Multi-module parallel motion control method for high-speed full-automatic chemiluminescence immunoassay analyzer

Abstract

The invention relates to the field of chemiluminescence immunity analyzers, and discloses a high-speed full-automatic chemiluminescence immunity analyzer multi-module parallel motion control method, which comprises the following steps: in a current execution period, pre-calculating all secondary function module action instruction sets of a next period based on real-time position information of a reaction cup and test sample parameters; according to a pre-generated instruction set, coordinating parallel actions of multiple modules through a preposition and subsequent dependency relationship, and driving a hardware execution unit to complete sample processing; and synchronizing the reaction cup position data and the test step state in real time, and switching to a next period instruction set when the period is ended. According to the method, the problems of time sequence conflict and resource contention of multi-module cooperative control are solved, the parallel efficiency of the detection process and the fault-tolerant capability of the system are improved, and the method is suitable for a high-throughput chemiluminescence immunoassay scene.

Description

Technical Field

[0001] The present invention relates to the technical field of chemiluminescence immunoassay analyzers, and particularly to a multi-module parallel motion control method for high-speed fully automatic chemiluminescence immunoassay analyzers. Background Art

[0002] As a core device for clinical diagnosis, the detection efficiency and reliability of chemiluminescence immunoassay analyzers directly depend on the collaborative control accuracy of multiple modules (such as incubation, washing, reading, and dilution modules). Traditional control methods usually adopt a sequential execution strategy, that is, processing the action instructions of each module serially within a single cycle. Although it can avoid hardware conflicts, it causes the accumulation of waiting times for reaction cup transfer and reagent dispensing, severely restricting the detection throughput. Especially when dealing with highly concurrent samples, it is difficult to dynamically adapt the timing of robotic arm movement, liquid path operation, and turntable rotation, easily leading to resource contention and process blockage, resulting in an increase in the equipment idle rate.

[0003] In the prior art, the optimization schemes for multi-module collaboration mostly rely on fixed timing planning or static priority allocation, lacking real-time coupling management of the reaction cup position status and test process logic. For example, the handover action between the incubation disk rotation and the cleaning disk inlet often causes mechanical interference due to position tracking errors and requires frequent manual intervention for calibration; while the recovery mechanism for abnormal scenarios (such as liquid path blockage, communication interruption) is usually limited to single-module reset, without establishing cross-module status rollback and resource release rules, resulting in limited system fault tolerance. In addition, traditional methods often rely on fixed time windows during cycle switching, making it difficult to adapt to dynamic load changes, easily causing instruction set execution faults or resource idleness.

[0004] The root cause of the above defects lies in the lack of a unified state mapping model and pre-computation scheduling mechanism, which cannot achieve precise coordination between hardware execution timing and test logic, restricting the performance and stability of the equipment in high-throughput scenarios. Therefore, there is an urgent need for a parallel control method that can deeply integrate position tracking, dynamic scheduling, and abnormal recovery to break through the efficiency bottleneck and reliability constraints of the prior art. Summary of the Invention

[0005] Aiming at the deficiencies of the prior art, the present invention provides a multi-module parallel motion control method for high-speed fully automatic chemiluminescence immunoassay analyzers, which solves the problems of timing conflicts, resource contention, and insufficient fault tolerance in multi-module collaborative control in the prior art.

[0006] To achieve the above objectives, the present invention is realized through the following technical solutions: A multi-module parallel motion control method for high-speed fully automatic chemiluminescence immunoassay analyzers, the analyzer includes multiple primary functional modules and subordinate secondary functional modules, and the method includes the following steps: S1. Periodic pre - calculation: During the current execution cycle, based on the real - time position information of the reaction cups and the test sample parameters, pre - calculate the action instruction sets of all secondary function modules for the next cycle; S2. Dynamic scheduling and execution: According to the pre - generated instruction sets, coordinate the parallel actions of multiple modules through the pre - and post - dependency relationships, and drive the hardware execution unit to complete the sample processing; S3. State synchronization and update: Real - time synchronize the reaction cup position data and the test step status, and switch to the next - cycle instruction set at the end of the cycle.

[0007] Preferably, the periodic pre - calculation in step S1 specifically includes: S11. Predict the reaction cup positions of each module in the next cycle based on the turntable rotation rule; S12. Dynamically fill the position vacancies and generate cross - module transfer instructions according to the key position judgment table between modules; S13. Generate reagent distribution action parameters by combining the remaining reagent amount and the test item requirements; S14. Convert the logical state into mechanical control instructions through the key position rules within the module.

[0008] Preferably, the key position judgment table between modules defines the handover rules of reaction cups at the end of the outer ring of the incubation plate, the entrance of the washing plate, and the exit of the reading plate, and triggers the transfer instruction when one of the following conditions is met: The reaction cup has completed the current processing step and meets the preset state conditions; The corresponding position of the next module is in a receivable state.

[0009] Preferably, the dynamic scheduling and execution in step S2 includes: S21. For each secondary function module instruction, verify whether all its pre - instructions are completed; S22. If the pre - conditions are met, generate countdown delay parameters according to the instruction type, send control instructions to the lower computer and start the countdown; S23. After the instruction execution is completed, update the pre - counters of the associated post - instructions.

