A test tube detection method, device, electronic equipment and storage medium

Abstract

This application relates to the field of test tube detection technology, and more particularly to a test tube detection method, apparatus, electronic device, and storage medium. The method involves adjusting the tilt angle of a photoelectric module relative to a carrier rack so that when no test tube is placed in a slot of the carrier rack, the first detection point of the photoelectric module is located on the carrier rack plane corresponding to the slot, and when a test tube is placed in a slot of the carrier rack, the second detection point of the photoelectric module is located on the side wall of the corresponding test tube. The method also involves acquiring a test tube detection command sent by a host computer, wherein the test tube detection command includes at least one target slot in the carrier rack; driving the moving mechanism to position the photoelectric module above the target slot for detection, obtaining a detection result indicating whether a test tube is placed in the target slot, and uploading the detection result to the host computer. Therefore, based on the detection operation process of the moving mechanism and the photoelectric module, the method can efficiently, flexibly, and accurately determine whether a test tube exists in the carrier rack.

Description

Technical Field

[0001] This application relates to the field of test tube testing technology, and in particular to a test tube testing method, apparatus, electronic device and storage medium. Background Technology

[0002] In an automated sample dispensing system, accurately detecting the presence of test tubes in the slots is crucial. If the host computer cannot accurately determine whether there are test tubes in the current sample inlet / outlet chamber and buffer tray slots, it may cause test tubes to collide in the slots, resulting in a medical accident.

[0003] Existing test tube detection methods include using reflective photoelectric sensors with mirrors to detect the test tube, or directly using the cap of a regular reflective photoelectric sensor to detect the presence of the test tube, or using a mechanical movement device to touch the test tube. All of these methods are cumbersome to install and operate, and take a long time to detect, which is not suitable for the current system's requirement to detect a large number of wells. Summary of the Invention

[0004] To overcome the shortcomings of the prior art, this application provides a test tube detection method, device, electronic device and storage medium. Based on the detection operation process of the moving mechanism and photoelectric module, it can efficiently, flexibly and accurately determine whether there is a test tube in the carrier.

[0005] In a first aspect, this application provides a test tube detection method, which adjusts the tilt angle of a photoelectric module relative to a carrier frame so that when no test tube is placed in a slot of the carrier frame, the first detection point of the photoelectric module is located on the carrier frame plane corresponding to the slot, and when a test tube is placed in a slot of the carrier frame, the second detection point of the photoelectric module is located on the side wall of the corresponding test tube; wherein, the carrier frame is uniformly 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 between the carrier frame and the photoelectric module;

[0006] Obtain test tube detection instructions sent by the host computer; wherein, the test tube detection instructions include at least one target slot in the carrier.

[0007] The moving mechanism is driven so that the photoelectric module is positioned above the target slot to perform detection, obtain the detection result of whether the target slot is occupied by a test tube, and upload the detection result to the host computer.

[0008] In one possible implementation, the moving mechanism is a three-axis robotic arm, and the photoelectric module is disposed at the moving end of the three-axis robotic arm. Driving the moving mechanism to position the photoelectric module above the target slot for detection, and obtaining a detection result of whether a test tube is placed in the target slot, includes the following steps:

[0009] The detection distance H of the photoelectric module is preset; wherein, the distance between the first detection point and the first line connecting the photoelectric module is H1, the distance between the second detection point and the second line connecting the photoelectric module is H2, and H1 > H > H2;

[0010] The three-axis robotic arm is driven to move the photoelectric module above the target slot for detection. Based on whether there is an object to be detected within the detection distance H, the detection result of whether a test tube is placed in the target slot is obtained.

[0011] In one possible implementation, the step of obtaining the detection result of whether a test tube is placed in the target slot based on whether a test object is present within the detection distance H includes the following steps:

[0012] If the object to be detected exists within the detection distance H, the photoelectric module outputs a high level to obtain the detection result of the test tube placed in the target slot;

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

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

[0015] Select the optoelectronic module and determine its standard installation orientation;

[0016] Under the selected standard installation orientation of the optoelectronic module, adjust the tilt angle of the optoelectronic module relative to the carrier.

