Test tube detection method and device, electronic equipment and storage medium

Abstract

The invention relates to the technical field of test tube detection, in particular to a test tube detection method and device, electronic equipment and a storage medium, the inclination angle of a photoelectric module relative to a carrier is adjusted, so that when no test tube is placed in a slot position of the carrier, a first detection point of the photoelectric module is located on a carrier plane of the corresponding slot position; when the test tubes are placed in the slot positions of the carrying frame, the second detection points of the photoelectric modules are located on the side walls of the corresponding test tubes; acquiring a test tube detection instruction sent by the upper computer; wherein the test tube detection instruction comprises at least one target slot position in the carrier; and the moving mechanism is driven, so that the photoelectric module is located above the target slot position for detection, a detection result that whether the test tube is placed in the target slot position or not is obtained, and the detection result is uploaded to an upper computer. Therefore, based on the detection operation process of the moving mechanism and the photoelectric module, whether the test tube exists in the carrier can be efficiently, flexibly and accurately judged.

Description

Technical Field

[0001] The present application relates to the field of test tube detection technology, and in particular to a test tube detection method, device, electronic equipment and storage medium. Background Art

[0002] In the automatic sample loading system, it is very important to accurately detect the presence status of the test tube in the slot. If the host computer cannot accurately determine whether there are test tubes in the current in-and-out sample bin and cache tray carrier slots, it may cause the test tubes in the carrier slots to collide and cause medical accidents.

[0003] Existing test tube detection solutions include using a reflective photoelectric sensor with a reflector to sense the test tube, or directly using an ordinary reflective photoelectric sensor to sense the tube cap of the test tube to determine whether the test tube exists, or using a mechanical motion device to touch the test tube. The above solutions are cumbersome to install and operate, and the detection time is long, which does not meet the current system's need to detect more holes. Summary of the invention

[0004] In order to overcome the deficiencies in the prior art, the present application provides a test tube detection method, device, electronic device and storage medium, which can efficiently, flexibly and accurately determine whether there is a test tube in the carrier based on the detection operation process of the mobile mechanism and the photoelectric module.

[0005] In a first aspect, the present application provides a test tube detection method, which adjusts the inclination angle of the photoelectric module relative to the carrier, so that when no test tube is placed in the slot of the carrier, the first detection point of the photoelectric module is located on the carrier plane corresponding to the slot, and when the test tube is placed in the slot of the carrier, the second detection point of the photoelectric module is located on the side wall of the corresponding test tube; wherein the carrier is evenly provided with a plurality of slots for placing the test tubes, and the photoelectric module is driven by a moving mechanism to achieve relative movement between the carrier and the photoelectric module;

[0006] Obtaining a test tube detection instruction sent by a host computer; wherein the test tube detection instruction includes at least one target slot in the carrier;

[0007] The moving mechanism is driven to make the photoelectric module be located above the target slot for detection, to obtain a detection result of whether a test tube is placed in the target slot, and the detection result is uploaded to the host computer.

[0008] In a possible implementation, the mobile mechanism is a three-axis robotic arm, the photoelectric module is arranged at the moving end of the three-axis robotic arm, and the mobile mechanism is driven so that the photoelectric module is located above the target slot for detection, and a detection result of whether a test tube is placed in the target slot is obtained, including the following steps:

[0009] Preset the detection distance H of the photoelectric module; wherein the first connection distance between the first detection point and the photoelectric module is H1, the second connection distance between the second detection point and the photoelectric module is H2, and H1>H>H2;

[0010] The three-axis robot arm is driven to move the photoelectric module to the top of the target slot for detection, and a detection result of whether a test tube is placed in the target slot is obtained according to whether the detected object exists within the detection distance H.

[0011] In a possible implementation manner, obtaining a detection result of whether a test tube is placed in the target slot according to whether the detected object exists within the detection distance H includes the following steps:

[0012] If there is an object to be detected within the detection distance H, the photoelectric module outputs a high level, and a detection result of the test tube being placed in the target slot is obtained;

[0013] If there is no detected object within the detection distance H, the photoelectric module outputs a low level, and a detection result is obtained that no test tube is placed in the target slot.

