A drawer control method, device and medium for a fully automatic sample processing system

Abstract

The embodiment of the present application provides a drawer control method, device and medium of a fully automatic sample processing system, which are used to improve the convenience of drawer control in the fully automatic sample processing system. The drawer control method includes: obtaining the actual position and virtual position of the drawer; the virtual position is the position of the drawer when it is not subjected to external force; if the actual position and the virtual position do not completely overlap, the actual position is compared with the virtual position to determine the push-pull direction and push-pull distance of the drawer; when the push-pull direction of the drawer is to pull outward, if the push-pull distance is greater than or equal to the opening threshold, the drawer is controlled to open automatically; when the push-pull direction of the drawer is to push inward, if the push-pull distance is greater than or equal to the closing threshold, the drawer is controlled to close automatically.

Description

Technical Field

[0001] The present application relates to the field of automation technology, and in particular to a drawer control method, device and medium of a fully automatic sample processing system. Background Art

[0002] The fully automatic sample processing system is an important in vitro diagnostic test equipment commonly used in clinical laboratories and is one of the important components of in vitro diagnostic products. In the prior art, physical button triggering or virtual button triggering in the application interface is usually used to control the opening and closing of drawers in the fully automatic sample processing system. However, in actual applications, since the location of the virtual buttons or physical buttons is a certain distance away from the location of the drawers, it is inconvenient to use when the drawers are opened and closed frequently. Therefore, how to improve the convenience of drawer control in the fully automatic sample processing system has become a technical problem that needs to be solved at present. Summary of the invention

[0003] In view of the above problems, the object of the present invention is to provide a drawer control method, device and medium of a fully automatic sample processing system to improve the convenience of drawer control in the fully automatic sample processing system. The specific scheme is as follows:

[0004] In a first aspect, an embodiment of the present application provides a drawer control method for a fully automatic sample processing system, the drawer control method comprising:

[0005] Obtaining the actual position and virtual position of the drawer; the virtual position is the position of the drawer when no external force is applied;

[0006] If the actual position and the virtual position do not completely overlap, the actual position is compared with the virtual position to determine the push-pull direction and push-pull distance of the drawer;

[0007] When the push-pull direction of the drawer is outward, if the push-pull distance is greater than or equal to the opening threshold, the drawer is controlled to open automatically;

[0008] When the push-pull direction of the drawer is inward, if the push-pull distance is greater than or equal to the closing threshold, the drawer is controlled to close automatically.

[0009] Optionally, comparing the actual position with the virtual position to determine the push-pull direction and push-pull distance of the drawer includes:

[0010] Taking the difference between the actual position and the virtual position as the external force offset;

[0011] If the external force offset is less than 0, the push-pull direction is inward push;

[0012] If the external force offset is greater than 0, the push-pull direction is outward pulling;

[0013] The absolute value of the external force offset is used as the push-pull distance.

[0014] Optionally, comparing the actual position with the virtual position to determine the push-pull direction and push-pull distance of the drawer includes:

[0015] Determining a push-pull direction of the drawer based on a relative positional relationship between the actual position and the virtual position;

[0016] The distance between the actual position and the virtual position is used as the push-pull distance.

[0017] Optionally, the direction when the drawer is opened is taken as a positive direction, and the direction when the drawer is closed is taken as a negative direction, and the determining of the push-pull direction of the drawer based on the relative positional relationship between the actual position and the virtual position includes:

[0018] When the relative position relationship is that the actual position is located in the positive direction of the virtual position, it is determined that the push-pull direction of the drawer is outward pulling;

[0019] When the relative position relationship is that the actual position is located in the negative direction of the virtual position, it is determined that the push-pull direction of the drawer is inward push.

[0020] Optionally, the drawer control method further includes:

[0021] When the drawer is in a fully closed state and the push-pull direction of the drawer is to be pulled outward, if the push-pull distances acquired within a first preset time are all smaller than the opening threshold, the drawer is controlled to close automatically.

[0022] Optionally, the drawer control method further includes:

[0023] When the drawer is in a fully open state and the push-pull direction of the drawer is inward, if the push-pull distances acquired within a second preset time are all smaller than the closing threshold, the drawer is controlled to open automatically.

