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

Abstract

The present invention relates to the field of chemiluminescence immunoassays and discloses a multi-module parallel motion control method for a high-speed, fully automatic chemiluminescence immunoassay, comprising the following steps: within the current execution cycle, based on the real-time position information of the reaction cup and the test sample parameters, precalculating the action instruction set of all secondary functional modules for the next cycle; coordinating the parallel actions of multiple modules through the predecessor and successor dependencies according to the pre-generated instruction set, and driving the hardware execution unit to complete sample processing; synchronizing the reaction cup position data and the test step status in real time, and switching to the next cycle instruction set at the end of the cycle. The present invention solves the problems of timing conflicts and resource contention in the coordinated control of multiple modules, improves the parallel efficiency and system fault tolerance of the detection process, and is suitable for high-throughput chemiluminescence immunoassay scenarios.

Description

Technical Field

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

[0002] As a core device for clinical diagnostics, the efficiency and reliability of chemiluminescence immunoassay analyzers directly rely on the coordinated control accuracy of multiple modules (such as incubation, cleaning, measurement and reading, and dilution modules). Traditional control methods typically employ a sequential execution strategy, serially processing each module's action instructions within a single cycle. While this can avoid hardware conflicts, it leads to cumulative waiting times for cuvette transport and reagent distribution, severely limiting detection throughput. Especially when processing high-concurrency samples, the timing of robotic arm movement, fluidic operations, and turntable rotation is difficult to dynamically adapt, which can easily lead to resource contention and process blockages, resulting in increased equipment idling rates.

[0003] In existing technologies, optimization solutions for multi-module collaboration often 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 rotation of the incubation plate and the transfer of the cleaning plate entrance often cause mechanical interference due to position tracking errors, requiring frequent manual intervention and calibration; and the recovery mechanism for abnormal scenarios (such as liquid line blockage and communication interruption) is usually limited to single-module reset, and no cross-module state rollback and resource release rules are established, resulting in limited system fault tolerance. In addition, traditional methods often rely on fixed time windows when switching cycles, making it difficult to adapt to dynamic load changes and easily causing instruction set execution faults or idle resources.

[0004] The root cause of these shortcomings lies in the lack of a unified state mapping model and pre-calculation scheduling mechanism, which prevents precise coordination between hardware execution timing and test logic, limiting the performance and stability of the device in high-throughput scenarios. Therefore, a parallel control method that deeply integrates position tracking, dynamic scheduling, and exception recovery is urgently needed to overcome the efficiency bottlenecks and reliability constraints of existing technologies. Summary of the Invention

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

[0006] To achieve the above objectives, the present invention is implemented through the following technical solutions: a multi-module parallel motion control method for a high-speed fully automatic chemiluminescence immunoassay analyzer, wherein the analyzer includes multiple primary functional modules and subordinate secondary functional modules, and the method includes the following steps:

[0007] S1. Cycle pre-calculation: In the current execution cycle, based on the real-time position information of the reaction cup and the test sample parameters, pre-calculate the action instruction set of all secondary functional modules in the next cycle;

[0008] S2, dynamic scheduling execution: Based on the pre-generated instruction set, the parallel actions of multiple modules are coordinated through the predecessor and successor dependencies, driving the hardware execution unit to complete sample processing;

[0009] S3, status synchronization update: synchronize the cuvette position data and test step status in real time, and switch to the next cycle instruction set at the end of the cycle.

[0010] Preferably, the periodic precalculation in step S1 specifically includes:

[0011] S11, predicting the position of the reaction cups of each module in the next cycle based on the turntable rotation rule;

[0012] S12. Dynamically fill position gaps and generate cross-module transfer instructions based on the inter-module key position judgment table;

[0013] S13. Generate reagent allocation action parameters based on the reagent remaining amount and test item requirements;

[0014] S14. Convert the logic state into mechanical control instructions through key position rules within the module.

[0015] Preferably, the inter-module key position judgment table defines the transfer rules for the reaction cup at the end of the outer circle of the incubation plate, the entrance of the cleaning plate, and the exit of the reading plate, and triggers the transfer instruction when one of the following conditions is met:

[0016] The cuvette completes the current processing step and meets the preset status conditions;

[0017] The corresponding position of the next module is in a receivable state.