[0014] In a possible implementation manner, adjusting the inclination angle of the photoelectric module relative to the carrier includes the following steps:

[0015] Select a photovoltaic module and determine the installation direction standard of the photovoltaic module;

[0016] Under the selected installation direction standard of the photovoltaic module, adjust the inclination angle of the photovoltaic module relative to the carrier.

[0017] In a possible implementation, the test tube detection instruction further includes a detection mode, and the detection mode includes a full-range detection mode and an arbitrary position detection mode.

[0018] In a possible implementation, driving the three-axis robotic arm to move the photoelectric module to the top of the target slot for detection in the following manner includes the following steps:

[0019] In the full-range detection mode, the three-axis robot arm is first driven to move the photoelectric module to the slot of the first row and the first column on the carrier for detection, and then the detection is performed row by row or column by column according to the increment of the row spacing or column spacing until the detection of whether all the slots on the carrier are placed with test tubes is completed;

[0020] In the arbitrary position detection mode, the path planning is first performed according to the current slot where the photoelectric module is located and the target slot to which it is to be moved. After the movement path is determined, the three-axis robot arm is driven to detect the target slots one by one according to the movement path.

[0021] In a possible implementation, the method further includes the following steps:

[0022] A test tube distribution map of the carrier is constructed based on the test results and updated in real time.

[0023] In a second aspect, the present application provides a test tube detection device, the device comprising:

[0024] An adjustment module is used to adjust the inclination angle of the photoelectric module relative to the carrier, so that when no test tube is placed in the slot of the carrier, the first detection point of the photoelectric module is located on the carrier plane corresponding to the slot, and when a test tube is placed in the slot of the carrier, the second detection point of the photoelectric module is located on the side wall of the corresponding test tube; wherein the carrier is evenly provided with a plurality of slots for placing test tubes, and the photoelectric module is driven by a moving mechanism to realize the relative movement of the carrier and the photoelectric module;

[0025] An acquisition module, used for acquiring a test tube detection instruction sent by a host computer; wherein the test tube detection instruction includes at least one target slot in the carrier;

[0026] The detection module is used to drive the moving mechanism so that the photoelectric module is located above the target slot for detection, obtain a detection result of whether a test tube is placed in the target slot, and upload the detection result to the host computer.

[0027] In a third aspect, the present application provides an electronic device comprising: a processor, a memory and a bus, wherein the memory stores machine-readable instructions executable by the processor, and when the electronic device is running, the processor and the memory communicate via the bus, and when the machine-readable instructions are executed by the processor, the steps of the test tube detection method as described in any one of the first aspects are performed.

[0028] In a fourth aspect, the present application provides a computer-readable storage medium having a computer program stored thereon, and when the computer program is executed by a processor, the steps of the test tube detection method as described in any one of the first aspects are executed.

[0029] The present embodiment provides a test tube detection method, device, electronic device and storage medium, which adjusts the inclination angle of the photoelectric module relative to the carrier, so that when no test tube is placed in the slot of the carrier, the first detection point of the photoelectric module is located on the carrier plane of the corresponding slot, and when the test tube is placed in the slot of the carrier, the second detection point of the photoelectric module is located on the side wall of the corresponding test tube; wherein the carrier is evenly provided with a plurality of slots for placing test tubes, and the photoelectric module is driven by a moving mechanism to achieve relative movement between the carrier and the photoelectric module; obtains a test tube detection instruction sent by a host computer; wherein the test tube detection instruction includes at least one target slot in the carrier; drives the moving mechanism so that the photoelectric module is located above the target slot for detection, obtains the detection result of whether the target slot is placed with a test tube, and uploads the detection result to the host computer. Therefore, based on the detection operation process of the moving mechanism and the photoelectric module, it is possible to efficiently, flexibly and accurately judge whether there is a test tube in the carrier. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present invention and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

