Blood sample sorting method, controller, blood collection tube sorting system and storage medium

Abstract

The invention discloses a blood sample sorting method, a controller, a blood collection tube sorting system and a storage medium, and is applied to the blood collection tube sorting system. The method comprises the steps that in response to an uncovering instruction, the tray position and the test tube number are recognized through a first collection unit, and vacancy detection is conducted on a storage module through a third collection unit; when the number of the test tubes is larger than or equal to the first preset number, the to-be-tested tubes are grabbed to conduct information checking on the to-be-tested tubes; when the to-be-tested tube passes the information checking, the to-be-tested tube is transported to a second acquisition unit; performing blood detection on the blood sample in the to-be-tested tube through a second collection unit; when the detection result meets the preset blood detection condition, the to-be-tested tube is rotated to the uncovering module through the turntable test tube socket for uncovering treatment; and when a vacancy exists in the qualified area of the storage module, sorting the to-be-tested tubes subjected to uncovering treatment to the qualified area of the storage module. According to the embodiment of the invention, high-precision and high-efficiency blood sample classification and processing can be realized.

Description

Technical Field

[0001] The present application relates to the technical field of blood sample processing, and in particular to a blood sample sorting method, a controller, a blood collection tube sorting system and a storage medium. Background Art

[0002] With the increasing public demand for medical services and the need for rapid diagnosis of diseases, medical institutions are increasingly demanding higher efficiency and accuracy in laboratory testing. Laboratory automation devices liberate heavy and boring manual labor through automated production lines.

[0003] Despite the continuous advancement of technology, existing machines still have some technical and operational deficiencies and defects in accurately classifying blood samples. Some medical institutions need to open the blood collection tubes and send them to special testing equipment for testing. The complexity of the technology and the diversity of samples have brought challenges to automated equipment. When there are a large number of blood samples, it is difficult for current medical machines to accurately identify and classify different blood samples, resulting in a decrease in the classification accuracy of automated equipment, which further affects other subsequent operations on blood samples, resulting in a longer detection cycle for blood samples, affecting detection accuracy and efficiency. Summary of the invention

[0004] The embodiments of the present application provide a blood sample sorting method, a controller, a blood collection tube sorting system and a storage medium, which can achieve high-precision and high-efficiency blood sample classification and processing.

[0005] In a first aspect, an embodiment of the present application provides a blood sample sorting method, which is applied to a blood collection tube sorting system, wherein the blood collection tube sorting system comprises a visual recognition module, a first grabbing module, a second grabbing module, a turntable test tube socket, a cover opening module and a storage module, wherein the visual recognition module comprises a first collection unit, a second collection unit and a third collection unit, wherein the first collection unit, the first grabbing module, the second collection unit, the cover opening module, the second grabbing module, the third collection unit and the storage module are sequentially arranged around the outer periphery of the turntable test tube socket; the method comprises:

[0006] In response to the cover opening instruction, the first acquisition unit identifies the tray position of the test tube sample tray and the number of test tubes in the test tube sample tray, and the third acquisition unit performs an empty position detection on the storage module;

[0007] When the number of test tubes is greater than or equal to a first preset number, controlling the first grabbing module to move to the tray position, and grabbing the tubes to be tested from the test tube sample tray through the first grabbing module to check the information of the tubes to be tested;

[0008] When the tube to be tested passes the information verification, the first grabbing module places the tube to be tested on the turntable test tube socket, and the turntable test tube socket transports the tube to be tested to the second collection unit;

[0009] Performing a blood test on the blood sample in the test tube by the second collection unit to obtain a test result;

[0010] When the test result meets the preset blood test condition, the test tube to be tested is rotated to the cover opening module through the turntable test tube socket, so that the cover opening module performs a cover opening process on the test tube to be tested, wherein the blood test condition is a condition for characterizing the height and color of blood;

[0011] When there are vacancies in the qualified area of ​​the storage module, the uncapped tubes to be tested are sorted to the qualified area of ​​the storage module by the second grabbing module.

[0012] In some embodiments, the blood collection tube sorting system further includes a barcode scanning module; the outer wall of the tube to be tested is affixed with a barcode; grabbing the tube to be tested from the test tube sample tray by the first grabbing module to check the information of the tube to be tested includes:

[0013] The first collection unit identifies the position of the test tube in the test tube sample tray to obtain the test tube position;

[0014] Controlling the first grabbing module to move to the test tube position and grabbing the tube to be tested from the test tube sample tray;

[0015] Moving the tube to be tested to the barcode scanning module, and scanning the barcode of the tube to be tested by the barcode scanning module to obtain sample information corresponding to the tube to be tested;

[0016] The sample information is compared with the preset patient information.

[0017] In some embodiments, the step of performing a blood test on the blood sample in the test tube by the second collection unit to obtain a test result includes:

[0018] The second acquisition unit acquires a video of the blood sample in the tube to be tested to obtain a blood video;

[0019] Performing video decomposition on the blood video to obtain a plurality of blood images;

[0020] Performing color detection and edge detection on all the blood images to obtain color results and height results;

[0021] A detection result is obtained according to the color result and the height result.

[0022] In some embodiments, after the blood sample in the test tube is tested by the second collection unit and the test result is obtained, the blood sample sorting method further includes:

[0023] When the test result does not meet the preset blood test condition, the test tube to be tested is rotated to the second grabbing module through the turntable test tube socket;

[0024] When there are vacancies in the unqualified area of ​​the storage module, the tubes to be tested are sorted to the unqualified area of ​​the storage module by the second grabbing module.

[0025] In some embodiments, after the second grabbing module sorts the uncapped tubes to be tested into the qualified area of ​​the storage module, the blood sample sorting method further includes:

[0026] Update the number of test tubes to obtain the remaining number of test tubes;

[0027] When the remaining number of the test tubes is greater than or equal to the first preset number, the remaining test tubes are grabbed from the test tube sample tray by the first grabbing module to check the information of the remaining test tubes;

[0028] When the remaining test tubes pass the information verification, the remaining test tubes are placed on the turntable test tube socket by the first grabbing module, and the remaining test tubes are transported to the second collection unit by the turntable test tube socket;

[0029] Performing a blood test on the blood samples in the remaining test tubes by the second collection unit to obtain a remaining blood test result;

[0030] When the remaining blood test results meet the blood test conditions, the remaining test tubes are rotated to the cover opening module through the turntable test tube socket, so that the cover opening module performs cover opening processing on the remaining test tubes;

[0031] When there are vacancies in the qualified area of ​​the storage module, the remaining test tubes after the uncapping process are sorted to the qualified area of ​​the storage module by the second grabbing module until a pause processing signal is received or the remaining number of the test tubes is less than the first preset number.

