Test tube movement monitoring method and test tube bearing device

Abstract

The invention relates to the technical field of test tube racks, in particular to a test tube movement monitoring method and a test tube bearing device.The test tube movement monitoring method comprises the steps that a clamping position is selected, a test tube is clamped through the test tube bearing device, movement influence parameters of the test tube are obtained, whether solid matter exists or not is judged, and if not, a first speed is selected to move the test tube; if yes, whether the distance between the solid and the liquid level is larger than a preset distance or not is further judged, otherwise, a risk characterization parameter is determined according to the distance between the solid and the liquid level and the viscosity of the reagent, and a corresponding movement speed is selected as the movement speed of the test tube bearing device in a preset speed interval according to the risk characterization parameter; if yes, selecting a second speed as the moving speed of the test tube bearing device, and finally moving the test tube bearing device to a specified position at the determined moving speed; the problems that due to the fact that the moving speed is too high, solid matter in a reagent is attached to the test tube wall due to liquid level fluctuation, reagent quality is affected, and test tube cleaning difficulty is increased can be effectively solved.

Description

Technical Field

[0001] The present invention relates to the technical field of test tube racks, and in particular to a test tube movement monitoring method and a test tube carrying device. Background Art

[0002] In laboratory automation and industrial production, test tubes are common liquid storage and reaction containers. Their safe and efficient movement and transportation are key to ensuring experimental accuracy and production efficiency. However, traditional test tube movement methods have significant technical limitations when dealing with complex reagent characteristics (such as solid suspensions and high-viscosity liquids), and they urgently need to be optimized through intelligent monitoring methods.

[0003] For example, in the prior art, Chinese patent publication number CN110605153A discloses a test tube monitoring method for a biological sample detection system, which includes: scanning the test tubes to be loaded into the test tube rack in turn, and storing the scanned code information in the processor; controlling the test tubes to enter the material trough of the test tube rack, and marking the information of each test tube; for the test tubes to be removed from the test tube rack, the processor removes the scanned code information of the corresponding test tube, and sends the scanned code information to the controller of the next process. By storing the scanned code information of the test tubes and marking the information of each test tube, when the test tubes are moved out to the next station, the test tube information is automatically sent to the controller of the next process, so that the scanned code information can be shared, without the need for repeated scanning, thereby improving work efficiency.

[0004] However, during the movement of the test tube, solid matter in the reagent is easily attached to the wall of the test tube due to liquid level fluctuations due to the excessively fast movement speed, which affects the quality of the reagent and increases the difficulty of cleaning the test tube. Summary of the invention

[0005] To this end, the present invention provides a test tube movement monitoring method and a test tube carrying device to overcome the problem in the prior art that solid matter in the reagent is easily attached to the test tube wall due to liquid level fluctuations due to excessively fast movement speed, thereby affecting the reagent quality and increasing the difficulty of cleaning the test tube.

[0006] To achieve the above object, on the one hand, the present invention provides a test tube movement monitoring method, comprising: Step S1, selecting a clamping position based on the liquid level of the reagent in the test tube and clamping the test tube at the corresponding clamping position through the test tube carrying device; Step S2, after all the test tubes on the test tube carrying device are placed, the movement influencing parameters of each test tube are obtained and it is determined whether there is a solid object in the test tube according to the movement influencing parameters. If there is no solid object in any test tube, the first speed is selected as the movement speed of the test tube carrying device. If there is a solid object in any test tube, step S3 is executed; Step S3, determining whether there is a test tube where the distance between the solid object and the liquid surface is greater than the preset distance, if not, determining the risk characterization parameter according to the distance between the solid object and the liquid surface and the viscosity of the reagent, selecting the corresponding moving speed within the preset speed range as the moving speed of the test tube carrying device according to the risk characterization parameter, and if yes, selecting the second speed as the moving speed of the test tube carrying device; Step S4, moving the test tube carrying device to a designated position at the moving speed determined in step S3; The movement influencing parameters include the composition and viscosity of the reagent, and the position distribution of the solid matter in the presence of the solid matter, the first speed is greater than the second speed, and the interval values ​​within the preset speed interval are all less than the second speed.

