Sample detection system and sample detection method

Abstract

The application discloses a sample detection system and a sample detection method, and the sample detection system comprises a conveying device, an identification device and an uncapping device, the conveying device comprises a guide rail mechanism and a tube seat, the guide rail mechanism is provided with an identification station and an uncapping station; the identification device comprises an identification detection mechanism and a carrying manipulator; the identification detection mechanism comprises an identification module, the carrying manipulator can grab or release a sample tube, and the carrying manipulator can also drive the sample tube to lift or rotate; the uncapping device comprises an uncapping tube holding mechanism and an uncapping manipulator. The identification module obtains image information of the sample tube, obtains whether blood samples in the sample tube have hemolysis, jaundice and chyle phenomena and disease severity information through analysis, thereby identifying abnormal samples which have a greater influence on detection errors, and in addition, the above information can also be used for correcting analyzer analysis results, thereby reducing analysis errors and improving analyzer working efficiency.

Description

Technical Field

[0001] This invention relates to the field of medical testing equipment technology, and in particular to a sample testing system and a sample testing method. Background Technology

[0002] With policy support and rising medical insurance coverage, the number of outpatient visits and physical examinations at medical institutions in my country is increasing annually, making automated production lines the preferred choice for medical laboratories. The main steps in common automated production line operations generally include: sample input, sample sorting, centrifugation, capping, analysis, capping, storage, result transmission, confirmation, and sample retesting.

[0003] Currently, the main workflow of pretreatment devices on the market involves directly opening the sample cap after centrifugation without performing serum quality testing. This prevents the identification of abnormal samples such as hemolyzed, lipemic, and jaundiced samples, which significantly impact testing errors. Furthermore, these devices cannot classify and grade individual abnormal samples, nor can they work in conjunction with the analyzer to correct analytical results, thereby reducing analytical errors and improving work efficiency.

[0004] Therefore, it is necessary to provide a new sample detection system and sample detection method to solve or at least alleviate the above-mentioned technical defects. Summary of the Invention

[0005] The main objective of this invention is to provide a sample detection system and a sample detection method, which aims to solve the technical problem that existing sample detection systems cannot identify abnormal samples that have a significant impact on detection errors.

[0006] To achieve the above objectives, the present invention provides a sample detection system, the sample detection system comprising:

[0007] A transport device, comprising a guide rail mechanism and a tube seat, wherein the guide rail mechanism is used to transport the tube seat, the sample tube is placed on the tube seat, and the guide rail mechanism is provided with an identification station and an opening station at intervals along the transport direction of the sample tube.

[0008] An identification device is provided corresponding to the identification station. The identification device includes an identification detection mechanism and a handling robot. The identification detection mechanism includes an identification module, which is used to acquire image information of the sample tube located at the identification station and compare the image information with pre-identified information. The handling robot can grasp or release the sample tube, and the handling robot can also drive the sample tube to lift or rotate.

[0009] A cap-opening device is provided corresponding to the cap-opening station. The cap-opening device includes a cap-opening tube-holding mechanism and a cap-opening robot. The tube-holding mechanism is used to hold the sample tube located at the cap-opening station. The cap-opening robot is used to remove the tube cap from the sample tube located at the cap-opening station.

[0010] In one embodiment, the transport device further includes a transport detection mechanism, which includes a first detection component. The guide rail mechanism includes a sample inlet rail, an operating rail, and a first variable rail connecting the sample inlet rail and the operating rail. The operating rail is provided with the identification station and the cap opening station at intervals along the transport direction of the sample tube. The first variable rail is located near the sample inlet of the sample inlet rail. The first detection component is located near the sample inlet of the sample inlet rail and is used to detect the sample tube and the tube seat. The sample detection system further includes a variable rail mechanism, which includes a first variable rail component. The first variable rail component is located at the connection between the sample inlet rail and the first variable rail. The first variable rail component blocks the sample inlet rail or the first variable rail, so that the tube seat entering from the sample inlet of the sample inlet rail enters the first variable rail or continues to move along the sample inlet rail.

[0011] In one embodiment, the transport device further includes an inlet blocking mechanism, which is disposed near the inlet of the sample inlet track to block or allow the tube seat to pass. The transport detection mechanism further includes a second detection component, which includes a first detection element and a second detection element. The first detection element is disposed at the inlet of the first track changing component. The first track changing component and the second detection element are sequentially disposed along the transport direction of the sample tube on the sample inlet track. The first track changing component is located at the connection between the inlet of the first track changing component and the sample inlet track.

[0012] In one embodiment, the tube socket is provided with a read / write module, and the transport device further includes a first reading mechanism for reading information from the read / write module, and the first reading mechanism is located near the inlet of the sample inlet track.

[0013] In one embodiment, the transport detection mechanism further includes a fullness detection component, which in turn includes a track fullness detection element. The sample inlet track is sequentially provided with the second detection element and the track fullness detection element along the transport direction of the tube seat. The track fullness detection element and the inlet blocking mechanism are both signal-connected to the controller.

[0014] In one embodiment, the identification device further includes an identification blocking mechanism for blocking or allowing the tube seat to leave the detection station. The fullness detection component includes a cap-opening fullness detection element, which is disposed between the detection station and the cap-opening station. Both the cap-opening fullness detection element and the identification blocking mechanism are signal-connected to the controller.

[0015] In one embodiment, the guide rail mechanism further includes a second variable track, which connects the operating track and the sample inlet track. The second variable track is located near the sample outlet of the sample inlet track. The variable track mechanism also includes a second variable component, which is located at the connection between the operating track and the sample inlet track to guide the tube seat from the operating track into the second variable track.

[0016] In one embodiment, the transport device further includes an anti-collision blocking mechanism, and the transport detection mechanism further includes a third detection component. The third detection component includes a third detection element and a fourth detection element. The third detection element is arranged corresponding to the second track change track and is used to detect the tube seat passing through the second track change track. The anti-collision blocking mechanism, the second track change track, and the fourth detection element are arranged sequentially along the direction of transporting the tube seat on the sample feed track.

[0017] In one embodiment, the identification and detection mechanism further includes a light-shielding box located above the guide rail mechanism. The light-shielding box has two side walls that are opposite to each other along the transport direction of the guide rail mechanism, each having a first clearance hole for the tube seat to pass through.

[0018] In one embodiment, the identification device further includes a second reading mechanism for reading the pre-identification information of the read / write module; the identification device further includes an identification blocking mechanism for blocking or allowing the tube seat located at the identification station.

[0019] Furthermore, the present invention also provides a sample detection method, which is applied to the above-mentioned sample detection system. The identification station includes a first identification area and a second identification area, and the tube socket is provided with a read / write module. The sample detection method includes the following steps:

[0020] Control the guide rail mechanism to transport the sample tube to the first identification area;

[0021] The recognition module is controlled to acquire the first image information of the sample tube;

[0022] The first image information is analyzed to obtain the first recognition information;

[0023] The first identification information is compared with the pre-identification information;

[0024] If the first identification information matches the pre-identification information, the handling robot is controlled to pick up the sample tube and move the sample tube to the second identification area based on the first identification information;

[0025] Obtain the second identification information of the sample tube located in the second identification area;

[0026] The robotic arm is controlled to place the sample tube back into the tube holder;

[0027] The guide rail mechanism is controlled to transport the sample tube to the capping station;

[0028] Control the third reading mechanism to read the sample tube information of the read / write module;

[0029] Based on the sample tube information, the tube-holding mechanism is controlled to hold the sample tube, and then the cap-opening robot is controlled to remove the tube cap.