[0018] Preferably, the dynamic scheduling execution in step S2 includes:

[0019] S21. For each secondary functional module instruction, verify whether all its preceding instructions are completed;

[0020] S22. If the preconditions are met, generate countdown delay parameters according to the instruction type, send a control instruction to the subordinate computer, and start the countdown;

[0021] S23. After the instruction is executed, the pre-counter associated with the subsequent instruction is updated.

[0022] Preferably, the preceding instruction and the subsequent instruction are associated in a chain structure, supporting a many-to-many dependency relationship;

[0023] The dependency relationship includes at least one of time sequence dependency and resource mutual exclusion dependency.

[0024] Preferably, the real-time position information of the reaction cup is managed by a TestPos structure, including:

[0025] The circular queues on the outer and inner circles of the incubation disk dynamically update the index of the last reaction cup as the turntable rotates;

[0026] The static array of cleaning disk and reading disk, fixed mapping position status according to physical coordinates;

[0027] The shift register structure of the dilution plate advances the reaction cup placeholder mark according to the liquid circuit action sequence;

[0028] When the cuvette is transferred across modules, the TestPos status of the target module is updated according to the preset mapping table.

[0029] Preferably, the TestPos status update rule is:

[0030] 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, the last position in the outer circle is cleared and the inner circle is inserted;

[0031] After the reading disk is detected, the reaction cup is marked as discarded and the placeholder is released, and the cleaning disk entrance status is updated to be receivable;

[0032] When the dilution plate liquid path action is completed, the reaction cup placeholder mark is advanced according to the shift register rule.

[0033] Preferably, the test step status is managed through a Test structure, including:

[0034] Sample identification, test method, reagent dosage, current step and time parameters;

[0035] When the step status changes to the preset processing stage, the corresponding secondary module instruction set is triggered according to the stage type;

[0036] When an abnormal state is detected, the error code in the Test structure is updated and the fault tolerance instruction is triggered.

[0037] Preferably, in the step of switching to the next cycle instruction set at the end of the cycle, the switching condition is:

[0038] The preset time window ends; or

[0039] All current cycle instructions are executed and the next cycle instruction set is pre-calculated.

[0040] Preferably, the method further comprises an exception handling step:

[0041] When the deviation between the hardware feedback state and the pre-calculated position exceeds the threshold, the current cycle is interrupted and position calibration is started;

[0042] When the reagent remaining amount is insufficient, the machine times out, the liquid line is blocked, or the communication is interrupted, the test steps are rolled back to a safe state and an alarm is triggered.

[0043] The present invention provides a multi-module parallel motion control method for a high-speed, fully automatic chemiluminescence immunoassay analyzer. This method has the following beneficial effects:

[0044] 1. This invention uses a hierarchical pre-calculation mechanism to generate secondary module instruction sets, combined with a dynamic dependency scheduling algorithm, to effectively coordinate the parallel operations of modules such as incubation, cleaning, and measurement. Based on chained dependencies and mutually exclusive resource management, conflicts in the actions of hardware such as robotic arms and fluidic channels are avoided, idle waiting time is reduced, and system throughput and response speed are significantly improved.

[0045] 2. This invention uses the dual structures TestPos and Test to manage the physical position of the cuvette and the test logic state, respectively. This ensures data consistency between hardware execution and process control through a real-time synchronous update mechanism. 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 triggering mechanism of the Test structure ensures precise switching between test steps.

[0046] 3. This invention utilizes a layered anomaly detection and recovery strategy. In the event of hardware position deviation, reagent shortage, or fluid line blockage, it rapidly recovers to a safe state through state rollback, resource release, and backup channel switching. For example, the position calibration process, through sensor calibration and TestPos reconstruction, avoids systemic failures caused by mechanical cumulative errors, significantly reducing equipment failure rates.

[0047] 4. The present invention dynamically adapts key position determination tables and cycle switching conditions between modules to support differentiated process configurations for different inspection projects. By precalculating and filling position gaps and dynamically generating cross-module handover instructions, it maximizes the utilization of reaction trays and fluidic resources, while also adapting to complex scenarios with high loads and concurrent multi-tasking.