[0031] Figure 1 A flow chart of a test tube detection method according to an embodiment of the present application is shown;

[0032] Figure 2 A schematic diagram of the structure of a carrier according to an embodiment of the present application is shown;

[0033] Figure 3 A schematic diagram of the structure of adjusting the inclination angle of the photoelectric module relative to the carrier according to an embodiment of the present application is shown;

[0034] Figure 4 A schematic diagram of the structure of a test tube detection device according to an embodiment of the present application is shown;

[0035] Figure 5 A structural block diagram of an electronic device described in an embodiment of the present application is shown. DETAILED DESCRIPTION

[0036] To make the purpose, technical scheme and advantages of the embodiments of the present application clearer, the technical scheme in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. It should be understood that the drawings in the present application only serve the purpose of explanation and description and are not used to limit the scope of protection of the present application. In addition, it should be understood that the schematic drawings are not drawn in real proportion. The flowchart used in this application shows the operations implemented according to some embodiments of the present application. It should be understood that the operations of the flowchart can be implemented out of sequence, and the steps without logical context can be reversed in order or implemented simultaneously. In addition, those skilled in the art can add one or more other operations to the flowchart under the guidance of the content of the present application, or remove one or more operations from the flowchart.

[0037] In addition, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. The components of the embodiments of the present application described and shown in the drawings here can be arranged and designed in various configurations. Therefore, the following detailed description of the embodiments of the present application provided in the drawings is not intended to limit the scope of the application claimed for protection, but merely represents the selected embodiments of the present application. Based on the embodiments of the present application, all other embodiments obtained by those skilled in the art without making creative work belong to the scope of protection of the present application.

[0038] It should be noted that the term "comprising" will be used in the embodiments of the present application to indicate the existence of the features declared thereafter, but does not exclude the addition of other features.

[0039] In view of the technical problems raised by the background technology, the present application provides a test tube detection method, device, electronic device and storage medium, which can efficiently, flexibly and accurately determine whether there is a test tube in the carrier based on the detection operation process of the mobile mechanism and the photoelectric module.

[0040] In one embodiment, see the attached specification Figure 1 The present application provides a test tube detection method, which comprises the following steps:

[0041] S1. Adjust the inclination angle of the photoelectric module relative to the carrier, so that when no test tube is placed in the slot of the carrier, the first detection point of the photoelectric module is located on the carrier plane corresponding to the slot, and when the test tube is placed in the slot of the carrier, the second detection point of the photoelectric module is located on the side wall of the corresponding test tube; wherein the carrier is evenly provided with a plurality of slots for placing the test tubes, and the photoelectric module is driven by a moving mechanism to realize the relative movement of the carrier and the photoelectric module;

[0042] S2, obtaining a test tube detection instruction sent by a host computer; wherein the test tube detection instruction includes at least one target slot in the carrier;

[0043] S3, driving the mobile mechanism so that the photoelectric module is located above the target slot for detection, obtaining a detection result of whether a test tube is placed in the target slot, and uploading the detection result to the host computer.

[0044] In step S1, it should be noted that, in the present application, the carrier is evenly divided into multiple rows and columns of slots for placing test tubes. Figure 2 In one embodiment, the carrier is divided into ten rows and five columns, that is, fifty slots, and each slot can be represented by a corresponding coordinate value. For example, in the same row of the carrier, the spacing between adjacent slots is the same as X; in the same column, the spacing between adjacent slots is the same as Y; the slot coordinates of the first row and the first column are (X1, Y1). This lays the foundation for the subsequent test tube detection operation of any slot.

[0045] Among them, the optoelectronic module described in the present application adopts an integrated design (the transmitting end and the receiving end are in the same module). When adjusting the inclination angle of the optoelectronic module relative to the carrier, the installation direction standard of the selected optoelectronic module needs to be met.

