Man-machine isolation automatic test platform for Abell stability test

Abstract

The invention discloses a man-machine isolation automatic test platform for an Arbel stability test. The man-machine isolation automatic test platform comprises a filtering unit, a liquid dropping unit, a heating unit, a waste liquid treatment unit and a robot unit, the filtering unit is used for filtering the sample liquid and carrying out visual detection on liquid level information; the liquid dropping unit is used for dropping the reaction reagent onto the Abeler test paper; the heating unit heats the sample and monitors the color change of the test paper in the test process; the waste liquid treatment unit recovers waste liquid after the test and cleans test tubes after the test; the robot unit comprises a double-arm collaborative robot and an HMI system, and the double-arm collaborative robot receives instructions of the HMI system to complete various procedures and is located on the workbench; the HMI system sends instructions of all working procedures and displays the operation state; the working table is placed in the workshop, and the HMI system and the working table are placed in an isolated mode. Man-machine isolation is achieved, manual face-to-face operation of dangerous goods is eliminated, the color changing end point is detected through visual recognition, and the detection precision is improved.

Description

Technical Field

[0001] The invention relates to a human-machine isolation automated test platform for Abel stability tests, belonging to the technical field of robot automated operation and visual recognition. Background Art

[0002] The stability analysis of nitrate esters has always been determined by the classic Abel stability test method, which measures stability based on the principle that nitrate esters release nitrogen oxide gas when decomposed by heat, causing starch potassium iodide test paper to change color. In the conventional Abel test process, the sampling, pipetting, filtration, endpoint judgment, and data reading of the stability test of nitrate esters are all solved manually. The operators of the classic Abel test directly face dangerous goods. This method relies on the naked eye to observe the color change, which has many subjective factors, high environmental conditions, and a long analysis cycle. The amount of gas produced by the decomposition of nitrate esters cannot be accurately measured. If the heating is overtime, it may cause danger and there are great hidden dangers. In the production process, the stability of nitrate esters is related to whether such energetic materials can be produced safely and reliably in a continuous manner. The change in stability has a very important guiding significance for safe and continuous production.

[0003] The Abel stability test is a test of the chemical stability of nitroglycerin, nitrocellulose and nitrate ester gunpowder and explosives. The principle is to place a quantitative sample in a special test tube, plug it with a rubber stopper with a glass hook and potassium iodide test paper (Abel test paper), heat it at a specified temperature to decompose, and measure the heating time for the released gas to make the potassium iodide starch test paper turn yellow-brown at the dry-wet boundary, which indicates the stability of the sample. The longer the time, the better the stability of the sample.

[0004] The existing Abel stability test relies on manual operation. Each tester must undergo professional training and obtain an operation qualification certificate. The sampling, pipetting, filtration, endpoint judgment, data reading and final waste liquid cleaning of dangerous samples during the operation are all solved manually. First of all, it is unsafe to operate dangerous goods face to face. Secondly, different testers have different glycerin water coating and endpoint color recognition, which will inevitably produce different test errors, thereby affecting the test results. In addition, if the test is operated manually, the poor stability of the sample test may cause safety accidents and casualties.

[0005] Patent 202310997267.1 uses two single-arm robots, but there is no description of how the two single-arm robots work together. Patent 202310997267.1 uses the RGB method for final color recognition, but the disadvantage is that the end point of the test color change is captured in the color gradient, and it is easy to miss when the color just appears, and the RGB method is not accurate in identifying the end point. Patent 202310997267.1 uses an operation panel and mechanical buttons for remote operation, but the disadvantage is that the degree of automation is low and process data cannot be collected. Summary of the invention

[0006] The technical problem solved by the present invention is: to overcome the shortcomings of the prior art and provide a human-machine isolation automated test platform for Abel stability test, which realizes the automation and safety of Abel stability test, makes useful exploration for the construction and transformation of intelligent laboratories, and provides a new idea for robots to replace manual labor in dangerous operations in production.

[0007] The technical solution of the present invention is: a man-machine isolation automated test platform for Abel stability test, comprising: a workbench, a robot unit, and a filtering unit, a dripping unit, a heating unit, and a waste liquid treatment unit located on the workbench, wherein:

[0008] The filter unit is used for filtering dangerous sample liquids and visually monitoring the liquid level information of the dangerous sample liquids;

[0009] The drop unit is used to drop the reaction reagent onto the Abel test paper;

[0010] The heating unit includes an Abel thermal stability tester and a stability test visual monitoring camera. The Abel thermal stability tester is used to heat the sample, and the stability test visual monitoring camera monitors the color change of the test paper during the test process.

