Method, device and electronic equipment for controlling a needle taking of a sample arm

Abstract

The application provides a control method and device for a sampling arm to take a needle and electronic equipment, including: a needle-taking step, moving the sampling arm horizontally to an initial position above the sampling needle, and moving the sampling arm downward by a preset number of steps by a third motor; wherein the speed and torque of the third motor are adjustable; a needle-returning step, lifting the sampling arm to the initial position by the third motor, determining the number of steps of the sampling arm lifting as a returning step number, and taking the difference between the needle-taking step number and the returning step number as a step-loss step number; a judging step, judging whether the sampling arm takes the sampling needle based on a photoelectric sensor, whether the step-loss step number is within a preset step-loss threshold range, and whether the pressure value collected by the air pressure sensor in the needle-taking step and the needle-returning step is within a preset pressure range; if all the three are yes, output a normal needle-taking result. In this way, closed-loop control can be formed, and the airtightness and air leakage are further ensured.

Description

Technical Field

[0001] This invention relates to the field of medical device technology, and in particular to a control method, device and electronic device for needle removal in a sample application arm. Background Technology

[0002] Currently, various medical device testing equipment are becoming increasingly automated, with more complex and diverse functions. The dispensing arm transfers reagents or samples for experimental testing. Although the sampling needle is cleaned after drawing reagents or samples, complete cleaning cannot be guaranteed. In high-requirement situations, continuing to use the same sampling needle to draw the next target liquid (e.g., a different sample or a different reagent) poses a risk of cross-contamination. Therefore, the dispensing arm needs to continuously change the sampling needle to transfer reagents or samples.

[0003] During the sampling process, due to manufacturing deviations in the sampling needle, there may be differences in the orifice diameter of the sampling needle. This can easily cause the sampling head of the sampling arm to fail to pick up the sampling needle or to not pick it up tightly, resulting in air leakage. This can affect subsequent liquid aspiration, causing serious deviations in the amount of liquid aspirated, and even irreversible consequences for the entire experimental results.

[0004] In existing technologies, a position sensor can be used to detect whether the displacement change reaches a set threshold to determine whether the sampling needle has been loaded. A ring-shaped rubber ring is provided at the connection of the sampling head of the sampling arm to ensure airtightness. However, due to manufacturing differences, there may be dimensional deviations between sampling needles. If a fixed set threshold is used for judgment, the ring-shaped rubber ring cannot completely guarantee airtightness, nor can it detect whether there is leakage. This results in low reliability and increased material costs. Summary of the Invention

[0005] In view of this, the purpose of the present invention is to provide a control method, device and electronic device for needle retrieval of a sample loading arm, which uses three judgment conditions—photoelectric sensor, the number of steps lost by the third motor of the Z-axis, and the air pressure value during the needle retrieval process—to detect whether there is air leakage during needle retrieval, thereby forming a closed-loop control and further ensuring airtightness and no air leakage.

[0006] In a first aspect, embodiments of the present invention provide a control method for needle retrieval using a sampling arm. The method includes: a needle retrieval step, wherein the sampling arm is horizontally moved to an initial position above the sampling needle, and the sampling arm is moved downward by a third motor for a preset number of needle retrieval steps; wherein, before the sampling arm descends to a preset height, the third motor operates at a first speed and a first torque, and then operates at a second speed less than or equal to the first speed and a second torque greater than or equal to the first torque; a needle return step, wherein the sampling arm is raised to the initial position by the third motor, the number of steps the sampling arm has risen is determined as the return step number, and the difference between the needle retrieval step number and the return step number is taken as the step loss number; a judgment step, wherein a photoelectric sensor is used to determine whether the sampling arm has pierced the sampling needle, the step loss number is used to determine whether it is within a preset step loss threshold range, and the air pressure value collected by a pressure sensor in the needle retrieval step and the needle return step is used to determine whether it is within a preset pressure range; if all three are determined to be yes, a normal needle retrieval result is output.

[0007] In an optional embodiment of this application, if at least one of the three criteria is determined to be false in the judgment step, then the needle removal is determined to be abnormal.

[0008] In an optional embodiment of this application, the above-mentioned adjustment step is further included after determining the needle retrieval abnormality. The adjustment step includes: adjusting the preset number of needle retrieval steps, the second speed, and the second torque.

[0009] In an optional embodiment of this application, the above-mentioned adjustment of the preset needle retrieval steps includes: determining whether to perform a step to increase the number of needle retrieval steps or a step to decrease the number of needle retrieval steps based on the size of the number of lost steps and the preset lost step threshold range, wherein the preset lost step threshold range includes a lower limit and an upper limit of lost steps; if the number of lost steps is less than the lower limit of lost steps, then the step to increase the number of needle retrieval steps is performed; if the number of lost steps is greater than the upper limit of lost steps, then the step to decrease the number of needle retrieval steps is performed.

[0010] In an optional embodiment of this application, the adjustment of the second speed and the second torque includes: determining, based on the size of the number of lost steps and a preset loss threshold range, whether to perform a step of increasing the second speed and decreasing the second torque or a step of decreasing the second speed and increasing the second torque, wherein the preset loss threshold range includes a lower limit and an upper limit of lost steps; if the number of lost steps is less than the lower limit, then the step of decreasing the second speed and increasing the second torque is performed; if the number of lost steps is greater than the upper limit, then the step of increasing the second speed and decreasing the second torque is performed.

