Sample scheduling system, sample scheduling method and computer equipment

Abstract

The invention relates to a sample scheduling system, a sample scheduling method and computer equipment. The sample scheduling system comprises a centrifugal scheduling platform which comprises a platform plate, a supporting plate, a first grabbing unit and a pushing unit; the supporting plate is arranged on the platform plate, a guide groove is formed in the supporting plate, the guide groove is used for placing a centrifugal cup, and the centrifugal cup is used for loading a to-be-tested sample tube; the grabbing unit is arranged above the platform plate, the grabbing unit comprises a centrifugal cup grabbing hand, and the centrifugal cup grabbing hand is used for grabbing a centrifugal cup; and the pushing unit is arranged on the platform plate, and the pushing unit is used for pushing the centrifugal cup in the guide groove to move and positioning the centrifugal cup under the condition that the centrifugal cup gripper needs to grab the centrifugal cup. According to the method, the sample centrifugation process can be efficiently scheduled.

Description

Technical Field

[0001] This application relates to the technical field of instrument control, and particularly to a sample scheduling system, a sample scheduling method, and a computer device. Background Art

[0002] During the centrifugation process of a fully automatic sample processing system, it is necessary to grasp a sample tube into a centrifuge cup, then grasp the centrifuge cup into a centrifuge, centrifuge the sample tube, and then grasp it out. In this process, the gripper needs to undertake all tasks of grasping the sample tube into the centrifuge cup, grasping the centrifuge cup into the centrifuge for centrifugation, grasping out the centrifuge cup after centrifugation, and grasping out the sample tube after centrifugation, and also needs to perform cyclic scheduling on the centrifuge cup, resulting in a relatively low centrifugation efficiency for the sample. Summary of the Invention

[0003] Based on this, in view of the above technical problems, it is necessary to provide a sample scheduling system, a sample scheduling method, and a computer device that can improve the scheduling efficiency of centrifuge cups.

[0004] In a first aspect, this application provides a sample scheduling system, including: a centrifugation scheduling platform, including a platform board, a tray, a grasping unit, and a pushing unit; the tray is arranged on the platform board, and a guiding groove is arranged on the tray, and the guiding groove is used for placing a centrifuge cup, and the centrifuge cup is used for loading a sample tube to be tested; the grasping unit is arranged above the platform board, and the grasping unit includes a centrifuge cup gripper, and the centrifuge cup gripper is used for grasping the centrifuge cup; the pushing unit is arranged on the platform board, and the pushing unit is used for pushing the centrifuge cup in the guiding groove to move.

[0005] According to an embodiment of this application, the system further includes: a centrifuge arranged below the platform board for centrifuging the sample tube to be tested; a balancing test tube rack arranged on the tray for loading balancing sample tubes, and the balancing sample tubes are used for balancing the sample tube to be tested when the sample tube to be tested is centrifuged.

[0006] According to an embodiment of this application, the guiding groove includes a first sliding groove arranged on a first side of the centrifuge, a second sliding groove arranged on a second side of the centrifuge, a third sliding groove arranged on a third side of the centrifuge, and a fourth sliding groove arranged on a fourth side of the centrifuge; the first sliding groove includes at least one sub-sliding groove.

[0007] According to an embodiment of the present application, the pushing unit includes a first pusher, a second pusher, a third pusher, and a fourth pusher; the stroke range of the first pusher includes the coverage ranges corresponding to the first chute, the third chute, and the fourth chute; the stroke range of the second pusher includes the coverage ranges corresponding to the first chute, the second chute, and the fourth chute; the stroke range of the third pusher includes the coverage ranges corresponding to the second chute, the third chute, and the fourth chute; the stroke range of the fourth pusher includes the coverage ranges corresponding to the first chute, the second chute, and the third chute.

[0008] According to an embodiment of the present application, the centrifugal scheduling platform further includes: a first mechanical gripper, the first gripping range of the first mechanical gripper includes the coverage ranges corresponding to the first chute and the balancing test tube rack, the first mechanical gripper is used to grip the test sample tube to place the test sample tube in the centrifuge cup located in the first chute, and is also used to take out the balanced sample tube from the centrifuge cup located in the first chute to place the balanced sample tube on the balancing test tube rack.

[0009] According to an embodiment of the present application, the centrifugal scheduling platform further includes: a second mechanical gripper, the second gripping range of the second mechanical gripper includes the coverage range corresponding to the second chute; the second mechanical gripper is used to grip the test sample tube from the centrifuge cup located in the second chute.

[0010] According to an embodiment of the present application, the third gripping range of the centrifuge cup gripper includes the coverage range corresponding to the sample inlet of the centrifuge and a preset range adjacent to the sample inlet in the third chute; the centrifuge cup gripper is used to grip the centrifuge cup to place the centrifuge cup at the sample inlet so that the centrifuge centrifuges the test sample tube in the centrifuge cup.