[0007] As a preferred technical solution of the test tube movement monitoring method, in step S1, the process of selecting the clamping position based on the liquid level height of the reagent in the test tube includes: Step S11, obtaining the liquid level height of the reagent in the test tube; Step S12, determining the clamping position according to the comparison relationship between the liquid level and the preset height: when the liquid level is higher than the preset height, the upper part of the test tube is clamped; when the liquid level is lower than the preset height, the lower part of the test tube is clamped; Step S13, clamping the test tube at the corresponding clamping position by the test tube carrying device.

[0008] As a preferred technical solution of the test tube movement monitoring method, in step S3, the risk characterization parameter is negatively correlated with the viscosity of the reagent and the distance between the solid object and the liquid surface; The higher the value of the risk characterization parameter is, the higher the probability that the solid matter is attached to the tube wall due to the movement of the test tube carrying device is.

[0009] As a preferred technical solution of the test tube movement monitoring method, the determination of the distance between the solid object and the liquid surface includes: Determining the highest solid object according to the solid object position distribution; The distance between the highest solid object and the liquid surface is determined as the distance between the solid object and the liquid surface.

[0010] As a preferred technical solution of the test tube movement monitoring method, the step S3 further includes establishing a mapping relationship between the risk characterization parameter and the interval value within the preset speed interval; The mapping relationship satisfies that the higher the risk characterization parameter, the lower the corresponding selected interval value.

[0011] As a preferred technical solution of the test tube movement monitoring method, in step S2, the process of acquiring the position distribution of the solid object includes: Optical detection technology is used to scan the vertical section of the reagent in the test tube to obtain the position distribution of the solid matter.

[0012] As a preferred technical solution of the test tube movement monitoring method, in step S2, the composition and viscosity of the reagent are obtained by identifying the reagent label.

[0013] On the other hand, the present invention further provides a test tube carrying device, which is applied to the test tube movement monitoring method described in any of the above schemes, comprising: The first carrier plate and the second carrier plate are arranged horizontally from top to bottom, and the first carrier plate and the second carrier plate are fixedly connected by a connecting member. A gripper for grasping and moving and a sliding protrusion for moving in a slide rail are respectively arranged on the side of the connecting member away from the first carrier plate and the second carrier plate.

[0014] As a preferred technical solution for the test tube carrying device, the first carrier plate and the second carrier plate are provided with a plurality of through holes matching the diameter of the test tube arranged in an array at the same position in the vertical direction, and clamps for fixing the test tube are provided under the through holes.

[0015] Compared with the prior art, the beneficial effect of the present invention lies in that different clamping positions can be selected to clamp the test tube through the structural setting of the test tube carrying device, and different mobile devices such as manipulators or slide rails can be matched to move the test tube carrying device. On the basis of the structural setting of the test tube carrying device, the test tube movement monitoring method of the present invention selects the moving speed of the test tube carrying device according to the presence or absence of solid matter and the distance between the solid matter and the liquid surface. In the case where the solid matter does not exist, there will be no solid matter adhesion, so it moves at the highest first speed. In the case where the solid matter exists, the distance between the solid matter and the liquid surface is determined to characterize the risk characterization parameter of the probability of the solid matter being attached to the tube wall due to the movement of the test tube carrying device. The principle of its determination is that the greater the distance between the solid matter in the reagent and the liquid surface, the smaller the risk of the solid matter being above the liquid surface through movement fluctuations. At the same time, for reagents with higher viscosity, the smaller the degree of liquid level fluctuation caused by the movement speed, and thus the risk of the solid matter being above the liquid surface through movement fluctuations is smaller. In this way, a comprehensive movement speed selection can be performed for different reagent states, and efficient and safe movement of multiple test tubes can be achieved at the same time.

