An automated urine HCG detection instrument and its control method

Abstract

The present invention discloses an automated urine HCG detection instrument and its control method. The instrument includes an equipment housing, a workbench, a test tube rack transfer module, a test card module, a visual recognition module, a test tube storage and sorting rack, an open lid and sampling module, and a control module arranged inside the equipment housing. The control module is electrically connected to each functional module and is used for overall coordinated control of each functional module. Through the collaborative cooperation of each functional module, the present invention realizes the automation of test tube rack transfer, the automation of open lid and sampling, the automation of test card transmission, and the visual recognition of detection results, making the entire urine HCG detection process form an automated and tightly connected overall process, achieving the full-automatic detection effect from sample preparation to the output of detection results, saving a large amount of time and labor costs, avoiding the instability and errors that may be brought by manual operation and observation, and improving the detection work efficiency while also improving the accuracy and timeliness of detection results.

Description

Technical Field

[0001] The present invention belongs to the technical field of medical devices, and particularly relates to an automated urine HCG detection instrument and its control method. Background Art

[0002] Human chorionic gonadotropin (HCG) is a glycoprotein hormone secreted by the syncytiotrophoblast of the placenta, which has the function of promoting gonadal development and has a high affinity for gonadotropin receptors. HCG exists in the blood, urine, colostrum, amniotic fluid and fetus of pregnant women. After pregnancy, the level of HCG in urine will increase significantly; for the early diagnosis of pregnancy, the urine HCG test is usually the preferred method because it has significant advantages. It is not only time-saving, but also convenient and fast, and can quickly give the pregnancy diagnosis result, so it has a wide range of applications in scenarios such as inpatient departments, outpatient clinics and families.

[0003] Currently, there are various detection methods for HCG. Among them, the colloidal gold immunochromatographic assay is favored in clinical practice due to its simple operation, fast detection speed, high accuracy and good repeatability. When actually carrying out the urine HCG colloidal gold immunochromatographic assay in hospitals, the traditional operation method is to rely on manual immersion of the test strip into urine, and then manually observe the test result within 5 to 15 minutes. If only the quality control line on the test strip turns red, it indicates that the test result is negative; if only a red band appears in the quality control area, it is a negative result. If two red bands appear in the quality control area and the test area respectively, it is a positive result. If there is no red color in the quality control area, the result is not credible, which may be due to the expiration of the test strip or interference of other factors on the test result.

[0004] With the increasing number of specimens received by hospitals, this manual operation method has exposed obvious drawbacks: on the one hand, manual operation is time-consuming and laborious; on the other hand, it is easy for staff to forget to observe the result within the specified time, which may lead to inaccurate test results or delayed diagnosis. In view of this, developing an automated instrument and corresponding method for automatically detecting urine HCG has become an urgent need in the current medical field. Summary of the Invention

[0005] The purpose of the present invention is to provide an automated urine HCG detection instrument and its control method to solve the problems existing in the above-mentioned prior art.

[0006] To achieve the above purpose, the technical solution adopted by the present invention is as follows:

[0007] An automated urine HCG detection instrument, comprising a device housing, a workbench, a test tube rack transfer module, a test card module, a visual recognition module, a test tube storage and sorting rack, an open-cap sampling module and a control module arranged in the device housing. The control module is electrically connected to each functional module and is used for overall coordinated control of each functional module;

[0008] The test tube rack transfer module is used for transporting the test tube rack loaded with the test sample tubes to the sampling position and recycling the test tube rack after detection;

[0009] The open-cap sampling module includes: an open-cap device for opening or tightening the test tube cap of the sample test tube located at the sampling position, a sampling needle for sucking the sample liquid at the sampling position and discharging the sample liquid at the sample adding position, and an XYZ moving module for driving the open-cap device and the sampling needle to move in the X, Y, and Z axis directions;

[0010] The test card module includes: a test card, a storage bin for storing pre-loaded test cards, a waste bin for storing the tested test cards, and a transmission mechanism for transmitting the pre-loaded test cards in the storage bin to the sample adding position, then transmitting the sample-added test cards to the visual recognition position, and finally transmitting the tested test cards to the waste bin;

[0011] The visual recognition module is used for acquiring and analyzing the test card result image at the visual recognition position;

[0012] The cleaning module is used for cleaning the sampling needle;

[0013] The test tube storage and sorting rack can store the sampled sample test tubes under the cooperation of the XYZ moving module and the open-cap device.

[0014] Preferably, the test tube rack transfer module includes: a moving device arranged on the workbench, and a barcode scanner for scanning the barcode attached to the sample test tube. The moving device includes: a sampling groove arranged on the workbench along the X-axis direction, a sample inlet groove and a sample outlet groove arranged along the Y-axis direction and communicated with both ends of the sampling groove, a first slide rail arranged in the sampling groove along the X-axis direction, an X-axis push rod slidably connected to the first slide rail, a first driving component for driving the X-axis push rod to move along the first slide rail, a second slide rail and a third slide rail respectively arranged in the sample inlet groove and the sample outlet groove along the Y-axis direction, an inlet sample push rod slidably connected to the second slide rail, a second driving component for driving the inlet sample push rod to move along the second slide rail, an outlet sample push rod slidably connected to the third slide rail, a third driving component for driving the outlet sample push rod to move along the third slide rail. When the sample test tube on the test tube rack is located in the middle of the sampling groove, the sample test tube is located at the sampling position.

[0015] Preferably, the XYZ moving module is arranged on the device housing and above the workbench. The XYZ moving module includes: an X-axis moving module installed on the inner wall of the device housing, a Y-axis moving module connected to the X-axis moving module, and a Z-axis moving module connected to the Y-axis moving module. The tube opening device and the sampling needle are connected to the Z-axis moving module. The X-axis moving module is used to drive the Y-axis moving module to move along the X-axis direction, the Y-axis moving module is used to drive the Z-axis moving module to move along the Y-axis direction, and the Z-axis moving module is used to drive the tube opening device and the sampling needle to move along the Z-axis direction. An installation plate is arranged on the Z-axis moving module, and the tube opening device and the sampling needle are both fixedly connected to the installation plate.

[0016] Preferably, the tube opening device includes: a tube body clamping assembly arranged at the bottom of the installation plate through a fixing plate and used for clamping the tube body of the test tube, a tube cap clamping assembly arranged on the installation plate and used for clamping the test tube cap, and a cap screwing driving assembly arranged on the installation plate and used for driving the tube cap clamping assembly to rotate.

