Intelligent shaking device

Abstract

The invention provides an intelligent shaking device. The device comprises a test tube clamp assembly and a motion executing mechanism, the motion executing mechanism comprises a base plate and at least one telescopic connecting rod, and the two ends of each telescopic connecting rod are connected with the base plate and the test tube clamp assembly respectively. Therefore, a test tube containing a to-be-detected sample can be clamped by utilizing the test tube clamp assembly, and the telescopic connecting rods in the motion execution mechanism perform telescopic motion, so that the test tube clamped in the test tube clamp assembly is driven to move, and the to-be-detected sample contained in the test tube can be shaken up; compared with the existing shaking mode of manual operation, the shaking mode has the advantage that the efficiency can be improved.

Description

Technical Field

[0001] The present application relates to the field of medical detection technology, and in particular to an intelligent shaking device. Background Art

[0002] In the process of medical testing, it is necessary to first shake the components of the sample to be tested, and then test the shaken sample to be tested. Therefore, the accuracy of the medical test results is closely related to the effect of shaking. For example, in the process of medical testing of blood samples, it is necessary to first shake the sampled blood sample with anticoagulants, additives and other components, and then test the shaken blood sample.

[0003] The current shaking method is mainly to shake by manual operation, such as manually shaking a test tube containing the sample to be tested, but the manual shaking method is usually inefficient. Summary of the invention

[0004] The purpose of the embodiments of the present application is to provide an intelligent shaking device to solve the problem of low efficiency of manual shaking in the prior art.

[0005] The first aspect of the embodiment of the present application provides an intelligent shaking device, comprising: a test tube clamp assembly and a motion actuator, wherein:

[0006] The motion execution mechanism comprises a chassis and at least one telescopic connecting rod;

[0007] Two ends of each telescopic connecting rod are respectively connected to the chassis and the test tube clamp assembly.

[0008] Preferably, both ends of each telescopic connecting rod are connected to the chassis and the test tube clamp assembly through a rotatable connecting head.

[0009] Preferably, the number of the telescopic connecting rods is 3; and the connection points between the 3 telescopic connecting rods and the chassis are equilateral triangles.

[0010] Preferably, the telescopic connecting rod is a telescopic sleeve rod; and,

[0011] The inner cavity of the telescopic sleeve rod is provided with a motor for driving the telescopic sleeve rod to extend and retract.

[0012] Preferably, the device further comprises a shaking detector for detecting whether the mixture has been shaken well.

[0013] Preferably, the shake detector includes a vertical camera and a shake determination unit, wherein:

[0014] The vertical camera is used to capture an image of a test tube held by the test tube clamp assembly downward, wherein the test tube contains a sample to be tested;

[0015] The shaking determination unit is used to determine whether the sample to be detected has been shaken by identifying the chromaticity of the sample to be detected in the image.

[0016] Preferably, the shaking judgment unit is used to determine the type of the sample to be detected, select a standard color corresponding to the type, identify the chromaticity of the sample to be detected in the vertical image, and compare the chromaticity with the standard color corresponding to the type of the sample to be detected, so as to judge whether the sample to be detected has been shaken according to the comparison result.

[0017] Preferably, the device further comprises a stability detector for detecting whether the test tube clamped by the test tube clamp assembly is stable.

[0018] Preferably, the stability detector includes a horizontal camera and a stability judgment unit, wherein:

[0019] The horizontal camera is used to horizontally capture an image of a test tube clamped by the test tube clamp assembly, wherein the test tube contains a sample to be tested;

[0020] The stability judgment unit is used to judge whether the test tube clamped by the test tube clamp assembly is stable by identifying the outline of the test tube in the image.

[0021] Preferably, the stability judgment unit is used to identify the outline of the test tube in the horizontal image, compare the outline with a horizontal reference object, and judge whether the test tube clamped by the test tube clamp assembly is stable based on the comparison result, wherein the comparison result includes whether the outline is parallel to the horizontal reference object and whether the protruding height of the test tube is lower than a preset value.