[0011] The waste liquid treatment unit recycles the waste liquid after the test and is equipped with a peristaltic pump cleaning pool for cleaning the test tubes after the test;

[0012] The robot unit includes a dual-arm collaborative robot and a human-machine interaction system, which is referred to as the HMI system; wherein:

[0013] The dual-arm collaborative robot is used to execute the instructions of the HMI system and complete various processes. It is located on the workbench;

[0014] The HMI system sends instructions for various processes to the dual-arm collaborative robot, filtration unit and heating unit, receives and processes the visual monitoring information of the filtration unit and heating unit; at the same time, the HMI system can display the visual recognition monitoring process and results of the filtration unit and heating unit, as well as the operation trajectory of the dual-arm collaborative robot in real time;

[0015] The workbench is placed in the workshop, and the HMI system is separated from the workbench.

[0016] Preferably, the filtration unit comprises a pipette and a gun stand, a funnel and its support, a test tube and its support, a test tube rubber plug, a filtration unit visual monitoring camera, a base, a tray, and a wide-mouth sample bottle; wherein the pipette is placed on the gun stand to transfer dangerous liquid samples; the funnel and the test tube are placed on the support, and the tray is located within the travel range of the pipette to prevent leakage during the movement of the funnel; the wide-mouth sample bottle is used to store the sample liquid; the test tube rubber plug cooperates with the test tube, and the test tube rubber plug is equipped with a glass hook for hanging Abel test paper;

[0017] The visual monitoring camera of the filtration unit includes two cameras placed on a base. The camera imaging field of view is 20mm×20mm and the resolution is 0.1mm. The two cameras are respectively aimed at the liquid levels in the two test tubes during the sample filtration process and send the monitored liquid level information to the HMI system.

[0018] Preferably, the dripping unit includes a micro-syringe, a bracket for placing the micro-syringe, and a dark box. The micro-syringe is used to absorb the reaction reagent and drip it onto the Abel test paper; the dark box is used to provide the light-proof environment required by the Abel test paper.

[0019] Preferably, the heating unit includes an Abel thermal stability tester and a stability test visual monitoring camera, wherein:

[0020] Abel thermal stability tester is used to heat test tube samples;

[0021] The stability test visual monitoring camera includes two cameras, which are aimed at the Abel test paper and send the monitored Abel test paper image to the HMI system.

[0022] Preferably, the HMI system receives the visual monitoring information of the filtering unit and processes it, specifically:

[0023] The visual monitoring camera of the filtering unit sends the monitored liquid level information to the HMI system; after the HMI system receives the liquid level information monitored by the visual monitoring camera of the filtering unit, it calculates the distance between the monitored liquid level and the target liquid level according to the target liquid level set therein; when the liquid level reaches the target liquid level, the HMI system sends a transfer funnel instruction to the dual-arm collaborative robot.

[0024] Preferably, the HMI system receives and processes the visual monitoring information of the heating unit, specifically:

[0025] The HMI system receives the Abel test paper image sent by the stability test visual monitoring camera, obtains the color information of the Abel test paper image through the convolution kernel, and uses the YOLOV5 algorithm to build a test paper endpoint color model. The test paper endpoint color model is used to monitor the color change of the Abel test paper in the test tube and identify the reaction endpoint of the test.

[0026] Preferably, the test tubes, pipettes, funnels and test tube plugs in the filtration unit are all designed with equal diameters to facilitate grasping and placing by a dual-arm collaborative robot.

[0027] Preferably, the HMI system sends instructions for various processes to the dual-arm collaborative robot, the filtering unit and the heating unit, including:

[0028] The HMI system sends a filtering instruction to the dual-arm collaborative robot, so that the dual-arm collaborative robot automatically removes the sample and performs sample filtering in the filtering area;

[0029] The HMI system sends a start monitoring instruction to the visual monitoring camera of the filter unit, so that the visual monitoring camera of the filter unit starts imaging and sends the monitored liquid level information to the HMI system;

[0030] The HMI system sends a funnel transfer command to the dual-arm collaborative robot, causing it to remove the funnel from the test tube;

[0031] The HMI system sends an Abel test paper drop instruction to the dual-arm collaborative robot, causing it to drop the reaction reagent onto the Abel test paper;

[0032] The HMI system sends an Abel test instruction to the dual-arm collaborative robot, causing it to move the test tube to the Abel thermal stability tester for heating;

[0033] The HMI system sends a test paper monitoring instruction to the stability test visual monitoring camera of the heating unit, so that it images the Abel test paper and sends it to the HMI system;

[0034] The HMI system sends an end-of-test instruction to the dual-arm collaborative robot, causing it to remove the test tube and clean it.

