Sample transfer device and control method thereof, readable storage medium and program product, and sample processing equipment

Abstract

The present application relates to a sample transfer device and its control method, computer-readable storage medium and computer program product, and sample processing equipment. In the sample transfer device, there is an overlapping area between the movement space of the lifting component and the movement space of the rotating component; the sample transfer device also includes: an optical coupling assembly, including an intermediate position optical coupling; a baffle assembly, including a first intermediate position baffle and a second intermediate position baffle fixedly connected to the lifting component and the rotating component respectively, the first intermediate position baffle and the second intermediate position baffle respectively used to block the intermediate position optical coupling when the lifting component and the rotating component are in the overlapping area; a processor, for outputting a protection instruction for the lifting component and the rotating component in response to the first intermediate position baffle and the second intermediate position baffle simultaneously blocking the intermediate position optical coupling. The sample transfer device provided by the present application can avoid collisions of components that interfere with the running trajectories and achieve the goal of miniaturization.

Description

Technical Field

[0001] The present application relates to the technical field of medical devices, and in particular to a sample transfer device and a control method thereof, a computer-readable storage medium and a computer program product, and a sample processing device. Background Art

[0002] In the design of miniaturized analytical instruments, especially desktop ones, interference between component motion paths is a key consideration. For example, if the trajectory of a vertically moving component interferes with that of a rotating component, or their motion spaces overlap, there is a risk of collision, resulting in component cessation or even damage.

[0003] In some related technologies, components with interfering trajectories are programmed and controlled to move independently within different time periods. In other related technologies, the trajectories of components are taken into account during the design phase, and the overall size of the instrument is increased to completely avoid the components in space.

[0004] However, while avoiding collisions through timing control, in some unusual circumstances, the timing may not be strictly enforced, leaving the possibility of a collision still present. Avoiding component interference through structural design will result in a larger instrument, failing to achieve the goal of miniaturization. Summary of the Invention

[0005] Based on this, it is necessary to provide a sample transfer device and its control method, computer-readable storage medium and computer program product, and sample processing equipment to address the problem that related technologies cannot simultaneously achieve the goal of avoiding collisions of components that interfere with running trajectories and achieving miniaturization.

[0006] In a first aspect, the present application provides a sample transfer device, comprising a base, a lifting component, and a rotating component, wherein the movement space of the lifting component and the movement space of the rotating component have an overlapping area, and the sample transfer device further comprises an optical coupling assembly and a baffle assembly;

[0007] The base is used for the lifting component to perform linear motion relative to the base, and one end of the rotating component is fixed relative to the base, and the other end performs circular motion;

[0008] The optical coupler assembly includes intermediate optical couplers located at different positions on the base;

[0009] The baffle assembly includes a first intermediate position baffle and a second intermediate position baffle fixedly connected to the lifting component and the rotating component, respectively, and the first intermediate position baffle and the second intermediate position baffle are respectively used to block the intermediate position optical coupler when the lifting component and the rotating component are located in the overlapping area;

[0010] A processor is configured to electrically connect the optocoupler assembly and, in response to the first intermediate position baffle and the second intermediate position baffle simultaneously blocking the intermediate position optocoupler, output a protection instruction for the lifting component and the rotating component, wherein the protection instruction is configured to change the movement direction of the lifting component and the rotating component.

[0011] In one embodiment, the optical coupling assembly further includes boundary position optical couplers located at different positions on the base;

[0012] The baffle assembly also includes a first boundary position baffle and a second boundary position baffle fixedly connected to the lifting component and the rotating component respectively, and the first boundary position baffle and the second boundary position baffle are respectively used to block the boundary position optical coupler when the lifting component and the rotating component are located at the boundary position; wherein the boundary position includes the position where the lifting component and the rotating component start to move.

[0013] In one embodiment, the lifting component performs linear motion between a first boundary position and a second boundary position, and one end of the rotating component performs circular motion between a third boundary position and a fourth boundary position;

[0014] The boundary position optical couplers at different positions include a first boundary position optical coupler, a second boundary position optical coupler, a third boundary position optical coupler and a fourth boundary position optical coupler. The first boundary position baffle is used to respectively block the first boundary position optical coupler and the second boundary position optical coupler when the lifting component is located at the first boundary position and the second boundary position. The second boundary position baffle is used to respectively block the third boundary position optical coupler and the fourth boundary position optical coupler when the rotating component is located at the third boundary position and the fourth boundary position.