[0011] Second aspect, the present application also provides a sample scheduling method, which is applied to the sample scheduling system of the above embodiment. The method includes: during the process of the control driving unit driving the centrifuge cup to move in the guiding groove, when the centrifuge cup enters the first grasping range of the first robotic gripper, controlling the first robotic gripper to grasp the test sample tube according to the positioning of the centrifuge cup and place it into the centrifuge cup; when the centrifuge cup enters the third grasping range of the centrifuge cup gripper, controlling the centrifuge cup gripper to grasp the centrifuge cup to place the centrifuge cup at the sample inlet of the centrifuge, so that the centrifuge centrifuges the test sample tube in the centrifuge cup; when the centrifugation is completed, controlling the centrifuge cup gripper to grasp the centrifuge cup from the sample inlet to place the centrifuge cup in the guiding groove; when the centrifuge cup enters the second grasping range of the second robotic gripper, controlling the second robotic gripper to grasp the test sample tube in the centrifuge cup.

[0012] According to an embodiment of the present application, the method further includes: when the centrifuge cup enters the first grasping range and does not meet the balancing condition of the centrifuge, controlling the first robotic gripper to grasp a balancing sample tube from the balancing test tube rack to place the balancing sample tube into the centrifuge cup; when the centrifugation is completed and the centrifuge cup enters the first grasping range again, controlling the first robotic gripper to grasp the balancing sample tube in the centrifuge cup to place the balancing sample tube back into the balancing test tube rack.

[0013] Third aspect, the present application also provides a computer device, including a memory and a processor. The memory stores a computer program, and when the processor executes the computer program, it implements the steps of the method described in the embodiment of the second aspect.

[0014] For the above sample scheduling system, sample scheduling method and computer device, the centrifuge cup translates in the sliding groove of the tray, and the driving unit is used to push and achieve positioning, realizing the rapid cyclic scheduling of the centrifuge cup. The operation is simple and the stability is high, and the control method is simple and reliable. The centrifuge gripper is only responsible for grasping the centrifuge cup, with a single task, simple operation and higher efficiency. Description of the Drawings

[0015] In order to more clearly illustrate the technical solutions in the embodiments of the present application or in the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the following drawings are only some embodiments of the present application. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on these drawings.

[0016] Figure 1 It is a top view of the sample scheduling system in an embodiment;

[0017] Figure 2 Another top view of the sample scheduling system in an embodiment;

[0018] Figure 3 A side view of the sample scheduling system in an embodiment;

[0019] Figure 4 Another side view of the sample scheduling system in an embodiment;

[0020] Figure 5 A top view of each guiding groove in an implementation manner;

[0021] Figure 6 Schematic diagram of the specific setting mode of each guiding groove in a specific implementation manner;

[0022] Figure 7 A 3D view of the sample scheduling system in an embodiment;

[0023] Figure 8 Schematic flow chart of the sample scheduling method in an embodiment;

[0024] Figure 9 Schematic diagram of the sample scheduling process in a specific embodiment.

[0025] Explanation of reference numerals: 100 - platform plate; 200 - pallet; 210 - guiding groove; 211 - first sliding groove; 2111 - first sub - sliding groove; 2112 - second sub - sliding groove; 212 - second sliding groove; 213 - third sliding groove; 214 - fourth sliding groove; 215 - separator; 220 - balancing test tube rack; 300 - grasping unit; 310 - centrifuge cup gripper; 400 - pushing unit; 410 - pusher; 411 - first pusher; 412 - second pusher; 413 - third pusher; 414 - fourth pusher; 500 - centrifuge cup; 600 - centrifuge; 700 - first mechanical gripper; 800 - second mechanical gripper; X1 - first grasping range; X2 - second grasping range; X3 - third grasping range. Detailed implementation manners

[0026] To facilitate the understanding of the present application, the present application will be described more comprehensively below with reference to the relevant drawings. Embodiments of the present application are shown in the drawings. However, the present application can be implemented in many different forms and is not limited to the embodiments described herein. On the contrary, these embodiments are provided to make the disclosure of the present application more thorough and comprehensive.

[0027] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terms used in the specification of this application are for the purpose of describing specific embodiments only and are not intended to limit this application.

[0028] It can be understood that the terms "first", "second", etc. used in this application may be used herein to describe various elements, but these elements are not limited by these terms. These terms are only used to distinguish one element from another.

[0029] Spatial relationship terms such as "under", "below", "beneath", "underneath", "above", "over", etc. can be used herein to describe the relationship of one element or feature shown in the figure with other elements or features. It should be understood that in addition to the orientation shown in the figure, spatial relationship terms also include different orientations of the device during use and operation. For example, if the device in the figure is flipped, the element or feature described as "under other elements" or "beneath it" or "under it" will be oriented "above" other elements or features. Therefore, the exemplary terms "under" and "below" can include both the upper and lower orientations. In addition, the device can also have other orientations (such as rotating 90 degrees or other orientations), and the spatial descriptions used herein are accordingly interpreted.

[0030] It should be noted that when an element is considered to be "connected" to another element, it can be directly connected to the other element or connected to the other element through an intermediate element. In addition, in the following embodiments, "connection", if there is a transfer of electrical signals or data between the connected objects, should be understood as "electrical connection", "communication connection", etc.