[0032] In some embodiments, the blood collection tube sorting system further includes a capping module, and the capping module is disposed between the first collection unit and the second collection unit; the method further includes:

[0033] In response to the cover closing instruction, identifying the number of test tubes to be packaged and the positions to be packaged in the test tube sample tray through the first collection unit;

[0034] When the number to be packaged is greater than or equal to a second preset number, the first grabbing module is controlled to move to the position to be packaged, and the test tubes to be packaged in the test tube sample tray are moved to the turntable test tube socket by the first grabbing module;

[0035] The test tube to be packaged is moved to the capping module via the turntable test tube socket, so that the capping module performs a capping and sealing operation on the test tube to be packaged.

[0036] In some embodiments, performing color detection and edge detection on all the blood images to obtain color results and height results includes:

[0037] For each of the blood images, color segmentation is performed on the blood image using a preset color segmentation algorithm to obtain color region information of the blood image;

[0038] Performing edge detection on the blood image using a preset edge detection algorithm to obtain edge information of the blood image;

[0039] Performing feature extraction on the color region information and the edge information to obtain color ratio, edge intensity and layer height information;

[0040] A height result of the blood image is obtained according to the edge intensity and the layer height information, and a color result of the blood image is obtained according to the color ratio.

[0041] In a second aspect, an embodiment of the present application further provides a controller, the controller comprising a memory and a processor, the memory storing a computer program, and the processor implementing the blood sample sorting method as described in the first aspect when executing the computer program.

[0042] In the third aspect, an embodiment of the present application further provides a blood collection tube sorting system, which includes a visual recognition module, a first grabbing module, a second grabbing module, a turntable test tube socket, a cover opening module, a storage module and a controller as described in the second aspect, wherein the visual recognition module includes a first acquisition unit, a second acquisition unit and a third acquisition unit; the first acquisition unit, the first grabbing module, the second acquisition unit, the cover opening module, the second grabbing module, the third acquisition unit and the storage module are sequentially arranged around the periphery of the turntable test tube socket.

[0043] In a fourth aspect, an embodiment of the present application further provides a computer-readable storage medium, wherein the computer-readable storage medium stores computer-executable instructions, and the computer-executable instructions are used to enable a computer to execute the blood sample sorting method as described in the first aspect.

[0044] The blood sample sorting method provided in the embodiment of the present application has at least the following beneficial effects: the blood collection tube sorting system includes a visual recognition module, a first grabbing module, a second grabbing module, a turntable test tube socket, a cover opening module and a storage module, and the visual recognition module includes a first collection unit, a second collection unit and a third collection unit, and the first collection unit, the first grabbing module, the second collection unit, the cover opening module, the second grabbing module, the third collection unit and the storage module are sequentially arranged around the periphery of the turntable test tube socket to facilitate the subsequent transfer and detection of the blood sample. In response to the cover opening instruction, the first collecting unit identifies the tray position of the test tube sample tray and the number of test tubes in the test tube sample tray, so as to determine whether there are test tubes that need to be tested in the test tube sample tray, and the third collecting unit performs an empty position detection on the storage module to determine whether the storage module has enough space to store the test tubes. When the number of test tubes is greater than or equal to the first preset number, it means that there are test tubes that need to be tested in the test tube sample tray. At this time, the first grabbing module is controlled to move to the tray position, and the first grabbing module grabs the tube to be tested from the test tube sample tray to check the information of the tube to be tested, so as to avoid errors in the information and ensure the accuracy and consistency of the information. When the tube to be tested passes the information verification, the first grabbing module places the tube to be tested on the turntable test tube socket, and transports the tube to be tested to the second collecting unit through the turntable test tube socket, so as to realize real-time transportation of the tube to be tested. The tube socket can transport the tube to be tested to a designated location, and then perform a blood test on the blood sample in the tube to be tested through the second collection unit, so as to determine whether the blood sample is qualified and obtain the test result, thereby improving the accuracy of sample analysis, reducing misjudgment caused by human factors, and improving the reliability of sample qualification determination. When the test result meets the preset blood test conditions, it means that the current blood sample meets the requirements, and the tube to be tested is directly rotated to the cover opening module through the turntable test tube socket, so that the cover opening module opens the cover of the tube to be tested, thereby realizing rapid transportation of the tube to be tested, improving the transportation efficiency of the tube to be tested, and being able to open the cover of the tube to be tested that meets the requirements, so as to facilitate subsequent further testing of the blood sample in the tube to be tested. When there is a vacancy in the qualified area of ​​the storage module, the tube to be tested after the cover opening process is sorted to the qualified area of ​​the storage module through the second grabbing module, thereby realizing sorting and classification of the tube to be tested. The embodiment of the present application realizes efficient transportation of the test tubes to be tested through the mutual cooperation of the visual recognition module, the first grabbing module, the second grabbing module, the turntable test tube socket, the cover opening module and the storage module, thereby improving the transportation efficiency and realizing accurate detection of blood samples in the test tubes.

[0045] Other features and advantages of the present application will be described in the following description, and partly become apparent from the description, or understood by practicing the present application. The purpose and other advantages of the present application can be realized and obtained through the structures particularly pointed out in the description and the drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] The accompanying drawings are used to provide further understanding of the technical solution of the present application and constitute a part of the specification. Together with the examples of the present application, they are used to explain the technical solution of the present application and do not constitute a limitation on the technical solution of the present application.

[0047] Figure 1 is a system schematic diagram of a blood collection tube sorting system provided in an embodiment of the present application;

[0048] Figure 2 is a flow chart of a specific method of the blood sample sorting method provided in an embodiment of the present application;

[0049] Figure 3 It is a specific flow chart provided in an embodiment of the present application for grabbing a tube to be tested from a test tube sample tray by a first grabbing module to check information of the tube to be tested;

[0050] Figure 4 is a specific flow chart of step S104 provided in an embodiment of the present application;

[0051] Figure 5 is a specific flow chart of a blood sample sorting method provided by another embodiment of the present application;

[0052] Figure 6 is a specific flow chart of a blood sample sorting method provided by another embodiment of the present application;

[0053] Figure 7 is a specific flow chart of a blood sample sorting method provided by another embodiment of the present application;

[0054] Figure 8 This is a specific flow chart of color detection and edge detection for all blood images provided by an embodiment of the present application;

[0055] Fig. 9 It is a schematic diagram of the hardware structure of the controller provided in the embodiment of the present application. DETAILED DESCRIPTION

[0056] In order to make the purpose, technical solution and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0057] It should be noted that, although the functional modules are divided in the device schematic diagram and the logical order is shown in the flowchart, in some cases, the steps shown or described may be performed in a different order than the module division in the device or the order in the flowchart. The terms "first", "second", etc. in the specification, claims and the above drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence.