[0022] The intelligent shaking device includes a test tube clamp assembly and a motion actuator, wherein the motion actuator includes a chassis and at least one telescopic connecting rod, and the two ends of each telescopic connecting rod are respectively connected to the chassis and the test tube clamp assembly. Therefore, the test tube clamp assembly can be used to clamp the test tube containing the sample to be tested, and then the telescopic connecting rods in the motion actuator perform telescopic motion, thereby driving the test tube clamped in the test tube clamp assembly to move, and then the sample to be tested contained in the test tube can be shaken. Compared with the current manual shaking method, this shaking method can improve efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments of the present application will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

[0024] Figure 1 A schematic diagram of the specific structure of an intelligent shaking device provided in one embodiment of the present application;

[0025] Figure 2 A schematic diagram of the specific structure of the telescopic sleeve provided in one embodiment of the present application;

[0026] Figure 3 A schematic diagram of the connection between the telescopic connecting rod and the chassis provided in an embodiment of the present application;

[0027] Figure 4 A schematic diagram of the connection between the telescopic connecting rod and the chassis provided in another embodiment of the present application;

[0028] Figure 5 A schematic diagram of the specific structure of a test tube clamp assembly provided in one embodiment of the present application;

[0029] Figure 6 A schematic diagram of the specific structure of an intelligent shaking device provided in one embodiment of the present application;

[0030] Figure 7 A schematic diagram of the specific structure of an electronic device provided in one embodiment of the present application. DETAILED DESCRIPTION

[0031] The technical solutions in the embodiments of the present application will be described below in conjunction with the accompanying drawings in the embodiments of the present application. In the description of the present application, the terms "first", "second", etc. are only used to distinguish the description and cannot be understood as indicating or implying relative importance or sequence.

[0032] As mentioned above, in the process of medical testing, the current shaking method is mainly through manual operation, such as manually shaking the test tube containing the sample to be tested, but the manual shaking method is usually inefficient.

[0033] Based on this, the embodiment of the present application provides an intelligent shaking device, such as Figure 1 The figure shows a specific structural diagram of the intelligent shaking device. The intelligent shaking device 1 comprises a test tube clamp assembly 11 and a motion actuator 12, wherein the motion actuator 12 comprises a chassis 121 and at least one telescopic connecting rod 122, and the two ends of each telescopic connecting rod 122 are respectively connected to the chassis 121 and the test tube clamp assembly 11.

[0034] Among them, the two ends of the telescopic connecting rod 122 are respectively connected to the chassis 121 and the test tube clamp assembly 11. For example, one end of the telescopic connecting rod 122 can be connected to the upper surface of the chassis 121, and the other end can be connected to the bottom surface of the test tube clamp assembly 11, so as to connect the two. In this way, when the telescopic connecting rod 122 performs telescopic movement, it can drive the test tube clamp assembly 11 to move up and down, so as to shake the test tube clamped by the test tube clamp assembly 11 and the sample to be detected contained in the test tube, so as to achieve the shaking of the sample to be detected. Therefore, by using the intelligent shaking device 1, the test tube clamp assembly 11 can be used to clamp the test tube containing the sample to be detected, and then the telescopic connecting rods 122 in the motion actuator 12 perform telescopic movement, thereby driving the test tube clamped in the test tube clamp assembly 11 to move, and then the sample to be detected contained in the test tube can be shaken. Compared with the current manual shaking method, this shaking method can improve efficiency.

[0035] Combination Figure 1 As shown, the two ends of each telescopic connecting rod 122 can be connected to the chassis 121 and the test tube clamp assembly 11 through a rotatable connector 123, so that during the telescopic movement of the telescopic connecting rod 122, it can also be rotated through the rotatable connector 123, thereby further increasing the amplitude of the test tube shaking and improving the efficiency of shaking. The rotatable connector 123 can be a connector that rotates with multiple degrees of freedom or a connector that rotates with a single degree of freedom.

