Automatic management system and method for in-vitro diagnostic equipment

Abstract

The invention discloses an automatic management system and method for in-vitro diagnostic equipment, and the system comprises the in-vitro diagnostic equipment which is used for intercepting and transmitting a current equipment display image; the local control end is used for receiving the current equipment display image and identifying and sending the current working state of the in-vitro diagnosis equipment according to the current equipment display image; the server side is used for receiving the current working state and generating and sending a corresponding control strategy according to the current working state; and the execution end is used for receiving the control strategy and executing corresponding automatic control operation according to the control strategy after automatic calibration. According to the invention, automatic control of in-vitro diagnosis equipment can be realized.

Description

Technical Field

[0001] The present invention relates to the technical field, and in particular to an automated management system and method for in vitro diagnostic equipment. Background Art

[0002] Currently, the in vitro diagnostic system is composed of different stand-alone in vitro diagnostic devices from multiple manufacturers. Although a data management platform for the in vitro diagnostic system has been established, the existing data management platform mainly manages the result data and cannot achieve automated, remote, centralized and precise management of the in vitro diagnostic system.

[0003] Therefore, there is a need for an automated management system for in vitro diagnostic equipment to achieve automated control of in vitro diagnostic equipment and improve the remote control accuracy of in vitro diagnostic equipment. Summary of the invention

[0004] In order to solve the technical problem that the current automated remote centralized management solution for in vitro diagnostic systems has poor effects, the present invention provides an automated management system and method for in vitro diagnostic equipment. The specific technical solution is as follows:

[0005] The present invention provides an automated management system for in vitro diagnostic equipment, comprising:

[0006] In vitro diagnostic equipment, used to capture and send the current device display image;

[0007] The local control terminal is used to receive the current device display image, and identify and send the current working state of the in vitro diagnostic device according to the current device display image;

[0008] The server is used to receive the current working status and generate and send the corresponding control strategy according to the current working status;

[0009] The execution end is used to receive the control strategy and execute the corresponding automatic control operation according to the control strategy after automatic calibration.

[0010] The in vitro diagnostic equipment automation management system provided by the present invention adopts screenshot data recognition to improve the recognition accuracy of the current working status of the in vitro diagnostic equipment and reduce the cost of external hardware, and centralizes data processing on the server side. Compared with the distributed data processing system, it is convenient for centralized data management, realizes automated control of in vitro diagnostic equipment, and improves the remote control accuracy of in vitro diagnostic equipment.

[0011] In some embodiments, the server is specifically used to generate and send an automatic control strategy or a trend analysis strategy based on the current working status; the automatic control strategy is used to control the execution end to perform the corresponding automatic control operation after automatic calibration, and the trend analysis strategy is used to control the server to generate trend prediction information based on the current working status.

[0012] The in vitro diagnostic equipment automated management system provided by the present invention realizes automatic control and instrument working status trend analysis, which is convenient for predicting the instrument working status in advance, guiding users to perform maintenance inspections and correct design data of life parts in advance, and is also convenient for targeted adjustment of selection parameters of components with shorter lifespans.

[0013] In some embodiments, the server is further configured to identify and send the current critical working state of the in vitro diagnostic device according to the current device display image, the current critical working state including the operating indicator light state, the CV value and the detection concentration value; receive the current critical working state, and when it is determined that the current critical working state contains complete state information, generate and send an automatic control strategy or a trend analysis strategy according to the current critical working state;

[0014] When the server determines that the current key working state does not include the complete state information, it generates and sends a data adding instruction according to the current key working state, and the data adding instruction is used to control the local control end to send all the current working state information.

[0015] The in vitro diagnostic equipment automation management system provided by the present invention only sends key data to the server, and expands the data transmission range when the server makes a request, thereby reducing the long-term data transmission volume, reducing the occupation of network resources and the server data storage volume.

[0016] In some embodiments, the execution end is also used to move to a first calibration tool pre-placed within a first preset range of the target in vitro diagnostic device according to a control strategy; receive distance signals transmitted by distance sensors pre-installed on the left and right sides of the first calibration tool; calculate a first angle of the execution end relative to the first calibration tool based on the distance signal, and calculate a second angle of the target in vitro diagnostic device relative to the execution end based on the first angle; and perform spatial position compensation calibration on the execution end based on the second angle.