[0031] As used herein, the singular forms "a", "an" and "the" may also include the plural forms unless the context clearly indicates otherwise. It should also be understood that the terms "comprise / include" or "have" etc. specify the presence of the stated features, wholes, steps, operations, components, parts or combinations thereof, but do not exclude the possibility of the presence or addition of one or more other features, wholes, steps, operations, components, parts or combinations thereof.

[0032] In the current centrifuge module, there is often only one gripper arm, and this gripper arm has to undertake all the obligations of grasping the sample tube, grasping the centrifuge cup for centrifugation, grasping out the centrifuge cup after centrifugation, and grasping out the sample tube after centrifugation, which often leads to the problem that the centrifuge is waiting and cannot fully utilize the centrifuge. In addition, the cyclic scheduling of the centrifuge cup relies on the gripper to transfer them one by one using the empty slots of the centrifuge cup tray, and the efficiency is relatively slow.

[0033] For the above reasons, the present application provides a sample scheduling system, including: a centrifugal scheduling platform, including a platform plate 100, a pallet 200, a grasping unit 300, and a pushing unit 400; the pallet 200 is disposed on the platform plate 100, and a guiding groove 210 is provided on the pallet 200, and the guiding groove 210 is used for placing a centrifuge cup 500, and the centrifuge cup 500 is used for loading a sample tube to be tested; the grasping unit 300 is disposed above the platform plate 100, and the grasping unit 300 includes a centrifuge cup gripper 310, and the centrifuge cup gripper 310 is used for grasping the centrifuge cup 500; the pushing unit 400 is disposed on the platform plate 100, and the pushing unit 400 is used for pushing the centrifuge cup 500 in the guiding groove 210 to move, and positioning the centrifuge cup 500 when the centrifuge cup gripper 310 needs to grasp the centrifuge cup 500.

[0034] Please refer to Figure 1 and Figure 2 , Figure 1 which shows a top view of the sample scheduling system provided by the present application, Figure 2 and which shows another top view of the sample scheduling system provided by the present application.

[0035] Among them, the platform plate 100 is used for carrying the pallet 200, the grasping unit 300, and the pushing unit 400. A plurality of guiding grooves 210 are provided on the pallet 200, and the guiding grooves 210 are used for placing the centrifuge cups 500. The centrifuge cups 500 can move along the guiding grooves 210, and the centrifuge cups 500 are used for loading the sample tubes. The grasping unit 300 includes a centrifuge cup gripper 310, and the centrifuge cup gripper 310 is used for grasping the centrifuge cups 500. The pushing unit 400 includes a plurality of pushers 410. The stroke ranges of different pushers 410 cover different guiding grooves 210, and can push the centrifuge cups 500 in the corresponding guiding grooves 210 to move, and position the centrifuge cups 500 when it is necessary to grasp the centrifuge cups 500. It should be noted that Figure 1The dashed boxes corresponding to the multiple guiding slots 210 are only an example given for ease of understanding and do not represent the actual scope of the guiding slots 210. Exemplarily, sensors can be configured on the multiple push hands 410 of the pushing unit 400 to detect the moving position of the centrifuge cup 500 through the sensors, and then different grippers can be controlled to grasp the centrifuge cup 500 based on the positioning of the centrifuge cup 500. Additionally, sensors can also be configured on the side of the guiding slot to detect the moving position of the centrifuge cup 500, and the specific method is not limited in this application. In other embodiments, motors can be configured on the multiple push hands 410 of the pushing unit 400. By setting the origin position of the motor and calculating the number of motor steps required for the push hand 410 to push the centrifuge cup 500 to the target position, the motor can be controlled to rotate the corresponding number of steps, so that the push hand 410 pushes the centrifuge cup 500 to the specified target position. Or, when the push hand 410 pushes the centrifuge cup 500 to the target position, the number of motor steps can be determined according to the moving distance of the origin position of the motor, thereby determining the current position of the centrifuge cup 500.

[0036] According to an embodiment of the present application, the system further includes: a centrifuge 600 and a balancing test tube rack 220. The centrifuge 600 is disposed below the platform plate 100 and is used for centrifuging the test sample tubes to be tested; the balancing test tube rack 220 is disposed on the tray 200 and is used for loading balancing sample tubes, and the balancing sample tubes are used for balancing the test sample tubes to be tested when the test sample tubes to be tested are centrifuged.

[0037] Please refer to Figures 2 to 4 , Figure 3 which is a side view of the sample scheduling system of the present application, Figure 4 and which is the other side view of the sample scheduling system of the present application. The centrifuge 600 is disposed below the platform plate 100. An inlet for the centrifuge 600 is provided on the platform plate 100. Figure 2 The area within the frame line pointed by X3 in [[ ]] is the grasping range of the grasping unit 300. Specifically, the grasping range of the grasping unit 300 includes the coverage range corresponding to the inlet and a partial range of the guiding slot 210 adjacent to the inlet. When it is necessary to centrifuge the sample, the grasping unit 300 grabs the centrifuge cup 500 loaded with the test sample to be tested, puts it into the inlet of the centrifuge 600, and takes it out after centrifugation is completed. The specific method flow will be described in detail when the sample scheduling method is described later.