[0048] 5. This invention utilizes a cycle pre-calculation and automatic switching mechanism for instruction sets, reducing the need for manual calibration and process monitoring. The exception handling process integrates automatic alarms, instruction retries, and safe recovery functions, ensuring long-term, stable operation of the device in unattended scenarios, reducing operation and maintenance costs and improving the standardization of the detection process. BRIEF DESCRIPTION OF THE DRAWINGS

[0049] Figure 1 Schematic diagram of the method flow of the present invention;

[0050] Figure 2This is a schematic diagram of the cycle pre-calculation process of the present invention;

[0051] Figure 3 This is a data flow diagram of all secondary functional modules in the calculation cycle of the present invention. DETAILED DESCRIPTION

[0052] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the drawings in the present specification. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0053] Please see the attached Figure 1-Figure 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-calculation, dynamic dependency scheduling and state synchronization mechanism.

[0054] like Figure 1 As shown, the method includes the following steps:

[0055] S1. Periodic pre-calculation:

[0056] In the current execution cycle, based on the real-time position information of the reaction cup and the test sample parameters, all secondary functional module action instruction sets of the next cycle are pre-calculated.

[0057] S2. Dynamic scheduling execution:

[0058] According to the pre-generated instruction set, the parallel actions of multiple modules are coordinated through the predecessor and successor dependencies, driving the hardware execution unit to complete the sample processing.

[0059] S3, status synchronization update:

[0060] Synchronizes cuvette position data and test step status in real time and switches to the next cycle instruction set at the end of the cycle.

[0061] The following is a detailed description of each step in the method of the present invention, which comprehensively explains the specific implementation principles, technical details and processes of each step.

[0062] Regarding step S1, in this embodiment, the cycle pre-calculation step dynamically couples the real-time position of the reaction cup, the test requirement parameters and the inter-module collaboration rules through a hierarchical instruction generation mechanism, thereby constructing a secondary functional module action instruction set executable in the next cycle.

[0063] like Figure 2 As shown, in this embodiment, the specific period pre-calculation in step S1 specifically includes:

[0064] S11, predicting the position of the reaction cups of each module in the next cycle based on the turntable rotation rule;

[0065] S12. Dynamically fill position gaps and generate cross-module transfer instructions based on the inter-module key position judgment table;

[0066] S13. Generate reagent allocation action parameters based on the reagent remaining amount and test item requirements;

[0067] S14. Convert the logic state into mechanical control instructions through key position rules within the module.

[0068] When predicting the position of each module's reaction cup in the next cycle based on the turntable's rotation rules, the position logic of the inner and outer rings of the incubation plate is first 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 ring of the incubation plate is managed using a circular queue. After each cycle execution phase, the index value of the last reaction cup is recalculated based on the preset rotation step size, and the corresponding inner ring insertion position mapping relationship is generated. For liquid circuit operation modules such as the dilution plate, its shift register structure advances the reaction cup placeholder mark according to the liquid circuit action sequence, so that the liquid circuit channel activation sequence of the next cycle is synchronized with the execution progress of the current cycle.

[0069] Furthermore, position gaps are dynamically filled and cross-module transfer instructions are generated based on the inter-module key position judgment table. The inter-module key position judgment table defines the transfer rules for the reaction cup at the key points of the handover of different modules, such as the coordinate mapping relationship between the end of the outer ring of the incubation plate and the entrance of the cleaning plate. When the reaction cup completes the current processing step and meets the preset state conditions, such as the incubation time reaches the threshold or the number of cleaning times meets the requirements, the judgment table will trigger the cross-module transfer instruction. The generation process of the transfer instruction includes: based on the idle state detection of the corresponding position of the next module, calculating the robot arm grasping path through the preset physical coordinate offset, and generating a cross-module control instruction containing the target position, motion trajectory and speed parameters.