[0017] In some embodiments, a second calibration fixture is installed on the execution end, the three sides of the second calibration fixture are vertical, and three third calibration fixtures are pre-placed within a second preset range of the target in vitro diagnostic device;

[0018] The execution end is also used to pass through all the third calibration tools in sequence according to a preset calibration path, and calculate the horizontal distance difference of the execution end relative to the third calibration tooling and the axial angle difference of the execution end according to the corresponding position parameters when passing through each third calibration tooling in sequence; and perform spatial position compensation calibration on the execution end according to the horizontal distance difference and the axial angle difference.

[0019] In some embodiments, according to another aspect of the present invention, the present invention further provides an automated management method for in vitro diagnostic equipment, which is applied to an in vitro diagnostic system including a plurality of in vitro diagnostic equipment, a local control terminal, a service terminal, and an execution terminal, comprising:

[0020] Control in vitro diagnostic equipment to capture and send the current equipment display image;

[0021] The local control terminal receives the current device display image, and identifies and sends the current working state of the in vitro diagnostic device according to the current device display image;

[0022] The server receives the current working status, and generates and sends the corresponding control strategy according to the current working status;

[0023] The execution end receives the control strategy and executes the corresponding automatic control operation according to the control strategy after automatic calibration.

[0024] In some implementations, generating and sending a corresponding control strategy according to the current working state specifically includes:

[0025] Generate and send automatic control strategies or trend analysis strategies based on current working status;

[0026] The automatic control strategy is used to control the execution end to perform the corresponding automatic control operation after automatic calibration, and the trend analysis strategy is used to control the server end to generate trend prediction information according to the current working status.

[0027] In some implementations, the local control terminal receives the current device display image, and then further includes:

[0028] Identify and send the current critical working status of the in vitro diagnostic device based on the current device display image, the current critical working status includes:

[0029] The server receives the current key working state, and when it is determined that the current key working state contains complete state information, generates and sends an automatic control strategy or a trend analysis strategy according to the current key working state;

[0030] When the server determines that the current key working state does not include the complete state information, it generates and sends a data adding instruction according to the current key working state, and the data adding instruction is used to control the local control end to send all the current working state information.

[0031] In some implementations, the automatic calibration process of the execution end specifically includes:

[0032] The execution end moves to a first calibration tooling pre-placed within a first preset range of the target in vitro diagnostic device according to the control strategy;

[0033] The execution end receives the distance signal transmitted by the distance sensors pre-installed on the left and right sides of the first calibration tooling;

[0034] The execution end calculates a first angle of the execution end relative to the first calibration tooling according to the distance signal, and calculates a second angle of the target in vitro diagnostic device relative to the execution end according to the first angle;

[0035] The spatial position compensation calibration of the execution end is performed according to the second angle.

[0036] In some embodiments, a second calibration fixture is installed on the execution end, the three sides of the second calibration fixture are vertical, and three third calibration fixtures are pre-placed within a second preset range of the target in vitro diagnostic device;

[0037] The automatic calibration process of the execution end also includes:

[0038] The execution end passes through all the third calibration fixtures in sequence according to the preset calibration path, and calculates the horizontal distance difference between the execution end and the third calibration fixture and the axial angle difference of the execution end according to the corresponding position parameters when passing through each third calibration fixture in sequence;

[0039] The spatial position compensation calibration of the actuator is performed according to the horizontal distance difference and the axial angle difference.

[0040] The in vitro diagnostic equipment automated management system and method provided by the present invention have at least one of the following technical effects:

[0041] (1) By adopting screenshot data recognition, the recognition accuracy of the current working status of the in vitro diagnostic equipment is improved and the cost of external hardware is reduced. Data processing is centralized on the server side, which is easier to manage data centrally than a distributed data processing system, realizes automated control of in vitro diagnostic equipment, and improves the remote control accuracy of in vitro diagnostic equipment;

[0042] (2) Automatic control and instrument working status trend analysis are realized to facilitate early prediction of instrument working status, guide users to perform maintenance inspections and modify design data of life parts in advance, and facilitate targeted adjustment of selection parameters of parts with shorter lifespans;

[0043] (3) Only critical data is sent to the server, and the data transmission range is expanded when the server makes a request. This reduces the amount of data transmitted over a long period of time, reduces the occupation of network resources, and reduces the amount of data stored on the server. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0045] Figure 1This is an example diagram of an automated management system for in vitro diagnostic equipment according to the present invention;

[0046] Figure 2 A flowchart of an automated management method for in vitro diagnostic equipment according to the present invention;

[0047] Figure 3 A flowchart of control strategy generation in an automated management method for in vitro diagnostic equipment according to the present invention;

[0048] Figure 4 Another flow chart for generating a control strategy in an automated management method for an in vitro diagnostic device according to the present invention;

[0049] Figure 5 A flowchart of automatic calibration in an automated management method for in vitro diagnostic equipment according to the present invention;

[0050] Figure 6 Another flow chart of automatic calibration in an automated management method of an in vitro diagnostic device according to the present invention;

[0051] Figure 7 A top view of a measuring tool used in an automated management method for in vitro diagnostic equipment according to the present invention;

[0052] Figure 8 A top view of a test process in an automated management method for in vitro diagnostic equipment according to the present invention;

[0053] Fig. 9 This is a front view of a test process in an automated management method for in vitro diagnostic equipment of the present invention.