[0016] In particular, the present invention significantly improves the safety and efficiency of the test tube movement process by dynamically adjusting the clamping position, moving speed and risk quantification mechanism. Traditional methods are prone to liquid level fluctuations due to fixed speeds and clamping positions, which in turn causes solid matter to adhere to the inner wall of the test tube, affecting the quality of the reagents and increasing the difficulty of cleaning. The present invention dynamically adjusts the moving speed to avoid solid matter adhesion caused by liquid level fluctuations through dynamic clamping position selection and risk quantification mechanism, combined with the distance between the solid matter and the liquid surface and the viscosity of the reagent. Experiments show that after adopting the method of the present invention, the solid matter adhesion rate is reduced by more than 80%, significantly improving the reagent quality and test tube cleaning efficiency.

[0017] In particular, the present invention achieves a balance between efficiency and safety through multi-parameter coupled decision-making and real-time monitoring. Traditional methods usually adopt a conservative low-speed movement strategy due to the lack of solid detection and risk assessment mechanisms, resulting in low efficiency. The present invention combines reagent composition, viscosity and solid distribution, dynamically selects the movement speed, and adopts a faster speed when there is no solid, which significantly improves transportation efficiency. At the same time, the solid distribution is obtained in real time through optical sensors or ultrasonic detection devices, and its movement trend is predicted in combination with a three-dimensional distribution model to avoid risks in advance.

[0018] In particular, the present invention achieves precise optimization of the clamping position, determines the position of the clamping test tube according to the reagent liquid level height, selects upper clamping when the liquid level is high, and selects lower clamping when the liquid level is low, thereby avoiding additional disturbance to the reagent during the clamping process.

[0019] In particular, the present invention effectively reduces the possibility of solid suspended matter adhering to the test tube wall by optimizing the moving speed and gripping strategy, improves the cleanliness of the experimental environment, and reduces the cost of test tube cleaning. The appropriate moving speed is automatically selected based on risk characterization parameters and reagent characteristics, making the entire test tube moving process more intelligent and stable. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 This is a flow chart of a test tube movement monitoring method according to an embodiment of the present invention; Figure 2 A flow chart for selecting a clamping position for an embodiment of the present invention; Figure 3 This is a schematic structural diagram of a test tube carrying device according to an embodiment of the present invention; Figure 4 It is a schematic diagram of the structure of the first carrier board or the second carrier board according to an embodiment of the present invention.

[0021] In the figure: 1. first carrier plate; 2. second carrier plate; 3. connecting member; 4. gripper; 5. sliding protrusion; 6. through hole; 7. clamping member. DETAILED DESCRIPTION

[0022] In order to make the objects and advantages of the present invention more clearly understood, the present invention is further described below in conjunction with embodiments; it should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0023] The preferred embodiments of the present invention are described below with reference to the accompanying drawings. It should be understood by those skilled in the art that these embodiments are only used to explain the technical principles of the present invention and are not intended to limit the protection scope of the present invention.

[0024] It should be noted that, in the description of the present invention, terms such as "up", "down", "left", "right", "inside" and "outside" indicating directions or positional relationships are based on the directions or positional relationships shown in the drawings. This is merely for the convenience of description and does not indicate or imply that the device or element must have a specific orientation, be constructed and operated in a specific orientation. Therefore, it cannot be understood as a limitation on the present invention.

[0025] In addition, it should be noted that in the description of the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For those skilled in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0026] See also Figure 3 and Figure 4 As shown, they are respectively a schematic diagram of the structure of the test tube carrying device of the embodiment of the present invention and a schematic diagram of the structure of the first carrier or the second carrier of the embodiment of the present invention; this embodiment provides a test tube carrying device capable of simultaneously grabbing and moving or guiding and moving multiple test tubes by a slide rail, the test tube carrying device comprises a first carrier 1 and a second carrier 2 arranged horizontally from top to bottom, the first carrier 1 and the second carrier 2 are fixedly connected by a connecting member 3, and a gripper 4 for grabbing and moving and a sliding protrusion 5 for moving in a slide rail are respectively arranged on the side of the connecting member 3 away from the first carrier 1 and the second carrier 2. A plurality of through holes 6 matching the diameter of the test tube are arranged in an array on the first carrier 1 and the second carrier 2 at the same position in the vertical direction, and a clamping member 7 for fixing the test tube is provided below the through hole 6 (the clamping member 7 fixes or cancels the fixing of the test tube by locking or unlocking). Through the above configuration, different clamping positions can be selected to clamp the test tube, and the test tube carrying device can be moved by matching different mobile devices such as manipulators or slide rails.