[0038] Please refer to Figure 5 and Figure 6 , Figure 5 which is a top view of each guiding slot in the present application, Figure 6Schematic diagram of the specific setting mode of each guiding groove in this application. According to an embodiment of the present application, the guiding groove 210 includes a first sliding groove 211 provided on the first side of the centrifuge 600, a second sliding groove 212 provided on the second side of the centrifuge 600, a third sliding groove 213 provided on the third side of the centrifuge 600, and a fourth sliding groove 214 provided on the fourth side of the centrifuge 600. Among them, the first sliding groove 211 includes at least one sub-sliding groove.

[0039] Exemplarily, the first sliding groove 211 includes a first sub-sliding groove 2111 and a second sub-sliding groove 2112. The first sub-sliding groove 2111 and the second sub-sliding groove 2112 are separated by a partition 215. The second sliding groove 212 is disposed opposite to the first sliding groove 211 and is located on both sides of the centrifuge 600 respectively. The third sliding groove 213 and the fourth sliding groove 214 are disposed opposite to each other and are located on the other two sides of the centrifuge 600 respectively.

[0040] Exemplarily, the pushing direction of the pushing unit 400 in the first sub-sliding groove 2111 and the second sub-sliding groove 2112 is the same. The pushing direction of the pushing unit 400 in the second sliding groove 212 and the first sliding groove 211 is opposite. The pushing direction of the pushing unit 400 in the third sliding groove 213 and the fourth sliding groove 214 is opposite. By setting different pushing directions of the pushing unit 400 in different sliding grooves, precise movement and positioning of the centrifuge cup 500 on a specific path can be achieved to meet the process requirements of the centrifugation operation. For example, the same pushing direction in the first sub-sliding groove 2111 and the second sub-sliding groove 2112 can make the centrifuge cup 500 move in a consistent manner in these two adjacent sliding grooves, facilitating continuous operation or adjustment. While the opposite pushing directions in the second sliding groove 212 and the first sliding groove 211, and the third sliding groove 213 and the fourth sliding groove 214 can enable the centrifuge cup 500 to achieve flexible transfer and positioning between different regions, adapt to complex centrifugation processes and different experimental requirements, and improve the overall experimental or production operation efficiency. In addition, two rows of the first sliding grooves 211 are mainly provided to place and push 2 centrifuge cups 500 simultaneously during the centrifugation process. Since the centrifugation operation needs to ensure the balance of the centrifugal force, placing 2 centrifuge cups 500 at the relatively positions of centrifugal balancing can effectively avoid equipment vibration, wear, and even damage caused by uneven weight distribution, and at the same time improve the centrifugation efficiency and the accuracy of experimental results.

[0041] Please refer to Figure 7 , Figure 7This is a 3D view of the sample scheduling system in the present application. According to an embodiment of the present application, the pushing unit 400 includes a first pusher 411, a second pusher 412, a third pusher 413, and a fourth pusher 414; the stroke range of the first pusher 411 includes the coverage ranges corresponding to the first chute 211, the third chute 213, and the fourth chute 214; the stroke range of the second pusher 412 includes the coverage ranges corresponding to the first chute 211, the second chute 213, and the fourth chute 214; the stroke range of the third pusher 413 includes the coverage ranges corresponding to the second chute 212, the third chute 213, and the fourth chute 214; the stroke range of the fourth pusher 440 includes the coverage ranges corresponding to the first chute 211, the second chute 212, and the third chute 213.

[0042] Please refer to Figure 5 and Figure 6 , in one embodiment, the pusher arm of the first pusher 411 can push the centrifuge cup 500 to move in the first chute 211, the second left chute 212, the third chute 213, and the fourth chute 214, and when it is necessary to grasp the centrifuge cup 500, the pusher arm stops moving to achieve the positioning of the centrifuge cup 500. The pusher arm of the second pusher 412 can push the centrifuge cup to move in the first chute 211, the second chute 212, and the fourth chute 214, and when it is necessary to grasp the centrifuge cup 500, the pusher arm stops moving. The pusher arm of the third pusher 413 can push the centrifuge cup 500 to move in the second chute 212, the third chute 213, and the fourth chute 214, and when it is necessary to grasp the centrifuge cup 500, the pusher arm stops moving. The pusher arm of the fourth pusher 414 can push the centrifuge cup 500 to move in the first chute 211, the second chute 212, and the third chute 213, and when it is necessary to grasp the centrifuge cup 500, the pusher arm stops moving. The stroke ranges of each pusher overlap because when the centrifuge cup 500 advances in the preset direction, when one pusher drags the centrifuge cup 500 into the stroke range of the next pusher, the next pusher can take over, which can achieve the transitional connection between adjacent pushers and thus improve the scheduling efficiency of the centrifuge cup 500.

[0043] Please refer to Figure 2 , Figure 3 and Figure 5According to one embodiment of the present application, the centrifugal scheduling platform further includes: a first mechanical gripper 700 and a second mechanical gripper 800; the first gripping range of the first mechanical gripper 700 includes the coverage range corresponding to the first chute 211 and the balance test tube rack 220; the first mechanical gripper 700 is used to grab the sample tube to be tested, so as to place the sample tube to be tested in the centrifuge cup 500 located in the first chute 211, and is also used to take the balance sample tube out of the centrifuge cup located in the first chute 211, so as to place the balance sample tube in the balance test tube rack 220. The second gripping range of the second mechanical gripper 800 includes the coverage range corresponding to the second chute 212; the second mechanical gripper 800 is used to grab the sample tube to be tested from the centrifuge cup 500 located in the second chute 212.