[0010] Preferably, the pre - instructions and post - instructions are associated in a chain structure, supporting many - to - many dependency relationships; The dependency relationships include at least one of time - sequence dependency and resource - mutual - exclusion dependency.

[0011] Preferably, the real - time position information of the reaction cups is managed through the TestPos structure, including: Circular queues for the outer and inner rings of the incubation plate, dynamically updating the index of the last reaction cup as the turntable rotates; Static arrays for the washing plate and the reading plate, fixedly mapping the position status according to the physical coordinates; The shift register structure of the dilution disk advances the reaction cup occupancy mark according to the liquid path action sequence; When the reaction cup is transferred across modules, update the TestPos status of the target module according to the preset mapping table.

[0012] Preferably, the TestPos status update rule is: When the last reaction cup in the outer circle of the incubation disk is removed, if its incubation time reaches the preset threshold and the target position in the inner circle is empty, clear the last position in the outer circle and trigger the insertion into the inner circle; After the detection of the reading disk is completed, mark the reaction cup as discarded and release the occupancy, and at the same time update the inlet status of the cleaning disk to be receivable; When the liquid path action of the dilution disk is completed, advance the reaction cup occupancy mark according to the shift register rule.

[0013] Preferably, the test step status is managed by a Test structure, including: Sample identification, detection method, reagent dosage, current step and time parameters; When the step status changes to the preset processing stage, trigger the corresponding secondary module instruction set according to the stage type; When an abnormal state is detected, update the error code in the Test structure and trigger the fault tolerance instruction.

[0014] Preferably, in the step of switching to the next cycle instruction set at the end of the cycle, the switching conditions are: The preset time window ends; or All current cycle instructions are executed and the next cycle instruction set pre-calculation is completed.

[0015] Preferably, the method further includes an exception handling step: When the deviation between the hardware feedback status and the pre-calculated position exceeds the threshold, interrupt the current cycle and start the position calibration; When the reagent remaining amount is insufficient, the mechanical timeout, the liquid path is blocked or the communication is interrupted, roll back the test steps to the safe state and trigger an alarm.

[0016] The present invention provides a multi-module parallel motion control method for a high-speed fully automatic chemiluminescence immunoassay analyzer. It has the following beneficial effects: 1. Through the hierarchical pre-calculation mechanism, the present invention generates a secondary module instruction set, and combines with the dynamic dependency scheduling algorithm to effectively coordinate the parallel operations of modules such as incubation, cleaning, and reading. Based on the chain dependency relationship and resource mutual exclusion management, it avoids the action conflicts of hardware such as the robotic arm and the liquid path channel, reduces the idle travel waiting time, and significantly improves the system throughput and response speed.

[0017] 2. The present invention uses the TestPos and Test dual structures to manage the physical positions of reaction cups and test logic states respectively. Through a real-time synchronization and update mechanism, it ensures data consistency between hardware execution and process control. For example, the circular queue and shift register design of TestPos adapt to the motion characteristics of different modules, reducing position tracking errors; the state machine trigger mechanism of the Test structure guarantees accurate switching of test steps.

[0018] 3. Based on a hierarchical anomaly detection and recovery strategy, when there are hardware position deviations, insufficient reagents, or liquid path blockages, the present invention can quickly recover to a safe state through mechanisms such as state rollback, resource release, and standby channel switching. For example, the position calibration process avoids systematic failures caused by mechanical cumulative errors through sensor calibration and TestPos reconstruction, significantly reducing the equipment failure rate.

[0019] 4. The dynamic adaptation of the key position judgment table and cycle switching conditions between modules of the present invention supports the differential process configuration of different detection items. By pre-calculating to fill position vacancies and dynamically generating cross-module handover instructions, it maximizes the utilization of reaction disk positions and liquid path resources, while adapting to complex scenarios with high load and multi-task concurrency.

[0020] 5. Based on a cycle pre-calculation and automatic switching mechanism of the instruction set, the present invention reduces the need for manual calibration and process monitoring. The exception handling process integrates functions such as automatic alarm, instruction retry, and safe recovery, ensuring the long-term stable operation of the equipment in unattended scenarios, reducing operation and maintenance costs, and improving the standardization degree of the detection process. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 is a schematic diagram of the method flow of the present invention; Figure 2 is a schematic diagram of the cycle pre-calculation process of the present invention; Figure 3 is a schematic diagram of the data flow of all secondary functional modules in the next cycle of the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0022] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0023] Please refer to the attached Figures 1 - 3, the present invention provides a multi-module parallel motion control method for a high-speed fully automatic chemiluminescence immunoassay analyzer, which realizes the high efficiency and reliability of multi-module collaborative operation through hierarchical instruction pre-computation, dynamic dependency scheduling and state synchronization mechanism.

[0024] As Figure 1 shown, the method includes the following steps: S1. Periodic pre-computation: Within the current execution cycle, based on the real-time position information of the reaction cups and the test sample parameters, pre-compute all the action instruction sets of the secondary functional modules for the next cycle.

[0025] S2. Dynamic scheduling and execution: According to the pre-generated instruction sets, coordinate the parallel actions of multiple modules through the pre- and post-dependency relationships, and drive the hardware execution unit to complete sample processing.

[0026] S3. State synchronization and update: Real-time synchronize the position data of the reaction cups and the status of the test steps, and switch to the instruction set of the next cycle at the end of the cycle.