[0035] In a second aspect, the present invention provides a working method of a human-machine isolation automated test platform for an Abel stability test, which is characterized by comprising:

[0036] S1. The tester takes a clean micro-syringe to absorb the quantitative reaction reagent and places it correctly on the bracket; takes two clean test tubes and places them correctly on the test tube bracket of the filter unit; puts a special funnel on each of the two test tubes, folds the filter paper and places it in the funnel; takes two test tube rubber plugs with glass hooks and two Abel test papers, and hangs the test papers on the glass hooks of the test tube rubber plugs and places them in the correct position of the dark box; after powering on the system, the tester leaves the workshop, starts the HMI system and starts the test;

[0037] S2. The HMI system sends a filtering instruction to the dual-arm collaborative robot, and sends a start monitoring instruction to the visual monitoring camera of the filtering unit. The dual-arm collaborative robot uses a pipette to transfer the sample liquid in the wide-mouth sample bottle and drips it into the funnel. The visual monitoring camera of the filtering unit monitors and sends the filtered liquid level information in the test tube to the HMI system. After the HMI system determines that the liquid level in the test tube has reached the target liquid level, it sends a transfer funnel instruction to the dual-arm collaborative robot, and the dual-arm collaborative robot removes the funnel.

[0038] S3, the dual-arm collaborative robot receives the Abel test paper dripping instruction, and the two mechanical arms of the dual-arm collaborative robot are respectively recorded as A arm and B arm, the A arm grabs the micro-syringe and moves it to the front of the dark box, and the B arm pushes the reagent to the Abel test paper; after the dripping is completed, the A arm clamps the test tube rubber plug, moves it and inserts it into the test tube;

[0039] S4, perform steps S2-S3 on the second test tube, and proceed to S5 after completion;

[0040] S5. The HMI system sends an Abel test instruction to the dual-arm collaborative robot, which moves the test tube to the Abel thermal stability tester for heating. The HMI system sends a test paper monitoring instruction to the stability test visual monitoring camera, which images the Abel test paper and sends the Abel test paper image to the HMI system. The HMI system monitors the color change of the Abel test paper through the test paper endpoint color model recognition. When it is determined that the test has reached the reaction endpoint, a prompt appears, and the HMI system automatically records the stability test results.

[0041] S6. The HMI system sends a command to the dual-arm collaborative robot to end the test. The robot arm takes out the test tube, moves it to the waste liquid cleaning area, pours out the waste sample, and cleans it in the peristaltic pump cleaning pool. The Abel stability test is completed.

[0042] Compared with the prior art, the present invention has the following advantages:

[0043] (1) The system of the present invention can replace manual work to complete the test work, with a stable speed. During the test, the equipment operation difficulty is low, and the harm to personnel caused by the falling, collision, heating and explosion of dangerous samples can be greatly reduced.

[0044] (2) The present invention can optimize the algorithm or expand it according to the actual needs of customers. For the color change of the test paper, the color recognition is more accurate through manual training and comparison with the database color; the recognition result can be fed back to the centralized control system, and a test end signal is issued to remind the staff to turn off the stability heating instrument.

[0045] (3) The test platform of the present invention is an automated test platform that can automatically collect process data and provides a workflow for a dual-arm robot.

[0046] (4) The HMI system is installed in a separate isolated room. The personnel can operate the test remotely outside the room. The stability test process can ensure the safety of personnel to the greatest extent. An emergency stop function is provided to ensure safety at any time. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] Figure 1 It is the overall layout diagram of the scheme provided by the present invention;

[0048] Figure 2 This is the overall layout diagram of the Abel experiment human-machine isolation platform provided by the present invention;

[0049] Figure 3 The present invention provides a three-dimensional schematic diagram of a pipette gun and a micro-injection syringe support;

[0050] Figure 4 It is a three-dimensional schematic diagram of the partial structure of the filter unit provided by the present invention;

[0051] Figure 5 It is a three-dimensional schematic diagram of the dripping unit dark box provided by the present invention;

[0052] Figure 6 is a three-dimensional schematic diagram of a waste liquid treatment unit provided by the present invention;

[0053] Figure 7 It is a field work flow chart provided by the present invention;

[0054] Figure 8 It is a schematic diagram of the HMI artificial interaction interface provided by the present invention. DETAILED DESCRIPTION

[0055] The human-machine isolation automated test platform for the Abel stability test of the present invention realizes the qualitative and quantitative analysis of samples and reagents, adopts a dual-arm collaborative robot instead of a single-arm robot to move various test tube samples, adopts the YOLOV5 method for visual recognition to perform final color recognition, and adopts an HMI host computer method to operate the test.

[0056] The technical solution adopted by the present invention is: using the high precision, flexibility and adaptability of the dual-arm collaborative robot to simulate manual work in complex environments, such as the removal, filtration, Abel test paper coating, rubber stopper capping, test tube transfer, and waste liquid cleaning of dangerous samples. Using visual sensing technology, the distance between the liquid level and the line segment at the bottom of the test tube is calculated by visual software to monitor the filtered liquid surface, and the deep-level features of the test paper color change image are obtained through convolution kernels and YOLOV5 deep learning, replacing manual monitoring of the color change end point to improve detection accuracy.