[0044] See also Figure 2 According to one embodiment of the present application, the third grabbing range of the centrifuge cup gripper 310 includes the coverage range corresponding to the injection port of the centrifuge 600 and the preset range adjacent to the injection port in the third slide slot 213; the centrifuge cup gripper 310 is used to grab the centrifuge cup 500 to place the centrifuge cup 500 in the injection port, so that the centrifuge 600 centrifuges the sample tube to be tested in the centrifuge cup 500.

[0045] See also Figure 2 , exemplary, Figure 2 The frame line pointed by X1 is the first grasping range of the first mechanical gripper 700, the frame line pointed by X2 is the second grasping range of the second mechanical gripper 800, and the frame line pointed by X3 is the third grasping range of the centrifuge cup gripper 310; it can be seen that the grasping ranges of the centrifuge cup gripper 310, the first mechanical gripper 700 and the second mechanical gripper 800 do not overlap. This is because when the centrifuge cup 500 moves in a fixed direction, when the centrifuge cup 500 moves into the grasping range of a gripper, the current gripper only performs its pre-set task. In other words, each gripper in the present application works independently and is responsible for an area respectively. Exemplarily, the first mechanical gripper 700 is configured to grasp the sample tube to be tested or the balance sample tube and insert it into the centrifuge cup 500, or to take out the balance sample tube from the centrifuge cup 500 and put it back into the balance test tube rack 220. The second mechanical gripper 800 is configured to grasp the sample from the centrifuge cup 500 and transfer it out. The centrifuge cup gripper 310 is configured to grip the centrifuge cup 500 for transfer.

[0046] In the above sample scheduling system, by reasonably setting multiple grippers, the stroke ranges of each gripper, and the corresponding tasks, each gripper of the sample scheduling system performs its own duties, that is: before centrifugation, the sample tube is grasped, the centrifuge cup is grasped for centrifugation, and after centrifugation, the centrifuge cup is grasped and taken out, and the sample tube after centrifugation is grasped and taken out respectively using their own grippers, so that centrifugation does not need to wait for the gripper, and it can efficiently complete the centrifugation and scheduling of the sample. In addition, in this application, by setting a guide groove on the pallet and using the pushing hand to assist in the scheduling and positioning method, it can form a scheduling mode in which the gripper and the pushing hand cooperate to schedule the centrifuge cup and the sample, improving the efficiency of the system scheduling.

[0047] In one embodiment, as Figure 8 shown, this application also provides a sample scheduling method. Taking the method applied to the sample scheduling system of any of the above embodiments as an example for illustration, the method includes:

[0048] Step 802, during the process of controlling the pushing unit to push the centrifuge cup to move in the guide groove, when the centrifuge cup enters the first grasping range of the first mechanical gripper, control the first mechanical gripper to grasp the sample tube to be tested and place it in the centrifuge cup according to the centrifuge cup positioning;

[0049] Step 804, when the centrifuge cup enters the third grasping range of the centrifuge cup gripper, control the centrifuge cup gripper to grasp the centrifuge cup to place the centrifuge cup at the sample inlet of the centrifuge, so that the centrifuge centrifuges the sample tube to be tested in the centrifuge cup;

[0050] Step 806, when centrifugation is completed, control the centrifuge cup gripper to grasp the centrifuge cup from the sample inlet to place the centrifuge cup in the guide groove;

[0051] Step 808, when the centrifuge cup enters the second grasping range of the second mechanical gripper, control the second mechanical gripper to grasp the sample tube to be tested in the centrifuge cup.

[0052] In one embodiment, the method further includes: when the centrifuge cup enters the first grasping range and does not meet the balancing condition of the centrifuge, control the first mechanical gripper to grasp the balancing sample tube from the balancing test tube rack to place the balancing sample tube in the centrifuge cup; when centrifugation is completed and the centrifuge cup enters the first grasping range again, control the first mechanical gripper to grasp the balancing sample tube in the centrifuge cup to put the balancing sample tube back into the balancing test tube rack.

[0053] Exemplarily, please refer to Figure 5 , assuming that the initial position of the centrifuge cup 500 is located in the first chute 211.

[0054] The first grasping range of the first robotic gripper 700 can cover the first chute 211 and the balancing test tube rack 220. The second grasping range of the second robotic gripper 800 can cover the second chute 212. The third grasping range of the centrifuge cup gripper 310 can cover the injection port of the centrifuge 600 and the range adjacent to the injection port in the third chute 213.

[0055] The pushing unit 400 pushes the centrifuge cup 500 to move in a preset direction. Exemplarily, please refer to Figure 6 , and the preset direction is counterclockwise.