[0046] See the instruction manual Figure 3 When adjusting the inclination angle of the photoelectric module relative to the carrier, the photoelectric module can be installed perpendicular to the bottom surface of the carrier first, and then the three-axis robot arm is moved to move the detection point of the photoelectric module to the center of the slot in the first row and first column of the carrier; then the photoelectric detection module is tilted so that the detection point of the photoelectric module is located on the carrier plane next to the slot, that is, detection surface 1; then a test tube is placed in the slot. Since the height of the test tube is higher than the height of the slot and the photoelectric module has a certain inclination angle, the detection point of the photoelectric module is located on the side wall of the test tube, that is, detection surface 2; at this time, the inclination angle of the photoelectric module relative to the carrier is determined to be φ = 9° (different specifications of carriers, the installation height of the photoelectric module from the carrier, the specifications of the test tube to be detected, and other factors will affect the inclination angle). Among them, the connection distance from the detection surface 1 to the photoelectric module is H1, and the connection distance from the detection surface 2 to the photoelectric module is H2.

[0047] The mobile mechanism preferably adopts a three-axis robotic arm. The three-axis robotic arm plays a key role in positioning and moving in the entire detection process. It can accurately drive the photoelectric module to move to the designated test tube detection position in three-dimensional space. Through its precise motion control, it ensures that the photoelectric module can cover the test tubes at different positions on the carrier for detection, providing flexible spatial movement capabilities for comprehensive and accurate detection.

[0048] Furthermore, the present application requires the manufacturing accuracy of the carrier to make the size, shape and position of each slot on the carrier more accurate and consistent, which can reduce the impact of the differences in the carrier itself on the detection and improve the detection accuracy. At the same time, the standardized carrier design facilitates the installation and positioning of the optoelectronic module, which is conducive to improving the detection efficiency.

[0049] In step S2, the test tube detection instruction also includes a detection mode, and in the present application, two types of detection modes are provided: a full range detection mode and an arbitrary position detection mode.

[0050] Among them, in the full-range detection mode, the three-axis robot arm is first driven to move the photoelectric module to the slot of the first row and the first column on the carrier for detection, and then the detection is performed row by row or column by column according to the increment of the row spacing or the column spacing, until the detection work of whether all the slots on the carrier are placed with test tubes is completed. For example, when the detection work is turned on and the full-range detection mode is identified, the three-axis robot arm takes the lead in executing the action and moves to the designated slot coordinates (X1, Y1) of the first row and the first column. This initial positioning lays the starting point for the subsequent series of detection operations, ensuring that the detection can be carried out in an orderly manner from the specific position of the carrier; when the three-axis robot arm is accurately positioned at the (X1, Y1) coordinate position, it is detected by the photoelectric module; after completing the detection and judgment of the (X1, Y1) coordinate position, the three-axis robot arm moves to the (X1, Y1+Y) coordinate position according to the established rules. Here, Y represents the coordinate increment in the column direction. By increasing this fixed increment each time, the three-axis robot arm can detect each column slot in the same row in the carrier in turn, and repeat this cycle until the detection of all rows and columns of slots is completed.

[0051] In the arbitrary position detection mode, the path planning is first performed according to the current slot where the photoelectric module is located and the target slot to be moved to. After determining the movement path, the three-axis robot arm is driven to detect the target slots one by one according to the movement path. For example, when the detection work is turned on and the arbitrary position detection mode is identified, the coordinates of the target slot are first determined. For example, if the slot in the second row and third column is to be detected, according to the set coordinate rule, the corresponding coordinate position is (X1+X, Y1+2Y), where X represents the coordinate increment in the row direction, and through the coordination with the coordinate increment Y in the column direction, it can accurately locate any slot in the carrier; then, according to the coordinates of the current slot where the photoelectric module is located and the coordinates of the target slot, the shortest path algorithm is used to plan the moving route of the three-axis robot arm to reduce unnecessary moving distance and time; the three-axis robot arm will move the photoelectric module to the coordinate position of (X1+X, Y1+2Y) according to the planned moving route, and once it reaches the specified position, it will be detected.