[0024] In a second aspect, an embodiment of the present application provides a drawer control device of a fully automatic sample processing system, the drawer control device comprising:

[0025] An acquisition module, used to acquire the actual position and virtual position of the drawer; the virtual position is the position of the drawer when no external force is applied;

[0026] A comparison module, configured to compare the actual position with the virtual position if the actual position and the virtual position do not completely overlap, so as to determine the push-pull direction and push-pull distance of the drawer;

[0027] An automatic control module, used for controlling the drawer to open automatically when the push-pull direction of the drawer is outward and the push-pull distance is greater than or equal to an opening threshold;

[0028] The automatic control module is also used to control the drawer to automatically close when the push-pull direction of the drawer is inward and if the push-pull distance is greater than or equal to a closing threshold.

[0029] Optionally, the comparison module is specifically used for:

[0030] Taking the difference between the actual position and the virtual position as the external force offset;

[0031] If the external force offset is less than 0, the push-pull direction is inward push;

[0032] If the external force offset is greater than 0, the push-pull direction is outward pulling;

[0033] The absolute value of the external force offset is used as the push-pull distance.

[0034] Optionally, the comparison module is specifically used for:

[0035] Determining a push-pull direction of the drawer based on a relative positional relationship between the actual position and the virtual position;

[0036] The distance between the actual position and the virtual position is used as the push-pull distance.

[0037] In a third aspect, an embodiment of the present application provides a computer-readable storage medium, comprising computer operating instructions, which, when executed on a computer, enable the computer to execute any of the above-described drawer control methods for a fully automatic sample processing system.

[0038] Compared with the prior art, this application has the following beneficial effects:

[0039] By obtaining the actual position and virtual position of the drawer, if the actual position and the virtual position do not completely overlap, the actual position is compared with the virtual position to determine the push-pull direction and push-pull distance of the drawer, so as to determine the operator's control intention for the drawer through the push-pull direction. When the push-pull direction of the drawer is to pull outward, if the push-pull distance is greater than or equal to the opening threshold, the drawer is controlled to open automatically. When the push-pull direction of the drawer is to push inward, if the push-pull distance is greater than or equal to the closing threshold, the drawer is controlled to close automatically. Therefore, by comparing the push-pull distance with the corresponding threshold based on different push-pull directions, it is determined whether the operator has the need to open and close the drawer, and when it is determined that the operator has the corresponding need, the drawer is controlled to open or close automatically, so that the operator can realize the automatic opening and closing of the drawer by pushing and pulling the drawer, without having to walk back and forth between the trigger button and the drawer, thereby improving the convenience of controlling the opening and closing of the drawer. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying any creative work.

[0041] Figure 1 A schematic flow chart of a drawer control method of a fully automatic sample processing system provided in an embodiment of the present application;

[0042] Figure 2 A schematic diagram of actual position and virtual position provided in an embodiment of the present application;

[0043] Figure 3 A schematic diagram of the structure of a drawer control device of a fully automatic sample processing system provided in an embodiment of the present application. DETAILED DESCRIPTION

[0044] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0045] The terms "first", "second", "third", "fourth", etc. (if any) in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable where appropriate, so that the embodiments described herein can be implemented in an order other than that illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0046] An analysis of the background technology shows that since there is a certain distance between the drawer trigger button of the fully automatic sample processing system and the location of the drawer, when the opening and closing of the drawer needs to be frequently controlled, the operator needs to frequently move back and forth between the trigger button and the drawer to control the drawer through the trigger button, which makes the use process inconvenient.

[0047] In view of the above problems, the present application provides a drawer control method for a fully automatic sample processing system, such as Figure 1 As shown, the drawer control method includes:

[0048] S101: Acquire the actual position and virtual position of the drawer; the virtual position is the position of the drawer when no external force is applied.

[0049] The actual position of the drawer is obtained in real time through the encoder installed on the drawer motor. The actual position is the actual position of the drawer at present. The virtual position of the drawer is obtained in real time through the software set on the circuit board of the fully automatic sample processing system. The virtual position is the position where the drawer should be when there is no external force interference, that is, the position of the drawer in the software's most recent control of the drawer at the current time.