[0017] Preferably, the conveying mechanism includes: a conveying track arranged between the storage bin and the waste bin, a fourth slide rail arranged parallel to the conveying track, a conveying push rod slidably connected in the fourth slide rail, a fourth driving assembly for driving the conveying push rod to move along the fourth slide rail, and a push plate assembly for pushing the test card out of the storage bin. The storage bin has a hollow interior and an open upper end. There is a discharge port at the lower part of the side wall of the storage bin close to the conveying track. The push plate assembly includes: a pushing plate whose one end movably penetrates through the lower part of the side wall of the storage bin far from the conveying track, a connecting rod whose one end is rotatably connected to the other end of the pushing plate, a rotating disk eccentrically rotatably connected to the other end of the connecting rod, and a rotating driving member arranged on the workbench and used for driving the rotating disk to rotate; the conveying push rod includes: a vertical rod passing through the fourth slide rail and connected to the fourth driving mechanism, a cross rod connected to the top end of the vertical rod and located at the upper end of the conveying track, ┌-shaped connecting plates connected to both ends of the side surface of the cross rod far from the storage bin, a valve plate rotatably connected to the lower end of the horizontal plate of the ┌-shaped connecting plate, and a spring connected between the valve plate and the cross rod. The two valve plates are arranged oppositely.

[0018] Preferably, the test card includes: a hollow installation shell, a sample adding hole and a detection groove respectively penetrating through the top end of the installation shell, an identification line with a specific color arranged on the upper end surface of the installation shell, a support member arranged at the bottom end inside the installation shell, a water absorption layer arranged on the support member, and a urine HCG test reagent strip arranged on the water absorption layer. The quality control area and the test area on the reagent strip are adapted to the detection groove.

[0019] Preferably, the control module includes a program controller and a display. The program controller is used for signal control and monitoring of the entire machine, and the display is used for input and output of instrument operation parameters, recording the instrument operation status and the sample detection process. A data transmission interface and a network interface are configured on the control module for communication connection with the laboratory information system.

[0020] The present invention also provides a detection method for the above-mentioned automated urine HCG detection instrument, including the following steps:

[0021] S1. Place the test tube with the sample liquid on the test tube rack, start the test tube rack transfer module to transport the test tube rack loaded with the test sample test tube to the sampling position, start the XYZ moving module to drive the cap opening device to move to the upper end of the sampling position, and then cooperate with the XYZ moving module and the cap opening device to unscrew the test tube cap of the sample test tube;

[0022] S2. After the test tube cap is unscrewed, drive the sampling needle to move to the sampling position through the XYZ moving module, and under the cooperation of the XYZ moving module, the sampling needle sucks the urine sample in the test tube;

[0023] S3. While steps S1 and S2 are being carried out, start the conveying mechanism to convey the test card in the storage bin to the sample adding position;

[0024] S4. Move the sampling needle after sucking the urine sample to the sample adding position through the XYZ moving module, drop the urine sample into the sample adding hole on the test card by the sampling needle and let it stand for 5 to 10 minutes. During the standing process of the test card, move the sampling needle to the cleaning module through the XYZ moving module for cleaning;

[0025] S5. Start the conveying mechanism to convey the test card after sample adding and standing to the visual recognition position. The visual recognition module first recognizes the recognition line on the test card. If the recognition line is accurately recognized, the visual recognition module analyzes the images of the quality control area and the test area in the test slot of the test card and transmits the analysis result to the control module; if the recognition line recognition fails, it indicates that there are other faults in the visual recognition module or the reagent card is an illegal reagent card, and the recognition result is transmitted to the control module to prompt the user to recheck;

[0026] S6. Start the conveying mechanism to convey the tested test card to the waste bin for discarding;

[0027] S7. Start the XYZ moving module to drive the cap opening device to move to the upper end of the sampling position, and then cooperate with the XYZ moving module and the cap opening device to cover the test tube cap back on the sample test tube and tighten it. Then release the clamping of the tube body clamping component. Finally, cooperate with the XYZ moving module and the tube cap clamping component to transfer the sampled sample test tube to the test tube storage and sorting rack for sorting and storage in sequence.

[0028] Among them, in the above step S5, the method for the vision recognition module to recognize the recognition line is as follows: when the test card is conveyed to the vision recognition position, if the vision recognition module fails to obtain the recognition line on the test card, the recognition of the recognition line fails; if the recognition line on the test card is obtained, but the gray-scale feature value of the recognition line is not within the preset threshold range, the recognition of the recognition line fails; if the recognition line on the test card is obtained and the gray scale of the recognition line is within the preset threshold range, the recognition line is accurately recognized;

[0029] The calibration steps of the preset threshold range are as follows: select a large number of accurate test cards for standard detection, calculate the average value and standard deviation of all gray-scale feature values, and the preset threshold range is (X - 2sd, X + 2sd), where X is the average value of the gray-scale feature values and 2sd is twice the standard deviation.

[0030] Among them, in the above step S5: the method for the vision recognition module to analyze the images of the quality control area and the test area in the test card detection slot is as follows: if only a red strip appears in the quality control area on the test card recognized by the vision recognition module, the test result is negative; if two red strips appear and are located in the quality control area and the test area respectively, the result is positive; if there are no red strips in both the quality control area and the test area, the result is a detection failure.