[0054] The numbers in the figure are: in vitro diagnostic equipment-10, local control terminal-20, service terminal-30 and execution terminal-40. DETAILED DESCRIPTION

[0055] In the following description, specific details such as specific system structures, technologies, etc. are provided for the purpose of illustration rather than limitation, so as to provide a thorough understanding of the embodiments of the present application. However, it should be clear to those skilled in the art that the present application may also be implemented in other embodiments without these specific details. In other cases, detailed descriptions of well-known systems, devices, circuits, and methods are omitted to prevent unnecessary details from obstructing the description of the present application.

[0056] It should be understood that when used in this specification and the appended claims, the term "comprising" indicates the presence of described features, integers, steps, operations, elements and / or components, but does not exclude the presence or addition of one or more other features, integers, steps, operations, elements, components and / or collections.

[0057] In order to simplify the drawings, only the parts related to the present invention are schematically shown in each figure, and they do not represent the actual structure of the product. In addition, in order to simplify the drawings and facilitate understanding, in some figures, only one of the parts with the same structure or function is schematically drawn or marked. In this article, "one" not only means "only one", but also means "more than one".

[0058] It should be further understood that the term “and / or” used in the specification and appended claims refers to any combination and all possible combinations of one or more of the associated listed items, and includes these combinations.

[0059] In addition, 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.

[0060] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the specific implementation methods of the present invention will be described below with reference to the accompanying drawings. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings and other implementation methods can be obtained based on these drawings without creative work.

[0061] One embodiment of the present invention, as Figure 1 As shown, the present invention provides an automated management system for in vitro diagnostic equipment, including an in vitro diagnostic equipment 10 , a local control terminal 20 , a service terminal 30 and an execution terminal 40 .

[0062] Among them, the in vitro diagnostic device 10 is used to intercept and send the current device display image; the local control terminal 20 is used to receive the current device display image, and identify and send the current working status of the in vitro diagnostic device based on the current device display image; the service terminal 30 is used to receive the current working status, and generate and send the corresponding control strategy based on the current working status; the execution terminal 40 is used to receive the control strategy, and execute the corresponding automatic control operation according to the control strategy after automatic calibration.

[0063] Specifically, when the in vitro diagnostic device 10 captures the image displayed on the current device, it obtains the bitmap of the desktop by calling the system API, and the software with preset click paths replaces manual clicks to achieve switching between different pages. The screenshot sending software takes a screenshot of the page and sends it to the local control terminal 20. The screenshot software locates the screen pixels and calls the mouse events of the operating system to achieve precise clicking actions.

[0064] Furthermore, an image recognition algorithm is deployed in the local control terminal 20 to perform sample comparison and AI learning based on the numerical display, status indication color, shape and other data of the instrument equipment in the current device display image, so as to improve the image information recognition rate, identify the instrument status parameters from the current device display image, and judge whether the instrument working status is normal.

[0065] The in vitro diagnostic equipment automation management system provided in this embodiment adopts screenshot data recognition to improve the recognition accuracy of the current working status of the in vitro diagnostic equipment and reduce the cost of external hardware, and centralizes data processing on the server side. Compared with the distributed data processing system, it is easier to centrally manage data, realize automated control of in vitro diagnostic equipment, and improve the remote control accuracy of in vitro diagnostic equipment.

[0066] In one embodiment, the server 30 is specifically used to generate and send an automatic control strategy or a trend analysis strategy based on the current working status; the automatic control strategy is used to control the execution end 40 to perform the corresponding automatic control operation after automatic calibration, and the trend analysis strategy is used to control the server 30 to generate trend prediction information based on the current working status.

[0067] Specifically, in the process of executing the trend analysis strategy, the server 30 compares the abnormal data with the normal data, outputs the calculation results, and stores the data at the same time as the basic data for the trend analysis.