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

[0018] In one possible implementation, the three-axis robotic arm is driven to move the photoelectric module above the target slot for detection in the following manner, including the following steps:

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

[0020] In the arbitrary position detection mode, the path is first planned based on the current slot of the photoelectric module and the target slot to be moved to. After the motion path is determined, the three-axis robotic arm is driven to detect the target slot one by one according to the motion path.

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

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

[0023] Secondly, this application provides a test tube testing device, the device comprising:

[0024] An adjustment module is used to adjust the tilt 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 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 multiple slots for placing test tubes, and the photoelectric module is driven by a moving mechanism to realize the relative movement between the carrier and the photoelectric module;

[0025] An acquisition module is used to acquire test tube detection instructions sent by a host computer; wherein, the test tube detection instructions include 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 positioned above the target slot to perform detection, obtain the detection result of whether the target slot is occupied by a test tube, and upload the detection result to the host computer.

[0027] Thirdly, this application provides an electronic device, including: 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 communicates with the memory 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 of the first aspects are performed.

[0028] Fourthly, this application provides a computer-readable storage medium storing a computer program that, when executed by a processor, performs the steps of the test tube detection method as described in any of the first aspects.

[0029] This embodiment provides a test tube detection method, device, electronic device, and storage medium. The method involves adjusting the tilt angle of a photoelectric module relative to a carrier frame so that when no test tube is placed in a slot of the carrier frame, the first detection point of the photoelectric module is located on the carrier frame plane corresponding to the slot, and when a test tube is placed in a slot of the carrier frame, the second detection point of the photoelectric module is located on the side wall of the corresponding test tube. The carrier frame has multiple slots evenly distributed for placing test tubes, and the photoelectric module is driven by a moving mechanism to achieve relative movement between the carrier frame and the photoelectric module. The method acquires a test tube detection command sent by a host computer, wherein the test tube detection command includes at least one target slot in the carrier frame. The moving mechanism is driven so that the photoelectric module is positioned above the target slot for detection, obtaining a detection result indicating whether a test tube is placed in the target slot, and uploading the detection result to the host computer. Therefore, based on the detection operation process of the moving mechanism and the photoelectric module, the method can efficiently, flexibly, and accurately determine whether a test tube exists in the carrier frame. Attached Figure Description

[0030] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of the present invention and should not be regarded as a limitation of the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0031] Figure 1 A flowchart of a test tube testing method according to an embodiment of this application is shown;

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

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

[0034] Figure 4 A schematic diagram of the test tube testing device according to an embodiment of this application is shown;

[0035] Figure 5 A structural block diagram of an electronic device according to an embodiment of this application is shown. Detailed Implementation

[0036] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. It should be understood that the accompanying drawings in this application are for illustrative and descriptive purposes only and are not intended to limit the scope of protection of this application. Furthermore, it should be understood that the schematic drawings are not drawn to scale. The flowcharts used in this application illustrate operations implemented according to some embodiments of this application. It should be understood that the operations in the flowcharts may not be implemented in sequence, and steps without logical contextual relationships may be reversed or implemented simultaneously. In addition, those skilled in the art, guided by the content of this application, may add one or more other operations to the flowcharts, or remove one or more operations from the flowcharts.

[0037] Furthermore, the described embodiments are merely some, not all, of the embodiments of this application. The components of the embodiments of this application described and illustrated herein can typically be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of this application provided in the accompanying drawings is not intended to limit the scope of the claimed application, but merely to illustrate selected embodiments of the application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without inventive effort are within the scope of protection of this application.

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

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

[0040] In one embodiment, see the appendix to the specification. Figure 1 This application provides a test tube testing method, the method comprising the following steps:

[0041] S1. Adjust the tilt 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 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 multiple slots for placing test tubes, and the photoelectric module is driven by a moving mechanism to realize the relative movement between the carrier and the photoelectric module;

[0042] S2. Obtain the test tube detection command sent by the host computer; wherein, the test tube detection command includes at least one target slot in the carrier.

[0043] S3. Drive the moving mechanism to position the photoelectric module above the target slot for detection, obtain the detection result of whether the target slot is occupied by a test tube, and upload the detection result to the host computer.

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

[0045] The optoelectronic module described in this application adopts an integrated design (the transmitter and receiver are in the same module). When adjusting the tilt angle of the optoelectronic module relative to the carrier, the installation direction standard of the selected optoelectronic module must be met.