[0031] Compared with the prior art, the advantages of the present invention are as follows:

[0032] 1. Through the coordinated cooperation of each functional module, the present invention ensures the orderly operation of each link such as the transfer of the test tube rack, the opening of the lid for sampling, the conveyance of the test card, and the vision recognition, making the entire urine HCG detection process form an automated and tightly connected overall process, achieving the full-automatic detection effect from sample preparation to the output of the test result, saving a large amount of time and labor costs, avoiding the instability and errors that may be brought by manual operation and observation, improving the detection work efficiency, the accuracy and timeliness of the test result, reducing the chance of contact between medical staff and urine samples, protecting the health of the staff, and reducing the risk of microbial source infection;

[0033] 2. The automated detection equipment provided by the present invention operates according to a preset program, and each link has strict time control and process arrangement, avoiding the situation of delaying the diagnosis due to forgetting to observe the result within the specified time due to human forgetfulness in the traditional manual detection process, and ensuring the timeliness of the test result;

[0034] 3. In the present invention, the test tube rack transfer module can automatically transport the test tube rack loaded with the test samples to be detected to the sampling position, and can also recycle the test tube rack after the detection is completed, realizing the automation of the sample test tube transportation, avoiding the cumbersome process of manually carrying the test tube rack, greatly improving the sample processing efficiency. In the case of detecting a large number of samples, there is no need to manually process each test tube rack one by one, improving the overall detection throughput;

[0035] 4. Driven by the XYZ moving module, the cap opening device and the sampling needle of the present invention realize a series of actions such as automatically opening the cap, sucking the sample, adding the sample, and covering the test tube cap back. This not only reduces the errors that may be brought by manual operation, but also can complete the sample processing at a faster and more stable speed, avoiding the cumbersome and inefficient manual operation, ensuring the consistency of the detection conditions, and being conducive to improving the accuracy of the detection results;

[0036] 5. In the present invention, the visual recognition module automatically acquires and analyzes the test card result image, and transmits the analysis result to the control module, replacing the traditional way of manually observing the test card results, avoiding subjective errors such as inaccurate observation time, inaccurate judgment of colors and lines that may occur in manual observation, and thus being able to obtain the detection results more accurately and objectively;

[0037] 6. In the present invention, the test tube storage and sorting rack on the workbench facilitates the orderly storage of the sample test tubes, which is conducive to keeping the work environment clean and orderly, and improving the overall practicality and management convenience of the equipment. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following will briefly introduce the drawings required to be used in the embodiments. It should be understood that the following drawings only show some embodiments of the present invention, so they should not be regarded as limiting the scope. For those of ordinary skill in the art, without creative efforts, other related drawings can also be obtained based on these drawings.

[0039] Figure 1 It is a schematic structural diagram of a urine HCG automatic detection instrument;

[0040] Figure 2 It is a schematic structural diagram of the components on the workbench of a urine HCG automatic detection instrument;

[0041] Figure 3 It is a schematic structural diagram of the test tube rack transfer module (the workbench is cut open) of a urine HCG automatic detection instrument;

[0042] Figure 4 It is a schematic structural diagram of the test tube rack transfer module (the workbench is removed) of a urine HCG automatic detection instrument;

[0043] Figure 5 Schematic diagram of the opening and sampling module structure of a urine HCG automated detection instrument;

[0044] Figure 6 Schematic diagram of the conveying mechanism structure of a urine HCG automated detection instrument;

[0045] Figure 7 Schematic diagram of the conveying mechanism (removing the workbench) structure of a urine HCG automated detection instrument;

[0046] Figure 8 Schematic diagram of the push plate assembly structure of a urine HCG automated detection instrument;

[0047] Figure 9 Schematic diagram of the conveying push rod of a urine HCG automated detection instrument;

[0048] Figure 10 Schematic diagram of the test card structure of a urine HCG automated detection instrument;

[0049] Reference numerals: 1 - equipment housing, 2 - workbench, 3 - test tube rack, 4 - opening device, 5 - sampling needle, 6 - XYZ moving module, 7 - test card, 8 - storage bin, 9 - waste bin, 10 - conveying mechanism, 11 - storage and sorting rack, 12 - barcode scanner, 13 - sampling slot, 14 - sample injection slot, 15 - sample outlet slot, 16 - first slide rail, 17 - X-axis push rod, 18 - first driving component, 19 - second slide rail, 20 - third slide rail, 21 - sample injection push rod, 22 - second driving component, 23 - sample outlet push rod, 24 - third driving component, 25 - X-axis moving module, 26 - Y-axis moving module, 27 - Z-axis moving module, 28 - mounting plate, 29 - fixing plate, 30 - tube body clamping component, 31 - tube cap clamping component, 32 - cap unscrewing driving component, 33 - conveying rail, 34 - fourth slide rail, 35 - fourth driving component, 36 - discharge port, 37 - connecting rod, 38 - rotating disk, 39 - pushing plate, 40 - rotating driving part, 41 - vertical rod, 42 - cross bar, 43 - ┌-shaped connecting plate, 44 - valve plate, 45 - spring, 46 - mounting shell, 47 - sample adding hole, 48 - detection slot, 49 - identification line, 50 - visual recognition module. Detailed implementation manners

[0050] To make the objectives, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are some, but not all, of the embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0051] It should be noted that like reference numerals and letters refer to like items in the following figures. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0052] In the description of the present invention, it should be noted that if terms such as "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. are used to indicate the orientation or positional relationship, it is based on the orientation or positional relationship shown in the figures, or the orientation or positional relationship in which the product of the present invention is usually placed during use. This is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the present invention.

[0053] In addition, terms such as "first", "second", "third", etc. are only used for distinguishing descriptions and should not be construed as indicating or implying relative importance.

[0054] In addition, terms such as "horizontal", "vertical", "hanging" do not mean that the component is required to be absolutely horizontal or hanging, but can be slightly inclined. For example, "horizontal" only means that its direction is more horizontal relative to "vertical", and does not mean that the structure must be completely horizontal, but can be slightly inclined.

[0055] In the description of the present invention, it should also be noted that unless otherwise clearly specified and limited, terms such as "set", "installed", "connected", "connected" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the communication inside two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0056] It should be noted that, without conflict, the features in the embodiments of the present invention can be combined with each other.

[0057] As Figure 1-2 shown, an embodiment of the present invention provides a urine HCG automatic detection instrument, including a device housing 1, a workbench 2, a test tube rack transfer module, a test card module, a test tube storage and sorting rack, a visual recognition module 50, an open tube sampling module, and a control module arranged in the device housing 1. The control module is electrically connected to each functional module and is used for overall coordinated control of each functional module;

[0058] The test tube rack 3 transfer module is used to transport the test tube rack 3 loaded with the test sample tubes to the sampling position and recycle the test tube rack 3 after detection;

[0059] The cap-opening sampling module includes: a cap-opening device 4 for opening or screwing the test tube cap of a sample test tube located at the sampling position, a sampling needle 5 for sucking the sample liquid at the sampling position and discharging the sample liquid at the sample adding position, and an XYZ moving module 6 for driving the cap-opening device 4 and the sampling needle 5 to move in the X, Y, and Z axis directions;

[0060] The test card 7 module includes: a test card 7, a storage bin 8 for storing the pre-loaded test card 7, a waste bin 9 for storing the tested test card 7, and a transfer mechanism 10 for transferring the pre-loaded test card 7 in the storage bin 8 to the sample adding position, then transferring the sample-added test card 7 to the visual recognition position, and finally transferring the tested test card 7 to the waste bin 9.