[0027] In order to ensure the transfer efficiency and reagent stability when the test tube carrier moves, and to prevent solid matter from adhering to the tube wall due to inertia after sudden stop, which affects the subsequent cleaning and reagent quality, Figure 3 and Figure 4 refer to Figure 1 As shown, this embodiment also provides a test tube movement monitoring method for the above test tube carrying device, including the following steps: Step S1: Select a clamping position based on the liquid level height of the reagent in the test tube and clamp the test tube through the test tube carrying device at the corresponding clamping position; Step S2: After all the test tubes on the test tube carrying device are placed, obtain the movement influence parameters of each test tube and determine whether there is solid matter in the test tube according to the movement influence parameters. If there is no solid matter in each test tube, select the first speed as the movement speed of the test tube carrying device. If there is solid matter in any test tube, execute Step S3; Step S3: Determine whether there is a test tube in which the distance between the solid matter and the liquid surface is greater than the preset distance (in this embodiment, the preset distance is 20% of the rated liquid level height, and it can be set to other values according to the actual working conditions). If not, determine the risk characterization parameter according to the distance between the solid matter and the liquid surface and the viscosity of the reagent, and select the corresponding movement speed within the preset speed range as the movement speed of the test tube carrying device according to the risk characterization parameter. If so, select the second speed as the movement speed of the test tube carrying device; Step S4: Move the test tube carrying device to the specified position at the movement speed determined in Step S3; Among them, the movement influence parameters include the composition and viscosity of the reagent, and the position distribution of the solid matter in the case of the existence of the solid matter. The first speed is greater than the second speed, and the interval values within the preset speed range are all less than the second speed. Specifically, the first speed is the maximum movement speed set according to the production specification, the second speed is 80% of the maximum movement speed, the preset speed range is an open interval, and its endpoints are the second speed and the minimum movement speed obtained according to the production specification. If there is no production specification constraint or the maximum movement speed and the minimum movement speed are not agreed, the maximum movement speed and the minimum movement speed can be determined according to the operating parameters of the corresponding mobile device (such as a manipulator or an electric slide rail) to meet the speed monitoring principle of the test tube carrying device in the present invention, which will not be elaborated here. In this embodiment, the first speed is 1 m / s, the second speed is 0.8 m / s, and the preset speed range is (0.2 m / s, 0.8 m / s).

[0028] In the above embodiment, different clamping positions can be selected to clamp the test tube through the structural setting of the test tube carrying device, and different mobile devices such as manipulators or slide rails can be matched to move the test tube carrying device. On the basis of the structural setting of the test tube carrying device, the test tube movement monitoring method selects the moving speed of the test tube carrying device by the presence or absence of solid matter and the distance between the solid matter and the liquid surface. In the case where the solid matter does not exist, there will be no solid matter adhesion, so it moves at the highest first speed. For the case where the solid matter exists, the distance between the solid matter and the liquid surface is determined to characterize the risk characterization parameter of the probability of the solid matter being attached to the tube wall due to the movement of the test tube carrying device. The principle of its determination is that the larger the distance between the solid matter and the liquid surface, the smaller the risk of the solid matter being moved to the liquid surface. At the same time, for reagents with higher viscosity, the smaller the degree of liquid level fluctuation caused by the movement speed, and then the risk of the solid matter being moved to the liquid surface is smaller. In this way, the comprehensive moving speed selection can be performed for different reagent states, and the efficient and safe movement of multiple test tubes can be achieved at the same time. It should be understood that the liquid surface spacing described in this application refers to the spacing between the solid matter and the liquid surface in the reagent.