[0058] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art to which this application belongs. The terms used herein are only for the purpose of describing the embodiments of this application and are not intended to limit this application.

[0059] A blood sample sorting method provided in an embodiment of the present application can be applied to a terminal, can be applied to a server, and can also be software running in a terminal or a server. In some embodiments, the terminal can be a smart phone, a tablet computer, a laptop, a desktop computer, or a smart watch, etc.; the server can be configured as an independent physical server, or a server cluster or distributed system composed of multiple physical servers, or a cloud server that provides basic cloud computing services such as cloud services, cloud databases, cloud computing, cloud functions, cloud storage, network services, cloud communications, middleware services, domain name services, security services, content distribution networks (CDNs), and big data and artificial intelligence platforms; the software can be an application that implements the above method, etc., but is not limited to the above forms.

[0060] Embodiments of the present application can be used in numerous general or special computer system environments or configurations. For example: personal computers, server computers, handheld or portable devices, tablet devices, multiprocessor systems, microprocessor-based systems, set-top boxes, programmable consumer computer devices, network PCs, minicomputers, mainframe computers, distributed computing environments including any of the above systems or devices, etc. The present application can be described in the general context of computer executable instructions executed by a computer, such as program modules. Generally, program modules include routines, programs, objects, components, data structures, etc. that perform specific tasks or implement specific abstract data types. The present application can also be practiced in distributed computing environments, in which tasks are performed by remote processing devices connected through a communication network. In a distributed computing environment, program modules can be located in local and remote computer storage media including storage devices.

[0061] With the increasing public demand for medical services and the need for rapid diagnosis of diseases, medical institutions are increasingly demanding higher efficiency and accuracy in laboratory testing. Laboratory automation devices liberate heavy and boring manual labor through automated production lines.

[0062] Despite the continuous advancement of technology, existing machines still have some technical and operational deficiencies and defects in accurately classifying blood samples. Some medical institutions need to open the blood collection tubes and send them to special testing equipment for testing. The complexity of the technology and the diversity of samples have brought challenges to automated equipment. When there are a large number of blood samples, it is difficult for current medical machines to accurately identify and classify different blood samples, resulting in a decrease in the classification accuracy of automated equipment, which further affects other subsequent operations on blood samples, resulting in a longer detection cycle for blood samples, affecting detection accuracy and efficiency.

[0063] In order to solve the above problems, the embodiments of the present application provide a blood sample sorting method, a controller, a blood collection tube sorting system and a storage medium. The blood collection tube sorting system includes a visual recognition module, a first grabbing module, a second grabbing module, a turntable test tube socket, a cover opening module and a storage module, and the visual recognition module includes a first collection unit, a second collection unit and a third collection unit. The first collection unit, the first grabbing module, the second collection unit, the cover opening module, the second grabbing module, the third collection unit and the storage module are sequentially arranged around the periphery of the turntable test tube socket to facilitate the subsequent transfer and detection of blood samples. In response to the cover opening instruction, the first collecting unit identifies the tray position of the test tube sample tray and the number of test tubes in the test tube sample tray, so as to determine whether there are test tubes that need to be tested in the test tube sample tray, and the third collecting unit performs an empty position detection on the storage module to determine whether the storage module has enough space to store the test tubes. When the number of test tubes is greater than or equal to the first preset number, it means that there are test tubes that need to be tested in the test tube sample tray. At this time, the first grabbing module is controlled to move to the tray position, and the first grabbing module grabs the tube to be tested from the test tube sample tray to check the information of the tube to be tested, so as to avoid errors in the information and ensure the accuracy and consistency of the information. When the tube to be tested passes the information verification, the first grabbing module places the tube to be tested on the turntable test tube socket, and transports the tube to be tested to the second collecting unit through the turntable test tube socket, so as to realize real-time transportation of the tube to be tested. The tube socket can transport the tube to be tested to a designated location, and then perform a blood test on the blood sample in the tube to be tested through the second collection unit, so as to determine whether the blood sample is qualified and obtain the test result, thereby improving the accuracy of sample analysis, reducing misjudgment caused by human factors, and improving the reliability of sample qualification determination. When the test result meets the preset blood test conditions, it means that the current blood sample meets the requirements, and the tube to be tested is directly rotated to the cover opening module through the turntable test tube socket, so that the cover opening module opens the cover of the tube to be tested, thereby realizing rapid transportation of the tube to be tested, improving the transportation efficiency of the tube to be tested, and being able to open the cover of the tube to be tested that meets the requirements, so as to facilitate subsequent further testing of the blood sample in the tube to be tested. When there is a vacancy in the qualified area of ​​the storage module, the tube to be tested after the cover opening process is sorted to the qualified area of ​​the storage module through the second grabbing module, thereby realizing sorting and classification of the tube to be tested. The embodiment of the present application realizes efficient transportation of the test tubes to be tested through the mutual cooperation of the visual recognition module, the first grabbing module, the second grabbing module, the turntable test tube socket, the cover opening module and the storage module, thereby improving the transportation efficiency and realizing accurate detection of blood samples in the test tubes.

[0064] Reference Figure 1 , Figure 1 It is a system schematic diagram of the blood collection tube sorting system provided in an embodiment of the present application.

[0065] In some embodiments, the blood collection tube sorting system includes a visual recognition module, a first grabbing module 110, a second grabbing module 120, a turntable test tube socket 200, a cover opening module 310, a storage module 400 and a controller. The visual recognition module, the first grabbing module 110, the second grabbing module 120, the turntable test tube socket 200, the cover opening module 310 and the storage module 400 are all connected to the controller. Specifically, the visual recognition module includes a first acquisition unit (not shown in the figure), a second acquisition unit 520 and a third acquisition unit (not shown in the figure). The first acquisition unit, the first grabbing module 110, the second acquisition unit 520, the cover opening module 310, the second grabbing module 120, the third acquisition unit and the storage module 400 are sequentially arranged around the periphery of the turntable test tube socket 200.

[0066] It can be understood that the first acquisition unit, the second acquisition unit 520 and the third acquisition unit in the embodiment of the present application can be industrial CCD (Charge-Coup led Device) cameras, high-speed cameras, infrared cameras, ultraviolet cameras, etc., and the embodiment of the present application does not make specific limitations.

[0067] Specifically, the first collection unit in the embodiment of the present application is arranged at the loading station of the blood collection tube sorting system, and the third collection unit and the storage module 400 are arranged at the unloading station of the blood collection tube sorting system, wherein a test tube sample tray is arranged at the loading station.