[0061] The visual recognition module 50 is used to obtain and analyze the result image of the test card 7 at the visual recognition position;

[0062] The cleaning module is used to clean the sampling needle;

[0063] The test tube storage and sorting rack 11 can store the sampled sample test tubes in cooperation with the XYZ moving module 6 and the cap-opening device 4.

[0064] It should be noted that: when the automated detection device is working, the sampling needle 5 realizes three-dimensional movement in space through the XYZ moving module 6. When the sampling needle 5 needs to move to a predetermined position to suck the sample, the position where the sample is sucked is called the sampling position. Then, when the sampling needle 5 needs to move to a predetermined position to discharge the sample, the position where the sample is discharged is called the sample adding position; the test card 7 needs to be visually recognized by the transfer mechanism 10 under the visual recognition module 50, and this position is called the visual recognition position; the cleaning module may include structures such as a cleaning pool, and the present application does not limit the specific implementation manner of the specific cleaning module.

[0065] Among them, the control module includes a program controller and a display. The program controller is used for signal control and monitoring of the entire machine. The display is used for inputting and outputting the parameters of the instrument operation, recording the operation status of the instrument and the sample detection process. The control module is configured with a data transmission interface and a network interface for communication connection with the laboratory information system. The detection results of the urine samples detected by this device can be transmitted to the laboratory information system for issuing inspection reports.

[0066] The control module is electrically connected to each functional module and is responsible for overall coordinated control of each functional module, ensuring that each link such as the transfer of the test tube rack 3, opening the lid for sampling, conveying the test card 7, and visual recognition can operate orderly according to the preset procedures and logic. The test tube rack 3 transfer module can automatically transport the test tube rack 3 loaded with the test sample tubes to the sampling position and recycle the test tube rack 3 after the detection is completed, realizing the automation of the sample tube transportation. Driven by the XYZ movement module, the lid-opening device 4 and the sampling needle 5 in the lid-opening and sampling module realize a series of actions such as automatically opening the lid, sucking the sample, adding the sample, and covering the test tube cap again, realizing the automation of lid-opening and sampling. The conveying mechanism 10 of the test card 7 module automatically completes the conveying process of the test card 7 from the storage bin 8 to the sample addition position, the visual recognition position, and then to the waste bin 9, realizing the automation of the test card 7 conveying. The visual recognition module 50 automatically acquires and analyzes the result image of the test card 7, avoiding the subjective errors that may occur in manual observation. Furthermore, the entire urine HCG detection process forms an automated and tightly connected overall process, realizing the full-automatic detection effect from sample preparation to the output of the detection result, saving a large amount of time and labor costs, avoiding the instability and errors that may be brought by manual operation and observation, improving the detection work efficiency while also improving the accuracy and timeliness of the detection result, reducing the chance of contact between medical staff and urine samples, protecting the health of the staff, and reducing the risk of microbial source infection.

[0067] As Figures 3-4 shown, the test tube rack transfer module includes: a moving device arranged on the workbench 2 and a barcode scanner 12 for scanning the barcode attached to the sample tube. The moving device includes: a sampling slot 13 arranged on the workbench 2 along the X-axis direction, a sample inlet slot 14 and a sample outlet slot 15 arranged along the Y-axis direction and communicating with both ends of the sampling slot 13, a first slide rail 16 arranged in the sampling slot 13 along the X-axis direction, an X-axis push rod 17 slidably connected to the first slide rail 16, a first driving component 18 for driving the X-axis push rod 17 to move along the first slide rail 16, a second slide rail 19 and a third slide rail 20 respectively arranged in the sample inlet slot 14 and the sample outlet slot 15 along the Y-axis direction, a sample inlet push rod 21 slidably connected to the second slide rail 19, a second driving component 22 for driving the sample inlet push rod 21 to move along the second slide rail 19, a sample outlet push rod 23 slidably connected to the third slide rail 20, and a third driving component 24 for driving the sample outlet push rod 23 to move along the third slide rail 20. When the sample tube on the test tube rack 3 is located in the middle of the sampling slot 13, the sample tube is at the sampling position.

[0068] It should be noted that: the barcode scanner 12 is a prior art, which is used to scan the barcode attached to the sample test tube and transmit the scanning result into the control module. The specific structures of the first driving component 18, the second driving component 22 and the third driving component 24 are not overly limited, as long as they can enable the X-axis push rod 17, the sample injection push rod 21 and the sample extraction push rod 23 to reciprocate within the first slide rail 16, the second slide rail 19 and the third slide rail 20 respectively; specifically, as Figure 3 shown above, the driving component can be a pulley driving component, which mainly includes a motor, a driving pulley, a driven pulley and a belt. The driving pulley and the driven pulley are respectively arranged at both ends of the corresponding slide rail. The motor drives the belt to move, thereby driving the push rod to move along the slide rail. The reciprocating movement of the push rod is realized by the forward and reverse rotation of the motor. This structure is one of the specific implementation methods, and should not be limited to this structure in specific applications.

[0069] When the device is in use, the test tube rack 3 with sample test tubes is placed in the sample injection slot 14. The second driving component 22 drives the sample injection push rod 21 to move within the second slide rail 19, and then pushes the test tube rack 3 into the sampling slot 13. When the test tube rack 3 reaches the first sampling slot 13, the first driving component 18 drives the X-axis push rod 17 to slide within the first slide rail 16 to laterally push the test tube rack 3. When the first test tube at the end of the test tube rack 3 reaches the sampling position, the first driving component 18 stops driving the X-axis push rod 17. After the first test tube at the end of the test tube rack 3 is transferred to the test tube storage and sorting rack 11, the first driving component 18 is started again to drive the X-axis push rod 17 to laterally push the test tube rack 3, and the test tubes on the test tube rack 3 are sequentially sent to the sampling position. After all the sample test tubes on the test tube rack 3 are sampled, the X-axis push rod 17 pushes the test tube rack 3 into the sample extraction slot 15. The third driving component 24 drives the sample extraction push rod 23 to move within the third slide rail 20, and then pushes the test tube rack 3 to the end of the sample extraction slot 15 to facilitate the staff to recycle the test tube rack 3. After the X-axis push rod 17, the sample injection push rod 21 and the sample extraction push rod 23 complete the sample injection and extraction operations, they all need to move in the reverse direction to the initial position. The automatic transmission of the sample test tubes avoids the cumbersome process of manually carrying the test tube rack 3, greatly saving manpower and time. In testing institutions such as hospitals, in the face of a large number of urine samples, this automatic transmission method can quickly prepare the samples for testing and improve the overall testing throughput.