[0030] In one embodiment, the step of controlling the guide rail mechanism to transport the sample tube to the first identification area includes:

[0031] The inlet blocking mechanism is used to block the tube seat;

[0032] The first detection component is controlled to detect the tube socket and the sample tube;

[0033] If the first detection component detects the sample tube and the tube socket, it controls the first reading mechanism to read the information from the read / write module and obtain the first detection information.

[0034] Based on the first detection information, determine whether the sample tube needs to be identified and opened;

[0035] If so, the inlet blocking mechanism is controlled to release the tube seat, and the first track changing assembly is controlled to close, so that the tube seat enters the operating track from the sample inlet track through the first track changing track.

[0036] When the tube seat leaves the inlet blocking mechanism, the inlet blocking mechanism is reset.

[0037] In one embodiment, after the step of determining whether the sample tube needs to be identified and opened based on the first detection information, and before the step of controlling the inlet blocking mechanism to release the tube seat if so, the following steps are included:

[0038] If identification and opening the cover are required, the tube seat is determined to have successfully entered the first track-changing track from the sample inlet track based on the first discrimination information obtained from the first detection component.

[0039] In one embodiment, the step of controlling the cap-opening robot to remove the tube cap includes:

[0040] The guide rail mechanism is controlled to transport the tube seat, so that the tube seat enters the sample inlet track from the operating track via the second track changing track;

[0041] Obtain the third discrimination information of the third detection element, and determine whether the pipe seat has passed the third detection element based on the third discrimination information;

[0042] If the sample passes the third detection element, the anti-collision blocking mechanism is controlled to block the tube seat located on the sample inlet track from moving towards the sample outlet of the sample inlet track.

[0043] Obtain the fourth discrimination information of the fourth detection element, and determine whether the pipe seat has passed the fourth detection element based on the fourth discrimination information;

[0044] If the tube seat passes the fourth detection element, the anti-collision blocking mechanism is controlled to release the tube seat.

[0045] In one embodiment, the step of obtaining the second identification information of the sample tube located in the second identification region includes:

[0046] Control the recognition device and acquire second image information of the sample tube located in the second recognition area;

[0047] Based on the second image information, determine whether the sample tube has a marked area;

[0048] If the sample tube in the second image information contains the marked area, then the marked area is compared with the preset marked area;

[0049] If the marked area is larger than the preset marked area, then angle information is obtained based on the marked area;

[0050] The robotic arm is controlled to rotate the sample tube based on the angle information;

[0051] The identification device is controlled to acquire third image information of the sample tube located in the second identification area;

[0052] The second recognition information is obtained based on the third image information.

[0053] In one embodiment, the test tube information includes the height information of the test tube, the diameter information and type information of the test tube cap, and the step of controlling the cap-opening robot to remove the cap includes:

[0054] Based on the height information, the cap-opening robot is controlled to move a first displacement to a position where it can grasp the cap.

[0055] Based on the diameter information, the opening robot arm is controlled to grasp the tube cap;

[0056] Based on the type information, the rotation speed and lifting speed of the cap-opening robot are controlled, and the cap is removed.

[0057] In the above technical solution of the present invention, a guide rail mechanism transports a tube holder, on which a sample tube is placed. The tube holder is equipped with a read / write module for recording sample tube information. The guide rail mechanism first transports the tube holder containing the sample tube to the identification station. The identification module acquires image information of the sample tube located at the identification station and compares this image information with pre-identified information. If the image information does not match the pre-identified information, the sample tube is marked as an abnormal sample tube, and the guide rail mechanism transports the sample tube to the abnormal sample tube storage area. If the image information matches the pre-identified information, a handling robot grabs the sample tube and lifts it to an area that is easy for the identification module to identify. The identification module acquires image information of the sample tube again and analyzes the image information using an algorithm to determine whether the blood sample in the sample tube exhibits hemolysis, jaundice, or chyle, and the severity of the disease. The information is used to identify abnormal samples that significantly affect detection errors. Furthermore, this information can be used to correct the analyzer's results, thereby reducing analysis errors and improving the analyzer's efficiency. If the identification module cannot obtain the above information through image information, the handling robot rotates the gripped sample tube so that the image information identified by the identification module can be analyzed by the algorithm to obtain the above information. After the identification module completes the analysis, the handling robot returns the sample tube to the tube holder, and the guide rail mechanism continues to transport the sample tube to the capping station. The capping and tube-holding mechanism holds the sample tube to prevent it from rotating relative to the tube holder, allowing the capping robot to remove the cap from the sample tube. After the capping robot removes the cap from the sample tube, the capping and tube-holding mechanism releases its grip on the sample tube, and the guide rail mechanism transports the tube holder so that the sample tube leaves the capping station. Attached Figure Description

[0058] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the structures shown in these drawings without creative effort.

[0059] Figure 1 This is a schematic diagram of the structure of a sample detection system according to an embodiment of the present invention;

[0060] Figure 2This is a schematic diagram of the structure of a transportation device according to an embodiment of the present invention;

[0061] Figure 3 This is a partial structural schematic diagram of a sample detection system according to an embodiment of the present invention;

[0062] Figure 4 This is a partial structural schematic diagram of a sample detection system according to an embodiment of the present invention;

[0063] Figure 5 This is a partial structural schematic diagram of a sample detection system according to an embodiment of the present invention;

[0064] Figure 6 This is a flowchart illustrating the first embodiment of the sample detection method of the present invention;

[0065] Figure 7 This is a flowchart illustrating the second embodiment of the sample detection method of the present invention;

[0066] Figure 8 This is a flowchart illustrating the third embodiment of the sample detection method of the present invention;

[0067] Figure 9 This is a flowchart illustrating the fourth embodiment of the sample detection method of the present invention;

[0068] Figure 10 This is a flowchart illustrating the fifth embodiment of the sample detection method of the present invention;

[0069] Figure 11 This is a flowchart illustrating the sixth embodiment of the sample detection method of the present invention;

[0070] Figure 12 This is a flowchart illustrating the seventh embodiment of the sample detection method of the present invention;

[0071] Figure 13 This is a flowchart illustrating the eighth embodiment of the sample detection method of the present invention.

[0072] Explanation of icon numbers:

[0073]

[0074] The realization of the objective, functional characteristics and advantages of the present invention will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0075] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of them. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0076] It should be noted that all directional indicators (such as up, down, etc.) in the embodiments of the present invention are only used to explain the relative positional relationship and movement of each component in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indicator will also change accordingly.

[0077] Furthermore, in this invention, descriptions involving "first," "second," etc., are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined with "first" or "second" can explicitly or implicitly include at least one of that feature.

[0078] Furthermore, the technical solutions of the various embodiments of the present invention can be combined with each other, but only if they are implemented by those skilled in the art. When the combination of technical solutions is contradictory or cannot be implemented, it should be considered that such combination of technical solutions does not exist and is not within the scope of protection claimed by the present invention.

[0079] This invention provides a sample detection system 1, such as... Figure 1 , Figure 3 and Figure 4 As shown, the sample detection system 1 includes a transport device 2, an identification device 3, and a cap-opening device 4. The transport device 2 includes a guide rail mechanism 21 and a tube seat 22. The guide rail mechanism 21 is used to transport the tube seat 22, and the sample tube is placed on the tube seat 22. The guide rail mechanism 21 is provided with identification stations 91 and cap-opening stations 92 at intervals along the transport direction of the sample tube. The identification device 3 is set corresponding to the identification station 91. The identification device 3 includes an identification detection mechanism 31 and a handling robot 32. The identification detection mechanism 31 includes an identification module 311 for identification. Module 311 is used to acquire image information of the sample tube located at the identification station 91 and compare the image information with pre-identified information; the handling robot 32 can grasp or release the sample tube, and the handling robot 32 can also drive the sample tube to lift or rotate; the capping device 4 is set corresponding to the capping station 92, and the capping device 4 includes a capping and tube holding mechanism 41 and a capping robot 42. The tube holding mechanism is used to hold the sample tube located at the capping station 92; the capping robot 42 is used to remove the cap on the sample tube located at the capping station 92.