[0015] In one embodiment, the lifting component performs linear motion in the vertical direction, and one end of the rotating component performs circular motion in the horizontal direction;

[0016] The intermediate position optocouplers at different positions include a first intermediate position optocoupler and a second intermediate position optocoupler. The first intermediate position optocoupler is located between the first boundary position optocoupler and the second boundary position optocoupler in the vertical direction. The second intermediate position optocoupler, the third boundary position optocoupler and the fourth boundary position optocoupler are distributed in a circle in the same horizontal plane.

[0017] In a second aspect, the present application further provides a control method for a sample transfer device, which is applied to any of the above-mentioned sample transfer devices, comprising:

[0018] Controlling the lifting component and the rotating component to move according to preset control instructions, and obtaining a signal from the optical coupling component;

[0019] Determine, according to the signal, a positional relationship between the first intermediate position baffle and the second intermediate position baffle and the intermediate position optical coupler, wherein the positional relationship includes blocking / non-blocking;

[0020] In response to the first intermediate position blocking piece and the second intermediate position blocking piece simultaneously blocking the intermediate position optical coupler, a protection instruction for the lifting component and the rotating component is output, wherein the protection instruction is used to change the movement direction of the lifting component and the rotating component.

[0021] In one embodiment, in response to the first intermediate position blocking piece and the second intermediate position blocking piece simultaneously blocking the intermediate position optical coupler, outputting a protection instruction for the lifting component and the rotating component, wherein the protection instruction is used to change the movement direction of the lifting component and the rotating component, the method further includes:

[0022] In response to the lifting component and the rotating component returning to the boundary position, the lifting component and the rotating component are controlled to move again according to the preset control instruction; wherein the boundary position includes the position where the lifting component and the rotating component start to move.

[0023] In one embodiment, in response to the lifting component and the rotating component returning to the boundary position, controlling the lifting component and the rotating component to move again according to the preset control instruction includes:

[0024] In response to the lifting component or the rotating component returning to the boundary position, sending a response message to the host computer; wherein the host computer is used to output a resending instruction according to the response message;

[0025] In response to receiving the resending instruction, the lifting component and the rotating component are controlled to move again according to the preset control instruction.

[0026] In a third aspect, the present application further provides a computer-readable storage medium having a computer program stored thereon, which implements the steps of any of the above-described methods when the computer program is executed by a processor.

[0027] In a fourth aspect, the present application further provides a computer program product, comprising a computer program, which implements the steps of any of the above methods when executed by a processor.

[0028] In a fifth aspect, the present application further provides a sample processing device, comprising a memory and a processor, wherein the memory stores a computer program, and the processor implements the steps of any of the above methods when executing the computer program.

[0029] The above-mentioned sample transfer device and its control method, computer-readable storage medium and computer program product, and sample processing equipment, by providing multiple optical couplers and matching baffles, can quickly determine whether a collision is about to occur when any interfering motion component contacts the overlapping area of ​​interference; by promptly responding to multiple interfering motion components being located in the overlapping area of ​​interference and outputting protection instructions, it can automatically adjust the direction of movement to achieve intelligent collision avoidance, so that the device can continue to perform other operations and will not stop running or even be damaged due to collisions, thereby ensuring the safe and efficient operation of the sample transfer device. In addition, while achieving the holding function, it can allow overlap between components to achieve a compact configuration of the device. By determining whether the interfering motion component is located in the overlapping area of ​​interference through the signal of the optical coupler component and triggering the protection instruction to change the running direction of the component, it can effectively control the movement of the lifting component and the rotating component, ensuring a quick response when a possible collision occurs, and improving the safety and reliability of the equipment. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1 is a schematic top view of a sample transfer device in one embodiment;

[0031] Figure 2 is an exploded schematic diagram of a sample transfer device in one embodiment;

[0032] Figure 3 is an enlarged schematic diagram of a first intermediate position baffle and a first boundary position baffle in one embodiment;

[0033] Figure 4 FIG1 is a schematic diagram of electrical connections of a processor of a sample transfer device in one embodiment;

[0034] Figure 5 1 is a flow chart of a method for controlling a sample transfer device according to an embodiment;

[0035] Figure 6 A schematic flow chart of a control method for a sample transfer device in another embodiment;

[0036] Figure 7 FIG. 1 is a flow chart of step S140 in an embodiment.