[0027] The following is a detailed description of each step in the method of the present invention, comprehensively elaborating on the specific implementation principles, technical details and processes of each step.

[0028] For step S1, in this embodiment, the periodic pre-computation step dynamically couples the real-time position of the reaction cups, the test requirement parameters and the cooperation rules between modules through a hierarchical instruction generation mechanism, so as to construct an action instruction set of the secondary functional modules that can be executed in the next cycle.

[0029] As Figure 2 shown, in this embodiment, the specific periodic pre-computation of step S1 specifically includes: S11. Predict the positions of the reaction cups of each module in the next cycle based on the turntable rotation rule; S12. Dynamically fill the position vacancies and generate cross-module transfer instructions according to the key position judgment table between modules; S13. Generate reagent dispensing action parameters in combination with the remaining reagent and test item requirements; S14. Convert the logical state into a mechanical control instruction through the key position rule within the module.

[0030] When predicting the positions of reaction cups in each module in the next cycle based on the turntable rotation rules, first, the position logic of the inner and outer circles of the incubation plate is mapped through the circular queue index in the TestPos structure. The circular queue index is dynamically updated with the periodic rotation of the turntable. For example, the outer circle of the incubation plate is managed by a circular queue. After each cycle execution stage is completed, the index value of the last reaction cup will be recalculated according to the preset rotation step, and the corresponding mapping relationship of the insertion position in the inner circle will be generated. For liquid path operation modules such as the dilution plate, its shift register structure advances the reaction cup occupancy markers according to the liquid path action sequence, so that the activation sequence of the liquid path channels in the next cycle is synchronized with the execution progress of the current cycle.

[0031] Furthermore, according to the key position judgment table between modules, the position vacancies are dynamically filled and cross-module transfer instructions are generated. The key position judgment table between modules defines the handover rules of reaction cups at the key handover sites of different modules. For example, the coordinate mapping relationship between the last position of the outer circle of the incubation plate and the inlet of the washing plate. When the reaction cup completes the current processing step and meets the preset status conditions, such as the incubation time reaching the threshold or the number of washing times meeting the requirements, the judgment table will trigger a cross-module transfer instruction. The generation process of the transfer instruction includes: based on the detection of the idle state of the corresponding position in the next module, calculating the robotic arm grasping path through the preset physical coordinate offset, and generating a cross-module control instruction including the target position, motion trajectory, and speed parameters.

[0032] When generating reagent dispensing action parameters by combining the remaining reagent volume and the test item requirements, first obtain the real-time remaining volume data of the reagent warehouse, for example, monitor the remaining volume of the reagent bottle through a liquid level height sensor or a weight sensor. According to the reagent dispensing logic corresponding to the test item, such as chemiluminescence detection requires dispensing capture antibody, labeled antibody, and substrate reagent in a specific order, dynamically calculate the dispensing priority and volume parameters of each liquid path channel. For scenarios with multiple test items in parallel, a dispensing strategy based on the greedy algorithm is adopted to give priority to meeting the requirements of the test item with the least remaining reagent volume, so as to avoid process interruption caused by reagent depletion.

[0033] When converting the logical state into a mechanical control instruction through the key position rules within the module, it is necessary to map the abstract position index and logical conditions into specific action parameters executable by the lower computer. For example, for the insertion action in the inner circle of the incubation plate, the grasping coordinates, rotation angle, and pressure threshold of the end effector of the robotic arm need to be generated according to the idle position index of the inner circle circular queue; for the liquid path dispensing module, the reagent dispensing volume parameters need to be converted into the pulse frequency and operation duration of the liquid pump motor, and real-time calibration is performed in combination with the feedback value of the pipeline pressure sensor.

[0034] Preferably, the periodic pre-calculation process further includes an instruction set optimization step to eliminate redundant instructions through dependency analysis. For example, when the same liquid path channel performs the same dispensing action in multiple consecutive cycles, duplicate instructions are automatically merged and the dispensing order is optimized to reduce mechanical vibration and pipeline wear. The optimization process constructs instruction dependencies based on a directed acyclic graph (DAG) model and determines the priority of the instruction execution sequence through a topological sorting algorithm.

[0035] Preferably, the update rule of the key position judgment table between modules is kept in real-time synchronization with the TestPos structure. When a reaction cup is transferred across modules, the TestPos status of the target module is updated according to a preset mapping table. For example, the reaction cup index at the end of the outer circle of the incubation plate is marked as "transferred", and the status of the inlet position of the washing plate is synchronously updated to "occupied". This synchronization mechanism is implemented in an event-driven manner, that is, when the hardware feedback signal indicating the completion of the cross-module transfer instruction arrives, the status update operation of the TestPos structure is immediately triggered.

[0036] Preferably, the generation process of the reagent dispensing action parameters also considers the temperature compensation factor. According to the real-time temperature monitoring data of the reagent warehouse, the liquid path dispensing speed and volume calibration coefficient are dynamically adjusted to eliminate the dispensing error caused by the change of reagent viscosity. For example, when the reagent temperature is lower than the set threshold, the running time of the liquid pump is increased according to a preset ratio to ensure that the actual dispensed volume is consistent with the theoretical value.