[0080] The guide rail mechanism 21 transports the tube holder 22, on which the sample tube is placed. The identification station 91 is equipped with a first identification area 93 and a second identification area 94 located above the first identification area 93. The tube holder 22 is equipped with a read / write module for recording sample tube information. The guide rail mechanism 21 first transports the tube holder 22 containing the sample tube to the first identification area 93. The identification module 311 acquires the image information of the sample tube located at the identification station 91 and compares the image information with pre-identified information. If the image information does not match the pre-identified information, the sample tube is marked as an abnormal sample tube, and the guide rail mechanism 21 transports the sample tube to the abnormal sample tube storage area. If the image information matches the pre-identified information, the handling robot 32 grabs the sample tube and lifts it to the second identification area 94, which is easy for the identification module 311 to identify. The identification module 311 acquires the image information of the sample tube again and analyzes the image information through an algorithm to determine whether the blood sample in the sample tube has dissolved. Information on the phenomena of blood, jaundice, and chyluria, as well as the severity of the disease, is used to identify abnormal samples that significantly affect detection errors. Furthermore, this information can be used to correct the analyzer's results, thereby reducing analysis errors and improving the analyzer's efficiency. If the identification module 311 cannot obtain the above information through image information, the handling robot 32 rotates the grasped sample tube so that the image information identified by the identification module 311 can be analyzed by the algorithm to obtain the above information. After the identification module 311 completes the analysis, the handling robot 32 places the sample tube back into the tube holder 22, and the guide rail mechanism 21 continues to transport the sample tube to the capping station 92. The capping and tube-holding mechanism 41 holds the sample tube to prevent it from rotating relative to the tube holder 22, allowing the capping robot 42 to remove the cap from the sample tube. After the capping robot 42 removes the cap from the sample tube, the capping and tube-holding mechanism 41 releases its grip on the sample tube, and the guide rail mechanism 21 transports the tube holder 22 so that the sample tube leaves the capping station 92. According to one embodiment of the present invention, the capping device 4 further includes a capping detection component, which is set corresponding to the capping station 92 and is used to detect whether the capping robot 42 has successfully removed the cap of the sample tube.

[0081] like Figure 1 and Figure 2As shown, the tube base 22 is equipped with a read / write module. The transport device 2 also includes a transport detection mechanism 23, which includes a first detection component 231. The guide rail mechanism 21 includes a sample inlet rail 211, an operating rail 212, and a first variable rail 213 connecting the sample inlet rail 211 and the operating rail 212. The operating rail 212 is provided with an identification station 91 and an opening station 92 at intervals along the transport direction of the sample tube. The first variable rail 213 is located near the sample inlet of the sample inlet rail 211. Component 231 is located near the inlet of the sample inlet track 211 and is used to detect the sample tube and tube seat 22. The sample detection system 1 also includes a track changing mechanism 5, which includes a first track changing component 51. The first track changing component 51 is located at the connection between the sample inlet track 211 and the first track changing track 213. The first track changing component 51 blocks the sample inlet track 211 or the first track changing track 213 so that the tube seat 22 entering from the inlet of the sample inlet track 211 enters the first track changing track 213 or continues to move along the sample inlet track 211. The first detection component 231 detects whether a sample tube is placed on the tube holder 22. If a sample tube is placed on the tube holder 22, the first track changing component 51 blocks the sample inlet track 211 so that the sample tube can enter the operating track 212 from the sample inlet track 211 through the first track changing track 213. If no sample tube is placed on the tube holder 22, the first track changing component 51 blocks the first track changing track 213 so that the tube holder 22 cannot enter the operating track 212 from the first track changing track 213, thereby preventing an empty tube holder 22 from entering the operating track 212 and occupying the space of the operating track 212.

[0082] The transport device 2 also includes an inlet blocking mechanism 24, which is located near the inlet of the sample inlet of the sample inlet track 211 to block or allow the tube seat 22 to pass. The transport detection mechanism 23 also includes a second detection component 232, which includes a first detection element 2321 and a second detection element 2322. The first detection element 2321 is located at the inlet of the first track changing component 51. The first track changing component 51 and the second detection element 2322 are arranged sequentially along the transport direction of the sample tube on the sample inlet track 211. The first track changing component 51 is located at the connection between the inlet of the first track changing component 213 and the sample inlet track 211. After the inlet blocking mechanism 24 releases a tube seat 22, it returns to the blocking state, thereby preventing tube seats 22 located behind that tube seat 22 from entering the sample inlet track 211. The tube seat 22 released by the inlet blocking mechanism 24 will determine whether the first track changing component 51 blocks the sample inlet track 211 or the first track changing track 213 depending on whether a sample tube is placed on it. If the first track changing component 51 blocks the first track changing track 213, the tube seat 22 continues to be transported along the sample inlet track 211. After the second detection component 2322 detects that the tube seat 22 has passed, the inlet blocking mechanism 24... 4. Allow the next pipe seat 22 to pass, and continue to block pipe seats 22 after the first pipe seat 22; if the first track changing assembly 51 blocks the first track changing track 213, the pipe seat 22 enters the first track changing track 213. After the first detection element 2321 detects that the pipe seat 22 has entered the first track changing track 213, the inlet blocking mechanism 24 allows the next pipe seat 22 to pass, and continues to block pipe seats 22 after the first pipe seat 22; through this design, the congestion of multiple pipe seats 22 is avoided from affecting the normal operation of the first track changing assembly 51, thereby ensuring the stable operation of the first track changing assembly 51.

[0083] Furthermore, the transport device 2 also includes a first reading mechanism 26, which is used to read information from the read / write module. The first reading mechanism 26 is located near the sample inlet of the sample inlet track 211. By setting the first reading mechanism to read the information from the read / write module set on the tube holder 22, it can determine whether the sample tube on the tube holder 22 needs to undergo a testing process or a capping process based on the information stored in the read / write module. If the sample tube does not need to undergo either process, the tube holder 22 will not stay at the testing station or the capping station 92, thus facilitating the smooth entry of the tube holder 22 behind it into the corresponding station, improving testing efficiency or capping efficiency. If the sample tube needs to undergo one or both processes, the tube holder 22 will stay at the corresponding station.

[0084] In addition, the transport detection mechanism 23 also includes a fullness detection component 234, which further includes a track fullness detection element 2341. The sample inlet track 211 is sequentially equipped with a second detection element 2322 and a track fullness detection element 2341 along the transport direction of the tube seat 22. Both the track fullness detection element 2341 and the inlet blocking mechanism 24 are connected to the controller signal. By setting up the track fullness detection element 2341, if it remains in a state where it can detect an item for an extended period, it indicates that there may be a blockage in front of the tube seat 22. To prevent subsequent tube seats 22 from entering the sample inlet track 211 and accumulating behind the tube seat 22, thus affecting the normal operation of the first track changing component 51, the inlet blocking mechanism 24 blocks the tube seat 22 from entering the sample inlet track 211 when the track fullness detection element 2341 remains in a state where it can detect an item for an extended period, thereby ensuring the normal operation of the first track changing component 51.