[0052] Among them, the shortest path algorithm should be a technical means well known to those skilled in the art, and will not be described in detail here. It should be noted that when there are multiple target slots, the three-axis robot will move the optoelectronic modules to the corresponding slots one by one for detection according to the planned moving route.

[0053] The two detection modes set above are very flexible. Whether it is to conduct a comprehensive inspection of the slots in the carrier in a row-by-row / column order, or to switch to any slot at any time for inspection according to specific needs, it can be easily achieved. This makes it possible to efficiently and accurately determine the presence of test tubes in the carrier when facing different inspection scenarios, different test tube layouts, and different inspection focuses.

[0054] Crucially, in step S3, when the photoelectric module is used to detect whether a test tube is placed in the slot, the detection distance H of the photoelectric module can be pre-set; wherein, H1>H>H2. And the three-axis robot arm is driven to move the photoelectric module to the top of the target slot for detection, and the detection result of whether the test tube is placed in the target slot is determined based on whether the detected object exists within the detection distance H. Specifically, if the detected object exists within the detection distance H, the photoelectric module outputs a high level, and the detection result of the test tube being placed in the target slot is obtained; if the detected object does not exist within the detection distance H, the photoelectric module outputs a low level, and the detection result of the test tube not being placed in the target slot is obtained.

[0055] In other embodiments, when using the photoelectric module to detect whether a test tube is placed in a slot, a test tube detection model can be pre-constructed; wherein, the test tube detection model uses the photoelectric signal captured by the photoelectric module as input, and the presence or absence of the test tube as the output label for training. After training with a large amount of data, the model can automatically extract the features in the photoelectric signal, and accurately judge whether the test tube exists based on these features; then the three-axis robot arm is driven to move the photoelectric module to the top of the target slot for detection, and after the photoelectric signal to be detected is received, the photoelectric signal to be detected is input into the trained test tube detection model to determine the detection result of whether the target slot is placed with a test tube. This method can effectively cope with complex and changeable detection environments and detection requirements of different types of test tubes, and improve detection accuracy.

[0056] After obtaining the test results of the target slot, it is sent to the host computer to generate a test tube distribution map of the carrier according to the test results, and update it in real time to intuitively display it to the user. Furthermore, other components of the automatic loading system (such as loading robot arms, sample transmission tracks, etc.) can also be collaboratively controlled according to the test results. For example, when it is determined that a certain slot has a test tube and the sample is ready, the host computer can immediately instruct the loading robot arm to move to the corresponding position for loading operations, thereby improving the automation and work efficiency of the entire system.

[0057] It can be seen that in the test tube detection method provided by the present application, the photoelectric module adopts an integrated design (the transmitting end and the receiving end are in the same module) and the installation position is relatively flexible. There is no need to perform complicated operations such as mirror calibration and precise assembly of mechanical structures as in traditional solutions, which greatly simplifies the installation process, reduces the requirements on the technical level of the installers, and reduces the installation time and cost; and it is driven by a three-axis robotic arm to ensure that the photoelectric module can reach the target slot more accurately, thereby improving the detection speed and accuracy.

[0058] Based on the same inventive concept, a test tube detection device is also provided in the embodiment of the present application. Since the principle of solving the problem by the device in the embodiment of the present application is similar to the above-mentioned test tube detection method in the embodiment of the present application, the implementation of the device can refer to the implementation of the method, and the repeated parts will not be repeated.