[0070] As Figure 5As shown in the figure, the XYZ moving module 6 is arranged on the device housing 1 and above the workbench 2. The XYZ moving module 6 includes: an X-axis moving module 25 installed on the inner wall of the device housing 1, a Y-axis moving module 26 connected to the X-axis moving module 25, and a Z-axis moving module 27 connected to the Y-axis moving module 26. The bottle opening device 4 and the sampling needle 5 are connected to the Z-axis moving module 27. The X-axis moving module 25 is used to drive the Y-axis moving module 26 to move along the X-axis direction, the Y-axis moving module 26 is used to drive the Z-axis moving module 27 to move along the Y-axis direction, and the Z-axis moving module 27 is used to drive the bottle opening device 4 and the sampling needle 5 to move along the Z-axis direction. An installation plate 28 is arranged on the Z-axis moving module 27, and the bottle opening device 4 and the sampling needle 5 are both fixedly connected to the installation plate 28.

[0071] It should be noted that: in this embodiment, no excessive restrictions are imposed on the specific structures of the X-axis moving module 25, the Y-axis moving module 26, and the Z-axis moving module 27, as long as they can perform linear motions in the X-axis, Y-axis, and Z-axis directions. For example, a base in the X-axis direction is arranged on the device housing 1, a slide rail is arranged on the base, a slide table is slidably arranged on the slide rail, a motor is arranged on the base, and a threaded rod in threaded cooperation with the slide table is drivenly connected to the output shaft of the motor. This structure is one of the specific ways to achieve linear motion, and it should not be limited to this structure in specific applications.

[0072] As Figure 5 shown in the figure, the bottle opening device 4 includes: a tube body clamping assembly 30 arranged at the bottom of the installation plate 28 through a fixing plate 29 and used for clamping the tube body of the test tube, a tube cap clamping assembly 31 arranged on the installation plate 28 and used for clamping the test tube cap, and a cap screwing drive assembly 32 arranged on the installation plate 28 and used for driving the tube cap clamping assembly 31 to rotate.

[0073] It should be noted that: this embodiment is described for the screwing connection between the bottle body and the test tube cap. Both the bottle body clamping assembly and the bottle cap clamping assembly can have openable and closable flexible clamping heads. When the clamping head opens, it is used to put in or take out the bottle body or test tube cap to be clamped. When the clamping head closes, it is used to clamp the object to be clamped. No excessive restrictions are imposed on the specific structures of the bottle body clamping assembly and the tube cap clamping assembly 31, as long as they can achieve the clamping and loosening actions. The cap screwing drive assembly 32 can be a stepping motor, a servo motor, or other rotary drive structures, without limitation.

[0074] The XYZ moving module can drive the sampling needle 5 and the tube opening device 4 to move precisely in three dimensions. When the tube opening device 4 performs the tube opening operation on the test tube, driven by the XYZ moving module, the tube opening device 4 is located directly above the test tube. Then, driven by the Z-axis moving module, the tube opening device 4 moves downward, so that the tube body clamping component 30 and the tube cap clamping component 31 respectively clamp the tube cap of the test tube. Furthermore, driven by the cap rotating drive component 32 and the Z-axis moving module, the tube cap clamping component 31 rotates and moves upward, thus realizing the automatic tube opening operation. The operation of putting the test tube cap back is the same as the principle of opening the tube; when the sampling needle 5 performs the sample suction and discharge operation, it also moves to directly above the opened test tube driven by the XYZ moving module. Then, driven by the Z-axis moving module, it moves downward to accurately aspirate the urine sample in the test tube. Then, driven by the Z-axis moving module, it moves upward, and under the combined action of the X-axis moving module 25, the Y-axis moving module 26 and the Z-axis moving module, it moves to the sample adding position and accurately drops the urine sample into the sample adding hole 47 of the test card 7, avoiding problems such as inaccurate sample volume or deviation in the sample adding position that may be caused by manual operation, ensuring the consistency of the detection conditions, and being beneficial to improving the accuracy of the detection results;

[0075] Driven by the XYZ moving module, the tube opening device 4 and the sampling needle 5 have realized a series of actions including automatic tube opening, sample aspiration, sample addition and putting the test tube cap back, which not only reduces the errors that may be brought by manual operation, but also can complete the sample processing at a faster and more stable speed, avoiding the cumbersome and inefficient manual operation.

[0076] Such as Figures 6-9As shown, the conveying mechanism 10 includes: a conveying rail 33 disposed between the storage bin 8 and the waste bin 9, a fourth slide rail 34 disposed parallel to the conveying rail 33, a conveying push rod slidably connected within the fourth slide rail 34, a fourth driving assembly 35 for driving the conveying push rod to move along the fourth slide rail 34, and a push plate assembly for pushing the test card 7 out of the storage bin 8. The storage bin 8 has a hollow interior and an open upper end. A discharge port 36 is provided at the lower part of the side wall of the storage bin 8 close to the conveying rail 33. The push plate assembly includes: a push plate 39 whose one end movably penetrates through the lower part of the side wall of the storage bin 8 away from the conveying rail 33, a connecting rod 37 whose one end is rotatably connected to the other end of the push plate 39, a rotating disk 38 eccentrically rotatably connected to the other end of the connecting rod 37, and a rotating driving member 40 disposed on the workbench 2 for driving the rotating disk 38 to rotate; the conveying push rod includes: a vertical rod 41 passing through the fourth slide rail 34 and connected to the fourth driving mechanism, a cross rod 42 connected to the top end of the vertical rod 41 and located above the conveying rail 33, ┌-shaped connecting plates 43 connected to both ends of the side surface of the cross rod 42 away from the storage bin 8, a valve plate 44 rotatably connected to the lower end of the horizontal plate of the ┌-shaped connecting plate 43, and a spring 45 connected between the valve plate 44 and the cross rod 42. The two valve plates 44 are disposed opposite to each other.