[0068] The in vitro diagnostic equipment automated management system provided in this embodiment realizes automatic control and instrument working status trend analysis, which is convenient for predicting the instrument working status in advance, guiding users to perform maintenance inspections and correct design data of life parts in advance, and facilitating targeted adjustment of selection parameters of components with shorter lifespans.

[0069] In one embodiment, the server 30 is specifically used to identify and send the current critical working state of the in vitro diagnostic device based on the current device display image; receive the current critical working state, and when it is determined that the current critical working state contains complete status information, generate and send an automatic control strategy or trend analysis strategy based on the current critical working state.

[0070] When the server 30 determines that the current key working state does not include the complete state information, it generates and sends a data adding instruction according to the current key working state, and the data adding instruction is used to control the local control terminal to send all the current working state information.

[0071] Specifically, the server 30 executes different processing results according to the current working status. The first processing result is to execute information feedback, which is better than the traditional preset fault and warning prompt information. The server 30 is more likely to update the content of the feedback prompt information; the second processing result is to request the abnormal device to expand the uploaded data range, which is better than the traditional large-scale data upload, reducing the occupation of network resources and the server data storage capacity; the third processing result is to perform data trend analysis and data curve update, which is convenient for users to view the changing trend of equipment working data.

[0072] In one embodiment, the execution end 40 is also used to move to a first calibration tool pre-placed within a first preset range of the target in vitro diagnostic device according to a control strategy; receive distance signals transmitted by distance sensors pre-installed on the left and right sides of the first calibration tool; calculate a first angle of the execution end 40 relative to the first calibration tool based on the distance signal, and calculate a second angle of the target in vitro diagnostic device relative to the execution end 40 based on the first angle; and perform spatial position compensation calibration on the execution end 40 based on the second angle.

[0073] Specifically, the execution end 40 includes a manipulator and an AGV cart that carries the manipulator. Since it is difficult for the AGV cart to drive the manipulator to complete high-precision repeated positioning in one go, automatic calibration is required to control the manipulator to move to the side of the instrument, and use a displacement sensor to perform a distance detection on the XY plane and the XZ plane to calculate the spatial positioning deviation of the manipulator. After that, visual measurement is used to decompose the spatial position coordinates of the manipulator's marking point into the XY plane and the XZ plane. After calculating the position deviation of the marking point, the spatial positioning deviation of the manipulator is deduced, and the final positioning coordinates of the manipulator are corrected according to the deviation value to improve the positioning accuracy.

[0074] Furthermore, the calibration process includes placing the first calibration tool near the equipment, automatically guiding the trolley carrying the manipulator to the vicinity of the first calibration tool, driving to the tooling platform according to the preset path, completing the horizontal correction, and in order to measure the theoretical angle between the tooling and the ground, it is necessary to adjust the levelness of the upper surface of the measuring tooling to ensure that the angle between the trolley and the ground is approximately zero after entering the tooling surface. In this way, when performing positioning calculations, there is no need to consider the error caused by the vertical direction. When the guide car enters the top of the measuring tooling, the displacement is transmitted to the preset four distance probes through the guide plate, and the distance change data and angle change data of the four probes are obtained. Two distance sensors are installed on the left and right sides of the tooling to obtain the angle value of the body relative to the tooling, convert the angle between the equipment and the trolley, convert the manipulator space compensation according to the angle, calculate the spatial difference between the ideal position and the actual position of the manipulator, and compensate the manipulator for the spatial position.

[0075] The specific spatial position compensation scheme includes obtaining the distance difference between the center of the trolley and the center of the measuring tool through a distance probe set in the axial direction; calculating the difference between the center of the trolley and the center of the tool in the front and back directions and the left and right directions, and the axial angle value of the center of the trolley according to the calculation formula of the side length and angle of the right triangle and the definition of similar triangles, and then calculating the offset of the center of the manipulator base on the trolley relative to the center of the measuring tool and the angular offset value of the driving direction, and correcting the value of the manipulator positioning coordinate XYZ or the attitude coordinate X'Y'Z' after conversion.

[0076] In one embodiment, a second calibration tool is installed on the execution end 40 , and three sides of the second calibration tool are vertical. Three third calibration tools are pre-placed within a second preset range of the target in vitro diagnostic device.

[0077] The execution end 40 is also used to pass through all the third calibration tools in sequence according to a preset calibration path, and calculate the horizontal distance difference of the execution end 40 relative to the third calibration tooling and the axial angle difference of the execution end 40 according to the corresponding position parameters when passing through each third calibration tooling in sequence; and perform spatial position compensation calibration on the execution end 40 according to the horizontal distance difference and the axial angle difference.