[0059] As the instruction manual Figure 4 As shown, an embodiment of the present application provides a test tube detection device, the device comprising:

[0060] The adjusting module 401 is used to adjust the inclination angle of the photoelectric module relative to the carrier, so that when no test tube is placed in the slot of the carrier, the first detection point of the photoelectric module is located on the carrier plane corresponding to the slot, and when the test tube is placed in the slot of the carrier, the second detection point of the photoelectric module is located on the side wall of the corresponding test tube; wherein the carrier is evenly provided with a plurality of slots for placing the test tubes, and the photoelectric module is driven by a moving mechanism to realize the relative movement of the carrier and the photoelectric module;

[0061] The acquisition module 402 is used to acquire the test tube detection instruction sent by the host computer; wherein the test tube detection instruction includes at least one target slot in the carrier;

[0062] The detection module 403 is used to drive the moving mechanism so that the photoelectric module is located above the target slot for detection, obtain a detection result of whether a test tube is placed in the target slot, and upload the detection result to the host computer.

[0063] In one embodiment, the detection module 403 drives the three-axis robot to move the photoelectric module to the top of the target slot for detection, and obtains the detection result of whether the target slot is placed with a test tube, including: presetting the detection distance H of the photoelectric module; wherein the first connection distance between the first detection point and the photoelectric module is H1, the second connection distance between the second detection point and the photoelectric module is H2, and H1>H>H2; driving the three-axis robot to move the photoelectric module to the top of the target slot for detection, and obtaining the detection result of whether the target slot is placed with a test tube according to whether there is a detected object within the detection distance H. Wherein, if there is a detected object within the detection distance H, the photoelectric module outputs a high level, and obtains the detection result that the target slot is placed with a test tube; if there is no detected object within the detection distance H, the photoelectric module outputs a low level, and obtains the detection result that the target slot is not placed with a test tube.

[0064] In one embodiment, the detection module 403 drives the three-axis robotic arm to move the photoelectric module to the top of the target slot for detection to obtain a detection result of whether a test tube is placed in the target slot, including: pre-building a test tube detection model; wherein the test tube detection model is trained based on a photoelectric signal data set captured by the photoelectric module when there is no test tube and when a test tube is placed in the slot of the carrier; driving the three-axis robotic arm to move the photoelectric module to the top of the target slot for detection to obtain a photoelectric signal to be detected; inputting the photoelectric signal to be detected into the test tube detection model to determine a detection result of whether a test tube is placed in the target slot.

[0065] In one embodiment, the adjustment module 401 adjusts the tilt angle of the photoelectric module relative to the carrier, including selecting a photoelectric module and determining an installation direction standard of the photoelectric module; and adjusting the tilt angle of the photoelectric module relative to the carrier under the selected installation direction standard of the photoelectric module.

[0066] In one embodiment, the test tube detection instruction also includes a detection mode, and the detection mode includes a full-range detection mode and an arbitrary position detection mode. The detection module 403 drives the three-axis robot to move the photoelectric module to the top of the target slot for detection, including: in the full-range detection mode, first drive the three-axis robot to move the photoelectric module to the slot of the first row and the first column on the carrier for detection, and then perform row-by-row or column-by-column detection according to the increment of row spacing or column spacing until the detection of whether all slots on the carrier are placed with test tubes is completed; in the arbitrary position detection mode, first perform path planning according to the current slot where the photoelectric module is located and the target slot to be moved to, and after determining the movement path, drive the three-axis robot to detect the target slots one by one according to the movement path.

[0067] In one embodiment, the device further comprises:

[0068] The construction module is used to construct the test tube distribution map of the carrier based on the detection results and update it in real time.

[0069] The present application provides a test tube detection device, which adjusts the inclination angle of the photoelectric module relative to the carrier through an adjustment module, so that when no test tube is placed in the slot of the carrier, the first detection point of the photoelectric module is located on the carrier plane of the corresponding slot, and when the test tube is placed in the slot of the carrier, the second detection point of the photoelectric module is located on the side wall of the corresponding test tube; wherein the carrier is evenly provided with a plurality of slots for placing test tubes, and the photoelectric module is driven by a moving mechanism to realize the relative movement of the carrier and the photoelectric module; the test tube detection instruction sent by the host computer is obtained through an acquisition module; wherein the test tube detection instruction includes at least one target slot in the carrier; the driving module drives the moving mechanism so that the photoelectric module is located above the target slot for detection, and the detection result of whether the target slot is placed with a test tube is obtained, and the detection result is uploaded to the host computer. Therefore, based on the detection operation process of the three-axis manipulator and the photoelectric module, it is possible to efficiently, flexibly and accurately judge whether there is a test tube in the carrier.