[0037] Reference numerals:

[0038] 00. Sample carrying device; 10. Base; 11. Linear guide; 12. Rotating shaft; 13. Synchronous pulley; 20. Lifting component; 30. Rotating component; 31. Arm head; 32. Sample adding needle; 33. Rotating arm; 40. Optocoupler assembly; 41. Intermediate position optocoupler; 41A. First intermediate position optocoupler; 41B. Second intermediate position optocoupler; 42A. First boundary position optocoupler; 42B. Third boundary position optocoupler; 43A. Second boundary position optocoupler; 43B. Fourth boundary position optocoupler; 50. Baffle assembly; 51A. First intermediate position baffle; 51B. Second intermediate position baffle; 52A. First boundary position baffle; 52B. Second boundary position baffle; 60. Driving assembly; 61. Screw motor; 62. Rotating motor. DETAILED DESCRIPTION

[0039] To make the above-mentioned objects, features, and advantages of the present application more clearly understood, the specific embodiments of the present application are described in detail below with reference to the accompanying drawings. The following description sets forth many specific details to facilitate a full understanding of the present application. However, the present application can be implemented in many other ways than those described herein, and those skilled in the art can make similar improvements without violating the scope of the present application. Therefore, the present application is not limited to the specific embodiments disclosed below.

[0040] In the description of this application, it should be understood that if the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. appear, the orientation or position relationship indicated by these terms is based on the orientation or position relationship shown in the accompanying drawings, which is only for the convenience of describing this application and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on this application.

[0041] In addition, if the terms "first" or "second" appear, these terms are used for descriptive purposes only and should not be understood to indicate or imply relative importance or implicitly specify the number of technical features indicated. Therefore, a feature specified as "first" or "second" may explicitly or implicitly include at least one of such features. In the description of this application, if the term "plurality" appears, "plurality" means at least two, for example, two, three, etc., unless otherwise specifically defined.

[0042] In this application, unless otherwise specified or limited, the terms "mounted," "connected," "connected," "fixed," etc., should be interpreted broadly. For example, these terms may refer to fixed connections, removable connections, or integration; mechanical connections or electrical connections; direct connections or indirect connections through an intermediary; and internal communication between two components or interaction between two components, unless otherwise specified. Those skilled in the art will understand the specific meanings of these terms in this application based on the specific circumstances.

[0043] In this application, unless otherwise expressly specified or limited, if a first feature is described as being "above" or "below" a second feature, or similar descriptions, this may mean that the first and second features are in direct contact, or that the first and second features are in indirect contact through an intermediate medium. Furthermore, when a first feature is described as being "above," "above," or "above" a second feature, it may mean that the first feature is directly above or diagonally above the second feature, or simply means that the first feature is at a higher level than the second feature. When a first feature is described as being "below," "below," or "below" a second feature, it may mean that the first feature is directly below or diagonally below the second feature, or simply means that the first feature is at a lower level than the second feature.

[0044] It should be noted that if an element is referred to as being "fixed to" or "disposed on" another element, it may be directly on the other element or there may be an intermediate element. If an element is considered to be "connected to" another element, it may be directly connected to the other element or there may be an intermediate element. If any, the terms "vertical", "horizontal", "upper", "lower", "left", "right" and similar expressions used in this application are for illustrative purposes only and do not represent the only embodiment.

[0045] See also Figure 1 and Figure 2 , Figure 1 FIG. 1 shows a schematic top view of a sample transfer device in one embodiment of the present application. Figure 2 for Figure 1 The sample transfer device 00 provided in this embodiment includes a base 10, a lifting component 20, a rotating component 30, an optical coupling component 40, a baffle component 50 and a processor ( Figure 1 and Figure 2 not shown).

[0046] The lifting component 20 is slidably connected to the base 10, while the rotating component 30 is rotationally connected to the base 10. The lifting component 20 and the rotating component 30 are compactly arranged, allowing for spatial interference and overlapping motion. Specifically, the lifting component 20 can be used to hold vessels, while the rotating component 30 can be used to transfer or mix samples.

[0047] The overlapping area can be determined by the movement trajectory of the lifting component 20 and the rotating component 30. For example, when the highest point of the lifting component 20 is higher than the lowest point of the rotating component 30, and the lowest point of the lifting component 20 is lower than the highest point of the rotating component 30, it can be determined that the lifting component 20 is in the overlapping area. Figure 1 If the position shown is rotated counterclockwise by a certain angle (e.g., between 30 and 90 degrees), it can be determined that the rotating component 30 is located in the interference space. It will be understood that the overlapping area is also related to the distance between the lifting component 20 and the rotating component 30, as well as the respective orientations of the lifting component 20 and the rotating component 30.