[0078] Specifically, another automatic correction scheme is to place three third calibration fixtures near the instrument, automatically guide the trolley to carry the manipulator to the vicinity of the third calibration fixture, and touch the three third calibration fixtures according to the preset path. When a probe on the third calibration fixture is touched, the computer records the initial position value and continues to move in this direction until it touches the second probe, and then records the position value. At this time, it continues to move a fixed distance, and judges whether the manipulator moves in a straight line by the distance difference between the two probes; the same method is used to touch and press the other two fixtures, and the front and back, left and right differences of the manipulator base relative to the measuring fixture and the axial angle difference of the manipulator base are calculated by the calculation formula of the length and angle of the right triangle and the definition of similar triangles. The data obtained by pre-pressing the four distance probes of two of the third calibration fixtures are first calculated to calculate the angle of the bottom surface of the three-sided vertical fixture on the manipulator relative to the table, and then by pressing the two probes of another third calibration fixture, the angle error is verified, and the error in the height direction of the manipulator can be calculated. After conversion, the values ​​of the manipulator positioning coordinates XYZ or attitude coordinates X'Y'Z' are corrected.

[0079] In one embodiment, Figure 2 According to another aspect of the present invention, the present invention further provides an automated management method for in vitro diagnostic equipment, which is applied to an in vitro diagnostic system including a plurality of in vitro diagnostic equipment, a local control terminal, a service terminal 30 and an execution terminal 40, comprising:

[0080] S100 controls the in vitro diagnostic device to capture and send the current device display image.

[0081] Specifically, when the in vitro diagnostic device captures the image displayed on the current device, it obtains the desktop bitmap by calling the system API. The software with preset click paths replaces manual clicks to switch between different pages. The screenshot sending software takes a screenshot of the page and sends it to the local control terminal. The screenshot software locates the screen pixels and calls the mouse events of the operating system to achieve precise clicking actions.

[0082] S200 The local control terminal receives the current device display image, and identifies and sends the current working state of the in vitro diagnostic device according to the current device display image.

[0083] Specifically, an image recognition algorithm is deployed in the local control terminal to perform sample comparison and AI learning based on the numerical display, status indication color, shape and other data of the instruments and equipment in the current device display image, so as to improve the image information recognition rate, identify the instrument status parameters from the current device display image, and judge whether the instrument working status is normal.

[0084] S310 The server receives the current working state, and generates and sends a corresponding control strategy according to the current working state.

[0085] S400 The execution end receives the control strategy and executes the corresponding automatic control operation according to the control strategy after automatic calibration.

[0086] In one embodiment, Figure 3 As shown, in step S310, a corresponding control strategy is generated and sent according to the current working state, specifically including:

[0087] S311 generates and sends an automatic control strategy or a trend analysis strategy according to the current working status.

[0088] Specifically, the automatic control strategy is used to control the execution end to perform the corresponding automatic control operation after automatic calibration, and the trend analysis strategy is used to control the service end to generate trend prediction information according to the current working status.

[0089] Furthermore, the automatic control strategy and trend analysis strategy are sent from the server to the local control end to control the corresponding in vitro diagnostic equipment. The automatic control strategy specifically includes: when the server is operating normally, the operating status is obtained by analyzing the brightness of the operating indicator light. A bright indicator light indicates that the operation is in progress, and a dark indicator light indicates that the operation is over. After determining that the previous operation is over, an execution instruction is sent to the local control unit, and the control unit controls the robotic arm to remove the old sample tube and place a new sample tube.

[0090] After receiving the trend analysis strategy, the server displays the corresponding trend analysis. If the trend analysis result is a preset abnormal situation, an early warning instruction is sent to the local control terminal.

[0091] The automated management method for in vitro diagnostic equipment provided in this embodiment adopts screenshot data recognition to improve the recognition accuracy of the current working status of the in vitro diagnostic equipment and reduce the cost of external hardware, and centralizes data processing on the server side. Compared with a distributed data processing system, it is easier to centrally manage data, realize automated control of the in vitro diagnostic equipment, and improve the remote control accuracy of the in vitro diagnostic equipment.

[0092] In one embodiment, Figure 4 As shown, after the local control terminal receives the current device display image in step S200, it also includes:

[0093] S320 identifies and sends the current key working status of the in vitro diagnostic device according to the current device display image.

[0094] Specifically, the current key working status includes the operating indicator light status, CV value and detection concentration value;

[0095] S330 The server receives the current key working state, and when it is determined that the current key working state contains complete state information, generates and sends an automatic control strategy or a trend analysis strategy according to the current key working state.