[0085] In addition, the identification device 3 also includes an identification blocking mechanism, which is used to block or allow the tube holder 22 to leave the detection station. The fullness detection component 234 includes a cap-opening fullness detection element 2342, which is disposed between the detection station and the cap-opening station 92. Both the cap-opening fullness detection element 2342 and the identification blocking mechanism are connected to the controller signal. By setting the identification blocking mechanism, the tube holder 22 can be stably stationed at the detection station so that the detection module can detect the sample tube located on the tube holder 22. By setting the cap-opening fullness detection element 2342, if the cap-opening fullness detection element 2342 is in a state that can detect items for a long time, the controller controls the identification blocking mechanism to block the tube holder 22 from leaving the identification station 91, thereby preventing additional samples from affecting serum identification.

[0086] Furthermore, the guide rail mechanism 21 also includes a second changing track 214, which connects the operating track 212 and the sample inlet track 211. The second changing track 214 is located near the sample outlet of the sample inlet track 211. The changing track mechanism 5 also includes a second changing track assembly 52, which is located at the connection between the operating track 212 and the sample inlet track 211 to guide the tube holder 22 from the operating track 212 into the second changing track 214. According to one embodiment of the present invention, the second changing track assembly 52 is a guide plate, which is used to guide the sample tube located on the operating track 212 into the second changing track 214.

[0087] In addition, the transport device 2 also includes an anti-collision blocking mechanism 25, and the transport detection mechanism 23 also includes a third detection component 233. The third detection component 233 includes a third detection element 2331 and a fourth detection element 2332. The third detection element 2331 is set corresponding to the second track changer 214 and is used to detect the tube seat 22 passing through the second track changer 214. The anti-collision blocking mechanism 25, the second track changer 214, and the fourth detection element 2332 are arranged sequentially along the direction of transporting the tube seat 22 on the sample feed track 211. The anti-collision blocking mechanism 25, the third detection element 2331, and the fourth detection element 2332 are all electrically connected to the controller. The controller controls the anti-collision blocking mechanism 25 to block or release the tube seat 22 by counting. Assuming that the controller count is zero, the anti-collision blocking mechanism 25 can release the tube seat 22. After the anti-collision blocking mechanism 25 releases one tube seat 22 and continues to block subsequent tube seats 22, the count is incremented by one. When the tube seat 22 passes the fourth detection element 2332, the count is decremented by one, making the count zero. The anti-collision blocking mechanism 25 then allows the next tube seat 22 to pass. When the third detector 2331 detects that a tube seat 22 has passed, the count is incremented by one, and the anti-collision blocking mechanism 25 blocks the tube seat 22. When the tube seat 22 passes the fourth detector 2332, the count is decremented by one, so that the count is reset to zero. Only then can the anti-collision blocking mechanism 25 allow a tube seat 22 to pass, thereby avoiding the tube seat 22 released by the anti-collision blocking mechanism 25 from colliding with the tube seat 22 that enters the sample injection track 211 from the second track changing track 214.

[0088] like Figure 1 and Figure 3 As shown, the identification and detection mechanism 31 also includes a light-shielding box 312, which is located above the guide rail mechanism 21. The light-shielding box 312 has two side walls that are opposite each other along the transport direction of the guide rail mechanism 21, each with a first clearance hole 95 for the tube seat 22 to pass through. By adding the light-shielding box 312, the external light source is shielded, thereby avoiding the influence of the external light source on the identification module 311 and improving the identification accuracy of the identification module 311.

[0089] The identification device 3 further includes a second reading mechanism for reading pre-identification information from the readable and writable module; the identification device 3 also includes an identification blocking mechanism for blocking or allowing the tube seat 22 located at the identification station 91. By adding the second reading mechanism to read the readable and writable module and obtain the pre-identification information, the pre-identification information can be compared with the image information of the identification module 311. It should be noted that both the first reading mechanism 26 and the second reading mechanism are RFID (Radio Frequency Identification) reading mechanisms.

[0090] like Figure 1 and Figure 5As shown, the sample detection system 1 also includes a waste cap collection device 7 and a mounting frame 6. The waste cap collection device 7 includes a waste cap box 74, a cover plate 71, a waste cap buffer mechanism 72, and a fifth detection element 73. The waste cap box 74 is provided with a receiving space for accommodating tube caps, and the waste cap box 74 also has an opening communicating with the receiving space. The cover plate 71 is installed on the mounting frame 6, and the waste cap box 74 can move relative to the cover plate 71 so that the cover plate 71 covers or exposes the opening. The waste cap buffer mechanism 72 includes a cap buffer cylinder 721 and a cap buffer assembly 722. The cap buffer cylinder 721 is installed on the cover plate 71, and one end of the cap buffer cylinder 721 is provided with a feed port, and the other end is provided with a... The discharge port and the cover plate 71 have a connecting hole that connects the discharge port and the opening; the cap assembly 722 includes a driving component and a blocking component installed on the output shaft of the driving component. The driving component drives the blocking component to extend and retract, so that the blocking component prevents or allows the cap to be discharged from the discharge port; the fifth detection component 73 includes a position sensor, which is installed on the mounting frame 6. The mounting frame 6 is provided with a working position 75. The position sensor is set corresponding to the working position 75 to detect whether the waste cap box 74 is located at the working position 75. When the waste cap box 74 is located at the working position 75, the cover plate 71 blocks the opening; both the position sensor and the driving component are connected to the controller signal.

[0091] The caps enter through the inlet of the cap-receiving cylinder 721 and exit through the outlet of the cap-receiving cylinder 721. They then enter the receiving space through a connecting hole connected to the outlet. When the receiving space is full of caps and the waste cap box 74 needs to be removed for cleaning, or when the waste cap box 74 is temporarily removed by the operator, causing it to leave the working position 75, the position sensor detects that the waste cap box 74 has left the working position 75. The controller then detects a change in the position sensor's detection signal and controls the drive component to extend its output shaft. This causes a blocking component mounted on the output shaft to prevent the caps entering the cap-receiving cylinder 721 from exiting through the outlet, thus preventing caps exiting from the outlet from failing to enter the waste cap box 74 and causing equipment malfunction. Due to the blocking component, the caps... The cylinder 721 can accommodate a certain number of caps after the waste cap box 74 is extracted. Before the number of caps in the cylinder 721 reaches its full capacity, the sample detection system 1 operates normally, thus not affecting the detection efficiency of the sample detection system 1. Before the number of caps in the cylinder 721 reaches its full capacity, the staff cleans the waste cap box 74 and pushes it back to the working position 75. When the waste cap box 74 returns to the working position 75, the position sensor detects the waste cap box 74. The controller recognizes that the signal of the position sensor has changed again, and then the controller controls the drive to drive the blocking component to reset. The caps in the cylinder 721, no longer blocked by the blocking component, enter the accommodating space through the discharge port. Thus, the cleaning of the caps in the waste cap box 74 is completed without affecting the detection efficiency of the sample detection system 1. It should be noted that the blocking component can be set corresponding to the discharge port, and the driving component drives the blocking component to extend and retract so that the blocking component can block or expose the discharge port; in addition, a clearance hole can be opened on the outer wall of the slow cap cylinder 721, and the driving component drives the blocking component to extend and retract so that the blocking component can extend into or out of the slow cap cylinder 721 through the clearance hole. When the blocking component extends into the slow cap cylinder 721, it can also prevent the cap from being discharged from the discharge port.