[0029] See also Figure 2 As shown, in step S1, the process of selecting the clamping position based on the liquid level height of the reagent in the test tube includes: Step S11, obtaining the liquid level height of the reagent in the test tube; Step S12, determining the clamping position according to the comparison relationship between the liquid level height and the preset height: when the liquid level height is higher than the preset height, the upper part of the test tube is clamped, and when the liquid level height is lower than the preset height (in this embodiment, the preset height is 50% of the rated liquid level height, and in implementation, adaptive calibration adjustment can be performed in combination with the test tube size, which will not be described in detail here), the lower part of the test tube is clamped; Step S13, clamping the test tube at the corresponding clamping position by the test tube carrying device.

[0030] The above-mentioned process of determining the clamping position realizes the optimization of the precise clamping position. The position of the clamping test tube is determined according to the reagent liquid level height. When the liquid level is high, the upper clamping is selected, and when the liquid level is low, the lower clamping is selected to avoid additional disturbance to the reagent during the clamping process.

[0031] Specifically, in step S3, the risk characterization parameter is negatively correlated with the viscosity of the reagent and the distance between the solid object and the liquid surface; Among them, the higher the value of the risk characterization parameter, the higher the probability that the solid matter is attached to the tube wall due to the movement of the test tube carrying device. Exemplarily, the determination of the risk characterization parameter includes determining the ratio K1 of the average viscosity of all test tubes on the test tube rack to the viscosity of the reagent, and the ratio K2 of the rated liquid level height to the distance between the solid matter and the liquid surface. The risk characterization parameter is determined as the sum of K1 and K2. In implementation, the risk characterization parameter can also be determined by other means as long as it satisfies the correlation with the corresponding parameter.

[0032] Specifically, the determination of the distance between the solid object and the liquid surface includes: Determine the highest solid object according to the position distribution of the solid objects; The distance between the highest solid object and the liquid surface is determined as the distance between the solid object and the liquid surface. It should be understood that in the above embodiment, the test tube for determining the risk characterization parameter is the test tube where the highest solid object is located. If its stable movement can be guaranteed, the movement stability of the remaining test tubes can also be guaranteed at the same time.

[0033] Specifically, step S3 also includes establishing a mapping relationship between the risk characterization parameter and the interval value within the preset speed interval; The mapping relationship satisfies that the higher the risk characterization parameter, the lower the corresponding interval value. The setting of the mapping relationship can meet the above requirements. For example, the specific process of establishing the mapping relationship between the risk characterization parameter and the interval value in the preset speed interval includes: The numerical distribution of risk characterization parameters is established through a limited number of experiments, and a mapping relationship is established between the numerical distribution range of the risk characterization parameters and the preset speed interval. The mapping relationship must satisfy that the range of interval values ​​corresponding to the risk characterization parameters covers at least 95% of the preset speed interval, and a single risk characterization parameter corresponds to a single interval value.

[0034] Specifically, in step S2, the process of acquiring the position distribution of solid objects includes: Optical detection technology is used to scan the vertical section of the reagent in the test tube to obtain the position distribution of the solid matter. The test tube status can be monitored in real time, and the stability of the reagent in the test tube can be effectively ensured during the movement.

[0035] The flow chart and block diagram in the accompanying drawings illustrate the possible architecture, function and operation of the device, method and computer program product according to various embodiments of the present application. In this regard, each box in the flow chart or block diagram can represent a module, a program segment or a part of a code, and the module, the program segment or a part of the code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in a different order from the order marked in the accompanying drawings. For example, two boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram and / or flow chart, and the combination of the boxes in the block diagram and / or flow chart can be implemented with a dedicated hardware-based device that performs a specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.

[0036] So far, the technical solutions of the present invention have been described in conjunction with the preferred embodiments shown in the accompanying drawings. However, it is easy for those skilled in the art to understand that the protection scope of the present invention is obviously not limited to these specific embodiments. Without departing from the principle of the present invention, those skilled in the art can make equivalent changes or substitutions to the relevant technical features, and the technical solutions after these changes or substitutions will fall within the protection scope of the present invention.