[0011] In an optional embodiment of this application, after the judgment step, the method further includes: a needle removal step, in which the photoelectric sensor determines whether the sampling arm has pierced the sampling needle and determines whether it is within a preset step loss threshold range based on the number of steps lost, and determines whether it is within a preset pressure range based on the air pressure value collected by the air pressure sensor in the needle removal step and the needle return step. If at least one of these two determinations is not made, the sampling arm is lowered to a preset height by the third motor and the needle is removed by the fourth motor.

[0012] In an optional embodiment of this application, after the sample arm is dislodged by the fourth motor, the sample arm is raised back to the initial position by the third motor.

[0013] In an optional embodiment of this application, after determining the needle retrieval abnormality, the method further includes a repetition step, which includes repetitively executing the needle retrieval step, the needle return step, and the judgment step N times; determining the number of times the needle retrieval abnormality occurs in the repetition step; if the number is less than or equal to a preset threshold, the repetition step continues; if the number is greater than the preset threshold, the needle retrieval failure is determined; wherein, N≥2.

[0014] Secondly, embodiments of the present invention also provide a control device for needle retrieval by a sample application arm. The device includes: a needle retrieval module, used for the needle retrieval step, which horizontally moves the sample application arm to an initial position above the sampling needle, and controls the sample application arm to move downwards a preset number of needle retrieval steps via a third motor; wherein, before the sample application arm descends to a preset height, the third motor operates at a first speed and a first torque, and then operates at a second speed less than or equal to the first speed and a second torque greater than or equal to the first torque; a needle return module, used for the needle return step, which controls the sample application arm to rise to the initial position via the third motor, determines the number of steps the sample application arm has risen as the return step number, and uses the difference between the needle retrieval step number and the return step number as the lost step number; a judgment module, used for the judgment step, which determines whether the sample application arm has pierced the sampling needle based on a photoelectric sensor, determines whether it is within a preset lost step threshold range based on the lost step number, and determines whether it is within a preset pressure range based on the air pressure values ​​collected by a pressure sensor in the needle retrieval and return steps; and a normal module, used to output a normal needle retrieval result if all three are determined to be true.

[0015] Thirdly, embodiments of the present invention also provide an electronic device, including a processor and a memory, the memory storing computer-executable instructions that can be executed by the processor, the processor executing the computer-executable instructions to implement the above-described control method for picking up the sample arm needle.

[0016] The embodiments of the present invention bring the following beneficial effects:

[0017] This invention provides a control method, device, and electronic device for needle retrieval in a sample feeding arm. It detects air leakage during needle retrieval using three criteria: a photoelectric sensor, the number of steps lost by the third motor on the Z-axis, and the air pressure value during the retrieval process. Specifically, the photoelectric sensor ensures needle retrieval but does not guarantee a tight seal or leak-free operation; the difference between the number of steps taken and the number of steps returned by the third motor on the Z-axis indicates a tight retrieval but does not determine if leakage still exists; and the air pressure value collected by the air pressure sensor determines whether leakage is present. This forms a closed-loop control system, further ensuring a tight seal and leak-free operation.

[0018] Other features and advantages of this disclosure will be set forth in the following description, or some features and advantages may be inferred from the description or determined without doubt, or may be learned by practicing the techniques described above.

[0019] To make the above-mentioned objects, features and advantages of this disclosure more apparent and understandable, preferred embodiments are described below in detail with reference to the accompanying drawings. Attached Figure Description

[0020] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0021] Figure 1 A flowchart illustrating a control method for needle retrieval via a sample loading arm, provided in an embodiment of the present invention;

[0022] Figure 2 A flowchart illustrating another control method for needle retrieval by a sample loading arm provided in an embodiment of the present invention;

[0023] Figure 3 This is a schematic diagram of the hardware connection of a sample dispensing arm needle provided in an embodiment of the present invention;

[0024] Figure 4 This is a schematic diagram of the control process for a sample dispensing arm needle provided in an embodiment of the present invention;

[0025] Figure 5 This is a schematic diagram of the structure of a control device for picking up a sample arm according to an embodiment of the present invention;

[0026] Figure 6 This is a schematic diagram of the structure of an electronic device provided in an embodiment of the present invention. Detailed Implementation

[0027] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. 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.

[0028] Currently, a position sensor can be used to detect whether the displacement change reaches a set threshold to determine whether the sampling needle has been loaded. A ring-shaped rubber ring is installed at the connection of the sampling head of the sampling arm to ensure airtightness. However, due to production differences, there may be dimensional deviations between sampling needles. If a fixed set threshold is used for judgment, the ring-shaped rubber ring cannot completely guarantee airtightness, nor can it detect whether there is leakage. This results in low reliability and increased material costs.

[0029] Based on this, the present invention provides a control method, device and electronic device for retrieving the needle from the sample dispensing arm. Specifically, it provides a control method for retrieving the needle from the sample dispensing arm, which relates to in vitro diagnostic testing technology. This method can solve the problem of air leakage caused by the sampling head not being tightly secured to the sampling needle in the sample dispensing arm, thereby further avoiding needle drop, liquid dripping and affecting subsequent liquid aspiration functions such as liquid level detection and needle blockage detection.

[0030] To facilitate understanding of this embodiment, a method for controlling the sampling arm needle dispensing disclosed in this embodiment of the invention will first be described in detail.