[0068] It is understandable that the turntable test tube socket 200 in the embodiment of the present application is circular, and the turntable test tube socket 200 is used to realize the transfer of test tubes between different modules, improve the flow rate of samples, realize the efficient transfer of test tubes, and improve the processing efficiency. In addition, the turntable test tube socket 200 adopts an intermittent feeding design, and the accuracy of each feeding position and time is guaranteed by accurately controlling the rotation speed and intermittent time of the turntable test tube socket 200.

[0069] In some embodiments, the first grabbing module 110 and the second grabbing module 120 of the embodiment of the present application can be a manipulator, a mechanical gripper, etc. Specifically, the first grabbing module 110 and the second grabbing module 120 can move freely in the three directions of the X-axis, Y-axis and Z-axis to achieve precise positioning, and can accurately grab the target object. The three-degree-of-freedom translation manipulator has fast grabbing and placing actions, and can complete the sorting operation of the blood collection tube in a short time. This is very important for improving sorting efficiency, especially when processing a large number of blood collection tube specimens, which can greatly shorten the sorting time.

[0070] In some embodiments, the blood collection tube sorting system further includes a code scanning module and a capping module 320, wherein the code scanning module is disposed at a loading station of the blood collection tube sorting system, and the capping module 320 is disposed between the second collection unit 520 and the third collection unit.

[0071] It should be noted that the cover opening module 310 and the cover closing module 320 of the embodiment of the present application are driven by cylinders. Specifically, the cover opening module 310 includes a first cylinder driving module and a first clamp, and the cover closing module 320 includes a second cylinder driving module and a second clamp. The controller can drive the first cylinder driving module of the cover opening module 310 to move the first preset cylinder stroke, further driving the first clamp to open the cover of the test tube. Similarly, the controller can also drive the second cylinder driving module of the cover closing module 320 to move the second cylinder stroke, further driving the first clamp to close the cover of the test tube, thereby efficiently loosening or tightening the test tube cover. The embodiment of the present application can integrate the cover closing module 320 and the cover opening module 310 into the blood collection tube sorting system at the same time, so that the cover opening function and the cover closing function can be combined into one, and the cover opening function and the cover closing function can be realized on one machine respectively.

[0072] It is understandable that the first preset cylinder stroke and the second preset cylinder stroke of the embodiment of the present application can be set according to the needs of the user, and the embodiment of the present application does not impose specific restrictions. Specifically, the first clamp and the second clamp of the embodiment of the present application are both provided with pressure sensors, so that the clamp can clamp the blood collection tube without damaging the blood collection tube due to excessive clamping force.

[0073] The blood collection tube sorting system described in the embodiment of the present invention is intended to more clearly illustrate the technical solution of the embodiment of the present invention, and does not constitute a limitation on the technical solution provided by the embodiment of the present invention. Those skilled in the art will appreciate that with the evolution of the blood collection tube sorting system and the emergence of new application scenarios, the technical solution provided by the embodiment of the present invention is also applicable to similar technical problems.

[0074] It can be understood by those skilled in the art that Figure 1 The blood collection tube sorting system shown in the figure does not constitute a limitation on the embodiments of the present invention, and may include more or fewer components than shown in the figure, or a combination of certain components, or a different arrangement of components.

[0075] Reference Figure 2 , Figure 2 1 is a flowchart of a specific method of the blood sample sorting method provided in the embodiment of the present application. In some embodiments, the blood sample sorting method is applied but not limited to Figure 1 The blood collection tube sorting system in the method includes but is not limited to steps S101 to S106.

[0076] Step S101, in response to the cover opening instruction, the tray position of the test tube sample tray and the number of test tubes in the test tube sample tray are identified by the first acquisition unit, and the empty position detection of the storage module 400 is performed by the third acquisition unit.

[0077] In step S101 of some embodiments, in response to the cover opening instruction, the first acquisition unit identifies the tray position of the test tube sample tray and the number of test tubes in the test tube sample tray to determine whether there are test tubes that need to be tested, and to achieve preliminary positioning of the test tube sample tray, and the third acquisition unit performs an empty position detection on the storage module 400 to facilitate the subsequent determination of whether there is space to store the test tubes.

[0078] It should be noted that the blood collection tube sorting system in the embodiment of the present application is also provided with a human-computer interaction interface, through which the user can generate a cover opening instruction, thereby realizing different functions according to the user's needs and realizing personalized operation.

[0079] Step S102, when the number of test tubes is greater than or equal to the first preset number, the first grabbing module 110 is controlled to move to the tray position, and the first grabbing module 110 grabs the tubes to be tested from the test tube sample tray to check the information of the tubes to be tested.

[0080] In step S102 of some embodiments, when the number of test tubes is greater than or equal to the first preset number, it indicates that there are test tubes to be tested in the test tube sample tray. At this time, the first grabbing module 110 is controlled to move to the tray position, and the first grabbing module 110 grabs the test tubes from the test tube sample tray, so as to achieve accurate grabbing of the test tubes and avoid position deviation, so as to verify the information of the test tubes, reduce manual operation, improve work efficiency, ensure information consistency, and avoid information errors.

[0081] It should be noted that the first preset number in the embodiment of the present application can be set according to the needs of the user, for example, to one, three, five, etc., and the embodiment of the present application does not make any specific restrictions.

[0082] In some embodiments, when the number of test tubes is less than a first preset number, there is no need to open the covers.

[0083] Step S103 , when the tube to be tested passes the information verification, the first grabbing module 110 places the tube to be tested on the turntable test tube socket 200 , and the turntable test tube socket 200 transports the tube to be tested to the second collection unit 520 .

[0084] In step S103 of some embodiments, when the tube to be tested passes the information verification, it means that the barcode information of the tube to be tested is consistent with the patient information in the system, and the tube to be tested can be placed on the turntable test tube socket 200 through the first grabbing module 110, and the tube to be tested can be transported to the second collection unit 520 through the turntable test tube socket 200, thereby realizing efficient transportation of the tube to be tested, being able to transport the tube to be tested to a designated location, reducing the time required for transportation, and realizing efficient transfer of the tube to be tested.

[0085] Step S104: The second collection unit 520 performs a blood test on the blood sample in the test tube to obtain a test result.

[0086] In step S104 of some embodiments, the second collection unit 520 performs a blood test on the blood sample in the test tube, and performs edge detection and color detection on the blood sample to achieve accurate analysis of the color and height of the blood sample, and obtain a test result, which is convenient for subsequent judgment on whether the blood sample is qualified, can quickly process a large number of samples, shorten the detection time, and improve production efficiency.

[0087] Step S105, when the test result meets the preset blood test condition, the test tube to be tested is rotated to the cover opening module 310 through the turntable test tube socket 200, so that the cover opening module 310 opens the cover of the test tube to be tested, wherein the blood test condition is a condition for characterizing the height and color of blood.