[0056] The first pusher 411 can push the centrifuge cup 500 to move in the first chute 211, the third chute 213, and the fourth chute 214. The second pusher 412 can push the centrifuge cup 500 to move in the first chute 211, the second chute 212, and the fourth chute 214. The third pusher 430 can push the centrifuge cup 500 to move in the second chute 212, the third chute 213, and the fourth chute 214. The fourth pusher 414 can push the centrifuge cup 500 to move in the first chute 211, the second chute 212, and the third chute 213.

[0057] Specifically, through the first pusher 411, the second pusher 412, the third pusher 413, and the fourth pusher 414, the centrifuge cup 500 is pushed and positioned along the chute of the pallet 200 in the preset direction. The first robotic gripper 700 is responsible for grasping the sample tube into the centrifuge cup 500 and grasping the balancing tube out of the centrifuge cup 500. The centrifuge cup gripper 310 is responsible for grasping the centrifuge cup 500 to the injection port of the centrifuge 600 and grasping it out of the centrifuge 600. The second robotic gripper 800 is mainly responsible for grasping the centrifuged sample out of the centrifuge cup 500.

[0058] Among them, the first pusher 411 is used to push the centrifuge cup from the fourth chute 214 of the pallet into the first chute 211 and push it out of the first chute 211 into the third chute 213.

[0059] The second pusher 412 is used to push the centrifuge cup 500 from the second chute 212 into the fourth chute 214 and push it out of the fourth chute 214 into the first chute 211.

[0060] The third pusher 413 is used to push the centrifuge cup from the third chute 213 of the pallet into the second chute 212 and push it from the second chute 212 into the fourth chute 214.

[0061] The fourth pusher 414 is used to push the centrifuge cup from the first chute 211 into the third chute 213 and push it from the third chute 213 into the second chute 212.

[0062] Please refer to Figure 9 , Figure 9The schematic diagram of the scheduling process in a specific embodiment is shown. Centrifugation is performed in groups of two centrifuge cups, and the scheduling process is described below.

[0063] The first pusher 411 pushes the centrifuge cup 500 located in the first chute 211 forward along the first chute 211, and then stops to position the centrifuge cup 500 (but does not exceed the first grasping range of the first mechanical gripper 700).

[0064] The first mechanical gripper 700 grasps the test tube and places it into the two frontmost centrifuge cups 500. When the number of test tubes in the two centrifuge cups 500 is unbalanced, it grasps the balancing tube from the balancing test tube rack 220 for balancing.

[0065] The first pusher 411 pushes the centrifuge cup in the first chute 211 forward, pushes the two frontmost centrifuge cups 500 away from the first chute 211, and pushes them into the third chute 213. Then the first pusher 411 retreats and leaves the fourth chute 214.

[0066] In addition, the second pusher 412 pushes the centrifuge cups 500 in the fourth chute 214 and the second chute 212 forward, and pushes the two centrifuge cups 500 into the first chute 211. Then the first pusher 411 pushes the two pushed-in centrifuge cups 500 along the first chute 211 to fill the vacancy in the left chute.

[0067] The fourth pusher 414 successively pushes the two frontmost centrifuge cups 500 to the position of the centrifuge cup gripper 310. The centrifuge cup gripper 310 successively grabs the centrifuge cups 500 and places them into the centrifuge 600 for centrifugation. After centrifugation is completed, the centrifuge gripper 310 grabs the centrifuge cups 500 from the centrifuge 600 and places them at the third chute 213. Subsequently, the fourth pusher 414 pushes the centrifuge cups 500 towards the second chute 212.

[0068] At this time, since there are two centrifuge cups 500, the two centrifuge cups 500 need to be pushed into the second chute 212 one by one. Exemplarily, the centrifuge cups 500 can be pushed into the second chute 212 according to the following steps:

[0069] The fourth pusher 414 first pushes one centrifuge cup 500 to the overlapping part of the second chute 212 and the third chute 213. The third pusher 413 pushes the first centrifuge cup 500 into the second chute 212 and positions it, reserving space for the second centrifuge cup 500 to enter. Then the second mechanical gripper 800 grabs the sample in the centrifuge cup 500. For the second centrifuge cup 500, repeat the above steps, push it into the second chute 212, and grab the sample in the centrifuge cup 500.

[0070] At this time, there is no sample tube in both centrifuge cups 500. The centrifuge cups 500 are sent back to the first chute according to the following steps:

[0071] The third pusher 413 first pushes a centrifuge cup 500 into the overlapping part of the second chute 212 and the fourth chute 214. The second pusher 412 pushes the centrifuge cup 500 into the fourth chute 214 and positions it, leaving space for the second centrifuge cup 500 to enter. Then, the second centrifuge cup 500 is pushed to the fourth chute 214 using the above steps. Finally, the second pusher 412 pushes the two centrifuge cups 500 into the first chute 211 together. It should be noted that when multiple pushers cooperate to push the centrifuge cup 500 into the first chute 211, the two centrifuge cups 500 can be pushed into the first sub-chute 2111 and the second sub-chute 2122 respectively, improving the scheduling efficiency of the centrifuge cup 500.

[0072] At this time, both centrifuge cups 500 enter the grasping range of the first mechanical gripper 700. If there is a balancing test tube in the centrifuge cup 500, the first mechanical gripper 700 takes out the balancing test tube and puts it back on the balancing test tube rack 220.