[0046] See the instruction manual appendix Figure 3 When adjusting the tilt angle of the photoelectric module relative to the carrier, first install the photoelectric module perpendicular to the bottom surface of the carrier. Then move the three-axis robotic arm 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. Next, tilt the photoelectric detection module so that the detection point of the photoelectric module is located on the carrier plane next to the slot, i.e., detection surface 1. Then place the test tube 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 tilt angle, the detection point of the photoelectric module is located on the side wall of the test tube, i.e., detection surface 2. At this time, determine the tilt angle of the photoelectric module relative to the carrier φ = 9° (different carrier specifications, the installation height of the photoelectric module from the carrier, the specifications of the test tube to be detected, etc. will affect this tilt angle). The distance between the line connecting detection surface 1 and the photoelectric module is H1, and the distance between the line connecting detection surface 2 and the photoelectric module is H2.

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

[0048] Furthermore, this application requires high manufacturing precision for the carrier, ensuring that the dimensions, shape, and position of each slot on the carrier are more accurate and consistent. This reduces the impact of variations in the carrier itself on the testing process, thereby improving testing accuracy. Simultaneously, a standardized carrier design facilitates the installation and positioning of optoelectronic modules, which helps improve testing efficiency.

[0049] In step S2, the test tube detection command also includes a detection mode. In this application, two modes are provided: a full-range detection mode and an arbitrary position detection mode.

[0050] In the full-range detection mode, the three-axis robotic arm is first driven to move the photoelectric module to the slot in the first row and first column of the carrier for detection. Then, it performs row-by-row or column-by-column detection according to the incremental row or column spacing until all slots on the carrier are checked for test tubes. For example, when the detection is started and the full-range detection mode is recognized, the three-axis robotic arm performs the action first, moving to the designated slot coordinates (X1, Y1) in the first row and first column. This initial positioning lays the starting point for the subsequent series of detection operations, ensuring that the detection can proceed in an orderly manner from a specific position on the carrier. After the three-axis robotic arm accurately positions itself at the (X1, Y1) coordinate position, it performs detection through the photoelectric module. After completing the detection and judgment of the (X1, Y1) coordinate position, the three-axis robotic arm moves to the (X1, Y1+Y) coordinate position according to the predetermined rules. Here, Y represents the coordinate increment in the column direction. By increasing this fixed increment each time, the three-axis robotic arm can sequentially detect each column slot in the same row within the carrier. This process is repeated until all rows and columns of slots have been detected.

[0051] In the arbitrary position detection mode, path planning is first performed based on the current slot of the photoelectric module and the target slot to be moved to. After determining the motion path, the three-axis robotic arm is driven to detect the target slot one by one according to the motion path. For example, when the detection work is started and the arbitrary position detection mode is recognized, 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 rules, its corresponding coordinate position is (X1+X, Y1+2Y). Here, X represents the coordinate increment in the row direction. By cooperating with the coordinate increment Y in the column direction, any slot in the carrier can be accurately located. Then, based on the coordinates of the current slot of the photoelectric module and the coordinates of the target slot, the shortest path algorithm is used to plan the movement route of the three-axis robotic arm to reduce unnecessary movement distance and time. The three-axis robotic arm will then move the photoelectric module to the coordinate position (X1+X, Y1+2Y) according to the planned movement route. Once the designated position is reached, the detection is performed.

[0052] The shortest path algorithm is a well-known technique and will not be elaborated upon here. It should be noted that when there are multiple target slots, the three-axis robotic arm will move the photoelectric modules one by one to the corresponding slots for detection according to the planned movement route.

[0053] The two detection modes described above offer great flexibility. Whether performing a comprehensive inspection of all slots within the rack in a row-by-row / column sequence, or switching to any slot at any time to meet specific needs, both can be easily achieved. This allows for efficient and accurate assessment of the presence of test tubes within the rack, regardless of the specific testing scenario, tube layout, or focus.

[0054] Crucially, in step S3, when using the photoelectric module to detect whether a test tube is placed in the slot, the detection distance H of the photoelectric module can be preset; where H1 > H > H2. The three-axis robotic arm is then driven to move the photoelectric module above the target slot for detection. The presence or absence of a test object within the detection distance H determines whether a test tube is placed in the target slot. Specifically, if a test object is present within the detection distance H, the photoelectric module outputs a high level, indicating that a test tube is placed in the target slot; if no test object is present within the detection distance H, the photoelectric module outputs a low level, indicating that no test tube is placed in the target slot.

