information and initial position information of the slides; S200, drying the glass slide; S300, obtaining identification information of the slide, wherein the identification information includes the number, classification, pathology number, and doctor's name corresponding to the slide; S400, obtaining a sorting instruction, and selecting a target slide according to the sorting instruction and the identification information, and obtaining initial position information and target position information of the target slide; S500 , grabbing the target slide according to the initial position information of the target slide, and placing the target slide at a corresponding position according to the target position information for slide sorting.

5. The fully automatic slide arrangement method according to claim 4, characterized in that: Obtaining and storing initial quantity information and initial position information of the slides includes the following steps: S110, driving the scanning mechanism (7) to move upward along the bottom of the slide rack (4) at the initial end to scan to obtain the column number i of the slide rack (4), where the initial value of the column number i is 0; S120, determining whether the scanning mechanism (7) has moved to the maximum stroke position; S130, if it has not moved to the maximum stroke position, determining whether the scanning mechanism (7) has a falling edge output, wherein the falling edge output is characterized by an output signal on the scanning mechanism (7) when a glass slide is placed on the glass slide rack (4); S140, if yes, count once and mark the position to obtain the initial slide position; if no, keep moving upward to obtain the number of slides on a column of slide racks (4); S150, if it moves to the maximum stroke position, the scanning mechanism (7) is driven to move downward, and i=i+1. When the scanning mechanism (7) moves to the minimum stroke position, the scanning mechanism (7) is driven to move in an adjacent direction and the above steps are repeated: S160, determining whether the number of columns i is less than a preset number; S170, if yes, repeat the above steps S110-S150; S160, if not, calculate the total number of slides M based on the number of columns i of the slide rack (4) and the number of slides on each column of the slide rack (4).

6. The fully automatic slide arrangement method according to claim 4, characterized in that: Grabbing the target glass slide according to the initial position information of the target glass slide and placing the target glass slide at a corresponding position according to the target position information further includes: S510, obtaining the number N of free positions on the slide rack (4) according to the total number M of slides; S520, determining whether the number of available positions N is greater than 0; S530: If N is not greater than 0, a corresponding error message is output and the film sorting process stops.

7. The fully automatic slide arrangement method according to claim 4, characterized in that: The target glass slide is grabbed according to the initial position information of the target glass slide, and the target glass slide is placed at a corresponding position according to the target position information, further comprising the following steps: S540, obtaining a preset target position area on the slide rack (4), wherein the target position area is characterized as a final target area where a plurality of slides are placed when the slides are sorted, and the target position area has a plurality of target positions corresponding to the target position information; S550, obtaining the number N1 of available positions in the target location area; S560, obtaining the number J of slides in the target location area; S570, determining whether the number of slides J in the target position area is greater than 0; S580: If the value is greater than 0, a corresponding error message is output and the film sorting process is stopped; S590: If it is not greater than 0, determine whether the total number of slides M is greater than the number of free positions N1 in the target position area. If it is greater, output a corresponding error prompt and stop the slide sorting.

8. A computer storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the fully automatic slide arrangement method according to any one of claims 4 to 7 is implemented.

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