[0073] For the centrifugation scheduling of multiple pairs of centrifuge cups, the same method as above is used for scheduling. According to actual measurements, for example, taking centrifuging 4 centrifuge cups each time, with each centrifugation taking 5 minutes as an example. Before the centrifuge cups enter the centrifuge, it takes 5 minutes to fill 4 centrifuge cups with sample tubes, 1 minute to grab 4 centrifuge cups into the centrifuge, 5 minutes for centrifugation, and 1 minute to grab them out. That is, the time occupied by the centrifuge is 7 minutes. Then, it also takes 5 minutes to take out the sample tubes in the centrifuge cups. So, the working time of the centrifuge will be longer than the time to grab the sample tubes into the centrifuge cups. That is to say, once the centrifuge starts working, there is no need to wait for the time to grab or take out the sample tubes in the centrifuge cups, and centrifugation can be carried out batch by batch, maximizing the centrifugation efficiency.

[0074] The sample scheduling method provided by this application has the following beneficial effects:

[0075] The first mechanical gripper and the first pusher cooperate to handle the sample tubes before centrifugation and the balancing tubes after centrifugation. The second mechanical gripper and the third pusher cooperate to handle the sample tubes after centrifugation. The centrifuge cup gripper and the fourth pusher cooperate to handle the centrifuge cups before and after centrifugation, which can achieve reasonable distribution of grasping before centrifugation, grasping after centrifugation, and centrifugation time, maximizing the efficiency of the centrifugation module.

[0076] The first pusher, the second pusher, the third pusher, and the fourth pusher. The stroke range of each pusher can enable the centrifuge cup to reach the three guide groove areas of the pallet, realizing the transitional connection between adjacent pushers, enabling the centrifuge cup to reach the working ranges of the first mechanical gripper, the second mechanical gripper, and the centrifuge cup gripper along the pallet chute, and realizing automatic scheduling of the centrifuge cup and automatic picking and placing of the sample tubes.

[0077] In summary, the first robotic gripper, the second robotic gripper, and the centrifuge cup gripper are each responsible for a respective area, working independently with a single task and simple operation, resulting in higher efficiency. Secondly, the centrifuge cup translates in the chute of the pallet, and is pushed and positioned by the pusher, enabling fast cyclic scheduling of the centrifuge cup with simple operation and high stability, and the control method is simple and reliable.

[0078] It should be understood that although Figure 8 the steps in the flowchart of Figure 8 are shown sequentially in the order indicated by the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless otherwise specified in this document, there is no strict order restriction for the execution of these steps, and these steps can be executed in other orders. Moreover,

[0079] In one embodiment, a computer device is provided, including a memory and a processor. A computer program is stored in the memory, and when the processor executes the computer program, the following steps are implemented: during the process of controlling the pusher unit to push the centrifuge cup to move in the guiding groove, when the centrifuge cup enters the first grasping range of the first robotic gripper, control the first robotic gripper to grasp the test sample tube to be measured and place it into the centrifuge cup according to the centrifuge cup positioning; when the centrifuge cup enters the third grasping range of the centrifuge cup gripper, control the centrifuge cup gripper to grasp the centrifuge cup to place the centrifuge cup at the sample inlet of the centrifuge, so that the centrifuge performs centrifugation on the test sample tube in the centrifuge cup; when the centrifugation is completed, control the centrifuge cup gripper to grasp the centrifuge cup from the sample inlet to place the centrifuge cup in the guiding groove; when the centrifuge cup enters the second grasping range of the second robotic gripper, control the second robotic gripper to grasp the test sample tube in the centrifuge cup.

[0080] In one embodiment, a computer device is provided, including a memory and a processor. A computer program is stored in the memory, and when the processor executes the computer program, the following steps are further implemented: when the centrifuge cup enters the first grasping range and does not meet the balancing condition of the centrifuge, control the first robotic gripper to grasp the balancing sample tube from the balancing test tube rack to place the balancing sample tube into the centrifuge cup; when the centrifugation is completed and the centrifuge cup enters the first grasping range again, control the first robotic gripper to grasp the balancing sample tube in the centrifuge cup to place the balancing sample tube back into the balancing test tube rack.

[0081] Those of ordinary skill in the art can understand that all or part of the processes in the methods of the above embodiments can be completed by instructing relevant hardware through a computer program. The computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above methods. Among them, any reference to a memory, storage, database, or other medium used in the embodiments provided in the present application can include at least one of non-volatile and volatile memories. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, or optical memory, etc. Volatile memory can include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM), etc.

[0082] In the description of this specification, the description with reference to terms such as "some embodiments", "other embodiments", "ideal embodiments", etc. means that the specific features, structures, materials, or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic description of the above terms does not necessarily refer to the same embodiment or example.

[0083] The technical features of the above embodiments can be combined arbitrarily. For the sake of brevity of description, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, it should be considered as the scope described in this specification.