[0055] In other embodiments, when using a photoelectric module to detect whether a test tube is placed in a slot, a test tube detection model can be pre-built. This model uses the photoelectric signal captured by the photoelectric module as input and the presence or absence of a test tube as the output label for training. After training with a large amount of data, the model can automatically extract features from the photoelectric signal and accurately determine the presence or absence of a test tube based on these features. Then, the three-axis robotic arm is driven to move the photoelectric module above the target slot for detection. After the photoelectric signal to be detected is received, it is input into the trained test tube detection model to determine the detection result of whether a test tube is placed in the target slot. This method can effectively cope with complex and changing detection environments and the detection needs of different types of test tubes, improving detection accuracy.

[0056] After obtaining the detection results for the target slot, the data is sent to the host computer to generate a test tube distribution map of the carrier rack based on the detection results. This map is updated in real time for a clear and intuitive display to the user. Furthermore, the detection results can be used to coordinate the control of other components of the automated sample dispensing system (such as the robotic arm for sample dispensing and the sample transport track). For example, when it is determined that a test tube is available in a slot and the sample is ready, the host computer can immediately instruct the robotic arm to move to the corresponding position to perform the sample dispensing operation, improving the automation level and efficiency of the entire system.

[0057] As can be seen, the test tube testing method provided in this application adopts an integrated design of the photoelectric module (the transmitter and receiver are in the same module) and the installation position is relatively flexible. Unlike traditional solutions, it does not require complex operations such as mirror calibration and precise mechanical assembly, which greatly simplifies the installation process, reduces the technical requirements for installers, and reduces installation time and cost. Furthermore, 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, this application also provides a test tube testing device. Since the principle of the device in this application is similar to the test tube testing method described above in this application, the implementation of the device can refer to the implementation of the method, and the repeated parts will not be described again.

[0059] As per the instruction manual Figure 4 As shown in the embodiment of this application, a test tube testing device is provided, the device comprising:

[0060] The adjustment module 401 is used to adjust the tilt 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 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 multiple slots for placing test tubes, and the photoelectric module is driven by a moving mechanism to realize the relative movement between the carrier and the photoelectric module;

[0061] The acquisition module 402 is used to acquire the test tube detection command sent by the host computer; wherein, the test tube detection command 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 positioned above the target slot to perform detection, obtain the detection result of whether the target slot is occupied by a test tube, and upload the detection result to the host computer.

[0063] In one embodiment, the detection module 403 drives the three-axis robotic arm to move the photoelectric module above the target slot for detection, obtaining a detection result of whether a test tube is placed in the target slot. This includes: pre-setting a detection distance H for the photoelectric module; wherein the distance between the first detection point and the first line connecting the photoelectric module is H1, the distance between the second detection point and the second line connecting the photoelectric module is H2, and H1 > H > H2; driving the three-axis robotic arm to move the photoelectric module above the target slot for detection, and obtaining a detection result of whether a test tube is placed in the target slot based on whether a test object is present within the detection distance H. Specifically, if a test object is present within the detection distance H, the photoelectric module outputs a high level, indicating that a test tube is placed in the target slot; if no test object is present within the detection distance H, the photoelectric module outputs a low level, indicating that no test tube is placed in the target slot.

[0064] In one embodiment, the detection module 403 drives the three-axis robotic arm to move the photoelectric module above the target slot for detection, obtaining a detection result of whether a test tube is placed in the target slot. This includes: pre-constructing a test tube detection model; wherein the test tube detection model is trained based on a dataset of photoelectric signals captured by the photoelectric module when no test tube is placed in the slot of the carrier and when a test tube is placed; driving the three-axis robotic arm to move the photoelectric module above the target slot for detection, obtaining a photoelectric signal to be detected; and inputting the photoelectric signal to be detected into the test tube detection model to determine the 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 frame, including selecting the photoelectric module and determining the installation direction standard of the photoelectric module; and adjusting the tilt angle of the photoelectric module relative to the carrier frame under the selected installation direction standard of the photoelectric module.