[0037] In this embodiment, the key position judgment table between modules realizes the collaborative scheduling among multiple modules by defining the state transition rules of the reaction cup at the key positions of cross-module transfer. The following specifically describes its construction logic, judgment conditions and implementation examples: The judgment table is a two-dimensional relational data structure, including the following core fields: Transfer key position number: such as the end of the outer circle of the incubation plate (number YP_Out_9), the inlet of the washing plate (number WP_In_1), the outlet of the reading plate (number RP_Out_6); Trigger conditions: including reaction cup status conditions (such as incubation time, number of washes) and target module reception status (such as idle, busy); Target module and position: the name and coordinates of the target module after transfer (for example, the inlet of the washing plate corresponds to the washing station Wash_Station_1); Action mapping instruction: the hardware control instruction to be triggered during transfer (such as the robotic arm grasping path, liquid path channel activation signal).

[0038] The construction process of the judgment table includes: Key position definition: Determine the key connection points for cross-module handover based on the physical layout of each module. For example, the coordinates of the last position on the outer circle of the incubation plate and the entrance of the washing plate need to meet the grasping range of the robotic arm; Status condition mapping: Logically associate the completion status of the reaction cup processing steps (such as the incubation time reaching the standard, the cleaning liquid dispensing being completed) with the idle status of the target module; Instruction generation rules: Pre-define control parameters such as the robotic arm movement trajectory and the liquid path operation timing for different handover scenarios.

[0039] The decision table triggers a transfer instruction when one of the following conditions is met: Condition 1: The reaction cup has completed the current processing step and meets the preset status conditions Status condition definition: Incubation plate handover: The incubation time of the reaction cup on the incubation plate ≥ the preset threshold (e.g., 300 seconds), and the temperature fluctuation is within the range of ±0.5°C; Washing plate handover: The number of times of cleaning liquid dispensing ≥ 3 times, and the detection of the remaining amount of the last cleaning liquid is qualified; Reading plate handover: The reading signal intensity reaches the set threshold (e.g., SNR ≥ 10).

[0040] Detection logic: Collect data in real time through sensors (such as the incubation plate temperature sensor, the liquid path pressure sensor), and compare it with the preset conditions recorded in the Test structure. If the conditions are met, update the step status in the Test structure to "transferable".

[0041] Condition 2: The corresponding position of the next module is in a receivable state Receivable state determination: Hardware status detection: Detect whether the target position is occupied through a photoelectric sensor or a limit switch (such as no reaction cup occlusion signal at the entrance of the washing plate); Software flag synchronization: Check whether the flag status of the target position in the TestPos structure is "idle". If the target position is marked as "busy" or "faulty", the transfer is prohibited from being triggered.

[0042] The following takes the handover from the last position on the outer circle of the incubation plate → the entrance of the washing plate as an example to illustrate the specific application of the decision table: Step 1: Status detection and condition triggering The incubation time of the reaction cup at the last position on the outer circle of the incubation plate (YP_Out_9) reaches 300 seconds, and the step status of the reaction cup is marked as "incubation completed" in the Test structure; The photoelectric sensor at the entrance of the washing plate (WP_In_1) detects no occlusion signal, and this position in the TestPos structure is marked as "idle".

[0043] Step 2: Handover instruction generation According to the mapping rule of YP_Out_9→WP_In_1 in the judgment table, the following control instructions are generated: Robotic arm grasping path planning: moving from the end coordinate of the incubation plate (X=120mm, Y=80mm) to the entrance coordinate of the cleaning plate (X=200mm, Y=40mm), and the movement speed is set to 50mm / s; Liquid path preparation instruction: activate the liquid path channel (Channel_3) corresponding to the inlet of the cleaning plate, pre-fill the cleaning liquid and remove bubbles; Timing control parameters: The synchronization delay between the robot grabbing action and the liquid circuit activation is set to 100ms.

[0044] Step 3: Status synchronization update After the handover is completed, mark YP_Out_9 in the TestPos structure as "free" and WP_In_1 as "occupied"; Update the step status of the reaction cup in the Test structure to "cleaning" and reset the cleaning countdown parameters.

[0045] When multiple key locations meet the handover conditions at the same time, the judgment table is executed according to the following priority: Emergency operation priority: If a transfer action is associated with an abnormal recovery process (such as insufficient reagent remaining and the need to urgently recover the reaction cup), it will be triggered first; Time dependency priority: For steps with a strict time sequence (such as incubation → washing → measurement and reading), they are executed in the order of the process chain; Priority on physical proximity: If multiple cuvettes can be transferred in parallel, the request with the shortest robot movement path will be prioritized to reduce idle time.

[0046] For step S2, in this embodiment, the dynamic scheduling execution step realizes the parallel execution of multi-module instructions and resource conflict avoidance through chain dependency and multi-thread coordination mechanism. Based on the pre-generated secondary functional module instruction set, combined with precondition verification, countdown delay control and state synchronization update, the timing accuracy and action coherence of the hardware execution unit are ensured.