[0031] Example 1:

[0032] This invention provides a method for controlling the needle dispensing of a sample loading arm, see below. Figure 1 The flowchart shown illustrates a control method for needle retrieval via a sample dispensing arm, which includes the following steps:

[0033] Step S102, needle retrieval step: the sampling arm is moved horizontally to the initial position above the sampling needle, and the sampling arm is moved downward by the third motor for a preset number of needle retrieval steps; wherein, before the sampling arm descends to the preset height, the third motor operates at a first speed and a first torque, and then operates at a second speed less than or equal to the first speed and a second torque greater than or equal to the first torque.

[0034] In this embodiment, a needle removal step can be performed. First, the sample application arm is moved horizontally to the initial position above the sampling needle. Then, the third motor on the Z-axis controls the sample application arm to move downwards a preset number of needle removal steps.

[0035] In this embodiment, the speed and torque of the third motor can also be adjusted. For example, before the sample arm descends to the preset height, the third motor operates at the first speed and the first torque. Afterward, the speed and torque of the third motor can be adjusted so that the third motor operates at a second speed less than or equal to the first speed and a second torque greater than or equal to the first torque.

[0036] For example, the speed and torque of the third motor can be adjusted, such as decreasing the speed and increasing the torque, until the sample arm completes the needle retrieval step. The third motor can then control the sample arm to continue descending based on the adjusted speed and torque, until the preset number of needle retrieval steps is completed. The number of needle retrieval steps can have a preset initial value, and can be maintained or adjusted based on whether there are any abnormalities.

[0037] Step S104, needle return step: the third motor controls the sample arm to rise to the initial position, the number of steps the sample arm rises is determined as the return step number, and the difference between the needle taking step number and the return step number is taken as the step loss number.

[0038] After the needle retrieval step, this embodiment can perform the needle return step. First, the sample arm is controlled by the third motor to rise to the initial position. Then, the number of steps the sample arm rises is determined as the return step number. The difference between the needle retrieval step number and the return step number is taken as the lost step number.

[0039] Step S106, the judgment step, is to determine whether the sampling arm has pierced the sampling needle based on the photoelectric sensor, whether it is within the preset step loss threshold range based on the number of steps lost, and whether it is within the preset pressure range based on the air pressure value collected by the air pressure sensor in the needle retrieval step and needle return step.

[0040] In this embodiment, a photoelectric sensor can be used to determine whether the sampling arm has pierced the sampling needle based on whether the photoelectric sensor generates a signal. If the photoelectric sensor generates a signal, it can be determined that the sampling arm has pierced the sampling needle; if the photoelectric sensor does not generate a signal, it can be determined that the sampling arm has not pierced the sampling needle. In this embodiment, the photoelectric sensor detection ensures that the needle is pierced, but does not guarantee a tight seal or no air leakage.

[0041] If the number of steps lost is within the preset step loss threshold range, it can be considered that the sampling head of the sampling arm not only picks up the sampling needle, but also that the sampling head and the sampling needle are in very tight contact. In this embodiment, the difference between the number of needle picking steps and the number of return steps of the third motor of the Z-axis can be used to determine whether the needle is tight, but it cannot determine whether there is still air leakage.

[0042] This embodiment can also detect air pressure values. The air pressure sensor can collect air pressure values ​​during the needle removal and needle return steps; if the air pressure value is within the preset pressure range, it can be determined that there is no air leakage. In this embodiment, the air pressure value collected by the air pressure sensor is used to determine whether there is an air leak.

[0043] Step S108: If all three conditions are met, output the normal needle removal result.

[0044] Therefore, if the sampling arm is determined to have punctured the sampling needle based on the photoelectric sensor, and the number of steps lost is determined to be within the preset step loss threshold range, and the air pressure value collected by the air pressure sensor in the needle retrieval and needle return steps is determined to be within the preset pressure range, then it can be determined that all three are correct, ensuring that the needle is retrieved, sealed, and leak-free, thus outputting a normal needle retrieval result.

[0045] This invention provides a control method for needle retrieval in a sample feeding arm. It detects air leakage during needle retrieval using three criteria: a photoelectric sensor, the number of steps lost by the third motor on the Z-axis, and the air pressure value during the retrieval process. Specifically, the photoelectric sensor ensures needle retrieval but does not guarantee a tight seal or leak-free operation; the difference between the number of steps taken and the number of steps returned by the third motor on the Z-axis indicates a tight retrieval but does not determine if leakage still exists; and the air pressure value collected by the air pressure sensor determines whether leakage is present. This forms a closed-loop control system, further ensuring a tight seal and leak-free operation.

[0046] Example 2:

[0047] This embodiment provides another method for controlling the needle dispensing arm, which is implemented based on the above embodiment. See [link to relevant documentation]. Figure 2 The flowchart shows another control method for needle retrieval by the sample dispensing arm. The control method for needle retrieval by the sample dispensing arm in this embodiment includes the following steps:

[0048] Step S202, needle retrieval step: the sampling arm is moved horizontally to the initial position above the sampling needle, and the sampling arm is moved downward by the third motor to a preset number of needle retrieval steps; wherein, before the sampling arm descends to the preset height, the third motor operates at a first speed and a first torque, and then operates at a second speed less than or equal to the first speed and a second torque greater than or equal to the first torque.

[0049] See also Figure 3 The diagram shown illustrates the hardware connection of a sample dispensing arm needle. Figure 3 In this context, IIC stands for Inter-Integrated Circuit; SPI stands for Serial Peripheral interface; MCU stands for Microcontroller Unit; and IO stands for Input / Output interface.