[0070] Based on the same concept of the present invention, the specification is attached Figure 5 As shown, the structure of an electronic device 500 provided in an embodiment of the present application includes: at least one processor 501, at least one network interface 504 or other user interface 503, a memory 505, and at least one communication bus 502. The communication bus 502 is used to realize the connection and communication between these components. The electronic device 500 optionally includes a user interface 503, including a display (for example, a touch screen, LCD, CRT, holographic imaging (Holographic) or projection (Projector), etc.), a keyboard or a pointing device (for example, a mouse, a trackball (trackball), a touch pad or a touch screen, etc.).

[0071] The memory 505 may include a read-only memory and a random access memory, and provides instructions and data to the processor 501. A portion of the memory 505 may also include a non-volatile random access memory (NVRAM).

[0072] In some implementations, the memory 505 stores the following elements, executable modules or data structures, or a subset thereof, or an extended set thereof:

[0073] Operating system 5051, including various system programs, used to implement various basic services and process hardware-based tasks;

[0074] The application module 5052 includes various application programs, such as a launcher, a media player, a browser, etc., which are used to implement various application services.

[0075] In an embodiment of the present application, by calling the program or instructions stored in the memory 505, the processor 501 is used to execute steps in a test tube detection method, and based on the detection operation process of the three-axis robotic arm and the optoelectronic module, it can efficiently, flexibly and accurately determine whether there is a test tube in the carrier.

[0076] The present application also provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the steps in the test tube detection method are executed.

[0077] Specifically, the storage medium can be a general storage medium, such as a mobile disk, a hard disk, etc. When the computer program on the storage medium is run, the above-mentioned test tube detection method can be executed.

[0078] In the embodiments provided in the present application, it should be understood that the disclosed devices and methods can be implemented in other ways. The device embodiments described above are merely schematic. For example, the division of units is only a logical function division. There may be other division methods in actual implementation. For example, 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 communication interfaces, and the indirect coupling or communication connection of devices or units can be electrical, mechanical or other forms.

[0079] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0080] In addition, each functional unit in the embodiments provided in 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.

[0081] If the function 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, or the part that contributes to the prior art or the part of the technical solution, can be embodied in the form of a software product, which is stored in a storage medium and includes several instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the various embodiments of the present application. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk, and other media that can store program codes.

[0082] Finally, it should be noted that the above embodiments are only specific implementation methods of the present application, which are used to illustrate the technical solutions of the present application, rather than to limit them. The protection scope of the present application is not limited thereto. Although the present application is described in detail with reference to the aforementioned embodiments, ordinary technicians in the field should understand that any technician familiar with the technical field can still modify the technical solutions recorded in the aforementioned embodiments within the technical scope disclosed in the present application, or can easily think of changes, or make equivalent replacements for some of the technical features therein; and these modifications, changes or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application. They should all be included in the protection scope of the present application. Therefore, the protection scope of the present application shall be based on the protection scope of the claims.

Claims

1. A test tube detection method, characterized in that: The method comprises the following steps: The inclination angle of the photoelectric module relative to the carrier is adjusted so that when no test tube is placed in the slot of the carrier, the first detection point of the photoelectric module is located on the carrier plane corresponding to the slot, and when the test tube is placed in the slot of the carrier, the second detection point of the photoelectric module is located on the side wall of the corresponding test tube; wherein the carrier is evenly provided with a plurality of slots for placing the test tubes, and the photoelectric module is driven by a moving mechanism to realize the relative movement of the carrier and the photoelectric module; Obtaining a test tube detection instruction sent by a host computer; wherein the test tube detection instruction includes at least one target slot in the carrier; The moving mechanism is driven to make the photoelectric module be located above the target slot for detection, to obtain a detection result of whether a test tube is placed in the target slot, and the detection result is uploaded to the host computer.