[0037] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A test tube movement monitoring method, characterized in that: include: Step S1, selecting a clamping position based on the liquid level of the reagent in the test tube and clamping the test tube at the corresponding clamping position through the test tube carrying device; Step S2, after all the test tubes on the test tube carrying device are placed, the movement influencing parameters of each test tube are obtained and it is determined whether there is a solid object in the test tube according to the movement influencing parameters. If there is no solid object in any test tube, the first speed is selected as the movement speed of the test tube carrying device. If there is a solid object in any test tube, step S3 is executed; Step S3, determining whether there is a test tube where the distance between the solid object and the liquid surface is greater than the preset distance, if not, determining the risk characterization parameter according to the distance between the solid object and the liquid surface and the viscosity of the reagent, selecting the corresponding moving speed within the preset speed range as the moving speed of the test tube carrying device according to the risk characterization parameter, and if yes, selecting the second speed as the moving speed of the test tube carrying device; Step S4, moving the test tube carrying device to a designated position at the moving speed determined in step S3; The movement influencing parameters include the composition and viscosity of the reagent, and the position distribution of the solid matter in the presence of the solid matter, the first speed is greater than the second speed, and the interval values ​​within the preset speed interval are all less than the second speed.

2. The test tube movement monitoring method according to claim 1, characterized in that: In step S1, the process of selecting the clamping position based on the liquid level of the reagent in the test tube includes: Step S11, obtaining the liquid level height of the reagent in the test tube; Step S12, determining the clamping position according to the comparison relationship between the liquid level and the preset height: when the liquid level is higher than the preset height, the upper part of the test tube is clamped; when the liquid level is lower than the preset height, the lower part of the test tube is clamped; Step S13, clamping the test tube at the corresponding clamping position by the test tube carrying device.

3. The test tube movement monitoring method according to claim 1, characterized in that: In step S3, the risk characterization parameter is negatively correlated with the viscosity of the reagent and the distance between the solid object and the liquid surface; The higher the value of the risk characterization parameter is, the higher the probability that the solid matter is attached to the tube wall due to the movement of the test tube carrying device is.

4. The test tube movement monitoring method according to claim 1, characterized in that: The determination of the distance between the solid object and the liquid surface includes: Determining the highest solid object according to the solid object position distribution; The distance between the highest solid object and the liquid surface is determined as the distance between the solid object and the liquid surface.

5. The test tube movement monitoring method according to claim 3, characterized in that: The step S3 also includes establishing a mapping relationship between the risk characterization parameter and the interval value within the preset speed interval; The mapping relationship satisfies that the higher the risk characterization parameter, the lower the corresponding selected interval value.

6. The test tube movement monitoring method according to claim 4, characterized in that: In step S2, the process of acquiring the position distribution of the solid objects includes: Optical detection technology is used to scan the vertical section of the reagent in the test tube to obtain the position distribution of the solid matter.

7. The test tube movement monitoring method according to claim 1, characterized in that: In step S2, the composition and viscosity of the reagent are obtained by identifying the reagent label.

8. A test tube carrying device, characterized in that: The test tube movement monitoring method applied to any one of claims 1 to 7 comprises: A first carrier plate (1) and a second carrier plate (2) are arranged horizontally in sequence from top to bottom. The first carrier plate (1) and the second carrier plate (2) are fixedly connected via a connecting member (3). A gripper (4) for grasping and moving and a sliding protrusion (5) for moving in a slide rail are respectively arranged on a side of the connecting member (3) away from the first carrier plate (1) and the second carrier plate (2).

9. The test tube carrying device according to claim 8, characterized in that: The first carrier plate (1) and the second carrier plate (2) are provided with a plurality of through holes (6) matching the diameter of the test tube arranged in an array at the same position in the vertical direction, and clamping members (7) for fixing the test tube are provided under the through holes (6).

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