[0050] like Figure 3As shown, the main control MCU is used to control the logic judgment of the entire operation and control the movement of the motor. It receives drive information from the memory, photoelectric switch signals, and drive module. The memory is used to record the standard air pressure curve, the threshold of the pressure range and the threshold of the step loss range, the preset number of motor steps, the preset height, and the preset torque. The photoelectric signal is used to sense whether the needle is picked up. The drive signals include the number of running steps, logical position, actual position, and running speed of X-axis motor a, Y-axis motor b, Z-axis motor c, and motor d.

[0051] In this embodiment, the sampling arm can be horizontally moved to its initial position above the sampling needle using a first motor and a second motor. For example... Figure 3 As shown, the first motor can be an X-axis motor a, and the second motor can be a Y-axis motor b. The horizontal movement of the sample feeding arm can be controlled by the X-axis motor a and the Y-axis motor b.

[0052] See also Figure 4 The diagram illustrates a control flow for needle removal in a sample application arm. First, the first motor (a), second motor (b), and third motor (c) are initialized, and their respective origins are determined. The signal status of the sample application arm's photoelectric sensor is read to determine if a needle is present. If a needle is present, it may indicate an unexpected event occurred during the previous experiment, such as a power outage, preventing the experiment from completing. In this case, the sample application arm needs to be moved to a designated location to remove the needle, such as a trash can. Needle removal is driven by the fourth motor (d), which then initializes itself. If no needle is present, the fourth motor also initializes.

[0053] like Figure 4 As shown, the first motor a and the second motor b can then be controlled to move the sampling arm horizontally to above the target sampling needle position. The third motor c is then controlled to move the sampling arm downwards, operating according to a preset number of needle-taking steps m. When the sampling arm moves downwards to the preset height, the speed and torque of the third motor c can be adjusted. The preset height can be set according to actual conditions; preferably, it can be set at a distance of 3-5 mm from the top.

[0054] like Figure 4 As shown, the speed and torque of the third motor c can be adjusted, for example, by decreasing the speed and increasing the torque. This can be achieved using the following formulas: Torque = Preset Torque × Coefficient i, Speed ​​= Current Speed ​​ / Coefficient s, where coefficient i can be 1-1.2 and coefficient s can be 1.2-4. This ensures that the third motor c on the Z-axis has sufficient force to ensure the sampling head can firmly grip the needle and that the motor operates within a safe range. Furthermore, the speed of the third motor c can be updated in real time during the needle-picking process.

[0055] In some embodiments, after determining that the needle retrieval is abnormal, an adjustment step may be included, which includes adjusting a preset number of needle retrieval steps, a second speed, and a second torque.

[0056] In this embodiment, after determining that the needle retrieval is abnormal, the torque coefficient, speed coefficient, and number of needle retrieval steps can be adjusted.

[0057] The initial value of the torque coefficient i is set to 1.1, and the initial value of the speed coefficient s is set to 2. If it is a subsequent abnormal retry needle retrieval step, it is adjusted according to the number of steps lost in the previous needle retrieval and return and the upper and lower limits of the step loss threshold.

[0058] In some embodiments, the decision to perform either the step of increasing the second speed and decreasing the second torque or the step of decreasing the second speed and increasing the second torque can be determined based on the size of the number of lost steps and the preset loss threshold range, wherein the preset loss threshold range includes a lower limit and an upper limit of lost steps; if the number of lost steps is less than the lower limit, the step of decreasing the second speed and increasing the second torque is performed; if the number of lost steps is greater than the upper limit, the step of increasing the second speed and decreasing the second torque is performed.

[0059] Assuming the number of missed steps is mn, the upper limit of missed steps is 40, and the lower limit of missed steps is 20, if:

[0060] 1) If mn < 20, then execute the steps of decreasing the second speed and increasing the second torque:

[0061] If 20-(mn)<5, then the torque coefficient i is taken as 1.1 and the speed coefficient s is taken as 2.5;

[0062] If 5 ≤ 20 - (mn) < 10, then the torque coefficient i is taken as 1.15 and the speed coefficient s is taken as 3.5;

[0063] If 10≤20-(mn)<20, then the torque coefficient i is taken as 1.2 and the speed coefficient s is taken as 4;

[0064] 2) If mn > 40, then execute the steps of increasing the second speed and decreasing the second torque:

[0065] If (mn)-40<10, then the torque coefficient i is taken as 1.15 and the speed coefficient s is taken as 3.5;

[0066] If 10≤(mn)-40<20, then the torque coefficient i is taken as 1.1 and the speed coefficient s is taken as 2.5;

[0067] If 20 ≤ (mn) - 40, then the torque coefficient i is taken as 1, and the speed coefficient s is taken as 1.2;

[0068] 3) If 20≤mn≤40, then the torque coefficient i takes the initial value of 1.1 and the speed coefficient s takes the initial value of 2.

[0069] like Figure 4As shown, the third motor c can operate according to the changed torque and speed. The sample arm continues to descend, and when the needle retrieval step number m is reached, the third motor c stops working to ensure complete ligation. The needle retrieval step number m can initially be the preset number of steps for the motor. If it is a subsequent needle retrieval step that is retried due to an abnormality, it will be adjusted according to the number of steps lost in the previous needle retrieval and return, as well as the upper and lower limits of the step loss threshold.

[0070] In some embodiments, the step of increasing the number of needle retrieval steps or decreasing the number of needle retrieval steps can be determined based on the size of the number of lost steps and the preset loss threshold range, wherein the preset loss threshold range includes a lower limit and an upper limit of lost steps; if the number of lost steps is less than the lower limit of lost steps, the step of increasing the number of needle retrieval steps is executed; if the number of lost steps is greater than the upper limit of lost steps, the step of decreasing the number of needle retrieval steps is executed.