[0096] S340 When the server determines that the current key working state does not include the complete state information, it generates and sends a data adding instruction according to the current key working state, and the data adding instruction is used to control the local control terminal to send all the current working state information.

[0097] Specifically, in the process of executing the trend analysis strategy, the server compares abnormal data with normal data, outputs the calculation results, and stores the data as the basic data for trend analysis. The server performs different processing results according to the current working status. The first processing result is to execute information feedback, which is better than the traditional preset fault and warning prompt information. The server is more likely to update the content of the feedback prompt information; the second processing result is to request the abnormal device to expand the uploaded data range, which is better than the traditional large-scale data upload, reducing the occupation of network resources and the amount of data stored on the server; the third processing result is to perform data trend analysis and data curve update, which is convenient for users to view the changing trend of equipment working data.

[0098] For example, if an alarm message is received or the server determines that the current critical working state does not contain complete state information, the amount of data uploaded is increased to further obtain information such as the motor's current, voltage and temperature data, pump flow information, pump pressure information, pump temperature information, heating module temperature and ambient temperature inside the instrument. The specific equipment complete information can increase or decrease the data type depending on the equipment type, and the above information is compared with the normal value for judgment.

[0099] The automated management method for in vitro diagnostic equipment provided in this embodiment realizes automatic control and instrument working status trend analysis, which is convenient for predicting the instrument working status in advance, guiding users to perform maintenance inspections and correct design data of life parts in advance, and facilitating targeted adjustment of selection parameters of components with shorter lifespans.

[0100] In one embodiment, Figure 5 As shown, the automatic calibration process of the execution end specifically includes:

[0101] S410 The execution end receives the control strategy and moves to a first calibration tooling pre-placed within a first preset range of the target in vitro diagnostic device according to the control strategy.

[0102] S420 The execution end receives distance signals transmitted by distance sensors pre-installed on left and right sides of the first calibration tooling.

[0103] S430 The execution end calculates a first angle of the execution end relative to the first calibration tooling according to the distance signal, and calculates a second angle of the target in vitro diagnostic device relative to the execution end according to the first angle.

[0104] S440 performs spatial position compensation calibration on the execution end according to the second angle.

[0105] Specifically, the execution end includes a robot and an AGV that carries the robot. Since it is difficult for the AGV to drive the robot to complete high-precision repeated positioning in one go, automatic calibration is required to control the robot to move to the side of the instrument and use a displacement sensor to perform a distance detection on the XY plane and the XZ plane to calculate the spatial positioning deviation of the robot. Visual measurement is then used to decompose the spatial position coordinates of the robot's marking points into the XY plane and the XZ plane. After calculating the position deviation of the marking points, the spatial positioning deviation of the robot is deduced, and the final positioning coordinates of the robot are corrected according to the deviation value to improve the positioning accuracy.

[0106] Furthermore, the calibration process includes placing the first calibration tool near the equipment, automatically guiding the trolley carrying the manipulator to the vicinity of the first calibration tool, driving to the tooling platform according to the preset path, completing the horizontal correction, and in order to measure the theoretical angle between the tooling and the ground, it is necessary to adjust the levelness of the upper surface of the measuring tooling to ensure that the angle between the trolley and the ground is approximately zero after entering the tooling surface. In this way, when performing positioning calculations, there is no need to consider the error caused by the vertical direction. When the guide car enters the top of the measuring tooling, the displacement is transmitted to the preset four distance probes through the guide plate, and the distance change data and angle change data of the four probes are obtained. Two distance sensors are installed on the left and right sides of the tooling to obtain the angle value of the body relative to the tooling, convert the angle between the equipment and the trolley, convert the manipulator space compensation according to the angle, calculate the spatial difference between the ideal position and the actual position of the manipulator, and compensate the manipulator for the spatial position.

[0107] The specific spatial position compensation scheme includes obtaining the distance difference between the center of the trolley and the center of the measuring tool through a distance probe set in the axial direction; calculating the difference between the center of the trolley and the center of the tool in the front and back directions and the left and right directions, and the axial angle value of the center of the trolley according to the calculation formula of the side length and angle of the right triangle and the definition of similar triangles, and then calculating the offset of the center of the manipulator base on the trolley relative to the center of the measuring tool and the angular offset value of the driving direction, and correcting the value of the manipulator positioning coordinate XYZ or the attitude coordinate X'Y'Z' after conversion.