[0092] like Figure 1 As shown, the sample detection system 1 also includes an aerosol removal device 8, which includes an exhaust mechanism 81 and a filtration mechanism 82. The exhaust mechanism 81 includes a fan housing and a fan. The top surface of the fan housing has a first air inlet, and the bottom surface of the fan housing has a first air outlet. The fan is installed inside the fan housing. The filtration mechanism 82 includes a filter housing and a filter assembly. The fan is installed on the top surface of the fan housing. The filter housing has a second air inlet and a second air outlet. The second air inlet is located on the top surface of the filter housing, faces the fan, and is connected to the first air outlet. The filter assembly is installed inside the filter housing so that the airflow flowing in from the second air inlet is filtered by the filter assembly and then discharged from the second air outlet.

[0093] The aerosol removal device 8, located inside the blower housing, rotates to draw aerosols generated during the opening process into the blower housing through the first air inlet. The aerosols then pass through the first air outlet and the second air inlet into the filter housing. Because the filter housing contains a filter assembly, the aerosols entering the filter housing must be filtered before being discharged through the second air outlet. The filtered aerosols will not affect the health of the workers, ensuring their safety. It should be noted that the blower is positioned above the filter assembly, with no other structures obstructing the connection, resulting in less energy loss while maintaining a consistent suction power. The aerosol removal device 8 also includes a duct 83, one end of which is installed on the top surface of the blower housing, and the first air inlet connects to the inner cavity of the duct 83. By adding the duct 83, the position of the end of the duct 83 furthest from the blower can be adjusted to better absorb aerosols, preventing their spread and potential impact on the health of the workers.

[0094] In addition, the present invention also provides a sample detection method, see [link to relevant documentation]. Figure 6 , Figure 6 This is a flowchart illustrating a first embodiment of the sample detection method of the present invention; the sample detection method is applied to the above-mentioned sample detection system, the identification station includes a first identification area and a second identification area, and the sample detection method includes the following steps:

[0095] S100, control the guide rail mechanism to transport the sample tube to the first identification area;

[0096] The guide rail mechanism transports the sample tube, with the sample tube placed on the tube seat. The guide rail mechanism transports the sample tube through the tube seat, ensuring stable transport of the sample tube.

[0097] S200, control the recognition module to acquire the first image information of the sample tube;

[0098] The guide rail mechanism transports the sample tube to the first recognition area. Before the handling robot moves, the recognition module is controlled to take a picture of the sample tube, thereby obtaining the first image information of the sample tube located in the first recognition area.

[0099] S300, parse the first image information to obtain the first recognition information;

[0100] After acquiring the first image information, the control module then analyzes the first image information, that is, it uses an algorithm to determine the height and diameter information of the sample tube.

[0101] S400, compare the first identification information with the pre-identification information;

[0102] Both the first identification information and the pre-identification information include the height and diameter of the sample tube. By comparing the first identification information and the pre-identification information, the correctness of the sample tube located on the holder is confirmed, avoiding situations where the equipment cannot properly detect the sample tube or the detection data is inaccurate due to a mismatch between the first identification information and the actual information of the sample tube. It is understood that the pre-identification information can be identified and recorded by the control module when the sample tube is transported to the transport track, or it can be manually entered into the control module by the user and recorded therein. It should be noted that both the first identification information and the pre-identification information also include the color information of the sample tube cap. Different colored caps correspond to different categories, types, additives, tube materials, applicable scopes, and basic specifications of the sample tube. For example, a red cap corresponds to a serum sample tube without additives, green to a plasma sample tube with heparin, and purple to a whole blood sample tube for routine blood tests.

[0103] S500, if the first identification information matches the pre-identification information, control the handling robot to pick up the sample tube and move the sample tube to the second identification area based on the first identification information;

[0104] If the first identification information matches the pre-identification information, it proves that the correct sample tube is placed on the holder. Conversely, if the first identification information does not match the pre-identification information, it proves that the sample tube is abnormal. The sample tube is then transported to the abnormal storage area for storing abnormal sample tubes via the transport guide rail. The handling robot can grasp the sample tube according to the pre-identification information and then lift the sample tube to the second identification area so that the identification device can take a picture and improve the identification accuracy.

[0105] S600, acquire the second identification information of the sample tube located in the second identification area;

[0106] By acquiring the second identification information of the second identification area, the sample tube can be detected. Based on the second identification information, relevant information that has a significant impact on the detection error can be obtained, such as whether the blood sample in the sample tube has hemolysis, jaundice, chyle, and information on the severity of the disease.

[0107] S700, control the handling robot to place the sample tube back into the tube holder;

[0108] The control robot returns the sample tube to the tube holder so that the guide rail mechanism can continue to transport the sample tube through the tube holder. After the sample tube is returned to the tube holder, the control robot resets.

[0109] S800, control the guide rail mechanism to transport the sample tube to the capping station;

[0110] The guide rail mechanism is used to transport the tube seat, thereby moving the tube seat closer to the capping station, so that the sample tube on the tube seat can have its cap removed by the capping robot at the capping station, and then the tube seat is transported by the transport mechanism to transport the sample tube to other stations.

[0111] S900, control the third reading mechanism to read the sample tube information of the read / write module;

[0112] The control module controls the third reading mechanism to read the sample tube information from the read / write module. Typically, the sample tube information is recorded in the read / write module, which is installed on the tube socket or the sample tube. The control module controls the third reading mechanism to read the information in the read / write module, thereby obtaining the sample tube information. This allows the control module to grasp the sample tube information before the cap-opening robot and the cap-opening tube-holding mechanism take action.

[0113] S1000, based on the sample tube information, control the tube holding mechanism to hold the sample tube, and then control the cap-opening robot to remove the tube cap.

[0114] The cap-opening and tube-holding mechanism holds the sample tube, thus preventing the sample tube from moving or rotating relative to the tube seat during the cap-opening process of the robotic arm, thereby ensuring that the robotic arm can smoothly remove the cap from the sample tube. The sample tube information includes at least the sample tube height and cap parameter information; different cap sizes correspond to different sample tube information. The control module can use the sample tube information to control the robotic arm to remove the cap from the sample tube, thereby enabling the cap-opening device to remove caps of different sizes.

[0115] A guide rail mechanism transports sample tube holders, on which sample tubes are placed. The holders are equipped with a read / write module for recording sample tube information. The guide rail mechanism first transports the holders containing the sample tubes to the identification station. The identification module acquires image information of the sample tube located in the first identification area and compares this image information with pre-identified information. If the image information does not match the pre-identified information, the sample tube is marked as an abnormal sample tube, and the guide rail mechanism transports the sample tube to the abnormal sample tube storage area. If the image information matches the pre-identified information, a robotic arm picks up the sample tube and lifts it to a second identification area for easier identification by the identification module. The identification module acquires image information of the sample tube again and analyzes this image information using an algorithm to determine whether the blood sample inside the sample tube exhibits hemolysis, jaundice, chyle, and the severity of the disease. This process identifies anomalous samples that significantly impact detection errors. Furthermore, the information can be used to correct the analyzer's results, reducing errors and improving efficiency. If the identification module cannot obtain this information from the image, the handling robot rotates the sample tube to allow the image information identified by the identification module to be analyzed using the algorithm. After the identification module completes its analysis, the handling robot returns the sample tube to the tube holder, and the guide rail mechanism continues to transport the sample tube to the capping station. The capping and tube-holding mechanism holds the sample tube to prevent it from rotating relative to the tube holder, allowing the capping robot to remove the cap. After the cap is removed, the capping and tube-holding mechanism releases its grip, and the guide rail mechanism transports the tube holder, allowing the sample tube to leave the capping station.