[0047] In this embodiment, the pre-generated instruction set operated by the dynamic scheduling execution step is generated by the periodic pre-calculation stage of step S1, and its core structure includes instruction type, target module, action parameters and dependency identifier. Specifically, the instruction set defines the atomic operation of each secondary functional module through the following elements: 1. Instruction type: including robot arm movement, liquid path distribution, incubation plate rotation, sensor triggering, etc.; 2. Target module identification: points to the secondary functional module (such as robot module, fluid path module) that executes the instruction; 3. Action Parameters: Mechanical Instructions: Trajectory Coordinates, Speed, Acceleration; Liquid Path Instructions: Dispensing Volume, Channel Number, Flow Rate; Incubation Instructions: Target Temperature, Countdown Threshold; 4. Dependency Identification: List of Predecessor Instructions (Parent IDs): The completion status needs to be satisfied; List of Successor Instructions (Child IDs): Triggers the update of its predecessor counter; Resource Mutex Flag: Marks the occupied hardware resources (such as liquid path channels, robotic arm tracks).

[0048] The instruction set is stored in a structured data format (such as JSON or binary encoding) and is passed to the dynamic scheduling module through a message queue. In step S2, the scheduler parses the content of the instruction set and dynamically arranges the execution order according to the dependency relationship and resource status to ensure the timing consistency of multi-module parallel operations.

[0049] As Figure 3 shown, specifically, the steps to calculate all secondary function modules in the next cycle can be as follows: 1. Based on the current test location in the instrument and combined with the test sample information list, use the turntable rotation calculation function to obtain the test location in the instrument in the next cycle. Due to the operation of the instrument, each module may remove one test (temporarily saved) and add one test (temporarily vacant).

[0050] 2. Then, according to the inter-module key position judgment table, combined with the test sample information list and module coordinate information, use the inter-module position calculation function to obtain the test position change formed by the inter-module actions in the next cycle and fill in the temporarily vacant tests.

[0051] 3. According to the reagent storage location of each item, combined with the test sample information list and the reagent information in the current reagent tray, use the reagent judgment selection function to obtain the action array Next SecFun[] of the secondary function modules in the next cycle (including data of the reagent arm and secondary function modules in the reagent tray).

[0052] 4. Then, according to the intra-module key position judgment table, combined with the test sample information list, module coordinate information, and the action array Next SecFun[] of the secondary function modules in the next cycle (including data of the reagent arm and secondary function modules in the reagent tray), perform calculations in the intra-module position calculation function to obtain the action array NextSecFun[] of the secondary function modules in the next cycle (including data of all secondary function modules).

[0053] 5. Finally, by deleting the non - operating pre - instruction functions, an action array of the secondary function modules that truly need to be executed in the next cycle is formed.

[0054] In this embodiment, the dynamic scheduling execution in step S2 includes: S21. For each secondary function module instruction, verify whether all its pre - instructions are completed; S22. If the pre - conditions are met, generate a countdown delay parameter according to the instruction type, send a control instruction to the lower computer, and start the countdown; S23. After the instruction execution is completed, update the pre - counter of the associated successor instructions.

[0055] In the process of dynamic scheduling execution, the pre - conditions of each secondary function module instruction are first verified. The many - to - many association relationship between instructions is managed through a chain - type dependency structure. For example, a certain robotic arm grasping instruction may depend on multiple pre - instructions (such as the incubation plate rotating in place, the liquid path channel pre - charging completed), and this instruction itself can also be used as a pre - condition for multiple successor instructions (such as cleaning and dispensing, reading and positioning). The chain - type dependency structure is implemented through a directed graph model, where nodes represent instructions and edges represent dependency relationship types (such as time - sequence dependency, resource - mutual - exclusion dependency). A certain instruction can enter the executable queue only when the status of all its pre - nodes is marked as "completed".

[0056] Furthermore, if the pre - conditions are met, a countdown delay parameter is generated according to the instruction type and sent to the lower computer for execution. The countdown delay parameter is used to coordinate the timing synchronization of mechanical actions and electrical signals. For example, a robotic arm movement instruction needs to reserve a braking and stabilizing time, and a liquid path distribution instruction needs to wait for the pipeline pressure to balance. Preferably, the countdown parameter is dynamically adjusted according to the instruction type: for instructions involving physical displacement (such as robotic arm movement, turntable rotation), the delay time is calculated based on the length of the movement trajectory and the maximum acceleration; for liquid path operation instructions (such as reagent dispensing, cleaning liquid injection), the delay time is related to the pipeline volume and liquid viscosity.

[0057] After the instruction is sent, the execution progress is monitored in real - time through the hardware status feedback interface. When the instruction execution completion signal is captured, the pre - counter of the associated successor instructions is immediately updated. For example, after the incubation plate rotation instruction is completed, the pre - counter values of all its successor instructions (such as robotic arm grasping, liquid path temperature calibration) are decreased by 1; when the counter reaches zero, the corresponding instruction is activated and added to the execution queue. The counter update operation is implemented through atomic transactions to avoid state conflicts in the multi - thread concurrent scenario.

[0058] Preferably, for the scenario of mutually exclusive resource dependencies (such as the same liquid path channel cannot perform dispensing and cleaning operations simultaneously), a semaphore mechanism is adopted for resource locking. When a certain instruction applies to occupy a mutually exclusive resource, the current state of the resource is checked: if it is idle, it is immediately locked and executed; if it is busy, the instruction is suspended until the resource is released. The semaphore mechanism and the chain dependency structure work together to ensure the execution order of instructions and system security in the case of resource conflicts.