[0088] In step S105 of some embodiments, when the test result meets the preset blood test conditions, it means that the color of the blood sample is normal and will not be too reddish or too white, and the height of the blood sample is normal and will not be too high or too low. At this time, the tube to be tested can be rotated to the cover opening module 310 through the turntable test tube socket 200, so that the cover opening module 310 can open the cover of the tube to be tested, that is, open the cover of the tube to be tested that has passed the test. The turntable test tube socket 200 can improve the transportation efficiency of the tube to be tested, and can open the cover of the tube to be tested that meets the requirements, so as to facilitate the subsequent further detection of the blood sample in the tube to be tested.

[0089] It should be noted that the blood detection conditions in the embodiments of the present application are conditions for characterizing blood color and blood height.

[0090] Step S106 , when there are vacancies in the qualified area of ​​the storage module 400 , the uncapped tubes to be tested are sorted to the qualified area of ​​the storage module 400 by the second grabbing module 120 .

[0091] In step S106 of some embodiments, when there are vacancies in the qualified area of ​​the storage module 400, the tubes to be tested that have been opened can be directly sorted to the qualified area of ​​the storage module 400 by the second grabbing module 120, so that the tubes to be tested can be sorted to designated locations, thereby achieving efficient sorting of the tubes to be tested.

[0092] It should be noted that when there is no vacant space in the qualified area of ​​the storage module 400, a prompt message is generated to remind the staff to replace the tray in the storage module 400, thereby improving the sorting efficiency.

[0093] Reference Figure 3 , Figure 3 This is a specific flow chart provided by an embodiment of the present application for grabbing a tube to be tested from a test tube sample tray by the first grab module 110 to check information of the tube to be tested. In some embodiments, the method includes but is not limited to steps S201 to S204.

[0094] It should be noted that the blood collection tube sorting system also includes a barcode scanning module, and the outer wall of the tube to be tested is affixed with a barcode, wherein the barcode is used to characterize the patient information of the blood sample in the tube to be tested.

[0095] Step S201: The first collection unit identifies the position of the test tube in the test tube sample tray to obtain the test tube position.

[0096] Step S202 , controlling the first grabbing module 110 to move to the test tube position, and grabbing the tube to be tested from the test tube sample tray.

[0097] Step S203, moving the tube to be tested to the barcode scanning module, and scanning the barcode of the tube to be tested by the barcode scanning module to obtain sample information corresponding to the tube to be tested.

[0098] Step S204: verify the sample information with the preset patient information.

[0099] In steps S201 to S204 of some embodiments, in the process of grabbing the tube to be tested from the test tube sample tray by the first grabbing module 110 to check the information of the tube to be tested, since step S101 only detects the tray position of the test tube sample tray, in order to avoid deviation in the test tube grabbing process, the embodiment of the present application will also identify the position of the test tube in the test tube sample tray by the first acquisition unit, that is, identify the specific test tube position in the test tube sample tray, obtain the test tube position, realize accurate positioning of the position of the test tube to be tested, and then control the first grabbing module 110 to move to the test tube position, and from Grab the tube to be tested in the test tube sample tray to achieve accurate grabbing of the tube to be tested, avoid grabbing deviation, and improve the accuracy of grabbing. Afterwards, move the tube to be tested to the code scanning module through the first grabbing module 110, so that the barcode of the tube to be tested can be aligned with the code scanning module, and scan the barcode of the tube to be tested through the code scanning module. The code scanning module parses the barcode information to obtain the sample information corresponding to the tube to be tested, and then verifies the sample information with the patient information entered into the system in advance, so as to ensure the consistency of the patient information, avoid the situation where the blood sample does not match the patient information, and improve the accuracy of blood testing.

[0100] It should be noted that the patient information in the embodiments of the present application includes but is not limited to the patient's name, patient's gender, patient's blood type and the like, and the embodiments of the present application do not impose any specific restrictions.

[0101] Reference Figure 4 , Figure 4 It is a specific flow chart of step S104 provided in the embodiment of the present application. In some embodiments, the method includes but is not limited to steps S401 to S404.

[0102] Step S401 : The second acquisition unit 520 acquires a video of the blood sample in the test tube to obtain a blood video.

[0103] Step S402: Decompose the blood video to obtain a plurality of blood images.

[0104] Step S403, performing color detection and edge detection on all blood images to obtain color results and height results.

[0105] Step S404, obtaining a detection result according to the color result and the height result.

[0106] In steps S401 to S404 of some embodiments, in the process of performing blood testing on the blood sample in the test tube through the second acquisition unit 520, the embodiment of the present application first performs video acquisition on the blood sample in the test tube through the second acquisition unit 520 to obtain a blood video, and then performs video decomposition on the blood video to obtain multiple blood images, which is convenient for the subsequent processing accuracy of the blood images. Thereafter, color detection and edge detection are performed on all blood images to achieve distinction between different color areas, improve the accuracy of sample analysis, obtain color results and height results, achieve accurate analysis of blood images, improve generation efficiency and consistency of quality control, and then obtain test results based on the color results and height results, thereby achieving color and height detection of the blood sample, further achieving accurate detection of the blood sample, facilitating the subsequent judgment of whether the blood sample is qualified, being able to quickly process a large number of samples, shortening the detection time, and improving production efficiency.

[0107] In some embodiments, before performing video capture of the blood sample in the test tube through the second acquisition unit 520, since the embodiment of the present application is provided with multiple acquisition units, in order to avoid control errors, the embodiment of the present application will also identify the camera number of the second acquisition unit 520 before performing video capture to ensure that video capture is performed through the second acquisition unit 520, thereby avoiding delays in the process due to controlling other acquisition units to perform image capture.

[0108] Reference Figure 5 , Figure 5 4 is a specific flow chart of a blood sample sorting method provided by another embodiment of the present application. In some embodiments, the method includes but is not limited to steps S501 to S502.

[0109] It should be noted that step S501 to step S502 occur after the blood sample in the test tube is tested by the second collection unit 520 to obtain the test result.

[0110] Step S501 , when the test result does not meet the preset blood test condition, the test tube to be tested is rotated to the second grabbing module 120 through the turntable test tube socket 200 .

[0111] Step S502 : when there is a vacant space in the unqualified area of ​​the storage module 400 , the tubes to be tested are sorted to the unqualified area of ​​the storage module 400 by the second grabbing module 120 .