[0057] Specifically, the man-machine isolation automated test platform for the Abel stability test includes: a workbench, a filtering unit, a dripping unit, a heating unit, a waste liquid treatment unit, and a robot unit, wherein:

[0058] The filtration unit includes a pipette and a gun rack, a funnel and its bracket, a test tube and its bracket, a test tube stopper, a filtration unit visual inspection camera, a base, a tray, and a wide-mouth sample bottle; it is used for filtering dangerous sample liquids and visually monitoring the liquid level information of the dangerous sample liquid, and is located on a workbench; the pipette is placed on the gun rack to transfer dangerous liquid samples; the funnel and test tube are placed on the bracket, and the tray is located within the travel range of the pipette to prevent leakage during the movement of the funnel; the wide-mouth sample bottle is used to store sample liquid; the test tube stopper cooperates with the test tube, and is provided with a glass hook for hanging Abel test paper; the filtration unit visual inspection camera includes two cameras, the camera is placed on the base, the camera imaging field of view is 20mm×20mm, and the resolution is 0.1mm; the two cameras are respectively aimed at the liquid levels in the two test tubes during the sample filtration process, and the monitored liquid level information is sent to the HMI system.

[0059] The dripping unit includes a micro-syringe, a bracket for placing the micro-syringe, and a dark box. The micro-syringe is used to absorb the reaction reagent and drip it onto the Abel test paper. The dark box is used to provide the Abel test paper with a light-proof environment and is located on the workbench.

[0060] The heating unit includes an Abel thermal stability tester and a stability test visual monitoring camera. The Abel thermal stability tester is used to heat the sample, and the stability test visual monitoring camera monitors the color change of the test paper during the test process, and is located on the workbench; wherein: the Abel thermal stability tester is used to heat the test tube sample; the stability test visual monitoring camera includes two cameras, the cameras are aimed at the Abel test paper, and the monitored Abel test paper image is sent to the HMI system.

[0061] The waste liquid treatment unit recycles the waste liquid after the test and is equipped with a peristaltic pump cleaning pool for cleaning the test tubes after the test;

[0062] The robot unit includes a dual-arm collaborative robot and a human-machine interaction system, which is referred to as the HMI system; wherein:

[0063] The dual-arm collaborative robot is used to execute the instructions of the HMI system and complete various processes. It is located on the workbench;

[0064] The HMI system sends instructions for various processes to the dual-arm collaborative robot, the filtering unit and the heating unit, receives and processes the visual monitoring information of the filtering unit and the heating unit; at the same time, the HMI system can display the operating status of the dual-arm collaborative robot and the visual monitoring results processed by the filtering unit and the heating unit;

[0065] The workbench is placed in the workshop, and the HMI system is separated from the workbench.

[0066] The HMI system receives the visual monitoring information of the filter unit and processes it, specifically: the filter unit visual monitoring camera sends the monitored liquid level information to the HMI system; after the HMI system receives the visual monitoring camera of the filter unit and sends the monitored liquid level information to the HMI system, it calculates the distance between the monitored liquid level and the target liquid level based on the target liquid level set therein. When the liquid level reaches the target liquid level, the HMI system sends a transfer funnel instruction to the dual-arm collaborative robot.

[0067] The HMI system receives and processes the visual monitoring information of the heating unit. Specifically, the HMI system receives the Abel test paper image sent by the stability test visual monitoring camera, obtains the color information of the Abel test paper image through the convolution kernel, and uses the YOLOV5 algorithm to build a test paper endpoint color model. The test paper endpoint color model is used to monitor the color change of the Abel test paper in the test tube and identify the reaction endpoint of the test.

[0068] The present invention also provides a working method of a human-machine isolation automated test platform for Abel stability test, comprising:

[0069] Manually take a clean micro-syringe to absorb the quantitative reaction reagent and place it correctly on the bracket; take two clean special test tubes and place them correctly on the test tube rack in the filtration area; put special funnels on the two test tubes respectively, fold the filter paper and put it in the funnel; take a pair of rubber plugs with glass hooks (test tube rubber plugs), two Abel test papers, and hang the test papers on the glass hooks, and then place them in the correct position of the dark box. After powering on the system, the tester leaves the workshop, starts the HMI system, and starts the test;

[0070] The dual-arm collaborative robot receives the filtering instruction from the HMI system and automatically transfers the sample to the filtering area for filtering. During this process, the HMI system sends a start monitoring instruction to the visual monitoring camera of the filtering unit. The dual-arm collaborative robot transfers the sample liquid in the wide-mouth sample bottle through a pipette and drips it into the funnel. The visual monitoring camera of the filtering unit monitors and sends the filtered liquid level information in the test tube to the HMI system. After the HMI system determines that the liquid level in the test tube has reached the target level, it sends a funnel transfer instruction to the dual-arm collaborative robot, and the dual-arm collaborative robot removes the funnel.