[0059] During the execution of parallel instructions, a multi-threaded scheduler coordinates the tasks of each module. The scheduler manages executable instructions based on a priority queue, and instructions involving critical paths (such as cross-module handover, high-priority sample processing) are given higher execution weights. Preferably, the size of the thread pool is dynamically adjusted according to the number of hardware execution units. For example, the robotic arm control thread, the liquid path drive thread, and the sensor acquisition thread run independently to avoid performance bottlenecks caused by resource contention.

[0060] Preferably, the dynamic scheduling execution process also includes an exception interruption handling logic. When the hardware feedback status is abnormal (such as position overshoot, liquid path pressure overlimit), the current instruction is immediately interrupted and a rollback mechanism is triggered: the pre-counter of the associated instruction is restored to the state before interruption, and the occupied mutually exclusive resources are released. After the interruption handling, it is decided whether to retry the instruction or enter the fault tolerance process (such as switching to an alternative liquid path channel) according to the type of exception.

[0061] For step S3, in this embodiment, the state synchronization and update step realizes the real-time mapping of the physical position of the reaction cup and the test logic state through a dual-struct body cooperation mechanism, and completes the smooth transition of the control instruction set during cycle switching. The TestPos struct and the Test struct are responsible for managing the hardware position data and the test process state respectively, and ensure the consistency of multi-module collaborative operation through the event-driven update rule.

[0062] When the real-time position information of the reaction cup is managed by the TestPos struct, a hierarchical data structure is adopted to adapt to the operation characteristics of different modules. For the outer and inner circles of the incubation disk, its circular queue structure tracks the rotation state of the turntable through a dynamic index update mechanism. For example, for the circular queue of the outer circle of the incubation disk, every time a rotation cycle is completed, the index of the last reaction cup advances forward according to a preset step length, and at the same time, the occupancy mark of the original position is released, and the index of this reaction cup is inserted into the next idle position of the circular queue of the inner circle. The static arrays of the cleaning disk and the reading disk are directly accessed through the array subscripts according to the fixed mapping relationship of the physical coordinates to obtain the status (such as occupied, idle, abnormal) of each position. The shift register structure of the dilution disk updates the occupancy mark according to the liquid path action sequence. For example, when a certain liquid path channel completes the dispensing action, the shift register advances the occupancy mark to the next channel to ensure the continuity of the liquid path operation.

[0063] When the reaction cuvette is transferred across modules, the TestPos status of the target module is updated according to a preset mapping table. For example, when the last reaction cuvette in the outer ring of the incubation tray is transferred to the entrance of the washing tray, first query the corresponding coordinate conversion rule in the mapping table, calculate the physical coordinates of the entrance of the washing tray, then mark the status of the entrance position of the washing tray in the TestPos structure as "occupied", and clear the index value of the original position of the incubation tray. The mapping table contains the geometric relationships and motion trajectory parameters of key positions between modules to ensure the physical feasibility and data consistency of the transfer action.

[0064] When the test step status is managed by the Test structure, its field definitions cover sample identification, detection method, reagent dosage, current step, and time parameters. For example, when the test step changes to the "incubation" stage, the Test structure records the current incubation start time and generates a countdown parameter according to the preset threshold corresponding to the detection method (for example, chemiluminescence method requires 300 seconds of incubation). When the step status changes to a preset processing stage (such as washing, reading), the corresponding secondary module instruction set is triggered. For example, after entering the "washing" stage, the Test structure calls the liquid path distribution instruction set of the washing module and synchronously updates the reagent remaining amount parameter.

[0065] When an abnormal status is detected, the error code field in the Test structure is updated and a fault tolerance instruction is triggered. For example, when the liquid path pressure sensor detects a blockage signal, the Test structure marks the error code as "liquid path failure", terminates the current liquid path instruction at the same time, and starts the standby channel switching process. The trigger logic of the fault tolerance instruction is linked with the TestPos structure. For example, when the position calibration is abnormal, the position of the reaction cuvette is forcibly reset to the previous stable state to avoid hardware conflicts.

[0066] When switching to the next cycle instruction set at the end of the cycle, the switching condition is based on the end of the preset time window or the completion of the instruction execution and the pre-calculation. When the fixed time window arrives, regardless of whether all the current cycle instructions are completed, it is forcibly switched to the next cycle instruction set to ensure the timing stability of the system operation. When the instruction is completed in advance and the next cycle instruction set is pre-calculated and ready, the switch is immediately triggered to reduce the empty window waiting time. The switching operation is implemented through an atomic transaction: freeze the write operations of the current TestPos and Test structures, load the pre-calculated next cycle instruction set into the execution queue, and reset the cycle timer.

[0067] Preferably, the update operation of the TestPos structure adopts a transaction log mechanism. Each time the position changes, a log record containing the time stamp, operation type, and data snapshot is generated for status backtracking and recovery in abnormal scenarios. For example, when the hardware feedback position deviates from the TestPos record beyond the limit, the most recent consistent state is reconstructed through log replay to reduce the system downtime.

[0068] Preferably, a priority arbitration logic is introduced into the judgment process of the cycle switching condition. When both the end of the time window and the condition of early instruction completion are satisfied, the instruction switching is preferentially executed to improve efficiency; while when the pre-computation is not completed, even if the time window ends, the switching is delayed until the instruction set is ready to ensure the continuity of the control instruction.

[0069] In a preferred embodiment of the present invention, the method further includes an exception handling step.