[0036] In addition, regarding the specific structure of the telescopic connecting rod 122, the telescopic connecting rod 122 can be specifically a telescopic sleeve rod, and the telescopic sleeve rod can be a hollow structure. A motor can be provided in the inner cavity of the telescopic sleeve rod, and the motor can be used to drive the telescopic sleeve rod to extend and retract.

[0037] For example Figure 2 The figure is a schematic diagram of the structure of the telescopic sleeve rod, which includes an outer tube 1221 and an inner rod 1222. The outer tube 1221 is provided with an inner cavity, so that the inner rod 1222 can perform telescopic movement in the outer tube 1221, and a motor 1223 is provided in the inner cavity of the outer tube 1221. The motor 1223 can provide power, thereby driving the inner rod 1222 to perform telescopic movement in the outer tube 1221.

[0038] It should be noted that the number of the telescopic connecting rods 122 can be 3, 4 or other numbers. Of course, in order to improve the stability during the shaking process, these telescopic connecting rods 122 can be evenly arranged. Figure 3As shown, when the number of the telescopic connecting rods 122 is 3, the connection points of the three telescopic connecting rods 122 and the chassis 121 are an equilateral triangle. At this time, since the three sides of the equilateral triangle are equal, the connection points of the three telescopic connecting rods 122 and the chassis 121 are roughly uniform, so that it can be more stable during the shaking process.

[0039] Of course, the number of the telescopic connecting rods 122 may also be 4, for example Figure 4 As shown, the connection points between the four telescopic connecting rods 122 and the chassis 121 are squares, so that the shaking process can be more stable; in addition, the number of the telescopic connecting rods 122 can also be 5, and in this case, the connection points between the five telescopic connecting rods 122 and the chassis 121 can be regular pentagons.

[0040] The structure of the test tube clamp assembly 11 can be as follows: Figure 5 As shown, the test tube clamp assembly 11 may be provided with a plurality of test tube slots, so that the test tubes can be placed in the test tube slots and clamped by the test tube slots. In order to improve efficiency, the number of the test tube slots may be greater than 6, for example, 8 to 16, so that a plurality of test tubes can be shaken at one time.

[0041] It should be further explained that before using the intelligent shaking device 1 for shaking, it is usually necessary to first clamp the test tube into the test tube clamp assembly 11, and then start the intelligent shaking device 1 to shake the sample to be tested in the test tube. At this time, whether the test tube clamp assembly 11 firmly clamps the test tube will have a certain impact on the subsequent shaking process. Therefore, a stability detector can be further set in the intelligent shaking device 1 to detect whether the test tube clamped by the test tube clamp assembly 11 is stable.

[0042] In practical applications, such as Figure 6 As shown, the stability detector may include a horizontal camera 131 and a stability judgment unit, wherein: the horizontal camera is used to horizontally capture an image of the test tube clamped by the test tube clamp assembly 11 (hereinafter referred to as a horizontal image), and of course the test tube may contain a sample to be tested, and the stability judgment unit is used to determine whether the test tube clamped by the test tube clamp assembly 11 is stable by identifying the outline of the test tube in the horizontal image.

[0043] Among them, combined Figure 5 and Figure 6As shown, since the test tube clamp assembly 11 clamps the test tube through the test tube groove, the test tube is recessed into the test tube groove. At this time, in order to make the horizontal image captured by the horizontal camera 131 more clearly display the outline of the test tube, the height of the horizontal camera 131 needs to be no lower than the height of the test tube clamp assembly 11. For example, the height of the horizontal camera 131 may be higher than the height of the test tube clamp assembly 11, or may be approximately equal to the height of the test tube clamp assembly 11, so that the outline of the test tube can be displayed in the horizontal image captured by the horizontal camera 131.