[0077] It should be noted that: the present invention does not impose excessive restrictions on the specific structure of the fourth driving mechanism, as long as it can drive the conveying push rod to perform reciprocating motion within the fourth slide rail 34; specifically, as Figure 5 shown, the fourth driving mechanism can be a belt pulley driving assembly, mainly including a motor, a driving pulley, a driven pulley, and a belt. The driving pulley and the driven pulley are respectively disposed at both ends of the corresponding slide rail. The belt is driven by the motor to move, thereby driving the conveying push rod along the fourth slide rail 34. The reciprocating motion of the push rod is achieved by the forward and reverse rotation of the motor. This structure is one of the specific implementation methods, and in specific applications, it should not be limited to this structure; the rotating driving member 40 can be a stepping motor, a servo motor, or other rotating driving structures, without limitation; the inner cavity size of the storage bin 8 should be adapted to the size of the test card 7, so that the test cards can be overlapped and placed in the storage bin 8. When the two valve plates 44 are in the initial position, the distance between the two valve plates 44 is less than the length of the test card 7, and the distance between the two ┌-shaped connecting plates 43 should be greater than the length of the test card 7.

[0078] When the transfer mechanism 10 can perform a transfer operation on the test card, the rotary driving member 40 drives the rotary disk 38 to rotate. Since the connecting rod 37 is eccentrically connected to the rotary disk 38, when the rotary disk 38 rotates, it will first drive the pusher plate 39 at the other end of the connecting rod 37 to move towards the discharge port 36 to push the test card 7 out of the storage bin 8, and then drive the pusher plate 39 to move in a direction away from the discharge port 36 to drive the pusher plate 39 to reset and wait for the next task of pushing out the test card 7. During the process of the test card 7 being pushed out of the storage bin 8 onto the transfer rail 33, the two ends of the side of the test card 7 first come into contact with the two valve plates 44. Under the thrust of the pusher plate 39, the two valve plates 44 rotate in a direction away from the storage bin 8, so that the test card 7 passes through between the two valve plates 44 under the push of the pusher plate 39 and moves to the side of the transfer push rod away from the storage bin 8. At this time, the test card 7 no longer contacts the valve plate 44, and the valve plate 44 rotates to the initial position under the action of the spring 45. At this time, the fourth driving assembly 35 is started to drive the transfer push rod to move along the fourth slide rail 34, and the valve plate 44 located on the cross bar 42 contacts the test card 7 again. The cross bar 42 restricts the valve plate 44 from rotating in the direction towards the storage bin 8. Then, as the transfer push rod moves, the valve plate 44 pushes the test card 7 to move on the transfer rail 33 until it reaches the specified position, realizing the automatic pushing out and transfer functions of the test card 7; after the transfer of the test card 7 is completed, the fourth driving assembly 35 is started in the reverse direction to drive the transfer push rod to return to the initial position along the fourth slide rail 34.

[0079] As Figure 10 shown, the test card 7 includes: a mounting shell 46 with a hollow interior, a sampling hole 47 and a detection slot 48 respectively penetrating through the top end of the mounting shell 46, an identification line 49 provided on the upper end face of the mounting shell 46 and having a specific color, a support member provided at the bottom end inside the mounting shell 46, a water absorption layer provided on the support member, and a urine HCG test strip provided on the water absorption layer. The quality control area and the test area on the test strip are adapted to the detection slot 48.

[0080] When using the above-mentioned urine HCG automatic detection instrument to detect a urine sample, the detection method includes the following steps:

[0081] S1. Place the test tube with the sample liquid into the test tube rack 3, start the test tube rack 3 transfer module to transport the test tube rack 3 loaded with the test sample test tube to the sampling position, start the XYZ moving module 6 to drive the opening device 4 to move above the sampling position, and then cooperate with the XYZ moving module 6 and the opening device 4 to unscrew the test tube cap of the sample test tube;

[0082] S2. After the test tube cap is unscrewed, drive the sampling needle 5 to move to the sampling position through the XYZ moving module 6. Under the cooperation of the XYZ moving module 6, the sampling needle 5 sucks the urine sample in the test tube.

[0083] S3. While steps S1 and S2 are being carried out, start the conveying mechanism 10 to convey the test card 7 in the storage bin 8 to the sample adding position;

[0084] S4. Move the sampling needle 5 after sucking the urine sample to the sample adding position through the XYZ moving module 6. The sampling needle 5 drips the urine sample into the sample adding hole 47 on the test card 7 and stands for 5 to 10 minutes. During the standing process of the test card 7, move the sampling needle 5 to the cleaning module through the XYZ moving module 6 for cleaning;

[0085] S5. Start the conveying mechanism 10 to convey the test card 7 after sample adding and standing to the visual recognition position. The visual recognition module 50 first recognizes the recognition line 49 on the test card 7. If the recognition line 49 is accurately recognized, the visual recognition module 50 analyzes the images of the quality control area and the test area in the detection slot 48 of the test card 7 and transmits the analysis result to the control module; if the recognition of the recognition line 49 fails, it indicates that there are other faults in the visual recognition module 50 or the reagent card is an illegal reagent card, and the recognition result is transmitted to the control module to prompt the user to recheck;

[0086] S6. Start the conveying mechanism 10 to convey the tested test card 7 to the waste bin 9 for discarding;

[0087] S7. Start the XYZ moving module 6 to drive the lid opening device 4 to the upper end of the sampling position, and then cooperate with the XYZ moving module 6 and the lid opening device 4 to cover the test tube cap back on the sample test tube and tighten it. Then release the clamping of the tube body clamping component 30. Finally, cooperate with the XYZ moving module 6 and the tube cap clamping component 31 to transfer the sampled sample test tube to the test tube storage and sorting rack 11 for sorting and storing in sequence.