[0070] In this embodiment, the exception handling step ensures that the system can quickly respond and maintain a safe state in case of hardware deviation, resource exception or communication failure through a multi-level detection mechanism and a hierarchical recovery strategy. The specific processing logics for each exception scenario are described as follows: 1. Handling of excessive deviation of the hardware feedback position When the deviation between the actual position of the execution units such as the robotic arm and the turntable and the pre-computed position recorded in the TestPos structure exceeds the preset threshold (for example, the position deviation of the incubation plate > 1 mm, the deviation of the reading plate > 0.5 mm), the system immediately interrupts all instructions in the current cycle and starts the position calibration process. The calibration process includes: Sensor calibration: Re-scan the physical coordinates of the reaction cups through a photoelectric sensor. For example, the reflective photoelectric sensor at the end of the robotic arm performs three-point positioning on the last reaction cup on the outer circle of the incubation plate, and calculates the offset between the actual coordinates and the theoretical values; Reconstruction of the TestPos structure: Update the circular queue index and position status in TestPos according to the calibration results. For example, correct the index of the last reaction cup on the outer circle of the incubation plate to the actually detected position number; Instruction set correction: Based on the calibrated TestPos status, re-generate the cross-module handover instructions for the current cycle and resume the execution progress before the interruption.

[0071] 2. Handling of insufficient reagent remaining When the liquid level sensor or weight sensor in the reagent warehouse detects that the remaining amount is lower than the safety threshold (for example, the remaining volume < 10 mL), the system triggers a hierarchical alarm and performs a rollback operation: Freezing of liquid path operation: Immediately terminate all reagent dispensing instructions, close the liquid path pump and lock the relevant channels; Return of the robotic arm: Force the robotic arm that is performing the grasping or handover action to return to the initial coordinates to avoid the retention of reaction cups; Rollback of the Test structure: Roll back the current test step status to the previous stable stage (for example, roll back from "washing" to "incubation completed"), and update the error code to "insufficient reagent"; Alarm Notification: The operator is prompted to replace the reagent through an audible and visual alarm and the upper computer interface, and the subsequent test tasks are paused until manual confirmation.

[0072] 3. Mechanical Timeout Handling When the instruction execution time exceeds the preset threshold (for example, the robotic arm movement timeout > 10 seconds, the incubation plate rotation timeout > 15 seconds), it is determined as a mechanical timeout exception: Hardware Status Self-Check: Detect whether the mechanical unit is stuck or derailed through limit switches and encoders; Instruction Retry or Fault Tolerance: If no hardware damage is found during self-check, retry the current instruction (up to 3 times); if the retry fails, trigger the standby module switch (for example, enable the redundant robotic arm track); Resource Release: Release the occupied mutex resources (such as liquid path channels, incubation plate positions), and update the occupancy marker in TestPos to "abnormal".

[0073] 4. Liquid Path Blockage Handling When the liquid path pressure sensor detects that the pressure value continuously exceeds the safety threshold (for example, > 500 kPa), it is determined as a liquid path blockage: Pressure Release: Immediately open the pressure relief valve to drain the liquid in the blocked pipeline; Channel Switching: If there is a standby liquid path channel, switch the current assigned task to the standby channel and execute it again; Pipeline Cleaning: Automatically inject cleaning liquid (such as deionized water) to flush the blocked pipeline until the pressure returns to normal; Test Structure Update: Record the number of blockages. If it exceeds the fault tolerance limit (for example, 3 times), mark the channel as "faulty" and trigger a maintenance alarm.

[0074] 5. Communication Interruption Handling When the communication signal between the central controller and the lower computer is lost for more than the reconnect threshold (for example, 5 seconds), it is determined as a communication interruption: Instruction Freezing: Immediately freeze all unfinished instructions and prohibit new instruction issuance; Maintaining Hardware Safety Status: Maintain the current position of the robotic arm, turn off the power of the liquid path pump, and stop the turntable rotation; Local Fault Tolerance Control: The lower computer switches to the local fault tolerance mode and maintains basic operations according to the last received instruction set (for example, keep the incubation plate temperature stable); Network Alarm: Send a communication interruption alarm to the upper computer and the remote monitoring terminal through the Ethernet or wireless module.

[0075] Preferably, when multiple exceptions are triggered simultaneously, the system processes them according to the following priority: Hardware safety-related exceptions (such as mechanical timeout, liquid path blockage) take precedence over resource exceptions (such as insufficient reagents); High-destructive exceptions (such as position deviation) take precedence over low-risk exceptions (such as communication interruption); After all exception handling is completed, manual confirmation and reset of the error code are required to resume operation.

[0076] Generally speaking, the present invention generates a secondary module action instruction set through a hierarchical pre-computation mechanism, realizes multi-module collaborative operation by combining dynamic dependency scheduling, and manages the physical position of reaction cups and the test logic state based on the TestPos and Test dual structures respectively to ensure the accuracy of hardware execution timing and resource allocation. The ring queue, static array and shift register are used to adapt to the position tracking requirements of different modules, and the state synchronization update during cross-module handover is realized through a preset mapping table. At the same time, a cycle switching condition and an exception rollback mechanism are introduced to smoothly switch the control logic when the fixed time window or the instruction set is ready, and trigger the calibration and safety recovery process in case of hardware deviation or resource exception, so as to ensure the stability and fault tolerance of the system operation.