[0044] In practical applications, in order to facilitate the adjustment of the height of the horizontal camera 131, the horizontal camera 131 can be set in a slide rail, such as Figure 6 As shown, the horizontal camera 131 can be set in the slide rail 14, so that the height of the horizontal camera 131 can be adjusted by moving the horizontal camera 131 up and down in the slide rail 14.

[0045] After the horizontal camera 131 captures the horizontal image, the stability judgment unit is used to judge whether the test tube clamped by the test tube clamp assembly 11 is stable by identifying the outline of the test tube in the horizontal image. Specifically, the outline of the test tube can be identified through the image, and the outline is compared with the horizontal reference object. When the two are parallel (including approximately parallel) and the protruding height of the test tube is lower than a preset value, it means that the test tube clamped by the test tube clamp assembly 11 is stable; conversely, when the outline of the test tube is not parallel to the horizontal reference object, it means that the test tube is tilted, or the protruding height of the test tube is higher than the preset value, it means that the test tube is not firmly embedded in the test tube slot. Both situations indicate that the test tube clamped by the test tube clamp assembly 11 is unstable.

[0046] The method for determining whether the contour of the test tube is parallel to the horizontal reference object may be to calculate the angle between the contour and the horizontal reference object, and if the angle is within a preset range, it means that the two are parallel, otherwise it means that the two are not parallel. The preset range may be -10 degrees to 10 degrees.

[0047] Therefore, the stability judgment unit can first identify the outline of the test tube in the horizontal image, and then compare the outline with the horizontal reference object, so as to judge whether the test tube clamped by the test tube clamp assembly 11 is stable according to the comparison result, that is, whether the two are parallel and whether the height of the test tube protrusion is lower than the preset value. The size of the preset value can be set according to actual needs. Among them, the horizontal reference object can be the edge of the test tube clamp assembly 11, for example, the edge of the test tube clamp assembly 11 can be identified from the horizontal image, so as to serve as the horizontal reference object; of course, the horizontal reference object can also be other.

[0048] In this way, in actual applications, the stability judgment unit can identify the outline of the test tube and the edge of the test tube clamp assembly 11 in the horizontal image, and use the edge as a horizontal reference object, and then compare the outline of the test tube with the horizontal reference object, so as to finally judge whether the test tube clamped by the test tube clamp assembly 11 is stable.

[0049] It should also be noted that after acquiring the horizontal image, the stability judgment unit may preprocess the horizontal image before identifying the outline of the test tube in the horizontal image, thereby judging whether the test tube clamped by the test tube clamp assembly 11 is stable. The preprocessing method may include performing non-local mean filtering denoising, image sharpening, adaptive histogram equalization, etc. on the horizontal image. After preprocessing the horizontal image, the outline of the test tube therein is identified, thereby improving the accuracy of recognition.

[0050] Thus, in the embodiment of the present application, before using the intelligent shaking device 1 for shaking, the test tube can be first clamped in the test tube slot of the test tube clamp assembly 11, and then a stability detector is used to detect whether the test tube clamped by the test tube clamp assembly 11 is stable. Specifically, a horizontal image is captured by the horizontal camera 131, and then the horizontal image is preprocessed, and the outline of the test tube and the edge of the test tube clamp assembly 11 in the preprocessed horizontal image are identified by a stability judgment unit, and then the two are compared, so as to finally judge whether the test tube clamped by the test tube clamp assembly 11 is stable.

[0051] At this time, if it is not stable, an alarm can be issued, such as through voice broadcast, to prompt the user to adjust the test tube; of course, if it is stable, a corresponding prompt message can be issued to remind the user that the test tube is clamped firmly and the next step can be performed, such as shaking it.