[0112] In steps S501 to S502 of some embodiments, after the blood sample in the test tube is tested by the second collection unit 520, when the test result does not meet the preset blood test conditions, it means that the blood sample in the test tube may be darker or lighter in color, or the height is too high or insufficient. At this time, the test tube is determined to be an unqualified test tube, and the test tube is rotated to the second grabbing module 120 through the turntable test tube socket 200 to achieve efficient transportation of the test tube. When there is a vacant space in the unqualified area of ​​the storage module 400, the test tube is directly sorted to the unqualified area of ​​the storage module 400 through the second grabbing module 120 to achieve sorting of different types of test tubes, which can effectively screen out qualified and unqualified test tubes and sort different types of test tubes to different positions.

[0113] In some embodiments, when there are no empty spaces in the non-qualified area of ​​the storage module 400, a prompt message is generated to remind the staff to replace the tray in the storage module 400, thereby improving the sorting efficiency.

[0114] Reference Figure 6 , Figure 6 6 is a specific flow chart of a blood sample sorting method provided by another embodiment of the present application. In some embodiments, the method includes but is not limited to steps S601 to S606.

[0115] It should be noted that steps S601 to S606 occur after the uncapped tubes to be tested are sorted into the qualified area of ​​the storage module 400 by the second grabbing module 120 .

[0116] Step S601, update the number of test tubes to obtain the remaining number of test tubes.

[0117] Step S602, when the remaining number of test tubes is greater than or equal to the first preset number, the first grabbing module 110 grabs the remaining test tubes from the test tube sample tray to check the information of the remaining test tubes.

[0118] Step S603 , when the remaining test tubes pass the information verification, the first grabbing module 110 places the remaining test tubes on the turntable test tube socket 200 , and the turntable test tube socket 200 transports the remaining test tubes to the second collection unit 520 .

[0119] Step S604: Perform a blood test on the blood samples in the remaining test tubes through the second collection unit 520 to obtain the remaining blood test results.

[0120] Step S605, when the remaining blood test results meet the blood test conditions, the remaining test tubes are rotated to the cover opening module 310 through the turntable test tube socket 200, so that the cover opening module 310 performs cover opening processing on the remaining test tubes.

[0121] Step S606, when there are vacancies in the qualified area of ​​the storage module 400, the remaining test tubes after the uncapping process are sorted to the qualified area of ​​the storage module 400 by the second grabbing module 120 until a pause processing signal is received or the remaining number of test tubes is less than the first preset number.

[0122] In steps S601 to S606 of some embodiments, after the uncapped tubes to be tested are sorted into the qualified area of ​​the storage module 400 by the second grabbing module 120, the embodiment of the present application will also update the number of test tubes in the test tube sample tray to obtain the remaining number of test tubes, and then compare the remaining number of test tubes with the first preset number to facilitate judgment whether it is necessary to continue the test of the test tubes and the uncapping operation. When the remaining number of test tubes is greater than or equal to the first preset number, it means that there are still test tubes that need to be tested in the test tube sample tray. At this time, the remaining test tubes are continued to be grabbed from the test tube sample tray by the first grabbing module 110 to check the information of the remaining test tubes. When the remaining test tubes pass the information verification, the remaining test tubes are placed in the turntable test tube socket 200 by the first grabbing module 110, and the remaining test tubes are transported to the second collection unit 520 by the turntable test tube socket 200. The blood samples in the remaining test tubes are checked by the second collection unit 520. Blood test, detect the blood height and blood color of the blood samples in the remaining test tubes, obtain the remaining blood test results, and realize accurate detection of the blood samples in the remaining test tubes. When the remaining blood test results meet the blood test conditions, the remaining test tubes are rotated to the opening module 310 through the turntable test tube socket 200 to realize efficient transportation of the remaining test tubes, so that the opening module 310 can open the remaining test tubes, and can open the test tubes that pass the test, so as to facilitate subsequent other tests on the opened test tubes. When there are vacancies in the qualified area of ​​the storage module 400, the remaining test tubes after the opening process are directly sorted to the qualified area of ​​the storage module 400 through the second grabbing module 120 to complete the sorting process of the remaining test tubes, and repeat the above process, that is, repeat steps S601 to S606 until a pause processing signal is received or the remaining number of test tubes is less than the first preset number. At this time, it is proved that the opening process of the test tubes has been completed and other operations can be performed.

[0123] It should be noted that the first preset number in the embodiment of the present application can be set according to the user's needs, for example, set to 0, 1, 2, etc. The first preset number in the embodiment of the present application is 1.

[0124] It is worth noting that the pause processing signal in the embodiment of the present application can be obtained through interaction between the user and the human-computer interaction interface of the blood collection tube sorting system.

[0125] Reference Figure 7 , Figure 72 is a specific flow chart of a blood sample sorting method provided by another embodiment of the present application. In some embodiments, the method includes but is not limited to steps S701 to S703.

[0126] It should be noted that the blood collection tube sorting system further includes a capping module 320 , and the capping module 320 is disposed between the first collection unit and the second collection unit 520 .

[0127] Step S701, in response to a cover closing instruction, identifying the number and positions of the test tubes to be packaged in the test tube sample tray through a first collection unit.

[0128] Step S702 , when the number of tubes to be packaged is greater than or equal to the second preset number, the first grabbing module 110 is controlled to move to the position to be packaged, and the first grabbing module 110 moves the tubes to be packaged in the tube sample tray to the turntable tube socket 200 .

[0129] Step S703 , moving the test tube to be packaged to the cover closing module 320 through the turntable test tube socket 200 , so that the cover closing module 320 performs a cover closing and sealing operation on the test tube to be packaged.

[0130] In steps S701 to S703 of some embodiments, after the blood samples in all opened test tubes are tested, the blood collection tube sorting system of the embodiment of the present application can also perform a packaging operation on the opened test tubes. Specifically, the embodiment of the present application can also respond to the closing instruction, and identify the number of test tubes to be packaged and the positions to be packaged in the test tube sample tray, that is, the number and positions of the test tubes to be packaged, through the first collection unit. When the number to be packaged is greater than or equal to the second preset number, it means that the number of test tubes to be packaged is large. At this time, the first grabbing module 110 is controlled to move to the position to be packaged, and the test tubes to be packaged in the test tube sample tray are moved to the turntable test tube socket 200 through the first grabbing module 110, so as to achieve accurate grabbing of the test tubes to be packaged, and then the test tubes to be packaged are moved to the closing module 320 through the turntable test tube socket 200, so that the closing module 320 performs the closing and sealing operation on the test tubes to be packaged, so that the opening and closing operations of the test tubes can be realized through the same blood collection tube sorting system, thereby improving the detection efficiency and packaging efficiency.

[0131] It should be noted that the second preset number in the embodiment of the present application can be set according to the user's needs, for example, set to 0, 1, 2, etc. The second preset number in the embodiment of the present application is 1.