[0071] The dual-arm collaborative robot receives the Abel test paper dripping instruction, grabs the micro-syringe with its right arm, moves it to the front of the dark box, and pushes the reagent to the Abel test paper with its left arm; after the dripping is completed, the right arm grabs the rubber stopper with a glass hook (test tube rubber stopper), moves it and inserts it into the test tube, and then makes the second test tube in turn;

[0072] The HMI system sends an Abel test instruction to the dual-arm collaborative robot, which moves the test tube to the Abel thermal stability tester for heating. The HMI system sends a test paper monitoring instruction to the stability test visual monitoring camera, which images the Abel test paper and sends the Abel test paper image to the HMI system. The HMI system monitors the color change of the Abel test paper through the test paper endpoint color model recognition. When it is determined that the test has reached the reaction endpoint, a prompt appears, and the HMI system automatically records the stability test results.

[0073] The HMI system sends a command to the dual-arm collaborative robot to end the test. The robot's robotic arm takes out the test tube, moves it to the waste liquid cleaning area, pours out the waste sample, and cleans it in the peristaltic pump cleaning pool. The Abel stability test is completed.

[0074] like Figure 7 As shown: manually place the test tube, funnel (with filter paper), pipette, micro syringe (with glycerol water), sample bottle and related utensils, power on the system, leave the workshop, start the computer in another room, start the software remotely, and start the test. The dual-arm collaborative robot will automatically remove the sample to filter the sample in the filtration area, visually identify and monitor the scale line of the filtered liquid, remove the funnel after reaching the scale line, quantitatively apply reagent to the Abel test paper in the dripping area, cover the test paper with a rubber stopper after coating, move the test tube to the Abel tester in the heating area, visually identify and monitor the color change of the Abel test paper, and a prompt will appear at the end point. The computer automatically records the stability test results, the robot arm takes out the test tube, moves it to the waste liquid cleaning area, pours out the waste sample, and the peristaltic pump automatically discharges water for cleaning, and the stability test ends.

[0075] The dual-arm collaborative robot of the present invention replaces manual operations to remove and filter samples, apply reagents to test papers, add stoppers to test tubes, move test tubes, dump waste samples, and clean them. It uses a visual detection camera to monitor the filter sample liquid level mark in real time, and uses a visual detection camera to monitor the color change of the Abel test paper in the test tube in real time. The imaging is transmitted to the intelligent visual recognition system, and the neural network algorithm is used to accurately capture the test stage corresponding to the color change of the test paper, establish a color endpoint model and identify it. After the test is completed, the robot arm automatically takes the sample out of the heater, pours out the test tube sample, cleans it, and puts it in the designated area. Eliminate manual face-to-face operation of dangerous goods, and visual recognition reduces personnel differences.

[0076] The man-machine isolation automatic test platform for the Abel stability test of the present invention strictly implements the operation requirements of the Abel stability test of the GJB770B-2005.601 gunpowder performance test method during the test process.

[0077] The HMI platform consists of two parts: software and hardware. The software includes control programs and visual recognition artificial intelligence modeling; the hardware includes processors, display units, input units, communication interfaces, and data storage units. It can not only monitor the experimental process in real time, but also quickly adjust machine settings and provide agile feedback on abnormal conditions.

[0078] The dual-arm collaborative robot is a drive-controlled integrated industrial thin parallel electric gripper with 13 degrees of freedom. The gripper body is controlled by the standard Modbus-RTU protocol and IO mode, and a combination of force control and position control is used during the gripping process. The gripping position, gripping force value and running speed of the gripper can be programmed and adjusted, and can be combined and matched at will. The state of the gripper can be judged by the indicator light of the gripper body. The blue light is always on, indicating that it has entered the operational state, and the green light is always on, indicating that the object is clamped.

[0079] When removing samples from the filtration area, a pipette gun is used to quantitatively remove samples. The tips are disposable and replaceable, eliminating the need for cleaning. The filtration area funnel has an inclined neck design, which can automatically center the test tube and control the sample drop height to prevent the sample from sticking to the wall, reducing the risk. The combination of the filtration area light source and visual camera automatically monitors the filtration liquid level to reach the mark, automatically enters the next step, and automatically and accurately covers the rubber stopper and presses it.

[0080] The Abel test paper in the dripping area is coated with reagents, and a dark box design is used to prevent the Abel test paper from being exposed and maintain a suitable environment. The micro-syringe quantitatively absorbs the reagents and quantitatively applies the reagents to the test paper, which can reduce the difference in color change time between the two samples.