[0116] See Figure 7 , Figure 7 This is a schematic flowchart of the second embodiment of the sample detection method of the present invention. The steps preceding S100 include:

[0117] S10, control the inlet blocking mechanism to block the tube seat;

[0118] S20, control the first detection component to detect the tube socket and the sample tube;

[0119] S30, if the first detection component detects the sample tube and the tube socket, it controls the first reading mechanism to read the information of the read / write module and obtain the first detection information;

[0120] S40, determine whether the sample tube needs to be identified and opened based on the first detection information;

[0121] S50, if so, control the inlet blocking mechanism to release the tube seat, and at the same time control the first track changing assembly to close, so that the tube seat enters the operating track from the sample feeding track through the first track changing track.

[0122] S60, when the tube seat leaves the inlet blocking mechanism, the inlet blocking mechanism is reset.

[0123] By setting a first readable mechanism to read the information of the readable and writable module set on the tube seat, it can determine whether the sample tube on the tube seat needs to undergo a testing process or a capping process based on the first detection information. If the sample tube does not need to undergo either process, it can enter the operating track through the first changing track. However, the tube seat will not stay at the testing station or the capping station, so that the tube seat behind it can smoothly enter the corresponding station, improving the testing efficiency or capping efficiency. Alternatively, the first changing track component can be controlled to open, so that the first changing track component blocks the first changing track, so that the tube seat is transported directly on the sample inlet track without entering the operating track.

[0124] Additionally, the steps following S40 and before S50 include:

[0125] S41, if identification and opening of the cover are required, the tube seat is determined to have successfully entered the first track-changing track from the sample inlet track based on the first discrimination information obtained by the first detection component.

[0126] If the sample tube on the tube seat blocked by the inlet blocking mechanism also needs to enter the operating track, it is necessary to confirm through the first discrimination information whether the tube seat previously released by the inlet blocking mechanism has successfully entered the first track changing track. In order to ensure the normal operation of the first track changing component, the track changing is only proven when the first discrimination information detects the tube seat, and the inlet blocking mechanism can release the next tube seat. This prevents the phenomenon that the next tube seat, which does not need to change track, enters the first track changing track immediately after the previous tube seat has just completed the track changing.

[0127] See Figure 8 , Figure 8 This is a schematic flowchart of the third embodiment of the sample detection method of the present invention. After step S1000, the following steps are included:

[0128] S1100, control the guide rail mechanism to transport the tube seat, so that the tube seat enters the sample injection track from the operating track via the second track changing track;

[0129] S1200, Obtain the third discrimination information of the third detection element, and determine whether the pipe seat has passed the third detection element based on the third discrimination information;

[0130] S1300, if it passes the third detection element, the anti-collision blocking mechanism is controlled to block the tube seat located on the sample inlet track from moving towards the sample outlet of the sample inlet track;

[0131] S1400, obtain the fourth discrimination information of the fourth detection element, and determine whether the pipe seat has passed the fourth detection element based on the fourth discrimination information;

[0132] S1500, if the tube seat passes the fourth detection element, the anti-collision blocking mechanism is controlled to release the tube seat.

[0133] Based on the third detection information, it is determined whether a tube seat has entered the sample injection track from the second track changer. If so, the anti-collision blocking mechanism blocks the tube seat from passing through, thereby preventing the tube seat transported on the sample injection track from colliding with the tube seat entering the sample injection track from the second track changer. Then, based on the fourth discrimination information, it is determined whether the tube seat has successfully entered the sample injection track from the second track changer. If the tube seat has successfully entered the sample injection track, the anti-collision blocking mechanism can release one tube seat.

[0134] See Figure 9 , Figure 9 This is a flowchart illustrating the fourth embodiment of the sample detection method of the present invention. Step S600 includes:

[0135] S610, control the recognition module and acquire the second image information of the sample tube located in the second recognition area;

[0136] S620, Based on the second image information, determine whether the sample tube has a marked area;

[0137] S630, if the sample tube in the second image information contains the marked area, then the marked area is compared with a preset marked area;

[0138] S640, if the marked area is larger than the preset marked area, then obtain angle information based on the marked area;

[0139] S650, control the handling robot to rotate the sample tube according to the angle information;

[0140] S660, control the recognition module to acquire third image information of the sample tube located in the second recognition area;

[0141] S670, the second recognition information is obtained based on the third image information.

[0142] The sample tube has labels affixed to its sidewalls, recording information such as the test items to be performed on the sample. The labeled area is defined as the label area, and the unlabeled area is defined as the blank area. The area captured by the recognition module is the recognition area. If there are too many labeled areas within the recognition area, it will affect sample detection and prevent accurate recognition of the second identification information within the sample tube. Therefore, a preset label area is pre-set within the control module; that is, the maximum allowed label area while ensuring the recognition module can successfully recognize the second identification information.

[0143] After the recognition module captures an image, if it finds that there is no marked area or the marked area is smaller than or equal to the preset marked area, it can directly recognize the second recognition information in the sample tube. If a marked area is found that is larger than the preset recognition area, it is necessary to control the handling robot to rotate a certain angle so that the marked area is smaller than or equal to the preset marked area, so that the recognition module can successfully recognize the second recognition information.

[0144] It is understandable that when comparing the preset label area with the label area, the comparison is made by their areas. The area of ​​the preset label area can be zero or other values.

[0145] See Figure 10 , Figure 10 This is a flowchart illustrating the fifth embodiment of the sample detection method of the present invention. Step S640 includes:

[0146] S641' If the marked area is larger than the preset marked area and is greater than or equal to the identification area, then control the handling robot to rotate a preset angle;

[0147] S642', control the recognition device to acquire the fourth image information of the sample tube after rotating by the preset angle;

[0148] S643', Based on the fourth image information, determine whether the sample tube contains the marked area;

[0149] S644', If the sample tube in the fourth image information contains the marked area, then the marked area is compared with the preset marked area;

[0150] S645', if the marked area is larger than the preset marked area and smaller than the identification area, then obtain angle information based on the marked area;

[0151] If the marked area is larger than the preset marked area and greater than or equal to the recognition area (i.e., the image recognizes only the marked area), then a preset angle for controlling the rotation of the handling robot is established in the control module, such as 30°, 45°, 60°, 75°, or 90°. It should be understood that this angle does not include 360° or integer multiples of 360°. The purpose of rotating by the preset angle is to rotate the blank area into the recognition area of ​​the recognition device. Simultaneously, a preset number of rotations is established in the control module. During rotation, the number of rotations is recorded. If the preset number of rotations is exceeded, the sample tube is marked as an abnormal sample tube, and then transported to the abnormal storage area for storing abnormal sample tubes via the transport rail. The preset number of rotations can be the number of rotations required for the handling robot to complete one revolution.

[0152] And the steps in S641' include:

[0153] S6041' If the marked area is larger than the preset marked area and smaller than the recognition area, then the angle information is obtained based on the blank area and / or the marked area of ​​the second image information.

[0154] By comparing the marked area in the second image information with the preset marked area, if the marked area is larger than the preset marked area but smaller than the recognition area, the angle information can be obtained directly from the second image information without the need for the preset angle rotation process, thereby improving the detection efficiency.

[0155] This embodiment uses the area information of the identified region and / or the marked region to specifically illustrate how angle information can be obtained. In other embodiments, angle information can also be obtained in other ways.