[0071] Assuming the number of missed steps is mn, the upper limit of missed steps is 40, and the lower limit of missed steps is 20, if:

[0072] 1) If mn < 20, then execute the step of increasing the number of needle fetching steps:

[0073] If 20-(mn)<5, then m=m+5, update the number of needle-taking steps for this needle-taking step;

[0074] If 5≤20-(mn)<10, then m=m+5, update the number of needle-taking steps for this needle-taking step;

[0075] If 10≤20-(mn)<20, then m=m+10, update the number of needle-taking steps for this needle-taking step;

[0076] 2) If mn > 40, then execute the step of reducing the number of needle picking steps:

[0077] If mn)-40<10, then m=m-5, update the number of needle-taking steps for this needle-taking step;

[0078] If 10≤(mn)-40<20, then m=m-5, update the number of needle-taking steps for this needle-taking step;

[0079] If 20≤(mn)-40, then m=m-10, update the number of needle-taking steps for this needle-taking step;

[0080] 3) If 20≤mn≤40, then m remains unchanged and is the same as the previous needle-taking step.

[0081] Step S204, needle return step: The third motor controls the sample arm to rise to the initial position, and the number of steps the sample arm rises is determined as the return step number. The difference between the needle taking step number and the return step number is taken as the lost step number.

[0082] like Figure 4As shown, the third motor c is initialized, the sample arm rises to the initial height of the sample arm, and the number of steps the sample arm rises is recorded as the return step number n. Then, the number of steps lost is calculated as the needle picking step number m - the return step number n.

[0083] Step S206, the judgment step, is to determine whether the sampling arm has pierced the sampling needle based on the photoelectric sensor, whether it is within the preset step loss threshold range based on the number of steps lost, and whether it is within the preset pressure range based on the air pressure value collected by the air pressure sensor in the needle retrieval step and needle return step.

[0084] In step S208, if all three conditions are met, the normal needle removal result is output.

[0085] like Figure 4 As shown, in this embodiment, a U-shaped photoelectric sensor can be used to collect signals to determine whether the sampling arm has pierced the sampling needle. If the sampling arm has pierced the sampling needle, it is called a needle presence, and it is further determined whether the number of missed steps is within a preset range.

[0086] like Figure 4 As shown, if the number of steps lost is within the preset step loss threshold range, the air pressure values ​​collected by the pressure sensor during needle retrieval and retraction can be compared with the standard air pressure curve. The standard air pressure curve can record a preset pressure range.

[0087] like Figure 4 As shown, if the air pressure value is within the preset pressure range, it means that the needle can be removed normally and the next step can be performed.

[0088] For example, the sampling needle can be moved to a preset sample position to perform a sampling operation. That is, the sampling needle is moved to the sample position to perform sampling.

[0089] In addition, a pressure sensor can be used for liquid level detection, leakage detection, and / or needle blockage detection. The pressure sensor in this embodiment can determine whether there is a leak, and can also perform functions such as liquid level detection, leakage detection, and needle blockage detection.

[0090] In step S210, if at least one of the three criteria is incorrect, then the needle removal is determined to be abnormal.

[0091] In some embodiments, needle retrieval abnormalities can be determined using the following methods 1-3:

[0092] Method 1: After determining whether the sampling arm has pierced the sampling needle based on the photoelectric sensor, if the sampling arm has not pierced the sampling needle, it is determined that the needle retrieval is abnormal.

[0093] like Figure 4 As shown, if the sampling arm fails to puncture the sampling needle, the needle retrieval is deemed abnormal.

[0094] Method 2: Based on the photoelectric sensor, after the sampling arm has pierced the sampling needle, if the number of steps lost is not within the step loss threshold range, the needle retrieval is determined to be abnormal.

[0095] like Figure 4 As shown, if the number of steps lost is greater than the upper limit of the step loss threshold range or less than the lower limit of the step loss threshold range, then the needle retrieval is considered abnormal.

[0096] Method 3: After determining the steps for collecting air pressure values ​​during the needle retrieval and retraction process by the air pressure sensor, if the air pressure value is not within the pressure range, it is determined that the needle retrieval is abnormal.

[0097] like Figure 4 As shown, if the air pressure value is greater than the upper limit of the pressure range or less than the lower limit of the pressure range, it can be determined that the needle removal is abnormal.

[0098] In addition, the number of needle removal errors can be determined; if the number is less than or equal to a preset threshold, the needle removal step is executed first, and then the needle removal is retried.

[0099] In some embodiments, a needle removal step can also be performed. If the photoelectric sensor determines whether the sampling arm has pierced the sampling needle and determines whether it is within a preset step loss threshold range based on the number of steps lost, or determines whether it is within a preset pressure range based on the air pressure value collected by the air pressure sensor in the needle removal step and the needle return step, and determines whether it is not, the sampling arm is controlled by the third motor to descend to a preset height, and the needle is removed by the fourth motor.

[0100] In this embodiment, the needle removal step can be re-controlled by the third motor to move the sample application arm downwards to a preset height above the sampling needle, and then driven by the fourth motor to complete the needle removal action. The needle retrieval step can be retried by moving the sample application arm upwards to the initial position above the sampling needle based on the current needle removal step, and then re-executing the needle retrieval step; if the number of attempts exceeds a threshold, the needle retrieval is deemed a failure.