[0088] Among them, in the above step S5, the method for the visual recognition module 50 to recognize the recognition line 49 is as follows: when the test card 7 is conveyed to the visual recognition position, if the visual recognition module 50 does not obtain the recognition line 49 on the test card 7, the recognition of the recognition line 49 fails; if the recognition line 49 on the test card 7 is obtained, but the gray scale characteristic value of the recognition line 49 is not within the preset threshold range, the recognition of the recognition line 49 fails; if the recognition line 49 on the test card 7 is obtained and the gray scale characteristic of the recognition line 49 is within the preset threshold range, the recognition line 49 is accurately recognized;

[0089] The calibration steps of the preset threshold range are as follows: Select a large number of accurate test cards 7 for standard detection, calculate the average value and standard deviation of all gray-scale feature values, and the preset threshold range is (X - 2sd, X + 2sd), where X is the average value of the gray-scale feature values and 2sd is twice the standard deviation; preferably, no less than 20 test cards for measuring the preset threshold range are used. After the device has worked for a period of time (usually about 20 days), the average value of the gray-scale feature values and twice the standard deviation for 20 days can be obtained again, and then an optimal preset threshold range can be calculated to replace the previous preset threshold range.

[0090] Among them, in the above step S5: The method for the visual recognition module 50 to analyze the images of the quality control area and the test area in the detection slot 48 of the test card 7 is as follows: If only a red strip appears in the quality control area on the test card 7 recognized by the visual recognition module 50, the test result is negative; if two red strips appear and are located in the quality control area and the test area respectively, the result is positive; if no red strips appear in both the quality control area and the test area, the result is a detection failure.

[0091] The entire detection process of urine HCG includes steps such as the transfer, opening of the lid, and sampling of the sample tube, the transfer and sample addition of the test card 7, and then visual recognition and subsequent processing. Each link is closely coordinated and highly automated, which can effectively reduce the overall detection time, improve the detection throughput, and can quickly process a large number of urine sample detection tasks. Through the clear recognition line 49 recognition and test result judgment method, as well as reasonable fault prompts, the detection method of the entire urine HCG automated detection device has been significantly improved in terms of reliability, which helps to reduce the false detection results caused by equipment failures or reagent card problems, and ensures the accuracy and effectiveness of the detection.

[0092] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit them. Although the present invention has been described by referring to the preferred embodiments of the present invention, those of ordinary skill in the art should understand that various changes can be made in form and details without departing from the spirit and scope of the present invention defined by the appended claims.

Claims

1. An automated urine HCG detection instrument, characterized in that: The device comprises an equipment housing (1), a workbench (2) arranged in the equipment housing (1), a test tube rack transfer module, a test card module, a visual recognition module (50), a test tube storage and sorting rack, a cover opening and sampling module and a control module, wherein the control module is electrically connected to each functional module and is used to perform overall coordination and control on each functional module; The test tube rack transfer module is used to transport the test tube rack (3) loaded with sample test tubes to be tested to the sampling position, and to recover the test tube rack (3) after testing; The cover-opening sampling module comprises: a cover-opening device (4) for opening or tightening the test tube cap of a sample test tube located at a sampling position, a sampling needle (5) for sucking sample liquid at the sampling position and discharging the sample liquid at the sample adding position, and an XYZ moving module (6) for driving the cover-opening device (4) and the sampling needle (5) to move in the three-axis directions of X, Y and Z; The test card module comprises: a test card (7), a storage bin (8) for storing pre-loaded test cards (7), a waste bin (9) for storing tested test cards (7), and a conveying mechanism (10) for conveying the pre-loaded test cards (7) in the storage bin (8) to a sample loading position, conveying the loaded test cards (7) to a visual recognition position, and finally conveying the tested test cards (7) to the waste bin (9); The visual recognition module (50) is used to obtain and analyze the result image of the test card (7) on the visual recognition position; The cleaning module is used to clean the sampling needle; The test tube storage and sorting rack (11) can store sample test tubes after sampling in cooperation with the XYZ moving module (6) and the cover opening device (4); The test card (7) comprises: a mounting shell (46) with a hollow interior, a sample loading hole (47) and a detection slot (48) respectively penetrating the top of the mounting shell (46), a color identification line (49) disposed on the upper end surface of the mounting shell (46), a support member disposed on the bottom end of the mounting shell (46), a water absorption layer disposed on the support member, and a urine HCG test reagent strip disposed on the water absorption layer, wherein the quality control area and the test area on the reagent strip are adapted to the detection slot (48); The conveying mechanism (10) comprises: a conveying rail (33) arranged between a storage bin (8) and a waste bin (9), a fourth slide rail (34) arranged parallel to the conveying rail (33), a conveying push rod slidably connected to the fourth slide rail (34), a fourth driving assembly (35) driving the conveying push rod to move along the fourth slide rail (34), and a push plate assembly for pushing the test card (7) out of the storage bin (8), wherein the storage bin (8) is hollow inside and has an open upper end, and a discharge port (36) is provided at the lower part of the side wall of the storage bin (8) close to the conveying rail (33), and the push plate assembly comprises: a push plate (39) having one end movably penetrating the lower part of the side wall of the storage bin (8) away from the conveying rail (33), one end rotatably connected to the push plate (39) and the other end The transmission push rod comprises: a connecting rod (37) at one end, a rotating disk (38) eccentrically connected to the other end of the connecting rod (37), and a rotating driving member (40) arranged on the workbench (2) for driving the rotating disk (38) to rotate; the transmission push rod comprises: a vertical rod (41) passing through the fourth slide rail (34) and connected to the fourth driving mechanism, a horizontal rod (42) connected to the top of the vertical rod (41) and located at the upper end of the transmission rail (33), a ┌-shaped connecting plate (43) connected to the two ends of the side of the horizontal rod (42) away from the storage bin (8), a valve plate (44) respectively connected to the lower end of the horizontal plate of the ┌-shaped connecting plate (43), and a spring (45) connected between the valve plate (44) and the horizontal rod (42), and the two valve plates (44) are arranged opposite to each other.