[0084] The above-described embodiments only represent several implementation manners of the present application. The description is relatively specific and detailed, but it should not be construed as a limitation on the scope of the invention patent. It should be noted that for those of ordinary skill in the art, without departing from the concept of the present application, several modifications and improvements can still be made, and these all belong to the protection scope of the present application. Therefore, the protection scope of the patent of the present application should be subject to the appended claims.

Claims

1. A sample scheduling system, characterized in that: include: A centrifugal dispatching platform, comprising a platform plate, a supporting plate, a grabbing unit and a pushing unit; The support plate is arranged on the platform plate, and a guide groove is arranged on the support plate, and the guide groove is used to place a centrifuge cup, and the centrifuge cup is used to load the sample tube to be tested; The grabbing unit is arranged above the platform plate, and the grabbing unit comprises a centrifuge cup grabber, and the centrifuge cup grabber is used to grab the centrifuge cup; The pushing unit is arranged on the platform plate, and is used for pushing the centrifugal cup in the guide groove to move.

2. The sample scheduling system according to claim 1, characterized in that: The system further comprises: A centrifuge, disposed below the platform plate, for centrifuging the sample tube to be tested; The balancing test tube rack is arranged on the supporting plate and is used for loading balancing sample tubes. The balancing sample tubes are used for balancing the sample tubes to be tested when the sample tubes to be tested are centrifuged.

3. The sample scheduling system according to claim 2, characterized in that: The guide groove includes a first slide groove arranged on a first side of the centrifuge, a second slide groove arranged on a second side of the centrifuge, a third slide groove arranged on a third side of the centrifuge, and a fourth slide groove arranged on a fourth side of the centrifuge; the first slide groove includes at least one sub-slide groove.

4. The sample scheduling system according to claim 3, characterized in that: The pushing unit includes a first push handle, a second push handle, a third push handle and a fourth push handle; the travel range of the first push handle includes the coverage range corresponding to the first slide groove, the third slide groove and the fourth slide groove; the travel range of the second push handle includes the coverage range corresponding to the first slide groove, the second slide groove and the fourth slide groove; the travel range of the third push handle includes the coverage range corresponding to the second slide groove, the third slide groove and the fourth slide groove; the travel range of the fourth push handle includes the coverage range corresponding to the first slide groove, the second slide groove and the third slide groove.

5. The sample scheduling system according to claim 3, characterized in that: The centrifugal scheduling platform also includes: A first mechanical gripper, wherein a first gripping range of the first mechanical gripper includes a coverage range corresponding to the first slide groove and the balanced test tube rack; the first mechanical gripper is used to grip the sample tube to be tested so as to place the sample tube to be tested in a centrifuge cup located in the first slide groove, and is also used to take the balanced sample tube out of the centrifuge cup located in the first slide groove so as to place the balanced sample tube in the balanced test tube rack.

6. The sample scheduling system according to claim 3, characterized in that: The centrifugal scheduling platform also includes: The second mechanical gripper, wherein the second gripping range of the second mechanical gripper includes the coverage range corresponding to the second slide slot; the second mechanical gripper is used to grab the sample tube to be tested from the centrifuge cup located in the second slide slot.

7. The sample scheduling system according to claim 3, characterized in that: The third grabbing range of the centrifuge cup gripper includes the coverage range corresponding to the injection port of the centrifuge and the preset range in the third slide slot adjacent to the injection port; the centrifuge cup gripper is used to grab the centrifuge cup to place the centrifuge cup on the injection port, so that the centrifuge centrifuges the sample tube to be tested in the centrifuge cup.

8. A sample scheduling method, characterized in that: The method is applied to the sample scheduling system according to any one of claims 1 to 7, and the method comprises: In the process of controlling the pushing unit to push the centrifugal cup to move in the guide groove, when the centrifugal cup enters the first grabbing range of the first mechanical gripper, the first mechanical gripper is controlled to grab the sample tube to be tested and put it into the centrifugal cup according to the positioning of the centrifugal cup; When the centrifuge cup enters the third grabbing range of the centrifuge cup gripper, the centrifuge cup gripper is controlled to grab the centrifuge cup, so as to place the centrifuge cup in the sampling port of the centrifuge, so that the centrifuge centrifuges the sample tube to be tested in the centrifuge cup; When centrifugation is completed, controlling the centrifuge cup gripper to grab the centrifuge cup from the sample inlet to place the centrifuge cup in the guide groove; When the centrifuge cup enters the second grasping range of the second mechanical grasper, the second mechanical grasper is controlled to grasp the sample tube to be tested in the centrifuge cup.

9. The sample scheduling method according to claim 8, characterized in that: The method further comprises: When the centrifuge cup enters the first grabbing range and does not meet the balancing condition of the centrifuge, control the first mechanical gripper to grab a balancing sample tube from a balancing test tube rack to place the balancing sample tube in the centrifuge cup; When centrifugation is completed and the centrifuge cup enters the first grasping range again, the first mechanical grasper is controlled to grasp the balanced sample tube in the centrifuge cup to put the balanced sample tube back into the balanced test tube rack.

10. A computer device comprising a memory and a processor, wherein the memory stores a computer program, characterized in that: When the processor executes the computer program, the steps of the method according to claim 8 or 9 are implemented.

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