[0066] In one embodiment, the test tube detection command further includes a detection mode, which includes a full-range detection mode and an arbitrary position detection mode. The detection module 403 drives the three-axis robotic arm to move the photoelectric module above the target slot for detection, including: in the full-range detection mode, first driving the three-axis robotic arm to move the photoelectric module to the slot in the first row and first column of the carrier for detection, and then performing row-by-row or column-by-column detection according to the row spacing or column spacing increment until the detection work of whether test tubes are placed in all slots of the carrier is completed; in the arbitrary position detection mode, first performing path planning according to the current slot of the photoelectric module and the target slot to be moved to, and after determining the motion path, driving the three-axis robotic arm to detect the target slot one by one according to the motion path.

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

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

[0069] This application provides a test tube detection device. An adjustment module adjusts the tilt angle of a photoelectric module relative to a carrier frame. When no test tube is placed in a slot of the carrier frame, the first detection point of the photoelectric module is located on the carrier frame plane corresponding to that slot. When a test tube is placed in a slot, the second detection point of the photoelectric module is located on the side wall of the corresponding test tube. The carrier frame has multiple slots evenly distributed for placing test tubes. The photoelectric module is driven by a moving mechanism to achieve relative movement between the carrier frame and the photoelectric module. An acquisition module acquires test tube detection commands sent by a host computer. These commands include at least one target slot in the carrier frame. A drive module drives the moving mechanism, positioning the photoelectric module above the target slot for detection. The device obtains a detection result indicating whether a test tube is placed in the target slot and uploads this result to the host computer. Therefore, based on the detection operation process of a three-axis robotic arm and a photoelectric module, it can efficiently, flexibly, and accurately determine whether a test tube exists in the carrier frame.

[0070] Based on the same concept of the present invention, the specification is attached. Figure 5 As shown in the figure, an embodiment of this application provides the structure of an electronic device 500, which 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 may optionally include a user interface 503, including a display (e.g., touch screen, LCD, CRT, holographic imaging, or projector, etc.), a keyboard, or a clicking device (e.g., mouse, trackball, touchpad, or touch screen, etc.).

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

[0072] In some implementations, memory 505 stores executable modules or data structures, or subsets thereof, or extended sets thereof:

[0073] The 5051 operating system contains various system programs used to implement various basic business functions and handle hardware-based tasks.

[0074] Application module 5052 contains various applications, such as desktop launcher, media player, and browser, to implement various application functions.

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

[0076] This application also provides a computer-readable storage medium storing a computer program that, when executed by a processor, performs steps such as those in a test tube testing method.

[0077] Specifically, the storage medium can be a general-purpose storage medium, such as a removable disk or hard disk. When the computer program on the storage medium is run, it can execute the above-mentioned test tube testing method.

[0078] In the embodiments provided in this application, it should be understood that the disclosed apparatus and methods can be implemented in other ways. The apparatus embodiments described above are merely illustrative. For example, the division of units is only a logical functional division, and there may be other division methods in actual implementation. Furthermore, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Additionally, the coupling or direct coupling or communication connection shown or discussed may be through some communication interface; the indirect coupling or communication connection between apparatuses or units may be electrical, mechanical, or other forms.

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

[0080] In addition, the functional units in the embodiments provided in this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit.

[0081] If a function is implemented as 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 this application, in essence, or the part that contributes to the prior art, or a part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods of the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0082] Finally, it should be noted that the above embodiments are merely specific implementations of this application, used to illustrate the technical solutions of this application, and not to limit them. The protection scope of this application is not limited thereto. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that any person skilled in the art can still modify or easily conceive of changes to the technical solutions described in the foregoing embodiments, or make equivalent substitutions for some of the technical features, within the scope of the technology disclosed in this application; and these modifications, changes, or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application. All should be covered within the protection scope of this application. Therefore, the protection scope of this application should be determined by the protection scope of the claims.