[0050] It should be noted that the actual position and the virtual position are the positions of the same point on the drawer in the actual scene and in the software respectively when the same point is used as the reference point.

[0051] For ease of understanding, the following is an example of a virtual location:

[0052] Taking the midpoint of the drawer as the reference point, if the software controls the drawer to close automatically and no other control is performed on the drawer, the virtual position of the drawer at this time is the position of the reference point when the drawer is completely closed. If the software controls the drawer to open automatically and no other control is performed on the drawer, the virtual position of the drawer at this time is the position of the reference point when the drawer is fully opened.

[0053] S102: If the actual position and the virtual position do not completely overlap, the actual position is compared with the virtual position to determine the push-pull direction and push-pull distance of the drawer.

[0054] After determining the actual position and the virtual position, if it is detected that the actual position is different from the virtual position, it means that the actual position and the virtual position do not completely overlap, and the drawer is displaced by external force. The actual position is compared with the virtual position to determine the push and pull direction and push and pull distance of the drawer. The push and pull direction includes pulling outward and pushing inward.

[0055] In an optional embodiment, comparing the actual position with the virtual position to determine the push-pull direction and push-pull distance of the drawer includes:

[0056] The difference between the actual position and the virtual position is used as the external force offset;

[0057] If the external force offset is less than 0, the push-pull direction is inward;

[0058] If the external force offset is greater than 0, the push-pull direction is outward;

[0059] The absolute value of the external force offset is used as the push-pull distance.

[0060] The position of the reference point when the drawer is fully closed is set as the 0 point, and the direction in which the drawer is pulled out is added as the numerical value, so that the actual position and the virtual position can be represented by numerical values.

[0061] Subtract the value corresponding to the virtual position from the value corresponding to the actual position to obtain the external force offset. If the actual position is closer to the position when the drawer is fully closed relative to the virtual position, the external force offset is a negative value, the external force offset is less than 0, and the push-pull direction is to push the drawer inward. If the actual position is closer to the position when the drawer is fully opened relative to the virtual position, the external force offset is a positive value, the external force offset is greater than 0, and the push-pull direction is to pull the drawer outward. Since the external force offset can be positive and negative, after obtaining the external force offset, the absolute value of the external force offset is used as the push-pull distance. Thus, by digitizing the actual position and the virtual position and calculating the difference between the actual position and the virtual position, the push-pull direction of the drawer is determined to obtain the operator's control intention for the drawer.

[0062] For easier understanding, the following example is given:

[0063] like Figure 2As shown, point A on the drawer is used as a reference point. If the virtual position of the drawer is B and the actual position is C, since the actual position C is closer to the position when the drawer is fully opened relative to the virtual position B, the actual position C is greater than the virtual position B. At this time, the external force offset is CB, and CB is greater than 0. Therefore, it can be seen that the push-pull direction is to pull the drawer outward.

[0064] In addition to determining the push-pull direction by calculating the difference between the actual position and the virtual position, the push-pull direction may also be determined based on the relative position of the actual position and the virtual position, as follows: In another optional embodiment, the actual position is compared with the virtual position to determine the push-pull direction and push-pull distance of the drawer, including:

[0065] Determine the push and pull direction of the drawer based on the relative position relationship between the actual position and the virtual position;

[0066] The distance between the actual position and the virtual position is used as the push and pull distance.

[0067] By judging the relative position relationship between the actual position and the virtual position, the displacement direction of the actual position relative to the virtual position is determined, and the displacement direction is used as the push-pull direction of the drawer, and the displacement distance of the actual position relative to the virtual position is used as the push-pull distance.

[0068] In an optional embodiment, determining the push-pull direction of the drawer based on the relative position relationship between the actual position and the virtual position includes:

[0069] When the relative position relationship is that the actual position is located in the positive direction of the virtual position, it is determined that the push-pull direction of the drawer is outward pull;

[0070] When the relative position relationship is that the actual position is located in the negative direction of the virtual position, it is determined that the push-pull direction of the drawer is inward push.

[0071] The direction when the drawer is opened is the positive direction, and the direction when the drawer is closed is the negative direction. When the relative position relationship between the actual position and the virtual position is that the actual position is located in the positive direction of the virtual position, it means that the drawer actually moves in the direction of opening the drawer, thereby determining that the push-pull direction of the drawer is outward.