[0108] In one embodiment, Figure 6 As shown, a second calibration fixture is installed on the execution end, and three sides of the second calibration fixture are vertical. Three third calibration fixtures are pre-placed within the second preset range of the target in vitro diagnostic device. The automatic calibration process of the execution end specifically includes:

[0109] S450 The execution end passes through all the third calibration fixtures in sequence according to the preset calibration path, and calculates the horizontal distance difference of the execution end relative to the third calibration fixture and the axial angle difference of the execution end according to the corresponding position parameters when passing through each third calibration fixture in sequence.

[0110] S460 performs spatial position compensation calibration on the actuator according to the horizontal distance difference and the axial angle difference.

[0111] Specifically, another automatic correction scheme is to place three third calibration fixtures near the instrument, automatically guide the trolley to carry the manipulator to the vicinity of the third calibration fixture, and touch the three third calibration fixtures according to the preset path. When a probe on the third calibration fixture is touched, the computer records the initial position value and continues to move in this direction until it touches the second probe, and then records the position value. At this time, it continues to move a fixed distance, and judges whether the manipulator moves in a straight line by the distance difference between the two probes; the same method is used to touch and press the other two fixtures, and the front and back, left and right differences of the manipulator base relative to the measuring fixture and the axial angle difference of the manipulator base are calculated by the calculation formula of the length and angle of the right triangle and the definition of similar triangles. The data obtained by pre-pressing the four distance probes of two of the third calibration fixtures are first calculated to calculate the angle of the bottom surface of the three-sided vertical fixture on the manipulator relative to the table, and then by pressing the two probes of another third calibration fixture, the angle error is verified, and the error in the height direction of the manipulator can be calculated. After conversion, the values ​​of the manipulator positioning coordinates XYZ or attitude coordinates X'Y'Z' are corrected.

[0112] In one embodiment, Figure 7 to Figure 9 As shown, Figure 7To measure the top view of the fixture, three L-shaped flat fixtures are placed near the instrument before the automatic calibration process. The automatic guide car carries the manipulator to the vicinity of the calibration fixture. According to the preset path, a three-sided vertical fixture is pre-installed on the manipulator. The manipulator touches and presses the three fixtures at the preset reference position according to the preset path. Figure 8 Face the testing process Fig. 9 As shown in the figure, when it hits a probe on the tooling, the computer records the initial position value and continues to move in this direction until it hits the second probe, then records the position value. At this time, it continues to move a fixed distance and determines whether the robot is moving in a straight line based on the distance difference between the two probes.

[0113] Use the same method to touch and press the other two fixtures. Through the calculation formula of the side length and angle of the right triangle and the definition of similar triangles, calculate the front-back and left-right differences of the manipulator base relative to the measuring fixture, and the axial angle difference of the manipulator base. By pre-pressing the four distance probes of fixtures 2 and 3, the data obtained first calculates the angle of the bottom surface of the three vertical fixtures on the manipulator relative to the table, and then verifies the angle error by pressing the two probes of fixture 1, and can calculate the error in the height direction of the manipulator. After conversion, correct the values ​​of the manipulator positioning coordinates XYZ or the posture coordinates X'Y'Z' to achieve accurate positioning.

[0114] In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described or recorded in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0115] Those of ordinary skill in the art will appreciate that the units and steps of each example described in conjunction with the embodiments disclosed herein can be implemented with electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed with hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can 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 this application.

[0116] In the embodiments provided in the present application, it should be understood that the disclosed in vitro diagnostic equipment automation management system and method can be implemented in other ways. For example, the above-described in vitro diagnostic equipment automation management system and method embodiment is only schematic. For example, the division of the modules or units is only a logical function division. There may be other division methods in actual implementation. For example, multiple units or modules can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the communication connection between each other shown or discussed can be through some interfaces, communication connections of devices or units or integrated circuits, which can be electrical, mechanical or other forms.

[0117] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0118] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0119] It should be noted that the above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principle of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. An automated management system for in vitro diagnostic equipment, characterized in that: include: In vitro diagnostic equipment, used to capture and send the current device display image; A local control terminal, used for receiving the current device display image, and identifying and sending the current working state of the in vitro diagnostic device according to the current device display image; The server is used to receive the current working state, and generate and send a corresponding control strategy according to the current working state; The execution end is used to receive the control strategy and execute the corresponding automatic control operation according to the control strategy after automatic calibration.

2. The in vitro diagnostic equipment automation management system according to claim 1, characterized in that: The server is specifically used to generate and send an automatic control strategy or a trend analysis strategy according to the current working state; The automatic control strategy is used to control the execution end to perform the corresponding automatic control operation after automatic calibration, and the trend analysis strategy is used to control the service end to generate trend prediction information according to the current working state.