Claims

1. A test tube testing method, characterized in that, The method includes the following steps: The tilt 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 of the corresponding 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 multiple slots for placing test tubes, and the photoelectric module is driven by a moving mechanism to realize the relative movement between the carrier and the photoelectric module; Obtain test tube detection instructions sent by the host computer; wherein, the test tube detection instructions include at least one target slot in the carrier. The moving mechanism is driven to position the photoelectric module above the target slot for detection, obtaining a detection result indicating whether a test tube is placed in the target slot, and uploading the detection result to the host computer. The moving mechanism is a three-axis robotic arm, and the photoelectric module is located at the moving end of the three-axis robotic arm. Driving the moving mechanism to position the photoelectric module above the target slot for detection, obtaining a detection result indicating whether a test tube is placed in the target slot, includes the following steps: Pre-setting the detection distance H of the photoelectric module; wherein, the first detection point and the first line connecting the photoelectric module... The distance is H1, and the distance between the second detection point and the second connection line of the photoelectric module is H2, where H1 > H > H2. The three-axis robotic arm is driven to move the photoelectric module above the target slot for detection. Based on whether there is a test object within the detection distance H, the detection result of whether a test tube is placed in the target slot is obtained. If there is a test object within the detection distance H, the photoelectric module outputs a high level, and the detection result of a test tube being placed in the target slot is obtained. If there is no test object within the detection distance H, the photoelectric module outputs a low level, and the detection result of no test tube being placed in the target slot is obtained.

2. The test tube testing method according to claim 1, characterized in that, The adjustment of the tilt angle of the photoelectric module relative to the carrier includes the following steps: Select the optoelectronic module and determine its standard installation orientation; Under the selected standard installation orientation of the optoelectronic module, adjust the tilt angle of the optoelectronic module relative to the carrier.

3. The test tube testing method according to claim 2, characterized in that, in, The test tube testing instructions also include testing modes, which include a full-range testing mode and an arbitrary position testing mode.

4. The test tube testing method according to claim 3, characterized in that, The three-axis robotic arm is driven to move the photoelectric module above the target slot for detection in the following manner, including the following steps: In full-range detection mode, the three-axis robotic arm is first driven to move the photoelectric module to the slot in the first row and first column of the carrier for detection. Then, the detection is performed row by row or column by column according to the increment of row spacing or column spacing until the detection work of whether test tubes are placed in all slots of the carrier is completed. In the arbitrary position detection mode, the path is first planned based on the current slot of the photoelectric module and the target slot to be moved to. After the motion path is determined, the three-axis robotic arm is driven to detect the target slot one by one according to the motion path.

5. The test tube testing method according to claim 4, characterized in that, The method further includes the following steps: Based on the test results, a test tube distribution map of the carrier is constructed and updated in real time.

6. A test tube testing device, characterized in that, The device includes: An adjustment module is used to adjust the tilt 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 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 multiple slots for placing test tubes, and the photoelectric module is driven by a moving mechanism to realize the relative movement between the carrier and the photoelectric module; An acquisition module is used to acquire test tube detection instructions sent by a host computer; wherein, the test tube detection instructions include at least one target slot in the carrier. A detection module is used to drive the moving mechanism so that the photoelectric module is positioned 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; wherein, the moving mechanism is a three-axis robotic arm, and the photoelectric module is disposed at the moving end of the three-axis robotic arm; driving the moving mechanism so that the photoelectric module is positioned above the target slot for detection, obtaining a detection result of whether a test tube is placed in the target slot, includes: pre-setting the detection distance H of the photoelectric module; wherein, the first detection point and the first... The distance between the two detection points is H1, and the distance between the second detection point and the second connection point of the photoelectric module is H2, where H1 > H > H2. The three-axis robotic arm is driven to move the photoelectric module above the target slot for detection. Based on whether there is an object to be detected within the detection distance H, the detection result of whether a test tube is placed in the target slot is obtained. If there is an object to be detected within the detection distance H, the photoelectric module outputs a high level, and the detection result of a test tube being placed in the target slot is obtained. If there is no object to be detected within the detection distance H, the photoelectric module outputs a low level, and the detection result of no test tube being placed in the target slot is obtained.

7. An electronic device, characterized in that, include: The device includes a processor, a memory, and a bus. The memory stores machine-readable instructions executable by the processor. When the electronic device is running, the processor communicates with the memory via the bus. When the machine-readable instructions are executed by the processor, they perform the steps of the test tube testing method as described in any one of claims 1 to 5.

8. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program that, when executed by a processor, performs the steps of the test tube testing method as described in any one of claims 1 to 5.

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