2. The test tube detection method according to claim 1, characterized in that: The moving mechanism is a three-axis mechanical arm, the photoelectric module is arranged at the moving end of the three-axis mechanical arm, and the moving mechanism is driven so that the photoelectric module is located above the target slot for detection, and the detection result of whether the test tube is placed in the target slot is obtained, including the following steps: Preset the detection distance H of the photoelectric module; wherein the first connection distance between the first detection point and the photoelectric module is H1, the second connection distance between the second detection point and the photoelectric module is H2, and H1>H>H2; The three-axis robot arm is driven to move the photoelectric module to the top of the target slot for detection, and a detection result of whether a test tube is placed in the target slot is obtained according to whether the detected object exists within the detection distance H.

3. The test tube detection method according to claim 2, characterized in that: The method of obtaining a detection result of whether a test tube is placed in the target slot according to whether the detected object exists within the detection distance H comprises the following steps: If there is an object to be detected within the detection distance H, the photoelectric module outputs a high level, and a detection result of the test tube being placed in the target slot is obtained; If there is no detected object within the detection distance H, the photoelectric module outputs a low level, and a detection result is obtained that no test tube is placed in the target slot.

4. The test tube detection method according to claim 2 or 3, characterized in that: The step of adjusting the inclination angle of the photoelectric module relative to the carrier comprises the following steps: Select a photovoltaic module and determine the installation direction standard of the photovoltaic module; Under the selected installation direction standard of the photovoltaic module, adjust the inclination angle of the photovoltaic module relative to the carrier.

5. The test tube detection method according to claim 4, characterized in that: in, The test tube detection instruction also includes a detection mode, and the detection mode includes a full-range detection mode and an arbitrary position detection mode.

6. The test tube detection method according to claim 5, characterized in that: Driving the three-axis robot arm to move the photoelectric module to the top of the target slot for detection in the following manner includes the following steps: In the full-range detection mode, the three-axis robot arm is first driven to move the photoelectric module to the slot of the first row and the first column on the carrier for detection, and then the detection is performed row by row or column by column according to the increment of the row spacing or column spacing until the detection of whether all the slots on the carrier are placed with test tubes is completed; In the arbitrary position detection mode, the path planning is first performed according to the current slot where the photoelectric module is located and the target slot to which it is to be moved. After the movement path is determined, the three-axis robot arm is driven to detect the target slots one by one according to the movement path.

7. The test tube detection method according to claim 6, characterized in that: The method further comprises the following steps: A test tube distribution map of the carrier is constructed based on the test results and updated in real time.

8. A test tube detection device, characterized in that: The device comprises: An adjustment module is used to adjust the inclination angle of the photoelectric module relative to the carrier, so that when no test tube is placed in the slot of the carrier, the first detection point of the photoelectric module is located on the carrier plane corresponding to the slot, and when a test tube is placed in the slot of the carrier, the second detection point of the photoelectric module is located on the side wall of the corresponding test tube; wherein the carrier is evenly provided with a plurality of slots for placing test tubes, and the photoelectric module is driven by a moving mechanism to realize the relative movement of the carrier and the photoelectric module; An acquisition module, used for acquiring a test tube detection instruction sent by a host computer; wherein the test tube detection instruction includes at least one target slot in the carrier; The detection module is used to drive the moving mechanism so that the photoelectric module is located above the target slot for detection, obtain a detection result of whether a test tube is placed in the target slot, and upload the detection result to the host computer.

9. An electronic device, characterized in that: include: A processor, a memory and a bus, wherein the memory stores machine-readable instructions executable by the processor, and when the electronic device is running, the processor and the memory communicate via the bus, and when the machine-readable instructions are executed by the processor, the steps of the test tube detection method as described in any one of claims 1 to 7 are performed.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the test tube detection method as described in any one of claims 1 to 7 are executed.

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