[0052] In order to facilitate the automatic shaking, in practical applications, the intelligent shaking device 1 can also be provided with an automatic controller. At this time, after the test tube clamped by the test tube clamp assembly 11 is detected to be stable by the stability detector, the motor in the inner cavity of the telescopic sleeve rod can be controlled by the automatic controller, thereby driving the telescopic sleeve rod to extend and retract, and then the sample to be tested in the test tube is shaken. Among them, the automatic controller can be provided with a control program, and the control program can control each motor in a preset control mode, thereby driving the telescopic movement of each telescopic sleeve rod. For example, the control program can control each telescopic connecting rod 122 to perform telescopic movement periodically in a preset mode, thereby driving the test tube clamp assembly 11 and the test tube in the test tube clamp assembly 11 to shake, and then the sample to be tested in the test tube can be shaken. Among them, the specific control method of the motor by the control program is not limited here, as long as the control program can achieve the invention purpose of this application, it is within the protection scope of this application.

[0053] It should be further explained that the intelligent shaking device 1 may further include a shaking detector, which can be used to detect whether the sample has been shaken. Therefore, during the process of the automatic controller controlling the shaking, or after the shaking is stopped after a period of time, the shaking detector can be used to detect whether the sample to be tested has been shaken.

[0054] In practical applications, such as Figure 6 As shown, the shake detector may include a vertical camera 151 and a shake judgment unit, wherein: the vertical camera is used to capture an image of the test tube clamped by the test tube clamp assembly 11 downward (hereinafter referred to as a vertical image), and the shake judgment unit is used to determine whether the sample to be tested has been shaken by identifying the chromaticity of the sample to be tested in the vertical image.

[0055] Specifically, for example, the vertical camera 151 captures an image of the test tube downward, that is, the vertical image, and then can identify the chromaticity of the sample to be tested in the vertical image, and then compare the chromaticity with the standard color, so as to judge whether the sample to be tested has been shaken evenly through the comparison result. For example, if the deviation between the chromaticity of the sample to be tested and the standard color is small, it means that the sample to be tested has been shaken evenly. Conversely, if the deviation between the chromaticity of the sample to be tested and the standard color is large, it means that the sample to be tested has not been shaken evenly.

[0056] In addition, for the position where the vertical camera 151 is set, in order to more cleanly collect vertical images, the vertical camera 151 can usually be set just above the test tube clamp assembly 11, so that the vertical camera 151 can collect images vertically downward. Of course, the test tube clamp assembly 11 can also be set obliquely above the test tube clamp assembly 11. In order to facilitate the adjustment of the position of the vertical camera 151, the vertical camera 151 can also be set on the slide rail 14, so that its position can be adjusted by sliding on the slide rail.

[0057] Therefore, in the process of automatic controller controlling the shaking, the vertical image can be collected in real time by the vertical camera 151 (for example, once every 5 seconds), and then the shaking judgment unit identifies the chromaticity of the sample to be tested in the vertical image, and then compares the chromaticity with the standard color to determine whether the sample to be tested has been shaken. If it is determined that it has been shaken, the automatic controller can be used to stop the shaking. If it is determined that it has not been shaken, the automatic controller can be used to continue the shaking.

[0058] It should be further explained that there are many types of medical tests, and therefore there are many different types of samples. These different types of samples may have different components and quantities of anticoagulants, additives, etc., so different standard colors are needed to determine whether they have been shaken evenly. Therefore, for different types of samples, corresponding standard colors are usually required to be set separately, so as to determine whether they have been shaken evenly by their corresponding standard colors.

[0059] In this way, when the shaking judgment unit determines whether the sample to be detected has been shaken evenly by identifying the chromaticity of the sample to be detected in the vertical image, it can first determine the type of the sample to be detected, and then select the standard color corresponding to the type, and then identify the chromaticity of the sample to be detected in the vertical image, and compare the chromaticity with the standard color corresponding to the type of the sample to be detected, so as to determine whether the sample to be detected has been shaken evenly based on the comparison result.

[0060] In actual applications, in order to facilitate the determination of the type of sample to be tested, different colors of test tube caps can be configured for different types of samples. In this way, when determining the type of sample to be tested, the color of the test tube cap can be identified by the vertical image, thereby quickly determining the type of sample to be tested.