[0132] Specifically, the embodiment of the present application generates a detection completion signal after the detection of all opened test tubes to be detected is completed, generates a cover closing instruction in response to the detection completion signal, and then performs subsequent cover closing operations according to the cover closing instruction, that is, automatically re-capping the test tubes after the detection is completed, thereby greatly improving the efficiency of blood testing, improving detection accuracy and equipment stability.

[0133] Reference Figure 8 , Figure 8 It is a specific flow chart of color detection and edge detection for all blood images provided by an embodiment of the present application. In some embodiments, the method includes but is not limited to steps S801 to S804.

[0134] Step S801: for each blood image, color segmentation is performed on the blood image using a preset color segmentation algorithm to obtain color region information of the blood image.

[0135] Step S802: performing edge detection on the blood image using a preset edge detection algorithm to obtain edge information of the blood image.

[0136] Step S803, extracting features from the color region information and edge information to obtain color ratio, edge intensity and layer height information.

[0137] Step S804, obtaining a height result of the blood image according to the edge intensity and the layer height information, and obtaining a color result of the blood image according to the color ratio.

[0138] In steps S801 to S804 of some embodiments, in the process of color detection and edge detection for all blood images, for each blood image, color segmentation is performed on the blood image by a preset color segmentation algorithm to obtain color region information of the blood image, thereby achieving distinction between different color regions and improving the accuracy of sample analysis. Then, edge detection is performed on the blood image by a preset edge detection algorithm to identify and obtain edge information of the blood image, which is convenient for subsequent determination of the stratification result of the blood sample. After that, feature extraction is performed on the color region information and edge information. Specifically, the embodiment of the present application can identify and classify the color region information and edge information of the blood image by a recognition model, thereby reducing misjudgment caused by human factors, improving the reliability of sample qualification determination, obtaining color ratio, edge intensity and stratification height information, and then obtaining the height result of the blood image according to the edge intensity and stratification height information. Specifically, the stratification height of the sample is analyzed by measuring the distance between the edges to obtain the height result of the blood image, and the pixel ratios of different color regions are counted to obtain the color result of the blood image, thereby achieving accurate analysis of the blood image, improving generation efficiency and consistency of quality control, and being able to quickly process a large number of samples, shorten detection time, and improve production efficiency.

[0139] It should be noted that the color segmentation algorithm in the embodiment of the present application can be threshold segmentation, clustering algorithm, etc., and the edge detection algorithm can be Sobel operator, Canny operator or Gaussian Laplace operator, etc., and the embodiment of the present application does not make specific restrictions.

[0140] An embodiment of the present application further provides a controller, including a memory and a processor, wherein a computer program is stored in the memory, and when the computer program is executed by the processor, the processor is used to execute the blood sample sorting method in the above embodiment of the present application.

[0141] See also Fig. 9 , Fig. 9 The hardware structure of the controller provided in the embodiment of the present application is illustrated, and the controller includes:

[0142] The processor 901 may be implemented by a general-purpose CPU (Central Processing Unit), a microprocessor, an application-specific integrated circuit (Application Specific Integrated Circuit, ASIC), or one or more integrated circuits, and is used to execute relevant programs to implement the technical solutions provided in the embodiments of the present application;

[0143] The memory 902 can be implemented in the form of a read-only memory (ROM), a static storage device, a dynamic storage device, or a random access memory (RAM). The memory 902 can store an operating system and other application programs. When the technical solution provided in the embodiment of this specification is implemented by software or firmware, the relevant program code is stored in the memory 902, and the processor 901 calls and executes the blood sample sorting method of the embodiment of this application;

[0144] Input / output interface 903, used to implement information input and output;

[0145] Communication interface 904, used to realize communication interaction between the device and other devices, which can be realized through wired mode (such as USB, network cable, etc.) or wireless mode (such as mobile network, WI FI, Bluetooth, etc.);

[0146] A bus 905 that transmits information between various components of the device (e.g., the processor 901, the memory 902, the input / output interface 903, and the communication interface 904);

[0147] The processor 901 , the memory 902 , the input / output interface 903 and the communication interface 904 are connected to each other in communication within the device via a bus 905 .

[0148] An embodiment of the present application also provides a computer-readable storage medium, which stores a computer program. When the computer program is executed by a processor, the above-mentioned blood sample sorting method is implemented.

[0149] The memory, as a non-transient computer-readable storage medium, can be used to store non-transient software programs and non-transient computer executable programs. In addition, the memory may include a high-speed random access memory, and may also include a non-transient memory, such as at least one disk storage device, a flash memory device, or other non-transient solid-state storage device. In some embodiments, the memory may optionally include a memory remotely disposed relative to the processor, and these remote memories may be connected to the processor via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0150] The embodiments described in the embodiments of the present application are intended to more clearly illustrate the technical solutions of the embodiments of the present application and do not constitute a limitation on the technical solutions provided in the embodiments of the present application. Those skilled in the art will appreciate that with the evolution of technology and the emergence of new application scenarios, the technical solutions provided in the embodiments of the present application are also applicable to similar technical problems.

[0151] It can be understood by those skilled in the art that Figure 1-9 The technical solutions shown in the figure do not constitute a limitation on the embodiments of the present application, and may include more or fewer steps than those shown in the figure, or a combination of certain steps, or different steps.

[0152] The system embodiments described above are merely illustrative, and the units described as separate components may or may not be physically separated, that is, they may be located in one place or distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the present embodiment.

[0153] Those skilled in the art will appreciate that all or some of the steps in the methods disclosed above, and the functional modules / units in the systems and devices may be implemented as software, firmware, hardware, or a suitable combination thereof.

[0154] The terms "first", "second", "third", "fourth", etc. (if any) in the specification of the present application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable where appropriate, so that the embodiments of the present application described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any of their variations are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device comprising a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0155] It should be understood that in the present application, "at least one (item)" means one or more, and "plurality" means two or more. "And / or" is used to describe the association relationship of associated objects, indicating that three relationships may exist. For example, "A and / or B" can mean: only A exists, only B exists, and A and B exist at the same time, where A and B can be singular or plural. The character " / " generally indicates that the objects associated before and after are in an "or" relationship. "At least one of the following" or similar expressions refers to any combination of these items, including any combination of single or plural items. For example, at least one of a, b or c can mean: a, b, c, "a and b", "a and c", "b and c", or "a and b and c", where a, b, c can be single or multiple.

[0156] In the several embodiments provided in the present application, it should be understood that the disclosed systems and methods can be implemented in other ways. For example, the system embodiments described above are only schematic. For example, the division of the above units is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of systems or units, which can be electrical, mechanical or other forms.

[0157] The units described above 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.

[0158] 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-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0159] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application is essentially or the part that contributes to the prior art or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including multiple instructions to enable a computer device (which can be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods of various embodiments of the present application. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (Read-Only Memory, referred to as ROM), random access memory (Random Access Memory, referred to as RAM), disk or optical disk and other media that can store programs.