[0048] The base 10 is used for the lifting component 20 to perform linear motion relative to the base 10 , and one end of the rotating component 30 is fixed relative to the base 10 , and the other end performs circular motion.

[0049] like Figure 2 As shown, a linear guide rail can be provided on the base 10, and the lifting component 20 can slide up and down along the linear guide rail. A rotating shaft can be provided on the base 10, and the rotating shaft can be used to be fixedly connected to one end of the rotating component 30 to drive the rotating component 30 to rotate. Figure 2 Taking the example that the lifting component 20 and the rotating component 30 are each arranged on an independent base 10, it is understandable that the lifting component 20 and the rotating component 30 can also be arranged on the same base 10, and this embodiment does not limit this.

[0050] The optical coupler assembly 40 includes intermediate position optical couplers 41 located at different positions on the base 10; the baffle assembly 50 includes a first intermediate position baffle 51A and a second intermediate position baffle 51B fixedly connected to the lifting component 20 and the rotating component 30 respectively. The first intermediate position baffle 51A and the second intermediate position baffle 51B are respectively used to block the intermediate position optical coupler 41 when the lifting component 20 and the rotating component 30 are located in the overlapping area.

[0051] Please continue reading Figure 1 and Figure 2, the optical coupling assembly 40 includes a plurality of optical couplers fixedly arranged on the base 10. Specifically, a plurality of optical couplers are arranged adjacent to the lifting component 20, and a plurality of optical couplers are arranged adjacent to the rotating component 30. The baffle assembly 50 includes a plurality of baffles fixedly arranged on the lifting component 20 and the rotating component 30. Specifically, a plurality of baffles are arranged on the periphery of the lifting component 20, and a plurality of baffles are arranged on the periphery of the rotating component 30. In the process of the lifting component 20 performing linear motion relative to the base 10, the baffles on the lifting component 20 sequentially block the plurality of optical couplers. In the process of one end of the rotating component 30 being fixed relative to the base 10 and the other end performing circular motion, the baffles on the rotating component 30 sequentially block the plurality of optical couplers.

[0052] The intermediate position optical coupler 41 adjacent to the lifting component 20 is adapted to cooperate with the first intermediate position baffle 51A, such that when the lifting component 20 is located in the overlapping space, the first intermediate position baffle 51A blocks the intermediate position optical coupler 41. The intermediate position optical coupler 41 adjacent to the rotating component 30 is adapted to cooperate with the second intermediate position baffle 51B, such that when the rotating component 30 is located in the overlapping space, the second intermediate position baffle 51B blocks the intermediate position optical coupler 41. Therefore, based on the signal from the intermediate position optical coupler 41, it is possible to determine whether the lifting component 20 and the rotating component 30 are located in the overlapping space.

[0053] The processor is used to electrically connect the optocoupler assembly 40, and in response to the first intermediate position baffle 51A and the second intermediate position baffle 51B simultaneously blocking the intermediate position optocoupler 41, output a protection instruction for the lifting component 20 and the rotating component 30, and the protection instruction is used to change the movement direction of the lifting component 20 and the rotating component 30.

[0054] To prevent collisions between the lifting component 20 and the rotating component 30, at most one of the lifting component 20 and the rotating component 30 must be located in the overlapping region at any one time. For example, when the lifting component 20 is located in the overlapping region, the first intermediate position baffle 51A blocks the intermediate position optical coupler 41. At this time, if the rotating component 30 enters the overlapping region, the first intermediate position baffle 51A and the second intermediate position baffle 51B simultaneously block the intermediate position optical coupler 41, and the processor outputs a protection instruction for the lifting component 20 and the rotating component 30. When the rotating component 30 is located in the overlapping region, the second intermediate position baffle 51B blocks the intermediate position optical coupler 41. At this time, if the lifting component 20 enters the overlapping region, the first intermediate position baffle 51A and the second intermediate position baffle 51B simultaneously block the intermediate position optical coupler 41, and the processor outputs a protection instruction for the lifting component 20 and the rotating component 30. When the lifting component 20 and the rotating component 30 simultaneously enter the overlapping area, the first intermediate position blocking piece 51A and the second intermediate position blocking piece 51B simultaneously block the intermediate position optical coupler 41, and the processor outputs a protection instruction for the lifting component 20 and the rotating component 30. The protection instruction is used to change the movement direction of the lifting component 20 and the rotating component 30, thereby preventing the lifting component 20 and the rotating component 30 from continuing to move and colliding.