[0077] Although the embodiments of the present invention have been shown and described, those of ordinary skill in the art can understand that various changes, modifications, substitutions and variations can be made to these embodiments without departing from the principle and spirit of the present invention. The scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. Multi-module parallel motion control method for high-speed fully automatic chemiluminescence immunoassay analyzer, characterized in that, The analyzer includes multiple first-level functional modules and subordinate second-level functional modules. The method includes the following steps: S1. Period pre-calculation: During the current execution cycle, based on the real-time position information of the reaction cups and the test sample parameters, pre-calculate the action instruction sets of all second-level functional modules for the next cycle; S2. Dynamic scheduling execution: According to the pre-generated instruction sets, coordinate the parallel actions of multiple modules through the pre-and post-dependency relationships, and drive the hardware execution unit to complete the sample processing; S3. Status synchronization update: Real-time synchronize the position data of the reaction cups and the status of the test steps, and switch to the instruction set of the next cycle at the end of the cycle.

2. The multi-module parallel motion control method for high-speed fully automatic chemiluminescence immunoassay analyzer according to claim 1, characterized in that, The period pre-calculation in step S1 specifically includes: S11. Predict the positions of the reaction cups of each module in the next cycle based on the rotation rules of the turntable; S12. Dynamically fill the position vacancies and generate cross-module transfer instructions according to the key position judgment table between modules; S13. Combine the remaining reagent volume and the requirements of the test items to generate reagent distribution action parameters; S14. Convert the logical state into mechanical control instructions through the key position rules within the module.

3. The multi-module parallel motion control method for high-speed fully automatic chemiluminescence immunoassay analyzer according to claim 2, characterized in that, The key position judgment table between modules defines the handover rules of the reaction cups at the end of the outer circle of the incubation plate, the entrance of the washing plate, and the exit of the reading plate, and triggers the transfer instruction when one of the following conditions is met: The reaction cup has completed the current processing step and meets the preset status conditions; The corresponding position of the next module is in a receivable state.

4. The multi-module parallel motion control method for high-speed fully automatic chemiluminescence immunoassay analyzer according to claim 1, characterized in that, The dynamic scheduling execution in step S2 includes: S21. For each second-level functional module instruction, verify whether all its pre-instructions are completed; S22. If the preconditions are met, generate a countdown delay parameter according to the instruction type, send a control instruction to the lower computer and start the countdown; S23. After the instruction execution is completed, update the pre-counter of the associated post-instruction.

5. The multi-module parallel motion control method for high-speed fully automatic chemiluminescence immunoassay analyzer according to claim 4, characterized in that, The pre-instructions and post-instructions are associated in a chain structure, supporting many-to-many dependency relationships; The dependency relationships include at least one of time-sequence dependency and resource-exclusive dependency.

6. The multi-module parallel motion control method for high-speed fully automatic chemiluminescence immunoassay analyzer according to claim 1, characterized in that, The real-time position information of the reaction cups is managed through the TestPos structure, including: Circular queues for the outer and inner circles of the incubation plate, dynamically updating the index of the last reaction cup as the turntable rotates; Static arrays for the washing plate and the reading plate, fixedly mapping the position status according to the physical coordinates; Shift register structure of the dilution plate, advancing the reaction cup occupancy mark according to the liquid path action sequence; When the reaction cup is handed over across modules, update the TestPos status of the target module according to the preset mapping table.

7. The multi-module parallel motion control method for high-speed fully automatic chemiluminescence immunoassay analyzer according to claim 6, characterized in that, The TestPos status update rule is: When the last reaction cup in the outer circle of the incubation plate is removed, if its incubation time reaches the preset threshold and the target position in the inner circle is empty, clear the last position in the outer circle and trigger the insertion in the inner circle; After the detection on the reading plate is completed, mark the reaction cup as discarded and release the occupancy, and at the same time update the status of the entrance of the washing plate to be receivable; When the liquid path action of the dilution plate is completed, advance the reaction cup occupancy mark according to the shift register rule.

8. The multi-module parallel motion control method of the high-speed fully automatic chemiluminescence immunoassay analyzer according to claim 1, characterized in that, The status of the test steps is managed through the Test structure, including: Sample identification, detection method, reagent dosage, current step, and time parameters; When the step status changes to the preset processing stage, trigger the corresponding second-level module instruction set according to the stage type; When an abnormal state is detected, update the error code in the Test structure and trigger the fault tolerance instruction.

9. The multi-module parallel motion control method of the high-speed fully automatic chemiluminescence immunoassay analyzer according to claim 1, characterized in that, In the step of switching to the next cycle instruction set at the end of the cycle, the switching conditions are: The preset time window ends; or All current cycle instructions are executed and the next cycle instruction set pre-computation is completed.

10. The multi-module parallel motion control method of the high-speed fully automatic chemiluminescence immunoassay analyzer according to claim 1, characterized in that, The method further includes an exception handling step: When the deviation between the hardware feedback status and the pre-computed position exceeds the threshold, interrupt the current cycle and start position calibration; When the reagent remaining amount is insufficient, the mechanical timeout occurs, the liquid path is blocked, or the communication is interrupted, roll back the test steps to the safe state and trigger an alarm.

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