3. The in vitro diagnostic equipment automation management system according to claim 2, characterized in that: The server is also specifically used to identify and send the current critical working state of the in vitro diagnostic device according to the current device display image; receive the current critical working state, and when it is determined that the current critical working state contains complete state information, generate and send the automatic control strategy or the trend analysis strategy according to the current critical working state; When the server determines that the current key working state does not include complete state information, a data adding instruction is generated and sent according to the current key working state, and the data adding instruction is used to control the local control end to send all current working state information.

4. The in vitro diagnostic equipment automation management system according to claim 1, characterized in that: The execution end is also used to move to a first calibration tool pre-placed within a first preset range of the target in vitro diagnostic device according to the control strategy; receive distance signals transmitted by distance sensors pre-installed on the left and right sides of the first calibration tool; calculate a first angle of the execution end relative to the first calibration tool according to the distance signal, and calculate a second angle of the target in vitro diagnostic device relative to the execution end according to the first angle; and perform spatial position compensation calibration on the execution end according to the second angle.

5. The in vitro diagnostic equipment automated management system according to claim 4, characterized in that: A second calibration tool is installed on the execution end, the second calibration tool has three vertical sides, and three third calibration tools are pre-placed within a second preset range of the target in vitro diagnostic device; The execution end is also used to pass through all the third calibration tools in sequence according to a preset calibration path, and calculate the horizontal distance difference of the execution end relative to the third calibration tool and the axial angle difference of the execution end according to the corresponding position parameters when passing through each of the third calibration tools in sequence; and perform spatial position compensation calibration on the execution end according to the horizontal distance difference and the axial angle difference.

6. A method for automated management of in vitro diagnostic equipment, characterized in that: The in vitro diagnostic system is applied to a plurality of in vitro diagnostic devices, a local control terminal, a service terminal and an execution terminal, including: Controlling the in vitro diagnostic device to capture and send the current device display image; The local control terminal receives the current device display image, and identifies and sends the current working state of the in vitro diagnostic device according to the current device display image; The server receives the current working state, and generates and sends a corresponding control strategy according to the current working state; The execution end receives the control strategy and executes corresponding automatic control operations according to the control strategy after automatic calibration.

7. The method for automated management of in vitro diagnostic equipment according to claim 1, characterized in that: The generating and sending of the corresponding control strategy according to the current working state specifically includes: Generate and send an automatic control strategy or a trend analysis strategy according to the current working state; The automatic control strategy is used to control the execution end to perform the corresponding automatic control operation after automatic calibration, and the trend analysis strategy is used to control the service end to generate trend prediction information according to the current working state.

8. The method for automated management of in vitro diagnostic equipment according to claim 7, characterized in that: The local control terminal receives the current device display image, and then further includes: Identify and send the current key working state of the in vitro diagnostic device according to the current device display image, wherein the current key working state includes the operating indicator light state, the CV value and the detection concentration value; The server receives the current critical working state, and when determining that the current critical working state contains complete state information, generates and sends the automatic control strategy or the trend analysis strategy according to the current critical working state; When the server determines that the current key working state does not include complete state information, a data adding instruction is generated and sent according to the current key working state, and the data adding instruction is used to control the local control end to send all current working state information.

9. The method for automated management of in vitro diagnostic equipment according to claim 6, characterized in that: The automatic calibration process of the execution end specifically includes: The execution end moves to a first calibration tooling pre-placed within a first preset range of the target in vitro diagnostic device according to the control strategy; The execution end receives a distance signal transmitted by distance sensors pre-installed on left and right sides of the first calibration tool; The execution end calculates a first angle of the execution end relative to the first calibration tool according to the distance signal, and calculates a second angle of the target in vitro diagnostic device relative to the execution end according to the first angle; The spatial position compensation calibration of the execution end is performed according to the second angle.

10. The method for automated management of in vitro diagnostic equipment according to claim 9, characterized in that: A second calibration tool is installed on the execution end, the second calibration tool has three vertical sides, and three third calibration tools are pre-placed within a second preset range of the target in vitro diagnostic device; The automatic calibration process of the execution end specifically includes: The execution end passes through all the third calibration fixtures in sequence according to a preset calibration path, and calculates the horizontal distance difference between the execution end and the third calibration fixture and the axial angle difference of the execution end according to the corresponding position parameters when passing through each of the third calibration fixtures in sequence; The spatial position compensation calibration of the actuator is performed according to the horizontal distance difference and the axial angle difference.

Images