[0081] Example:

[0082] The present invention will be further described in detail below in conjunction with the accompanying drawings.

[0083] A human-machine isolation automated test platform for Abel stability tests, such as Figure 2 As shown, it includes a filtering unit, a dripping unit, a heating unit, a robot unit, a waste liquid treatment unit, a workbench, etc.

[0084] The filtration unit includes a pipette gun and gun holder, a funnel and its bracket, a test tube and its bracket, a test tube rubber plug with a glass hook, a filtration unit visual monitoring camera and base, a tray, and a wide-mouth sample bottle, which are used for filtering dangerous liquid samples. Figure 4 shown.

[0085] The dripping unit includes a micro-syringe and a bracket thereof, which are used to drip the reaction reagent onto the Abel test paper. The dripping unit includes a micro-syringe, a bracket for placing the micro-syringe, and a dark box. The micro-syringe is used to absorb the reaction reagent and drip it onto the Abel test paper; the dark box is used to meet the light-proof environment of the Abel test paper, such as Figure 5The pipette and micro-injection holder are shown in Figure 3 shown.

[0086] The heating unit includes an Abel thermal stability tester and a stability test visual monitoring camera, which are used to heat the sample and monitor the color change time of the test paper during the test process.

[0087] The robot unit includes a dual-arm collaborative robot, an end fixture, and a human-machine interaction system (HMI system for short). The robot is used to connect the processes. The HMI system can display the robot's operating status and visual monitoring results in real time, such as Figure 8 shown.

[0088] The waste liquid treatment unit includes a wide-mouth bottle and a rack for recovering waste liquid after the test. It is also equipped with a peristaltic pump cleaning tank to facilitate the cleaning of the test tubes after the test. Figure 6 shown.

[0089] Pipette and gun stand, funnel and its bracket, test tube and its bracket, test tube plug with glass hook, vision and base, tray, wide-mouth reagent bottle. Pipette is used to transfer dangerous liquid samples; Pipette, funnel, test tube plug are placed on the bracket, and the tray is located within the travel range of the pipette to prevent leakage during the movement of the funnel; the filtration unit visual monitoring camera is mainly two cameras, the camera is placed on the base, with 5 million pixels, the camera imaging field of view is 20mm×20mm, and the visual detection accuracy (resolution) can reach 0.1mm, respectively aimed at the rising liquid level of the two test tubes during the sample filtration process; and the monitored liquid level information is sent to the HMI system; the target liquid level is set in the HMI system, and the distance between the detected liquid level and the target liquid level is calculated. When the liquid level reaches the target liquid level, the filtration is completed; the base is a fixed camera.

[0090] Abel thermal stability tester and stability test visual monitoring camera. The Abel thermal stability tester is used to heat test tube samples; the vision is two cameras, aimed at the Abel test paper, and the monitored test paper image information is sent to the HMI system. The HMI system obtains the color information of the Abel test paper image (the spatial information of the image and rich and representative semantic features), and uses the YOLOV5 deep learning algorithm to learn the deep features of the color in the image, establish a test paper endpoint color model, and use the model to monitor the color changes of the Abel test paper in the test tube to identify the reaction endpoint of the test.

[0091] The HMI system is the host computer of the workstation, which is used to display the status and visual processing of the robot. It is isolated from the workbench and placed in another room, such as Figure 1 shown.

[0092] The end clamps for test tubes, pipettes, funnels, test tube stoppers and other utensils are customized according to the shape and size of each vessel to ensure positioning accuracy while preventing bumps during the grasping process. Test tubes, pipettes, funnels and test tube stoppers are all designed with equal diameters to facilitate grasping and release by the robotic arm.

[0093] The HMI system is physically isolated from other units in the human-machine isolation test platform. The structures in the test platform except the HMI system are installed in a separately isolated room. During the process, there is no one in the test platform area, and the operator operates through the HMI system to ensure personnel safety to the greatest extent.

[0094] The working method of the human-machine isolation automation test platform based on the above Abel stability test is:

[0095] 1. Turn on the main power switch, power on the visual industrial computer, robot control cabinet, and display, prepare the test bench before testing, and check that the pipette is clean and correctly placed on the pipette holder;

[0096] 2. Use a clean microsyringe to draw up 6 microliters of glycerol water (glycerol: double distilled water = 1:1), and place it correctly on the stand; take two clean special Abel test tubes with a diameter of 18 mm, and place them correctly on the test tube rack in the filtration area; place special funnels on the two test tubes respectively, fold the filter paper and place it on the funnel, take a pair of rubber stoppers with glass hooks, take two Abel test papers, poke a small hole in the test paper 2 mm from the upper edge, and hang the test paper on the glass hook, and then place the rubber stopper with glass hook and test paper in the correct position of the dark box.