[0055] The sample transfer device, by providing multiple optical couplers and matching baffles, can quickly determine whether a collision is about to occur when any interfering component contacts an overlapping area of ​​interference. By promptly responding to the presence of multiple interfering components in the overlapping area and outputting protection instructions, it can automatically adjust its direction of motion and achieve intelligent collision avoidance, allowing the device to continue other operations without stopping or even being damaged by a collision, thus ensuring the safe and efficient operation of the sample transfer device. Furthermore, while achieving the retention function, it allows for overlap between components, enabling a compact device configuration.

[0056] Please continue reading Figure 1 and Figure 2 In some embodiments, the optical coupling assembly 40 further includes boundary optical couplers located at different positions on the base 10 .

[0057] The baffle assembly 50 also includes a first boundary position baffle 52A and a second boundary position baffle 52B fixedly connected to the lifting component 20 and the rotating component 30, respectively. The first boundary position baffle 52A and the second boundary position baffle 52B are respectively used to block the boundary position optical coupler when the lifting component 20 and the rotating component 30 are located at the boundary position; wherein the boundary position includes the position where the lifting component 20 and the rotating component 30 start to move.

[0058] Exemplarily, the boundary position can be pre-set, or it can be the extreme position to which the lifting component 20 / rotating component 30 can move on the base 10. In one embodiment, in response to the boundary position optical coupler and the intermediate position optical coupler 41 being blocked in turn by the first boundary position baffle 52A and the first intermediate position baffle 51A, respectively, the processor can determine the initial movement direction of the lifting component 20 as the direction from the boundary position optical coupler to the intermediate position optical coupler 41, and determine the protection instruction for the lifting component 20 as a direction for changing the movement direction of the lifting component 20 to a direction opposite to the initial movement direction. Furthermore, in response to the boundary position optical coupler being blocked again by the first boundary position baffle 52A, the processor can determine that the lifting component 20 has returned to the boundary position. Similarly, in response to the boundary position optical coupler and the intermediate position optical coupler 41 being blocked by the second boundary position block 52B and the second intermediate position block 51B, respectively, the processor can determine the initial movement direction of the rotating component to be the direction from the boundary position optical coupler to the intermediate position optical coupler 41 (including clockwise and counterclockwise), and determine the protection instruction for the rotating component 30 to change the movement direction of the rotating component 30 to a direction opposite to the initial movement direction. Furthermore, in response to the boundary position optical coupler being blocked by the second boundary position block 52B again, the processor can determine that the rotating component 30 has returned to the boundary position.

[0059] Combine Figure 2 As shown, in some embodiments, the lifting component 20 performs linear motion between the first boundary position and the second boundary position, and one end of the rotating component 30 performs circular motion between the third boundary position and the fourth boundary position.

[0060] The boundary position optocouplers at different positions include a first boundary position optocoupler 42A, a second boundary position optocoupler 43A, a third boundary position optocoupler 42B and a fourth boundary position optocoupler 43B. The first boundary position baffle 52A is used to respectively block the first boundary position optocoupler 42A and the second boundary position optocoupler 43A when the lifting component 20 is located at the first boundary position and the second boundary position. The second boundary position baffle 52B is used to respectively block the third boundary position optocoupler 42B and the fourth boundary position optocoupler 43B when the rotating component is located at the third boundary position and the fourth boundary position.

[0061] In other words, the lifting member 20 and the rotating member 30 can move bidirectionally between boundary positions. It is understood that when the lifting member 20 moves from the first boundary position to the second boundary position, and then from the second boundary position to the first boundary position, the first intermediate position blocking piece 51A will block the intermediate position optical coupler 41. Similarly, when the rotating member 30 rotates from the third boundary position to the fourth boundary position, and then from the fourth boundary position to the third boundary position, the second intermediate position blocking piece 51B will block the intermediate position optical coupler 41.

[0062] Figure 2 Taking the example of the lifting component 20 and the rotating component 30 each performing bidirectional movement between two boundary positions, it is understandable that the lifting component 20 and the rotating component 30 can also perform bidirectional movement between more than two boundary positions. In this case, the lifting component 20 and the rotating component 30 can each correspond to more than two boundary position optical couplers.

[0063] Furthermore, the lifting component 20 can perform linear motion in the vertical direction, and one end of the rotating component 30 can perform circular motion in the horizontal direction.