[0061] For example, the test tube cap of color A corresponds to type 1, the test tube cap of color B corresponds to type 2, and the test tube cap of color C corresponds to type 3. In this way, the color of the test tube cap in the vertical image can be determined. For example, if the color is color B, the type of the sample to be detected can be determined to be type 2.

[0062] The above method is to determine the type of sample to be detected by the color of the test tube cover. In practical applications, the type of sample to be detected can also be determined by other methods, such as setting a label on the test tube wall, so as to associate the type of sample to be detected in the test tube by the color of the label, the text on the label, the QR code on the test tube wall or the label, etc.; in this way, the type of sample to be detected can be associated and determined by the color of the label or the text on the label, the QR code on the test tube wall or the label through the vertical image recognition. Of course, the type of sample to be detected can also be determined by other methods.

[0063] It should be further explained that, in practical applications, the automatic controller, stability detector and shake detector mentioned above can be regarded as an integrated controller. For example, the automatic controller, stability detector and shake detector are set in the controller, so that the respective control functions can be realized through the automatic controller, stability detector and shake detector.

[0064] In addition, in order to support the automatic operation of the intelligent shaking device 1, a battery cavity can be provided on the intelligent shaking device 1, and the battery cavity can be provided on the chassis 121, so that a battery can be loaded into the battery cavity, and then the electric energy provided by the battery can support the automatic operation of the intelligent shaking device 1. Of course, a charging connector can also be directly provided in the intelligent shaking device 1, so that electric energy can be directly charged through the charging connector to support the automatic operation of the intelligent shaking device 1.

[0065] The above is a description of the specific structure of the intelligent shaking device 1 provided in the embodiment of the present application. For ease of understanding, the structure and function of the intelligent shaking device 1 can be further described in combination with specific examples. Figure 6 As shown, the structure of the intelligent shaking device 1 includes a test tube clamp assembly 11, a motion actuator 12, a stability detector, a slide rail 14 and a shaking detector. The stability detector includes a horizontal camera 131 and a stability judgment unit, and the shaking detector includes a vertical camera 151 and a shaking judgment unit.

[0066] In practical applications, the height of the horizontal camera 131 can be adjusted by the slide rail 14 to make it approximately equal to the height of the test tube clamp assembly 11, thereby facilitating horizontal acquisition of the image of the test tube clamped by the test tube clamp assembly 11; and the vertical camera 151 can be adjusted to just above the test tube clamp assembly 11, so that the test tube clamp assembly 11 can acquire images vertically downward.

[0067] During use, a test tube (for example, a test tube containing blood samples, anticoagulants, additives and other components, which needs to be shaken) can be placed in the test tube slot of the test tube clamp assembly 11, and then the horizontal camera 131 is used to horizontally capture the image of the test tube clamped by the test tube clamp assembly 11, and then the contour of the test tube in the horizontal image is identified by the stability judgment unit, and the contour is compared with the horizontal reference object, and the stability of the test tube clamped by the test tube clamp assembly is judged based on the comparison result. If the judgment result is unstable at this time, an alarm is issued, and if the judgment result is stable, a prompt message can be issued to remind the user that the test tube is firmly clamped and the next step can be performed.

[0068] After the test tube is stabilized, it can be shaken by an automatic controller, and during the shaking process, the vertical image of the test tube clamped by the test tube clamp assembly 11 is periodically collected vertically downward by the vertical camera 151 (for example, once every 5 seconds), and then the type of the sample to be tested is determined by the shaking judgment unit, and then the standard color corresponding to the type is selected, and the chromaticity of the sample to be tested in the vertical image is identified, and then the chromaticity is compared with the standard color corresponding to the type of the sample to be tested, so as to judge whether the sample to be tested has been shaken according to the comparison result.