[0097] 3. Make sure the robot is in the starting position, the sample bottle is placed in a fixed position, and press the start button on the computer HMI interface or the start button on the handle. The robot automatically completes the entire test process according to the program.

[0098] 4. In the first step of filtration, the robot's right arm moves to the pipette rack, grabs the pipette, moves to the sample bottle, absorbs the liquid sample in the sample bottle, and then moves to the funnel of test tube 1. After an interval of 10 seconds, it moves to the sample bottle again to absorb the liquid in the sample bottle, and then moves to the funnel of test tube 2. Visually monitor the liquid level in the test tube, and after the scale line is recognized, move the funnel away one by one, grab the micro-syringe with the right arm, move to the dark box, push in the reagent with the left arm, and do another one in turn. Then the right arm takes out the rubber stopper with a glass hook, moves and inserts it into the test tube, and does the second test tube in turn.

[0099] 5. In the second step, the robot's right arm grabs the test tube and moves it to the Abel tester for heating. The color change of the test paper is visually monitored, and the camera is used for recognition every 2 seconds. The color change endpoint model is compared in real time for recognition. After the color change endpoint is recognized, a prompt appears on the computer.

[0100] 6. The robot receives the signal, and its right arm automatically takes out the test tube, pours out the waste liquid in the test tube, uses the peristaltic pump to clean the water, puts the test tube away, and the experiment ends.

[0101] The contents not described in detail in the specification of the present invention belong to the prior art known to the professional and technical personnel in this field.

Claims

1. A man-machine isolation automated test platform for Abel stability test, characterized in that include: A workbench, a robot unit, and a filtering unit, a dripping unit, a heating unit, and a waste liquid treatment unit located on the workbench, wherein: The filter unit is used for filtering dangerous sample liquids and visually monitoring the liquid level information of the dangerous sample liquids; The drop unit is used to drop the reaction reagent onto the Abel test paper; The heating unit includes an Abel thermal stability tester and a stability test visual monitoring camera. The Abel thermal stability tester is used to heat the sample, and the stability test visual monitoring camera monitors the color change of the test paper during the test process. The waste liquid treatment unit recycles the waste liquid after the test and is equipped with a peristaltic pump cleaning pool for cleaning the test tubes after the test; The robot unit includes a dual-arm collaborative robot and a human-machine interaction system, which is referred to as the HMI system; wherein: The dual-arm collaborative robot is used to execute the instructions of the HMI system and complete various processes. It is located on the workbench; The HMI system sends instructions for various processes to the dual-arm collaborative robot, filtration unit and heating unit, receives and processes the visual monitoring information of the filtration unit and heating unit; at the same time, the HMI system can display the visual recognition monitoring process and results of the filtration unit and heating unit, as well as the operation trajectory of the dual-arm collaborative robot in real time; The workbench is placed in the workshop, and the HMI system is separated from the workbench.

2. The human-machine isolation automated test platform for Abel stability test according to claim 1 is characterized by: The filtration unit includes a pipette and a gun stand, a funnel and its support, a test tube and its support, a test tube rubber plug, a filtration unit visual monitoring camera, a base, a tray, and a wide-mouth sample bottle; the pipette is placed on the gun stand to transfer dangerous liquid samples; the funnel and the test tube are placed on the support, and the tray is located within the travel range of the pipette to prevent leakage during the movement of the funnel; the wide-mouth sample bottle is used to store the sample liquid; the test tube rubber plug cooperates with the test tube, and the test tube rubber plug is equipped with a glass hook for hanging Abel test paper; The visual monitoring camera of the filtration unit includes two cameras placed on a base. The camera imaging field of view is 20mm×20mm and the resolution is 0.1mm. The two cameras are respectively aimed at the liquid levels in the two test tubes during the sample filtration process and send the monitored liquid level information to the HMI system.

3. The human-machine isolation automated test platform for Abel stability test according to claim 1 is characterized by: The dripping unit includes a micro-syringe, a bracket for placing the micro-syringe, and a dark box. The micro-syringe is used to absorb the reaction reagent and drip it onto the Abel test paper; the dark box is used to provide the light-proof environment required by the Abel test paper.

4. The human-machine isolation automated test platform for Abel stability test according to claim 1 is characterized by: The heating unit includes an Abel thermal stability tester and a stability test visual monitoring camera, where: Abel thermal stability tester is used to heat test tube samples; The stability test visual monitoring camera includes two cameras, which are aimed at the Abel test paper and send the monitored Abel test paper image to the HMI system.