[0064] The intermediate position optocouplers 41 at different positions include a first intermediate position optocoupler 41A and a second intermediate position optocoupler 41B. The first intermediate position optocoupler 41A is located between the first boundary position optocoupler 42A and the second boundary position optocoupler 43A in the vertical direction. The second intermediate position optocoupler 41B, the third boundary position optocoupler 42B and the fourth boundary position optocoupler 43B are distributed in a circle in the same horizontal plane.

[0065] See also Figure 3 , Figure 3 FIG2 is an enlarged schematic diagram of the first intermediate position stopper and the first boundary position stopper in one embodiment. For example, after the first intermediate position stopper 51A and the first boundary position stopper 52A are assembled to the periphery of the lifting member 20, the first intermediate position stopper 51A and the first intermediate position optical coupler 41A can be located on the same vertical line, while the first boundary position stopper 52A, the first boundary position optical coupler 42A, and the second boundary position optical coupler 43A can be located on a different vertical line.

[0066] For example, the second intermediate position block 51B and the second intermediate position optical coupler 41B may be located in the same horizontal plane, while the second boundary position block 52B, the third boundary position optical coupler 42B, and the fourth boundary position optical coupler 43B may be located in another horizontal plane lower than the horizontal plane. The distance between the second intermediate position block 51B and the second boundary position block 52B and the rotation axis of the rotating component 30 may be a first preset distance, while the distance between the second intermediate position optical coupler 41B, the third boundary position optical coupler 42B, and the fourth boundary position optical coupler 43B and the rotation axis of the rotating component 30 may be a second preset distance, and the first preset distance may be smaller than the second preset distance.

[0067] Figure 2 Taking the example that the movement direction of the lifting component 20 is perpendicular to the movement direction of the rotating component, it can be understood that the angle between the movement direction of the lifting component 20 and the movement direction of the rotating component 30 can also be less than 90 degrees.

[0068] Optionally, the sample transfer device 00 may further include:

[0069] The drive assembly 60, electrically connected to the processor, includes a lead screw motor 61 and a rotary motor 62. The base 10 is provided with a linear guide 11, and the lead screw motor 61 is used to drive the lifting component 20 along the linear guide 11. The base 10 is provided with a rotating shaft 12 and a synchronous pulley 13, and the rotary motor 62 is used to rotate the rotating component 30. Specifically, the rotating component 30 includes an arm head 31, a sample injection needle 32, and a rotating arm 33, which rotate synchronously.

[0070] A power supply component is used to electrically connect to the processor and supply power to the processor. In a possible implementation, refer to Figure 4 , Figure 4 FIG. 1 is a schematic diagram of the electrical connections of a processor of a sample transfer device in one embodiment. Specifically, the processor can use a drive control algorithm to plan the motion curve of the drive assembly 60. The processor can be connected to a host computer via a CAN (Controller Area Network) bus.

[0071] In one embodiment of the present application, a sample processing device is provided. The sample processing device is configured as any of the sample transfer devices 00 described above.

[0072] Specifically, the sample processing equipment may be, but is not limited to, a small biochemical analyzer, an immunoassay analyzer, a specific protein analyzer, a sample pre-processing device, and the like.

[0073] In one embodiment of the present application, Figure 5As shown, a control method for a sample transfer device is provided, which is described by taking the application of the method to the processor as an example, and includes the following steps S110 to S130.

[0074] Step S110 , controlling the lifting component and the rotating component to move according to a preset control instruction, and obtaining a signal from the optical coupling component.

[0075] Step S120 , determining the positional relationship between the first intermediate position blocking piece, the second intermediate position blocking piece, and the intermediate position optical coupler according to the signal, where the positional relationship includes blocking / non-blocking.

[0076] Step S130 : in response to the first intermediate position blocking piece and the second intermediate position blocking piece simultaneously blocking the intermediate position optical coupler, outputting a protection instruction for the lifting component and the rotating component, wherein the protection instruction is used to change the movement direction of the lifting component and the rotating component.

[0077] Exemplarily, the processor can start the lifting component and the rotating component according to the preset control instructions to perform linear and rotational motion. For example, the lifting component can move in the vertical direction, while the rotating component can perform circular motion with the support of the base. At the same time, the processor continuously monitors the status of the optocoupler assembly and obtains the optical signal intensity of the middle position optocoupler located at different positions on the base in real time. If the middle position optocoupler is blocked, the signal strength will change (such as decreasing or being zero), and the processor records it as a "blocked" state. If it is detected that both of them block the middle position optocoupler at the same time, the processor generates and outputs a protection instruction. Among them, the protection instruction may include: immediately stopping the movement of the lifting component and the rotating component, calling back the lifting component to a safe height, and the rotating component changing the direction of movement to rotate counterclockwise or clockwise around the base.