[0101] This embodiment allows for abnormal needle retrieval after an abnormality is identified, and abnormality handling can be performed as follows: Figure 4 As shown, the number of needle retrieval errors (also known as the retry error count) is first recorded, which is the current retry error count + 1. The initial retry error count is 0.

[0102] like Figure 4 As shown, it can be determined whether the number of retry exceptions exceeds the threshold k. If the number of retry exceptions is less than or equal to the threshold k, the needle removal step is executed first, and then the needle removal is retried. That is, the sampling arm is moved vertically downwards to a preset height above the sampling needle by the control of the third motor, and the needle removal action is completed by the drive of the fourth motor.

[0103] In some embodiments, after the sample arm is dislodged by the fourth motor, it can be raised back to its initial position by the third motor.

[0104] like Figure 4 As shown, it can be controlled so that the needle can be retrieved again after the sample dispensing arm is dislodged.

[0105] In this embodiment, if a needle retrieval error occurs, the needle can be retrieved multiple times. If the number of needle retrieval errors exceeds the threshold, it can be determined that the needle retrieval at the current position has failed. The needle removal step is then executed, that is, the sampling arm is moved vertically downward to a preset height above the sampling needle by the control of the third motor, and the needle removal action is completed by the drive of the fourth motor. Then, the sampling arm is moved vertically upward to the initial height above the sampling needle by the control of the third motor, and then the needle is automatically retrieved at the next position. This can improve the automation level of needle retrieval and provide automatic prompts.

[0106] In some embodiments, after determining that the needle retrieval is abnormal, the method further includes a repetition step, which includes repeating the needle retrieval step, the needle return step, and the judgment step N times; determining the number of times the needle retrieval is abnormal in the repetition step; if the number is less than or equal to a preset number threshold, the repetition step continues; if the number is greater than the preset number threshold, the needle retrieval is determined to have failed; wherein, N≥2.

[0107] If the number of abnormal needle retrieval attempts during the repeated execution steps exceeds a preset threshold, needle retrieval failure can be determined, and needle retrieval can proceed to the next location. For example, in this embodiment, the sampling arm can be horizontally moved again to above the next sampling needle. Figure 4 As shown, the next needle removal step can be performed, which involves moving the sampling arm horizontally back above the sampling needle.

[0108] like Figure 4 As shown, the number of needle retrieval errors can be restored to the initial value of 0, and the number of needle retrieval steps can be restored to the preset initial value.

[0109] The method provided in this invention can detect air leakage during needle retrieval using three criteria: a photoelectric sensor, the number of steps lost by the third motor on the Z-axis, and the air pressure value during the needle retrieval process. Specifically, the photoelectric sensor ensures needle retrieval but does not guarantee a tight seal or leak-free operation; the difference between the needle retrieval steps and the return steps of the third motor on the Z-axis indicates a tight retrieval but does not determine if leakage still exists; and the air pressure value collected by the air pressure sensor determines whether leakage is present. This forms a closed-loop control system, further ensuring a tight seal and leak-free operation, resulting in higher reliability and greater machine stability.

[0110] The method provided in this embodiment of the invention can retrieve needles multiple times if an abnormality occurs. If the number of abnormalities exceeds a threshold, it can be determined that the needle retrieval at the current position has failed, and the needle will be automatically retrieved at the next position. This can improve the automation of needle retrieval and provide automatic prompts.

[0111] The method provided in this embodiment of the invention uses a pressure sensor that can determine whether there is a leak, and can also perform functions such as liquid level detection, leak detection, and needle blockage detection during the liquid aspiration process. It achieves low material cost through program processing without increasing material costs.

[0112] Example 3:

[0113] Corresponding to the above method embodiments, this invention provides a control device for the sample dispensing arm needle, see [link to relevant documentation]. Figure 5 The diagram shown illustrates the structure of a control device for picking up a needle on a sample dispensing arm. This control device includes:

[0114] The needle-retrieving module 51 is used for the needle-retrieving step. It moves the sampling arm horizontally to the initial position above the sampling needle, and controls the sampling arm to move downward a preset number of needle-retrieving steps through the third motor. Before the sampling arm descends to the preset height, the third motor operates at a first speed and a first torque, and then operates at a second speed less than or equal to the first speed and a second torque greater than or equal to the first torque.

[0115] The needle return module 52 is used for the needle return step. It controls the sample arm to rise to the initial position through the third motor, determines the number of steps the sample arm rises as the return steps, and takes the difference between the needle taking steps and the return steps as the lost steps.

[0116] The judgment module 53 is used to judge the steps, based on the photoelectric sensor to judge whether the sampling arm has pierced the sampling needle, based on the number of steps lost to judge whether it is within the preset loss threshold range, and based on the air pressure value collected by the air pressure sensor in the needle retrieval step and needle return step to judge whether it is within the preset pressure range.

[0117] Normal module 54 is used to output the normal needle retrieval result if all three conditions are met.

[0118] This invention provides a control device for needle retrieval in a sample feeding arm. It detects air leakage during needle retrieval using three criteria: a photoelectric sensor, the number of steps lost by the third motor on the Z-axis, and the air pressure value during the retrieval process. Specifically, the photoelectric sensor ensures needle retrieval but does not guarantee a tight seal or leak-free operation; the difference between the number of steps taken and the number of steps returned by the third motor on the Z-axis indicates a tight retrieval but does not determine if leakage still exists; and the air pressure value collected by the air pressure sensor determines whether leakage is present. This forms a closed-loop control system, further ensuring a tight seal and leak-free operation.