5. The human-machine isolation automated test platform for Abel stability test according to claim 2 is characterized by: The HMI system receives the visual monitoring information from the filter unit and processes it, specifically: The visual monitoring camera of the filtering unit sends the monitored liquid level information to the HMI system; after the HMI system receives the liquid level information monitored by the visual monitoring camera of the filtering unit, it calculates the distance between the monitored liquid level and the target liquid level according to the target liquid level set therein; when the liquid level reaches the target liquid level, the HMI system sends a transfer funnel instruction to the dual-arm collaborative robot.

6. The human-machine isolation automated test platform for Abel stability test according to claim 4 is characterized by: The HMI system receives the visual monitoring information of the heating unit and processes it, specifically: The HMI system receives the Abel test paper image sent by the stability test visual monitoring camera, obtains the color information of the Abel test paper image through the convolution kernel, and uses the YOLOV5 algorithm to build a test paper endpoint color model. The test paper endpoint color model is used to monitor the color change of the Abel test paper in the test tube and identify the reaction endpoint of the test.

7. The human-machine isolation automated test platform for Abel stability test according to claim 2 is characterized by: The test tubes, pipettes, funnels and test tube stoppers in the filtration unit are all designed with equal diameters to facilitate grabbing and placing by the dual-arm collaborative robot.

8. The human-machine isolation automated test platform for Abel stability test according to claim 1 is characterized by: The HMI system sends instructions for various processes to the dual-arm collaborative robot, filtration unit, and heating unit, including: The HMI system sends a filtering instruction to the dual-arm collaborative robot, so that the dual-arm collaborative robot automatically removes the sample and performs sample filtering in the filtering area; The HMI system sends a start monitoring instruction to the visual monitoring camera of the filter unit, so that the visual monitoring camera of the filter unit starts imaging and sends the monitored liquid level information to the HMI system; The HMI system sends a funnel transfer command to the dual-arm collaborative robot, causing it to remove the funnel from the test tube; The HMI system sends an Abel test paper drop instruction to the dual-arm collaborative robot, causing it to drop the reaction reagent onto the Abel test paper; The HMI system sends an Abel test instruction to the dual-arm collaborative robot, causing it to move the test tube to the Abel thermal stability tester for heating; The HMI system sends a test paper monitoring instruction to the stability test visual monitoring camera of the heating unit, so that it images the Abel test paper and sends it to the HMI system; The HMI system sends an end-of-test instruction to the dual-arm collaborative robot, causing it to remove the test tube and clean it.

9. A working method of a human-machine isolation automated test platform for Abel stability test, characterized in that include: S1. The tester takes a clean micro-syringe to absorb the quantitative reaction reagent and places it correctly on the bracket; takes two clean test tubes and places them correctly on the test tube bracket of the filter unit; puts a special funnel on each of the two test tubes, folds the filter paper and places it in the funnel; takes two test tube rubber plugs with glass hooks and two Abel test papers, and hangs the test papers on the glass hooks of the test tube rubber plugs and places them in the correct position of the dark box; after powering on the system, the tester leaves the workshop, starts the HMI system and starts the test; S2. The HMI system sends a filtering instruction to the dual-arm collaborative robot, and sends a start monitoring instruction to the visual monitoring camera of the filtering unit. The dual-arm collaborative robot uses a pipette to transfer the sample liquid in the wide-mouth sample bottle and drips it into the funnel. The visual monitoring camera of the filtering unit monitors and sends the filtered liquid level information in the test tube to the HMI system. After the HMI system determines that the liquid level in the test tube has reached the target liquid level, it sends a transfer funnel instruction to the dual-arm collaborative robot, and the dual-arm collaborative robot removes the funnel. S3, the dual-arm collaborative robot receives the Abel test paper dripping instruction, and the two mechanical arms of the dual-arm collaborative robot are respectively recorded as A arm and B arm, the A arm grabs the micro-syringe and moves it to the front of the dark box, and the B arm pushes the reagent to the Abel test paper; after the dripping is completed, the A arm clamps the test tube rubber plug, moves it and inserts it into the test tube; S4, perform steps S2-S3 on the second test tube, and proceed to S5 after completion; S5. The HMI system sends an Abel test instruction to the dual-arm collaborative robot, which moves the test tube to the Abel thermal stability tester for heating. The HMI system sends a test paper monitoring instruction to the stability test visual monitoring camera, which images the Abel test paper and sends the Abel test paper image to the HMI system. The HMI system monitors the color change of the Abel test paper through the test paper endpoint color model recognition. When it is determined that the test has reached the reaction endpoint, a prompt appears, and the HMI system automatically records the stability test results. S6. The HMI system sends a command to the dual-arm collaborative robot to end the test. The robot arm takes out the test tube, moves it to the waste liquid cleaning area, pours out the waste sample, and cleans it in the peristaltic pump cleaning pool. The Abel stability test is completed.

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