[0156] For the same type of sample tube, the height of the sample tube is fixed within the second recognition area. By analyzing the second image information, the area information of the blank area and the marking area is obtained. Through calculation, the arc length of the sample tube's cross-section occupied by the blank area and the marking area can be obtained. Then, by converting the arc length into the angle of the sample tube's cross-section, the required rotation angle of the sample tube can be determined. Alternatively, when the recognition device captures sample images, the area information of the sample tube occupied by each image is fixed, meaning the angle of the sample tube's cross-section is also fixed. By calculating the ratio of the area of ​​the blank area to the area of ​​the marking area, the required rotation angle of the sample tube can be calculated. Simultaneously, obtaining the area information also reveals the positional relationship between the blank area and the marking area, such as the blank area being to the left or right of the marking area. After obtaining the angle and position information, it can be determined how much clockwise or counterclockwise the handling robot needs to rotate for the recognition device to successfully recognize the second recognition information within the blank area. For example, if the blank area is to the left of the marking area, and the marking area occupies a 10° angle of the sample tube's cross-section, controlling the handling robot to rotate counterclockwise by 10° will place the entire blank area within the recognition area. As another example, if the recognition area occupies a 30° angle of the sample tube's cross-section, and the blank area is to the right of the marking area, and the blank area occupies a 10° angle of the sample tube's cross-section, controlling the handling robot to rotate clockwise by 20° will place the entire blank area within the recognition area.

[0157] See Figure 11 , Figure 11 This is a flowchart illustrating the sixth embodiment of the sample detection method of the present invention; the first identification information includes the height information and diameter information of the sample tube, and the steps of S500 include:

[0158] S510, if the first identification information matches the pre-identification information, control the handling robot to move a first displacement to a position where it can grasp the sample tube according to the height information;

[0159] S520, control the handling robot to pick up the sample tube according to the tube diameter information;

[0160] S530, based on the height information, control the handling robot to rise by a second displacement to lift the sample tube to the second identification area.

[0161] Because sample tubes of different specifications have different heights, the height of their caps on the tube holders also varies. If the robotic arm were to descend to the same height to grasp all the sample tubes, it might be able to grasp tubes with higher cap heights but not those with lower cap heights. Therefore, the robotic arm moves its first displacement to a position where it can grip the sample tubes. This first displacement is not constant but adapts to the height information. The height information controls the robotic arm's movement to a position where it can grip the sample tubes, ensuring accurate grasping. The robotic arm then uniformly grasps the caps of the sample tubes and lifts them to the second recognition area. If the lifting height is uniform, only some sample tubes of different heights might be successfully lifted to the second recognition area. Therefore, after grasping the sample tubes, the robotic arm needs to be raised a second distance based on the height information. The size of this second distance adapts to the height information, ensuring that sample tubes of different heights are lifted to the second recognition area.

[0162] See Figure 12 , Figure 12 This is a flowchart illustrating the seventh embodiment of the sample detection method of the present invention. The test tube information includes the height information of the test tube, the diameter information and type information of the cap of the test tube, and the step of controlling the cap-opening robot to remove the cap includes:

[0163] S1001, Based on the height information, control the opening robot to move a first displacement to a position where it can grasp the cap;

[0164] S1002, Based on the diameter information, control the cap-opening robot to grasp the tube cap;

[0165] S1003, based on the type information, control the rotation speed and lifting speed of the cap-opening robot, and remove the cap.

[0166] Different cap sizes correspond to different diameters. Typically, a cap-opening robot can only grasp caps of one diameter. If the diameter of a cap from another sample tube is smaller than the diameter the robot can grasp, existing cap-opening robots cannot grasp smaller diameter caps without adjusting the opening and retraction stroke of the robot's grippers. However, the cap-opening method provided by this invention uses a control module to control the stroke of the robot's grippers based on the cap diameter information, enabling the robot to smoothly grasp caps of different diameters. Furthermore, the cap type information determines whether the cap is an insert type for inserting into the sample tube. If the cap is a spiral type connected to the sample pipe thread, the cap type information also includes the number of thread starts and the pitch information. The control module controls the rotation speed and lifting speed of the cap-opening robot based on the thread start and pitch information so that the cap-opening robot can smoothly remove the cap. Specifically, the product of the thread start and the pitch is equal to the thread lead, and the product of the thread lead and the rotation speed of the cap-opening robot is equal to the lifting speed of the cap-opening robot. Therefore, the control module can control the cap-opening robot to adopt a removal method that matches the cap type information to remove different types of caps.

[0167] See Figure 13 , Figure 13 This is a flowchart illustrating the eighth embodiment of the sample detection method of the present invention. After step S1000 and before step S1100, the following steps are included:

[0168] S1010, Control the cap opening detection component to detect whether the tube cap has been successfully removed;

[0169] S1020, if the pipe cap is successfully removed, control the opening robot to move the pipe cap to the waste cap box;

[0170] S1030, Control the opening robot arm to reset;

[0171] S1040, if the cap is not successfully removed, the control module is controlled to record a cap-opening failure data and execute the step of controlling the cap-opening robot to remove the cap according to the sample tube information.

[0172] The cap removal detection component detects whether the cap has been successfully removed, ensuring the reliability of the cap removal device. If the cap is successfully removed, the control module controls the cap removal robot to move the cap to the waste cap box, and then controls the cap removal robot to reset for the next cap removal operation. If the cap is not successfully removed, the control module automatically records the cap removal failure data, and then repeats the cap removal steps of the cap removal robot based on the sample tube information.

[0173] According to an embodiment of the present invention, after the step of controlling the control module to record a failed cap-opening data, and before the step of executing the step based on the sample tube information, the method further includes:

[0174] S1041, the control module is controlled to determine whether the number of times the lid opening failure data is greater than the preset number of lid opening attempts;

[0175] S1042, if the number of recorded opening failure data is greater than or equal to the preset number of opening failures, control the control module to record the abnormal information and control the opening robot to stop removing the cap.

[0176] S1043, if the number of recorded opening failures is less than the preset number of opening failures, then continue to execute the step of controlling the opening robot to remove the tube cap based on the sample tube information.

[0177] The control module determines whether the number of recorded cap-opening failures exceeds a preset number of cap-opening attempts. If the number of recorded cap-opening failures is greater than or equal to the preset number of attempts, the control module marks the sample tube as an abnormal sample tube, controls the cap-opening robot to stop removing the cap from the sample tube, and simultaneously releases the sample tube from the holding mechanism. Then, the blocking mechanism releases the tube seat so that the transport mechanism can transport the sample tube to the abnormal sample storage area, avoiding wasting time by repeatedly attempting to remove the cap from sample tubes that have failed to be removed. If the number of recorded cap-opening failures is less than the preset number of attempts, the control module continues to execute the step of controlling the cap-opening robot to remove the cap based on the sample tube information.

[0178] The above are merely preferred embodiments of the present invention and do not limit the patent scope of the present invention. Any equivalent structural transformations made under the concept of the present invention using the contents of the specification and drawings of the present invention, or direct / indirect applications in other related technical fields, are included within the patent protection scope of the present invention.

Claims

1. A sample detection system for detecting samples within a sample tube, characterized in that, include: A transport device, comprising a guide rail mechanism and a tube seat, wherein the guide rail mechanism is used to transport the tube seat, the sample tube is placed on the tube seat, and the guide rail mechanism is provided with an identification station and an opening station at intervals along the transport direction of the sample tube. An identification device is provided corresponding to the identification station. The identification device includes an identification detection mechanism and a handling robot. The identification detection mechanism includes an identification module, which is used to acquire image information of the sample tube located at the identification station and compare the image information with pre-identified information. The handling robot can grasp or release the sample tube, and the handling robot can also drive the sample tube to lift or rotate. A cap-opening device is provided corresponding to the cap-opening station. The cap-opening device includes a cap-opening tube-holding mechanism and a cap-opening robot. The tube-holding mechanism is used to hold the sample tube located at the cap-opening station. The cap-opening robot is used to remove the cap from the sample tube located at the cap-opening station. The transport device further includes a transport detection mechanism, which includes a first detection component. The guide rail mechanism includes a sample inlet rail, an operating rail, and a first variable rail connecting the sample inlet rail and the operating rail. The operating rail is provided with the identification station and the cap opening station at intervals along the transport direction of the sample tube. The first variable rail is located near the sample inlet of the sample inlet rail. The first detection component is located near the sample inlet of the sample inlet rail and is used to detect the sample tube and the tube seat. The sample detection system further includes a variable rail mechanism, which includes a first variable rail component. The first variable rail component is located at the connection between the sample inlet rail and the first variable rail. The first variable rail component blocks the sample inlet rail or the first variable rail, so that the tube seat entering from the sample inlet of the sample inlet rail enters the first variable rail or continues to move along the sample inlet rail. The transport device further includes an inlet blocking mechanism, which is located near the inlet of the sample inlet of the sample inlet track to block or allow the tube seat to pass. The transport detection mechanism further includes a second detection component, which includes a first detection element and a second detection element. The first detection element is located at the inlet of the first track changing component. The first track changing component and the second detection element are sequentially arranged along the transport direction of the sample tube on the sample inlet track. The first track changing component is located at the connection between the inlet of the first track changing component and the sample inlet track.