[0119] The aforementioned device further includes an anomaly module, which determines that a needle retrieval anomaly is occurring if at least one of the three criteria is incorrect during the judgment step.

[0120] The aforementioned abnormal module is also used to adjust the preset needle picking steps, second speed, and second torque.

[0121] The aforementioned exception module is used to determine whether to perform a step to increase the number of needle retrieval steps or a step to decrease the number of needle retrieval steps based on the size of the number of lost steps and the preset step loss threshold range. The preset step loss threshold range includes a lower limit and an upper limit of lost steps. If the number of lost steps is less than the lower limit, the step to increase the number of needle retrieval steps is performed. If the number of lost steps is greater than the upper limit, the step to decrease the number of needle retrieval steps is performed.

[0122] The aforementioned exception module is used to determine whether to execute the step of increasing the second speed and decreasing the second torque or the step of decreasing the second speed and increasing the second torque based on the size of the number of lost steps and the preset loss threshold range. The preset loss threshold range includes a lower limit and an upper limit of lost steps. If the number of lost steps is less than the lower limit, the step of decreasing the second speed and increasing the second torque is executed. If the number of lost steps is greater than the upper limit, the step of increasing the second speed and decreasing the second torque is executed.

[0123] The above-mentioned device also includes: a needle removal module, used in the needle removal step. When at least one of the following is determined to be no, the photoelectric sensor determines whether the sampling arm has pierced the sampling needle and whether it is within the preset step loss threshold range based on the number of steps lost, or whether it is within the preset pressure range based on the air pressure value collected by the air pressure sensor in the needle removal step and the needle return step, the third motor controls the sampling arm to descend to the preset height, and the fourth motor controls the sampling arm to remove the needle.

[0124] The aforementioned needle removal module is also used to control the sample dispensing arm to rise back to the initial position via the third motor after the needle is removed by the fourth motor.

[0125] The above-mentioned device further includes: a repetitive execution module, used to repeatedly execute the steps, the repetitive execution steps including repeatedly executing the needle retrieval step, the needle return step, and the judgment step N times; determining the number of needle retrieval errors in the repetitive execution steps, if the number is less than or equal to a preset number threshold, then continuing to execute the repetitive execution steps; if the number is greater than the preset number threshold, then determining that the needle retrieval has failed; wherein, N≥2.

[0126] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working process of the control system for the sample arm needle removal described above can be referred to the corresponding process in the aforementioned embodiment of the control method for the sample arm needle removal, and will not be repeated here.

[0127] Example 4:

[0128] This invention also provides an electronic device for operating the above-described control method for picking up the sample arm needle; see [link to related documentation]. Figure 6 The diagram shows the structure of an electronic device, which includes a memory 100 and a processor 101. The memory 100 stores one or more computer instructions, which are executed by the processor 101 to implement the above-mentioned control method for picking up the needle with the sample arm.

[0129] Furthermore, Figure 6 The electronic device shown also includes a bus 102 and a communication interface 103, with the processor 101, the communication interface 103 and the memory 100 connected via the bus 102.

[0130] The memory 100 may include high-speed random access memory (RAM) or non-volatile memory, such as at least one disk storage device. Communication between this system network element and at least one other network element is achieved through at least one communication interface 103 (which can be wired or wireless), such as the Internet, wide area network, local area network, or metropolitan area network. The bus 102 may be an ISA bus, PCI bus, or EISA bus, etc. The bus can be divided into address bus, data bus, control bus, etc. For ease of representation, Figure 6 The symbol is represented by a single double-headed arrow, but this does not mean that there is only one bus or one type of bus.

[0131] Processor 101 may be an integrated circuit chip with signal processing capabilities. In implementation, each step of the above method can be completed by the integrated logic circuitry in the hardware of processor 101 or by instructions in software form. Processor 101 can be a general-purpose processor, including a Central Processing Unit (CPU), a Network Processor (NP), etc.; it can also be a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field-Programmable Gate Array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components. It can implement or execute the methods, steps, and logic block diagrams disclosed in the embodiments of this invention. The general-purpose processor can be a microprocessor or any conventional processor. The steps of the methods disclosed in the embodiments of this invention can be directly manifested as execution by a hardware decoding processor, or execution by a combination of hardware and software modules in the decoding processor. The software module can reside in a readily available storage medium in the art, such as random access memory, flash memory, read-only memory, programmable read-only memory, electrically erasable programmable memory, or registers. This storage medium is located in memory 100, and processor 101 reads information from memory 100 and, in conjunction with its hardware, completes the steps of the method described in the foregoing embodiments.

[0132] This invention also provides a computer-readable storage medium storing computer-executable instructions. When these computer-executable instructions are called and executed by a processor, they cause the processor to implement the above-described control method for picking up the sample arm needle. For specific implementation details, please refer to the method embodiments, which will not be repeated here.

[0133] The computer program product of the control method, device and electronic device for sample arm needle picking provided in the embodiments of the present invention includes a computer-readable storage medium storing program code. The instructions included in the program code can be used to execute the methods in the preceding method embodiments. For specific implementation, please refer to the method embodiments, which will not be repeated here.

[0134] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working process of the system and / or device described above can be referred to the corresponding process in the foregoing method embodiments, and will not be repeated here.

[0135] Furthermore, in the description of the embodiments of the present invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in the present invention based on the specific circumstances.