[0078] In the control method of the above-mentioned sample transfer device, the signal of the optical coupling component is used to determine whether the components with motion interference are located in the overlapping area of ​​interference, and the protection instruction is triggered to change the running direction of the components. This can effectively control the movement of the lifting components and the rotating components, ensure a rapid response in the event of a possible collision, and improve the safety and reliability of the equipment.

[0079] In some embodiments, as Figure 6 As shown, the control method of the sample transfer device may further include:

[0080] Step S140 , in response to the lifting component and the rotating component returning to the boundary position, the lifting component and the rotating component are controlled to move again according to the preset control instruction; wherein the boundary position includes the position where the lifting component and the rotating component start to move.

[0081] For example, the processor can continuously monitor the signal from the optocoupler at the boundary position in response to the change in movement direction of the lifting and rotating components. If the signal strength of the optocoupler at the boundary position changes, the processor determines that the lifting and rotating components have returned to the boundary position. If both the lifting and rotating components have returned to the boundary position, the processor controls the lifting and rotating components to move again according to preset control instructions. This allows for automatic retransmission of control instructions and subsequent actions, preventing equipment downtime.

[0082] In some embodiments, as Figure 7 As shown, the above step S140 may include:

[0083] Step S141 : In response to the lifting component or the rotating component returning to the boundary position, a response message is sent to the host computer; wherein the host computer is used to output a resend instruction according to the response message.

[0084] Step S142: In response to receiving the resend instruction, the lifting component and the rotating component are controlled to move again according to the preset control instruction.

[0085] The response information may include whether the lifting / rotating component has returned to its boundary position, the movement status of the lifting / rotating component (including speed and direction), and whether the optical coupler is functioning properly. Furthermore, the host computer can determine whether the lifting / rotating component meets the retransmission conditions based on the response information. This enables precise monitoring and control of the lifting and rotating components.

[0086] In summary, the above-mentioned sample transfer device and its control method, by setting up multiple optical couplers and matching baffles, can quickly determine whether a collision is about to occur when any interfering motion component contacts the overlapping area of ​​interference; by promptly responding to multiple interfering motion components being located in the overlapping area of ​​interference and outputting protection instructions, it can automatically adjust the direction of movement to achieve intelligent collision avoidance, so that the device can continue to perform other operations and will not stop running or even be damaged due to collisions, thereby ensuring the safe and efficient operation of the sample transfer device. In addition, while achieving the holding function, it can allow overlap between components to achieve a compact configuration of the device. By determining whether the interfering motion component is located in the overlapping area of ​​interference through the signal of the optical coupler component and triggering the protection instruction to change the running direction of the component, the movement of the lifting component and the rotating component can be effectively controlled, ensuring a quick response when a possible collision occurs, thereby improving the safety and reliability of the equipment.

[0087] In one embodiment of the present application, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the steps in the above-mentioned method embodiments are implemented.

[0088] In one embodiment of the present application, a computer program product is provided, including a computer program, which implements the steps in the above-mentioned method embodiments when executed by a processor.

[0089] Those skilled in the art will appreciate that all or part of the processes in the above-mentioned embodiment methods can be implemented by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to memory, database or other media used in the embodiments provided in this application may include at least one of non-volatile memory and volatile memory. Non-volatile memory may include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory may include random access memory (RAM) or external cache memory, etc. By way of illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM). The database involved in the various embodiments provided herein may include at least one of a relational database and a non-relational database. Non-relational databases may include, but are not limited to, distributed databases based on blockchains. The processor involved in the various embodiments provided herein may be, but are not limited to, a general-purpose processor, a central processing unit (CPU), a graphics processing unit (GPU), a digital signal processor (DSP), a programmable logic unit (PLC), a data processing logic unit based on quantum computing, an artificial intelligence (AI) processor, and the like.

[0090] The technical features of the above-mentioned embodiments can be combined arbitrarily. In order to make the description concise, not all possible combinations of the technical features in the above-mentioned embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0091] The above-described embodiments merely represent several implementation methods of the present application. While the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the patent application. It should be noted that a person of ordinary skill in the art may make various modifications and improvements without departing from the spirit of the present application, and these modifications and improvements fall within the scope of protection of the present application. Therefore, the scope of protection of the present patent application shall be determined by the appended claims.