[0072] When the relative position relationship between the actual position and the virtual position is that the actual position is located in the negative direction of the virtual position, it means that the drawer actually moves in the closing direction of the drawer, thereby determining that the push-pull direction of the drawer is inward.

[0073] S103: When the push-pull direction of the drawer is outward, if the push-pull distance is greater than or equal to the opening threshold, the drawer is controlled to open automatically.

[0074] The opening threshold is set in advance. When the push-pull direction is outward, if the push-pull distance is less than the opening threshold, there is a risk that the drawer is moved in the opening direction due to an accidental touch, and the drawer is not controlled to open automatically. If the operator continues to pull the drawer outward, so that the push-pull distance is greater than or equal to the opening threshold, it means that the operator intends to open the drawer, and the drawer is controlled to open automatically. This prevents the drawer from opening automatically due to the operator accidentally pulling out the drawer.

[0075] S104: When the push-pull direction of the drawer is inward, if the push-pull distance is greater than or equal to the closing threshold, the drawer is controlled to close automatically.

[0076] The closing threshold is set in advance. When the push-pull direction is inward, if the push-pull distance is less than the closing threshold, there is a risk that the drawer is moved in the closing direction due to an accidental touch, and the drawer is not controlled to close automatically. If the operator continues to push the drawer inward, so that the push-pull distance is greater than or equal to the closing threshold, it means that the operator intends to close the drawer, and the drawer is controlled to close automatically. This prevents the drawer from closing automatically due to the operator accidentally pushing the drawer.

[0077] By obtaining the actual position and virtual position of the drawer, if the actual position and the virtual position do not completely overlap, the actual position is compared with the virtual position to determine the push-pull direction and push-pull distance of the drawer, so as to determine the operator's control intention for the drawer through the push-pull direction. When the push-pull direction of the drawer is to pull outward, if the push-pull distance is greater than or equal to the opening threshold, the drawer is controlled to open automatically. When the push-pull direction of the drawer is to push inward, if the push-pull distance is greater than or equal to the closing threshold, the drawer is controlled to close automatically. Therefore, by comparing the push-pull distance with the corresponding threshold based on different push-pull directions, it is determined whether the operator has the need to open and close the drawer, and when it is determined that the operator has the corresponding need, the drawer is controlled to open or close automatically, so that the operator can realize the automatic opening and closing of the drawer by pushing and pulling the drawer, without having to walk back and forth between the trigger button and the drawer, thereby improving the convenience of controlling the opening and closing of the drawer.

[0078] In an optional embodiment, the drawer control method further includes:

[0079] When the drawer is in a fully closed state and the push-pull direction of the drawer is to be pulled outward, if the push-pull distances acquired within the first preset time are all less than the opening threshold, the drawer is controlled to close automatically.

[0080] When the virtual position of the drawer obtained in real time is the position of the drawer when it is fully closed, it means that the drawer is in a fully closed state. When the initial state of the drawer is a fully closed state and the push-pull direction is to pull outward, the waiting time starts to be counted. If after the waiting time reaches the first preset time, the push-pull distance obtained during the waiting time is less than the opening threshold, it means that the operator pulled the drawer by mistake and did not close the drawer. At this time, the drawer is controlled to close automatically, so that when the drawer is opened by mistake, the drawer is controlled to close automatically to protect the items in the drawer.

[0081] In an optional embodiment, the drawer control method further includes:

[0082] When the drawer is in a fully open state and the push-pull direction of the drawer is inward, if the push-pull distances acquired within the second preset time are all less than the closing threshold, the drawer is controlled to open automatically.

[0083] When the virtual position of the drawer obtained in real time is the position of the drawer when it is fully opened, it means that the drawer is in a fully open state. When the initial state of the drawer is fully open and the push-pull direction is inward, the waiting time starts to be counted. If the push-pull distance obtained during the waiting time is less than the closing threshold after the waiting time reaches the second preset time, it means that the operator pushed the drawer by mistake and the drawer still needs to remain in a fully open state. At this time, the drawer is controlled to open automatically to achieve full opening of the drawer, which is convenient for the operator to take and place items in the drawer.