[0136] If a function is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this invention, or the part that contributes to the prior art, or a part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods of the various embodiments of this invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0137] In the description of this invention, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing the invention and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0138] Finally, it should be noted that the above-described embodiments are merely specific implementations of the present invention, used to illustrate the technical solutions of the present invention, and not to limit it. The scope of protection of the present invention is not limited thereto. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that any person skilled in the art can still modify or easily conceive of changes to the technical solutions described in the foregoing embodiments within the technical scope disclosed in the present invention, or make equivalent substitutions for some of the technical features; and these modifications, changes, or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention, and should all be covered within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. A method for controlling the needle dispensing of a sample arm, characterized in that, The method includes: In the needle retrieval step, the sampling arm is moved horizontally to an initial position above the sampling needle, and the sampling arm is moved downward by a preset number of needle retrieval steps controlled by a third motor; wherein, before the sampling arm descends to a preset height, the third motor operates at a first speed and a first torque, and then operates at a second speed less than or equal to the first speed and a second torque greater than or equal to the first torque; In the needle return step, the third motor controls the sample dispensing arm to rise to the initial position, and the number of steps the sample dispensing arm rises is determined as the return step number. The difference between the needle dispensing step number and the return step number is taken as the lost step number. The judgment steps are as follows: based on the photoelectric sensor, it is determined whether the sampling arm has pierced the sampling needle; based on the number of steps lost, it is determined whether it is within the preset step loss threshold range; based on the air pressure value collected by the air pressure sensor in the needle retrieval step and needle return step, it is determined whether it is within the preset pressure range. If all three conditions are met, then the normal needle retrieval result will be output.

2. The method according to claim 1, characterized in that, In the judgment step, if at least one of the three is judged as negative, then the needle removal is determined to be abnormal.

3. The method according to claim 2, characterized in that, Following the determination of the needle retrieval abnormality, an adjustment step is also included, which includes: Adjust the preset number of needle picking steps, the second speed, and the second torque.

4. The method according to claim 3, characterized in that, The adjustment of the preset number of needle extraction steps includes: The decision to perform either an increase in the number of needle retrieval steps or a decrease in the number of needle retrieval steps is determined based on the size of the number of lost steps and the preset loss threshold range, wherein the preset loss threshold range includes a lower limit and an upper limit for lost steps; If the number of steps lost is less than the lower limit of steps lost, then the step of increasing the number of needle-taking steps is executed; If the number of steps lost is greater than the upper limit of steps lost, then the step of reducing the number of needle-taking steps is executed.

5. The method according to claim 3, characterized in that, Adjusting the second speed and the second torque includes: Based on the number of lost steps and the size of the preset lost step threshold range, it is determined whether to perform the step of increasing the second speed and decreasing the second torque or to perform the step of decreasing the second speed and increasing the second torque, wherein the preset lost step threshold range includes a lower limit and an upper limit of lost steps; If the number of steps lost is less than the lower limit of steps lost, then the steps of reducing the second speed and increasing the second torque are executed. If the number of steps lost is greater than the upper limit of steps lost, then the steps of increasing the second speed and decreasing the second torque are executed.

6. The method according to any one of claims 1 to 5, characterized in that, Following the determination step, the method further includes: In the needle removal step, if the photoelectric sensor determines whether the sampling arm has pierced the sampling needle and at least one of the following two determinations is not made: whether the number of steps lost is within a preset step loss threshold range, or whether the air pressure value collected by the air pressure sensor in the needle removal and needle return steps is within a preset pressure range, the third motor controls the sampling arm to descend to the preset height, and the fourth motor controls the sampling arm to remove the needle.

7. The method according to claim 6, characterized in that, After the sample dispensing arm is disengaged by the fourth motor, the sample dispensing arm is raised back to the initial position by the third motor.

8. The method according to any one of claims 2 to 5, characterized in that, After determining that the needle removal is abnormal, the process also includes a repetition step, which includes repeating the needle removal step, the needle return step, and the judgment step N times. The number of times the needle retrieval error occurs in the repeated execution step is determined. If the number is less than or equal to a preset threshold, the repeated execution step continues. If the number is greater than the preset threshold, the needle retrieval fails. Wherein, N≥2.

9. A control device for dispensing a sample arm needle, characterized in that, The device includes: The needle retrieval module is used for the needle retrieval step. It moves the sampling arm horizontally to an initial position above the sampling needle, and then controls the sampling arm to move downward a preset number of needle retrieval steps through a third motor. Before the sampling arm descends to a preset height, the third motor operates at a first speed and a first torque, and then operates at a second speed less than or equal to the first speed and a second torque greater than or equal to the first torque. The needle return module is used for the needle return step. The third motor controls the sample dispensing arm to rise to the initial position. The number of steps the sample dispensing arm rises is determined as the return step number. The difference between the needle dispensing step number and the return step number is taken as the lost step number. The judgment module is used to judge the steps, based on the photoelectric sensor to judge whether the sampling arm has pierced the sampling needle, based on the number of steps lost to judge whether it is within the preset step loss threshold range, and based on the air pressure value collected by the air pressure sensor in the needle retrieval step and needle return step to judge whether it is within the preset pressure range. The normal module is used to output a normal needle retrieval result if all three conditions are met.

10. An electronic device, characterized in that, The device includes a processor and a memory, the memory storing computer-executable instructions that can be executed by the processor, the processor executing the computer-executable instructions to implement the control method for picking up the sample arm as described in any one of claims 1 to 8.

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