Claims

1. A sample transfer device comprising a base, a lifting component and a rotating component, wherein the movement space of the lifting component and the movement space of the rotating component have an overlapping area, characterized in that: The sample transfer device further includes an optical coupling assembly and a baffle assembly; The base is used for the lifting component to perform linear motion relative to the base, and one end of the rotating component is fixed relative to the base, and the other end performs circular motion; The optical coupler assembly includes intermediate optical couplers located at different positions on the base; The baffle assembly includes a first intermediate position baffle and a second intermediate position baffle fixedly connected to the lifting component and the rotating component, respectively, and the first intermediate position baffle and the second intermediate position baffle are respectively used to block the intermediate position optical coupler when the lifting component and the rotating component are located in the overlapping area; a processor, configured to be electrically connected to the optical coupling assembly and, in response to the first intermediate position blocking piece and the second intermediate position blocking piece simultaneously blocking the intermediate position optical coupling, output a protection instruction for the lifting component and the rotating component, wherein the protection instruction is configured to change the movement direction of the lifting component and the rotating component; The optical coupling assembly further includes boundary position optical couplers located at different positions on the base; The baffle assembly further includes a first boundary position baffle and a second boundary position baffle fixedly connected to the lifting component and the rotating component, respectively, the first boundary position baffle and the second boundary position baffle being respectively used to block the boundary position optical coupler when the lifting component and the rotating component are located at boundary positions; wherein the boundary position includes the position where the lifting component and the rotating component start to move; The lifting component performs linear motion between a first boundary position and a second boundary position, and one end of the rotating component performs circular motion between a third boundary position and a fourth boundary position; The boundary position optical couplers at different positions include a first boundary position optical coupler, a second boundary position optical coupler, a third boundary position optical coupler, and a fourth boundary position optical coupler. The first boundary position blocking piece is used to block the first boundary position optical coupler and the second boundary position optical coupler respectively when the lifting component is located at the first boundary position and the second boundary position. The second boundary position blocking piece is used to block the third boundary position optical coupler and the fourth boundary position optical coupler respectively when the rotating component is located at the third boundary position and the fourth boundary position. The lifting component performs linear motion in the vertical direction, and one end of the rotating component performs circular motion in the horizontal direction; The intermediate position optocouplers at different positions include a first intermediate position optocoupler and a second intermediate position optocoupler. The first intermediate position optocoupler is located between the first boundary position optocoupler and the second boundary position optocoupler in the vertical direction. The second intermediate position optocoupler, the third boundary position optocoupler and the fourth boundary position optocoupler are distributed in a circle in the same horizontal plane.

2. A control method for a sample transfer device, characterized in that: Applied to the sample transfer device of claim 1, the method comprises: Controlling the lifting component and the rotating component to move according to preset control instructions, and obtaining a signal from the optical coupling component; Determine, according to the signal, a positional relationship between the first intermediate position baffle and the second intermediate position baffle and the intermediate position optical coupler, wherein the positional relationship includes blocking / non-blocking; In response to the first intermediate position blocking piece and the second intermediate position blocking piece simultaneously blocking the intermediate position optical coupler, a protection instruction for the lifting component and the rotating component is output, wherein the protection instruction is used to change the movement direction of the lifting component and the rotating component.

3. The method according to claim 2, characterized in that In response to the first intermediate position blocking piece and the second intermediate position blocking piece simultaneously blocking the intermediate position optical coupler, outputting a protection instruction for the lifting component and the rotating component, wherein the protection instruction is used to change the movement direction of the lifting component and the rotating component, the method further includes: In response to the lifting component and the rotating component returning to the boundary position, the lifting component and the rotating component are controlled to move again according to the preset control instruction; wherein the boundary position includes the position where the lifting component and the rotating component start to move.

4. The method according to claim 3, characterized in that In response to the lifting component and the rotating component returning to the boundary position, controlling the lifting component and the rotating component to move again according to the preset control instruction includes: In response to the lifting component or the rotating component returning to the boundary position, sending a response message to the host computer; wherein the host computer is used to output a resending instruction according to the response message; In response to receiving the resending instruction, the lifting component and the rotating component are controlled to move again according to the preset control instruction.

5. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 2 to 4 are implemented.

6. A computer program product comprising a computer program, characterized in that When the computer program is executed by a processor, the steps of the method according to any one of claims 2 to 4 are implemented.

7. A sample processing device, characterized in that: The sample processing apparatus is configured to include the sample transfer device of claim 1 .

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