2. The sample detection system according to claim 1, characterized in that, The tube socket is provided with a read / write module, and the transport device further includes a first reading mechanism, which is used to read the information of the read / write module, and the first reading mechanism is located near the inlet of the sample inlet track.

3. The sample detection system according to claim 1, characterized in that, The transport detection mechanism also includes a fullness detection component, which further includes a track fullness detection element. The sample inlet track is sequentially provided with the second detection element and the track fullness detection element along the transport direction of the tube seat. The track fullness detection element and the inlet blocking mechanism are both connected to the controller signal.

4. The sample detection system according to claim 3, characterized in that, The identification device further includes an identification blocking mechanism, which is used to block or allow the tube seat to leave the detection station. The fullness detection component includes a cover-opening fullness detection component, which is disposed between the detection station and the cover-opening station. Both the cover-opening fullness detection component and the identification blocking mechanism are signal-connected to the controller.

5. The sample detection system according to claim 1, characterized in that, The guide rail mechanism further includes a second track changing track, which connects the operating track and the sample inlet track. The second track changing track is located near the sample outlet of the sample inlet track. The track changing mechanism also includes a second track changing component, which is located at the connection between the operating track and the sample inlet track to guide the tube seat from the operating track into the second track changing track.

6. The sample detection system according to claim 5, characterized in that, The transport device further includes an anti-collision blocking mechanism, and the transport detection mechanism further includes a third detection component. The third detection component includes a third detection element and a fourth detection element. The third detection element is set corresponding to the second track change track and is used to detect the tube seat passing through the second track change track. The anti-collision blocking mechanism, the second track change track, and the fourth detection element are arranged sequentially along the direction of transporting the tube seat on the sample feeding track.

7. The sample detection system according to claim 2, characterized in that, The identification and detection mechanism also includes a light-shielding box, which is located above the guide rail mechanism. The light-shielding box has two side walls that are opposite to each other along the transport direction of the guide rail mechanism, and each side wall has a first clearance hole for the tube seat to pass through.

8. The sample detection system according to claim 7, characterized in that, The identification device further includes a second reading mechanism for reading the pre-identification information of the read / write module; the identification device further includes an identification blocking mechanism for blocking or allowing the tube seat located at the identification station.

9. The sample detection system according to claim 2, characterized in that, The cap opening device further includes a cap opening blocking mechanism and a third reading mechanism. The third reading mechanism is used to read the sample tube information of the read / write module. The cap opening blocking mechanism includes a blocking drive and a blocking disk. The blocking disk passes through the output shaft of the drive and the blocking drive drives the blocking disk to block or release the tube seat.

10. A sample detection method, characterized in that, The sample detection method is applied to the sample detection system according to any one of claims 1 to 9, wherein the identification station includes a first identification area and a second identification area, the tube socket is provided with a read / write module, and the sample detection method includes the following steps: Control the guide rail mechanism to transport the sample tube to the first identification area; The recognition module is controlled to acquire the first image information of the sample tube; The first image information is analyzed to obtain the first recognition information; The first identification information is compared with the pre-identification information; If the first identification information matches the pre-identification information, the handling robot is controlled to pick up the sample tube and move the sample tube to the second identification area based on the first identification information; Obtain the second identification information of the sample tube located in the second identification area; The robotic arm is controlled to place the sample tube back into the tube holder; The guide rail mechanism is controlled to transport the sample tube to the capping station; Control the third reading mechanism to read the sample tube information of the read / write module; Based on the sample tube information, the tube-holding mechanism is controlled to hold the sample tube, and then the cap-opening robot is controlled to remove the tube cap.

11. The sample detection method according to claim 10, characterized in that, Prior to the step of controlling the guide rail mechanism to transport the sample tube to the first identification area, the following steps are included: The inlet blocking mechanism is used to block the tube seat; The first detection component is controlled to detect the tube socket and the sample tube; If the first detection component detects the sample tube and the tube socket, it controls the first reading mechanism to read the information from the read / write module and obtain the first detection information. Based on the first detection information, determine whether the sample tube needs to be identified and opened; If so, the inlet blocking mechanism is controlled to release the tube seat, and the first track changing assembly is controlled to close, so that the tube seat enters the operating track from the sample inlet track through the first track changing track. When the tube seat leaves the inlet blocking mechanism, the inlet blocking mechanism is reset.

12. The sample detection method according to claim 11, characterized in that, After the step of determining whether the sample tube needs to be identified and opened based on the first detection information, and before the step of controlling the inlet blocking mechanism to release the tube seat if so, the following steps are included: If identification and opening the cover are required, the tube seat is determined to have successfully entered the first track-changing track from the sample inlet track based on the first discrimination information obtained from the first detection component.

13. The sample detection method according to any one of claims 10 to 12, characterized in that, The step of controlling the cap-opening robot to remove the tube cap includes: The guide rail mechanism is controlled to transport the tube seat, so that the tube seat enters the sample inlet track from the operating track via the second track changing track; Obtain the third discrimination information of the third detection element, and determine whether the pipe seat has passed the third detection element based on the third discrimination information; If the sample passes the third detection element, the anti-collision blocking mechanism is controlled to block the tube seat located on the sample inlet track from moving towards the sample outlet of the sample inlet track. Obtain the fourth discrimination information of the fourth detection element, and determine whether the pipe seat has passed the fourth detection element based on the fourth discrimination information; If the tube seat passes the fourth detection element, the anti-collision blocking mechanism is controlled to release the tube seat.

14. The sample detection method according to any one of claims 10 to 12, characterized in that, The step of obtaining the second identification information of the sample tube located in the second identification region includes: Control the recognition device and acquire second image information of the sample tube located in the second recognition area; Based on the second image information, determine whether the sample tube has a marked area; If the sample tube in the second image information contains the marked area, then the marked area is compared with the preset marked area; If the marked area is larger than the preset marked area, then angle information is obtained based on the marked area; The robotic arm is controlled to rotate the sample tube based on the angle information; The identification device is controlled to acquire third image information of the sample tube located in the second identification area; The second recognition information is obtained based on the third image information.

15. The sample detection method according to any one of claims 10 to 12, characterized in that, The sample tube information includes the height information of the sample tube, the diameter information and type information of the tube cap, and the step of controlling the cap-opening robot to remove the tube cap includes: Based on the height information, the cap-opening robot is controlled to move a first displacement to a position where it can grasp the cap. Based on the diameter information, the opening robot arm is controlled to grasp the tube cap; Based on the type information, the rotation speed and lifting speed of the cap-opening robot are controlled, and the cap is removed.

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