[0069] In this way, the shaking detector can monitor in real time whether the food has been shaken. If it is determined that the food has been shaken, the automatic controller can be used to stop the shaking.

[0070] like Figure 7 As shown, an electronic device 2 provided in this embodiment includes: at least one processor 21 and a memory 22, Figure 2 A processor is used as an example. The processor 21 and the memory 22 can be connected via a bus 20. The memory 22 stores instructions that can be executed by the processor 21. The instructions are executed by the processor 21 so that the electronic device 3 can realize the control functions of the automatic controller, the stability detector, and the shake detector in the embodiment of the present application. Specifically, for example, the electronic device 2 can be used as the controller in the embodiment of the present application.

[0071] In one embodiment, the electronic device 2 may be a mobile phone, a computer, or other types of electronic devices.

[0072] The embodiment of the present invention further provides a computer-readable storage medium, which stores a computer program, which can be executed by a processor to complete all or part of the process of the method in the above embodiment. Among them, the storage medium can be a disk, an optical disk, a read-only memory (ROM), a random access memory (RAM), a flash memory (Flash Memory), a hard disk (HDD) or a solid-state drive (SSD). The storage medium can also include a combination of the above types of memory.

[0073] Although the embodiments of the present invention have been described in conjunction with the accompanying drawings, those skilled in the art may make various modifications and variations without departing from the spirit and scope of the present invention, and such modifications and variations are all within the scope defined by the appended claims.

Claims

1. An intelligent shaking device, characterized in that: include: A test tube clamp assembly and a motion actuator, wherein: The motion execution mechanism comprises a chassis and at least one telescopic connecting rod; Two ends of each telescopic connecting rod are respectively connected to the chassis and the test tube clamp assembly.

2. The device according to claim 1, characterized in that Both ends of each telescopic connecting rod are connected to the chassis and the test tube clamp assembly through rotatable connecting heads.

3. The device according to claim 2, characterized in that The number of the telescopic connecting rods is 3; and the connection points between the 3 telescopic connecting rods and the chassis form an equilateral triangle.

4. The device according to claim 1, characterized in that The telescopic connecting rod is specifically a telescopic sleeve rod; and, The inner cavity of the telescopic sleeve rod is provided with a motor for driving the telescopic sleeve rod to extend and retract.

5. The device according to claim 1, characterized in that The device also includes a shaking detector for detecting whether the device has been shaken.

6. The device according to claim 5, characterized in that The shake detector includes a vertical camera and a shake determination unit, wherein: The vertical camera is used to capture an image of a test tube held by the test tube clamp assembly downward, wherein the test tube contains a sample to be tested; The shaking determination unit is used to determine whether the sample to be detected has been shaken by identifying the chromaticity of the sample to be detected in the image.

7. The device according to claim 6, characterized in that The shaking judgment unit is used to determine the type of the sample to be detected, select the standard color corresponding to the type, identify the chromaticity of the sample to be detected in the vertical image, and compare the chromaticity with the standard color corresponding to the type of the sample to be detected, so as to determine whether the sample to be detected has been shaken according to the comparison result.

8. The device according to claim 1, characterized in that The device also includes a stability detector for detecting whether the test tube clamped by the test tube clamp assembly is stable.

9. The device according to claim 8, characterized in that The stability detector includes a horizontal camera and a stability judgment unit, wherein: The horizontal camera is used to horizontally capture an image of a test tube clamped by the test tube clamp assembly, wherein the test tube contains a sample to be tested; The stability judgment unit is used to judge whether the test tube clamped by the test tube clamp assembly is stable by identifying the outline of the test tube in the image.

10. The device according to claim 9, characterized in that The stability judgment unit is used to identify the outline of the test tube in the horizontal image, compare the outline with a horizontal reference object, and judge whether the test tube clamped by the test tube clamp assembly is stable based on the comparison result, wherein the comparison result includes whether the outline is parallel to the horizontal reference object and whether the protruding height of the test tube is lower than a preset value.

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