[0084] like Figure 3 As shown, the embodiment of the present application provides a drawer control device of a fully automatic sample processing system, the drawer control device comprising:

[0085] The acquisition module 301 is used to acquire the actual position and virtual position of the drawer; the virtual position is the position of the drawer when no external force is applied;

[0086] A comparison module 302 is used to compare the actual position with the virtual position if the actual position and the virtual position do not completely overlap, so as to determine the push-pull direction and push-pull distance of the drawer;

[0087] The automatic control module 303 is used to control the drawer to open automatically when the push-pull direction of the drawer is outward and the push-pull distance is greater than or equal to the opening threshold;

[0088] The automatic control module 303 is also used to control the drawer to automatically close when the push-pull direction of the drawer is inward and if the push-pull distance is greater than or equal to the closing threshold.

[0089] In an optional embodiment, the comparison module 302 is specifically configured to:

[0090] The difference between the actual position and the virtual position is used as the external force offset;

[0091] If the external force offset is less than 0, the push-pull direction is inward;

[0092] If the external force offset is greater than 0, the push-pull direction is outward;

[0093] The absolute value of the external force offset is used as the push-pull distance.

[0094] In an optional embodiment, the comparison module 302 is specifically configured to:

[0095] Determine the push and pull direction of the drawer based on the relative position relationship between the actual position and the virtual position;

[0096] The distance between the actual position and the virtual position is used as the push and pull distance.

[0097] In an optional embodiment, the comparison module 302 is specifically used for:

[0098] When the relative position relationship is that the actual position is located in the positive direction of the virtual position, it is determined that the push-pull direction of the drawer is outward pull;

[0099] When the relative position relationship is that the actual position is located in the negative direction of the virtual position, it is determined that the push-pull direction of the drawer is inward push.

[0100] In an optional embodiment, the automatic control module 303 is further used to:

[0101] When the drawer is in a fully closed state and the push-pull direction of the drawer is to be pulled outward, if the push-pull distances acquired within the first preset time are all less than the opening threshold, the drawer is controlled to close automatically.

[0102] In an optional embodiment, the automatic control module 303 is further used to:

[0103] When the drawer is in a fully open state and the push-pull direction of the drawer is inward, if the push-pull distances acquired within the second preset time are all less than the closing threshold, the drawer is controlled to open automatically.

[0104] By obtaining the actual position and virtual position of the drawer, if the actual position and the virtual position do not completely overlap, the actual position is compared with the virtual position to determine the push-pull direction and push-pull distance of the drawer, so as to determine the operator's control intention for the drawer through the push-pull direction. When the push-pull direction of the drawer is to pull outward, if the push-pull distance is greater than or equal to the opening threshold, the drawer is controlled to open automatically. When the push-pull direction of the drawer is to push inward, if the push-pull distance is greater than or equal to the closing threshold, the drawer is controlled to close automatically. Therefore, by comparing the push-pull distance with the corresponding threshold based on different push-pull directions, it is determined whether the operator has the need to open and close the drawer, and when it is determined that the operator has the corresponding need, the drawer is controlled to open or close automatically, so that the operator can realize the automatic opening and closing of the drawer by pushing and pulling the drawer, without having to walk back and forth between the trigger button and the drawer, thereby improving the convenience of controlling the opening and closing of the drawer.

[0105] An embodiment of the present application provides a computer-readable storage medium having a computer program stored thereon, wherein when the computer program is executed by a processor, the drawer control method of any one of the above-mentioned fully automatic sample processing systems is implemented.

[0106] Computer readable media include permanent and non-permanent, removable and non-removable media that can be implemented by any method or technology to store information. Information can be computer readable instructions, data structures, program modules or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, compact disk read-only memory (CD-ROM), digital versatile disk (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices or any other non-transmission media that can be used to store information that can be accessed by a computing device. As defined herein, computer readable media does not include temporary computer readable media (transitory media), such as modulated data signals and carrier waves.

[0107] Professionals may further appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of the two. In order to clearly illustrate the interchangeability of hardware and software, the composition and steps of each example have been generally described in the above description according to function. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professionals and technicians may use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of the present invention.