2. The automatic urine HCG detection instrument according to claim 1, characterized in that: The test tube rack transfer module comprises: a moving device arranged on the workbench (2), and a barcode scanner (12) for scanning a barcode attached to a sample test tube, the moving device comprising: a sampling slot (13) arranged along the X-axis direction on the workbench (2), a sampling inlet slot (14) and a sampling outlet slot (15) arranged along the Y-axis direction and connected to both ends of the sampling slot (13), a first slide rail (16) arranged in the sampling slot (13) along the X-axis direction, an X-axis push rod (17) slidably connected to the first slide rail (16), and a first driving group for driving the X-axis push rod (17) to move along the first slide rail (16). A component (18), a second slide rail (19) and a third slide rail (20) respectively arranged in the sample injection slot (14) and the sample output slot (15) along the Y-axis direction, a sample injection push rod (21) slidably connected to the second slide rail (19), a second driving component (22) driving the sample injection push rod (21) to move along the second slide rail (19), a sample output push rod (23) slidably connected to the third slide rail (20), a third driving component (24) driving the sample output push rod (23) to move along the third slide rail (20), when the sample test tube located on the test tube rack (3) is located in the middle of the sampling slot (13), the sample test tube is located at the sampling position.

3. The automatic urine HCG detection instrument according to claim 1, characterized in that: The XYZ movable module (6) is arranged on the device housing (1) and is located above the workbench (2). The XYZ movable module (6) comprises: an X-axis movable module (25) mounted on the inner wall of the device housing (1), a Y-axis movable module (26) connected to the X-axis movable module (25), and a Z-axis movable module (27) connected to the Y-axis movable module (26). The cover opening device (4) and the sampling needle (5) are connected to the Z-axis movable module (27). The X-axis moving module (25) is used to drive the Y-axis moving module (26) to move along the X-axis direction, the Y-axis moving module (26) is used to drive the Z-axis moving module (27) to move along the Y-axis direction, and the Z-axis moving module (27) is used to drive the cover opening device (4) and the sampling needle (5) to move along the Z-axis direction. A mounting plate (28) is provided on the Z-axis moving module (27), and the cover opening device (4) and the sampling needle (5) are both fixedly connected to the mounting plate (28).

4. The automatic urine HCG detection instrument according to claim 3, characterized in that: The cover opening device (4) comprises: a tube body clamping assembly (30) arranged at the bottom of the mounting plate (28) via a fixing plate (29) and used to clamp the tube body of the test tube, a tube cap clamping assembly (31) arranged on the mounting plate (28) and used to clamp the test tube cap, and a cover rotating driving assembly (32) arranged on the mounting plate (28) and used to drive the tube cap clamping assembly (31) to rotate.

5. The automatic urine HCG detection instrument according to claim 1, characterized in that: The control module includes a program controller and a display. The program controller is used to control and monitor the signals of the entire machine. The display is used to input and output instrument operation parameters, record the instrument operation status and sample detection process. The control module is configured with a data transmission interface and a network interface for communication with the laboratory information system.

6. A control method for the automatic urine HCG detection instrument as claimed in claim 4, characterized in that: The following steps are involved: S1. Place the test tube with the sample liquid on the test tube rack (3), start the test tube rack transfer module to transport the test tube rack (3) loaded with the sample test tube to be tested to the sampling position, start the XYZ moving module (6) to drive the cover opening device (4) to move the upper end of the sampling position, and then unscrew the test tube cap of the sample test tube through the cooperation of the XYZ moving module (6) and the cover opening device (4); S2. After the test tube cap is unscrewed, the sampling needle (5) is moved to the sampling position by the XYZ moving module (6). With the cooperation of the XYZ moving module (6), the sampling needle (5) absorbs the urine sample in the test tube; S3. While steps S1 and S2 are being performed, the transport mechanism (10) is started to transport the test card (7) in the storage bin (8) to the sample loading position; S4. The sampling needle (5) after absorbing the urine sample is moved to the sample adding position by the XYZ moving module (6), and the sampling needle (5) drips the urine sample into the sample adding hole (47) on the test card (7) and leaves it to stand for 5 to 10 minutes. During the standing of the test card (7), the sampling needle (5) is moved to the cleaning module by the XYZ moving module (6) for cleaning; S5. Start the transmission mechanism (10) to transmit the test card (7) after the sample is added and left to stand to the visual recognition position. The visual recognition module (50) first recognizes the recognition line (49) on the test card (7). If the recognition line (49) is accurately recognized, the visual recognition module (50) analyzes the image of the quality control area and the test area in the detection slot (48) of the test card (7), and transmits the analysis result to the control module; if the recognition line (49) fails to be recognized, it means that the visual recognition module (50) has other faults or the reagent card is an illegal reagent card, and the recognition result is transmitted to the control module to prompt the user to re-test; S6. Start the conveying mechanism (10) to convey the tested test card (7) to the waste bin (9) for disposal; S7. Start the XYZ moving module (6) to drive the cover opening device (4) to move to the upper end of the sampling position, and then through the cooperation of the XYZ moving module (6) and the cover opening device (4), put the test tube cap back on the sample test tube and tighten it, then release the clamping of the tube body clamping assembly (30), and finally, with the cooperation of the XYZ moving module (6) and the tube cap clamping assembly (31), transfer the sampled sample tube to the test tube storage and sorting rack (11) and organize and store it in order.

7. The control method of a urine HCG automated detection instrument according to claim 6, characterized in that: In the above step S5, the method for the visual recognition module (50) to recognize the recognition line (49) is as follows: when the test card (7) is transmitted to the visual recognition position, if the visual recognition module (50) does not obtain the recognition line (49) on the test card (7), the recognition of the recognition line (49) fails; if the recognition line (49) on the test card (7) is obtained, but the grayscale feature value of the recognition line (49) is not within a preset threshold range, the recognition of the recognition line (49) fails; if the recognition line (49) on the test card (7) is obtained and the grayscale feature value of the recognition line (49) is within the preset threshold range, the recognition line (49) is accurately recognized; The calibration steps of the preset threshold interval are: selecting a large number of accurate test cards (7) for standard detection, calculating all grayscale feature values ​​to obtain the average value and standard deviation, and the preset threshold interval is (X-2sd, X+2sd), where X is the average value of the grayscale feature value and 2sd is twice the standard deviation.

8. The control method of a urine HCG automated detection instrument according to claim 6, characterized in that: In the above step S5: the method in which the visual recognition module (50) analyzes the images of the quality control area and the test area in the detection slot (48) of the test card (7) is as follows: if a red stripe appears only in the quality control area on the test card (7) recognized by the visual recognition module (50), the test result is negative; if two red stripes appear and are located in the quality control area and the test area respectively, the result is positive; if there are no red stripes in both the quality control area and the test area, the result is a test failure.

Images