[0160] The preferred embodiments of the present invention are described above with reference to the accompanying drawings, but the scope of the rights of the present invention is not limited thereto. Any modification, equivalent substitution and improvement made by a person skilled in the art without departing from the scope and essence of the present invention should be within the scope of the rights of the present invention.

Claims

1. A blood sample sorting method, characterized in that: Applied to a blood collection tube sorting system, the blood collection tube sorting system comprises a visual recognition module, a first grabbing module, a second grabbing module, a turntable test tube socket, a cover opening module and a storage module, the visual recognition module comprises a first acquisition unit, a second acquisition unit and a third acquisition unit, the first acquisition unit, the first grabbing module, the second acquisition unit, the cover opening module, the second grabbing module, the third acquisition unit and the storage module are sequentially arranged around the outer periphery of the turntable test tube socket; the method comprises: In response to the cover opening instruction, the first acquisition unit identifies the tray position of the test tube sample tray and the number of test tubes in the test tube sample tray, and the third acquisition unit performs an empty position detection on the storage module; When the number of test tubes is greater than or equal to a first preset number, controlling the first grabbing module to move to the tray position, and grabbing the tubes to be tested from the test tube sample tray through the first grabbing module to check the information of the tubes to be tested; When the tube to be tested passes the information verification, the first grabbing module places the tube to be tested on the turntable test tube socket, and the turntable test tube socket transports the tube to be tested to the second collection unit; Performing a blood test on the blood sample in the test tube by the second collection unit to obtain a test result; When the test result meets the preset blood test condition, the test tube to be tested is rotated to the cover opening module through the turntable test tube socket, so that the cover opening module performs a cover opening process on the test tube to be tested, wherein the blood test condition is a condition for characterizing the height and color of blood; When there are vacancies in the qualified area of ​​the storage module, the uncapped tubes to be tested are sorted to the qualified area of ​​the storage module by the second grabbing module.

2. The blood sample sorting method according to claim 1, characterized in that: The blood collection tube sorting system further includes a barcode scanning module; the outer wall of the tube to be tested is affixed with a barcode; the first grabbing module grabs the tube to be tested from the test tube sample tray to check the information of the tube to be tested, including: The first collection unit identifies the position of the test tube in the test tube sample tray to obtain the test tube position; Controlling the first grabbing module to move to the test tube position and grabbing the tube to be tested from the test tube sample tray; Moving the tube to be tested to the barcode scanning module, and scanning the barcode of the tube to be tested by the barcode scanning module to obtain sample information corresponding to the tube to be tested; The sample information is compared with the preset patient information.

3. The blood sample sorting method according to claim 1, characterized in that: The step of performing a blood test on the blood sample in the test tube by the second collection unit to obtain a test result includes: The second acquisition unit acquires a video of the blood sample in the tube to be tested to obtain a blood video; Performing video decomposition on the blood video to obtain a plurality of blood images; Performing color detection and edge detection on all the blood images to obtain color results and height results; A detection result is obtained according to the color result and the height result.

4. The blood sample sorting method according to claim 1, characterized in that: After the blood sample in the test tube is tested by the second collection unit and the test result is obtained, the blood sample sorting method further includes: When the test result does not meet the preset blood test condition, the test tube to be tested is rotated to the second grabbing module through the turntable test tube socket; When there are vacancies in the unqualified area of ​​the storage module, the tubes to be tested are sorted to the unqualified area of ​​the storage module by the second grabbing module.

5. The blood sample sorting method according to claim 1, characterized in that: After the uncapped tubes to be tested are sorted into the qualified area of ​​the storage module by the second grabbing module, the blood sample sorting method further includes: Update the number of test tubes to obtain the remaining number of test tubes; When the remaining number of the test tubes is greater than or equal to the first preset number, the remaining test tubes are grabbed from the test tube sample tray by the first grabbing module to check the information of the remaining test tubes; When the remaining test tubes pass the information verification, the remaining test tubes are placed on the turntable test tube socket by the first grabbing module, and the remaining test tubes are transported to the second collection unit by the turntable test tube socket; Performing a blood test on the blood samples in the remaining test tubes by the second collection unit to obtain a remaining blood test result; When the remaining blood test results meet the blood test conditions, the remaining test tubes are rotated to the cover opening module through the turntable test tube socket, so that the cover opening module performs cover opening processing on the remaining test tubes; When there are vacancies in the qualified area of ​​the storage module, the remaining test tubes after the uncapping process are sorted to the qualified area of ​​the storage module by the second grabbing module until a pause processing signal is received or the remaining number of the test tubes is less than the first preset number.

6. The blood sample sorting method according to claim 1, characterized in that: The blood collection tube sorting system further includes a capping module, and the capping module is arranged between the first collection unit and the second collection unit; the method further includes: In response to the cover closing instruction, identifying the number of test tubes to be packaged and the positions to be packaged in the test tube sample tray through the first collection unit; When the number to be packaged is greater than or equal to a second preset number, controlling the first grabbing module to move to the position to be packaged, and moving the test tubes to be packaged in the test tube sample tray to the turntable test tube socket through the first grabbing module; The test tube to be packaged is moved to the capping module via the turntable test tube socket, so that the capping module performs a capping and sealing operation on the test tube to be packaged.

7. The blood sample sorting method according to claim 3, characterized in that: The color detection and edge detection are performed on all the blood images to obtain color results and height results, including: For each of the blood images, color segmentation is performed on the blood image using a preset color segmentation algorithm to obtain color region information of the blood image; Performing edge detection on the blood image using a preset edge detection algorithm to obtain edge information of the blood image; Performing feature extraction on the color region information and the edge information to obtain color ratio, edge intensity and layer height information; A height result of the blood image is obtained according to the edge intensity and the layer height information, and a color result of the blood image is obtained according to the color ratio.

8. A controller, characterized in that: The controller includes a memory and a processor, the memory stores a computer program, and the processor implements the blood sample sorting method according to any one of claims 1 to 7 when executing the computer program.

9. A blood collection tube sorting system, characterized in that: The blood collection tube sorting system includes a visual recognition module, a first grabbing module, a second grabbing module, a turntable test tube socket, a cover opening module, a storage module and a controller as described in claim 8, wherein the visual recognition module includes a first collection unit, a second collection unit and a third collection unit; the first collection unit, the first grabbing module, the second collection unit, the cover opening module, the second grabbing module, the third collection unit and the storage module are sequentially arranged around the periphery of the turntable test tube socket.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer-executable instructions, and the computer-executable instructions are used to enable a computer to execute the blood sample sorting method according to any one of claims 1 to 7.

Images