[0108] The technical content provided by the present invention is introduced in detail above. Specific examples are used in this article to illustrate the principles and implementation methods of the present invention. The description of the above embodiments is only used to help understand the method of the present invention and its core idea. At the same time, for general technical personnel in the field, according to the idea of ​​the present invention, there will be changes in the specific implementation methods and application scope. In summary, the content of this specification should not be understood as a limitation on the present invention.

Claims

1. A drawer control method for a fully automatic sample processing system, characterized in that: The drawer control method comprises: Obtaining the actual position and virtual position of the drawer; the virtual position is the position of the drawer when no external force is applied; the actual position is the actual current position of the drawer; If the actual position and the virtual position do not completely overlap, the actual position is compared with the virtual position to determine the push-pull direction and push-pull distance of the drawer; When the push-pull direction of the drawer is outward, if the push-pull distance is greater than or equal to the opening threshold, the drawer is controlled to open automatically; When the push-pull direction of the drawer is inward, if the push-pull distance is greater than or equal to the closing threshold, the drawer is controlled to close automatically.

2. The drawer control method according to claim 1, characterized in that: The comparing the actual position with the virtual position to determine the push-pull direction and push-pull distance of the drawer includes: Taking the difference between the actual position and the virtual position as the external force offset; If the external force offset is less than 0, the push-pull direction is inward push; If the external force offset is greater than 0, the push-pull direction is outward pulling; The absolute value of the external force offset is used as the push-pull distance.

3. The drawer control method according to claim 1, characterized in that: The comparing the actual position with the virtual position to determine the push-pull direction and push-pull distance of the drawer includes: Determining a push-pull direction of the drawer based on a relative positional relationship between the actual position and the virtual position; The distance between the actual position and the virtual position is used as the push-pull distance.

4. The drawer control method according to claim 3, characterized in that: The direction when the drawer is opened is taken as a positive direction, and the direction when the drawer is closed is taken as a negative direction, and the push-pull direction of the drawer is determined based on the relative position relationship between the actual position and the virtual position, including: When the relative position relationship is that the actual position is located in the positive direction of the virtual position, it is determined that the push-pull direction of the drawer is outward pulling; When the relative position relationship is that the actual position is located in the negative direction of the virtual position, it is determined that the push-pull direction of the drawer is inward push.

5. The drawer control method according to claim 1, characterized in that: The drawer control method further includes: When the drawer is in a fully closed state and the push-pull direction of the drawer is to be pulled outward, if the push-pull distances acquired within a first preset time are all smaller than the opening threshold, the drawer is controlled to close automatically.

6. The drawer control method according to claim 1, characterized in that: The drawer control method further includes: When the drawer is in a fully open state and the push-pull direction of the drawer is inward, if the push-pull distances acquired within a second preset time are all smaller than the closing threshold, the drawer is controlled to open automatically.

7. A drawer control device for a fully automatic sample processing system, characterized in that: The drawer control device comprises: An acquisition module, used to acquire the actual position and virtual position of the drawer; the virtual position is the position of the drawer when no external force is applied; the actual position is the actual current position of the drawer; A comparison module, configured to compare the actual position with the virtual position if the actual position and the virtual position do not completely overlap, so as to determine the push-pull direction and push-pull distance of the drawer; An automatic control module, used for controlling the drawer to open automatically when the push-pull direction of the drawer is outward and the push-pull distance is greater than or equal to an opening threshold; The automatic control module is also used to control the drawer to automatically close when the push-pull direction of the drawer is inward and if the push-pull distance is greater than or equal to a closing threshold.

8. The drawer control device according to claim 7, characterized in that: The comparison module is specifically used for: Taking the difference between the actual position and the virtual position as the external force offset; If the external force offset is less than 0, the push-pull direction is inward push; If the external force offset is greater than 0, the push-pull direction is outward pulling; The absolute value of the external force offset is used as the push-pull distance.

9. The drawer control device according to claim 7, characterized in that: The comparison module is specifically used for: Determining a push-pull direction of the drawer based on a relative positional relationship between the actual position and the virtual position; The distance between the actual position and the virtual position is used as the push-pull distance.

10. A computer-readable storage medium, characterized in that: It includes computer operation instructions, and when the computer operation instructions are executed on a computer, the computer executes the drawer control method of the fully automatic sample processing system as described in any one of claims 1 to 6.

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