[0070] When generating reagent allocation action parameters based on the reagent remaining amount and test item requirements, the real-time remaining data of the reagent compartment is first obtained, such as by monitoring the remaining capacity of the reagent bottle through a liquid level sensor or weight sensor. According to the reagent allocation logic corresponding to the test item, for example, chemiluminescence detection requires the capture antibody, labeled antibody, and substrate reagent to be allocated in a specific order, the allocation priority and volume parameters of each liquid channel are dynamically calculated. For scenarios with multiple projects being tested in parallel, an allocation strategy based on a greedy algorithm is adopted to prioritize the requirements of the test item with the least remaining reagent volume to avoid process interruptions due to reagent depletion.

[0071] When converting logical states into mechanical control instructions using key position rules within the module, abstract position indexes and logical conditions must be mapped into specific action parameters executable by the lower computer. For example, the insertion action of the inner circle of the incubation plate requires generating the robotic arm's end-effector grasping coordinates, rotation angle, and pressure threshold based on the idle position index of the inner circle's circular queue. For the liquid distribution module, the reagent distribution volume parameter must be converted into the pulse frequency and operating time of the liquid pump motor, and real-time calibration is performed based on the feedback value of the pipeline pressure sensor.

[0072] Preferably, the cycle precalculation process also includes an instruction set optimization step, eliminating redundant instructions through dependency analysis. For example, when the same fluid channel performs the same dispensing action in multiple consecutive cycles, duplicate instructions are automatically merged and the dispensing sequence optimized to reduce mechanical vibration and pipe wear. This optimization process constructs instruction dependencies based on a directed acyclic graph (DAG) model and prioritizes the instruction execution sequence using a topological sorting algorithm.

[0073] Preferably, the update rules for the inter-module key position determination table are synchronized with the TestPos structure in real time. When a cuvette is transferred across modules, the TestPos status of the target module is updated according to a preset mapping table. For example, the cuvette index at the end of the incubation tray's outer circle is marked as "transferred," and the status of the cleaning tray's entry position is simultaneously updated to "occupied." This synchronization mechanism is implemented in an event-driven manner: when a hardware feedback signal indicating the completion of a cross-module transfer instruction arrives, the TestPos structure's status update is immediately triggered.

[0074] Preferably, the reagent dispensing action parameter generation process also considers temperature compensation. Based on real-time temperature monitoring data from the reagent chamber, the liquid dispensing speed and volume calibration coefficient are dynamically adjusted to eliminate dispensing errors caused by changes in reagent viscosity. For example, when the reagent temperature falls below a set threshold, the liquid pump run time is increased by a preset ratio to ensure that the actual dispensed volume is consistent with the theoretical value.

[0075] In this embodiment, the inter-module key position determination table defines the state transition rules for cuvettes at key positions during cross-module transfers, enabling collaborative scheduling among multiple modules. The following details its construction logic, determination conditions, and implementation examples:

[0076] The judgment table is a two-dimensional relational data structure, containing the following core fields:

[0077] Transfer key position numbers: for example, the end of the outer circle of the incubation plate (numbered YP_Out_9), the entrance of the cleaning plate (numbered WP_In_1), and the exit of the reading plate (numbered RP_Out_6);

[0078] Trigger conditions: including cuvette status conditions (such as incubation time, number of washes) and target module receiving status (such as idle, busy);

[0079] Target module and location: the name and coordinates of the target module after handover (for example, the wash tray entrance corresponds to the wash station Wash_Station_1);

[0080] Action mapping instructions: hardware control instructions that need to be triggered during handover (such as robotic arm grasping path, liquid channel activation signal).

[0081] The construction process of the judgment table includes:

[0082] Definition of key locations: Based on the physical layout of each module, determine the key connection points for cross-module handover. For example, the coordinates of the end of the outer ring of the incubation tray and the entrance of the cleaning tray must be within the grasping range of the robot arm;

[0083] State condition mapping: logically associates the completion status of the cuvette processing step (e.g., incubation time reached, cleaning solution dispensed) with the idle state of the target module;

[0084] Instruction generation rules: For different handover scenarios, pre-define control parameters such as the robot arm's motion trajectory and fluid circuit operation sequence.

[0085] The judgment table triggers the transfer instruction when one of the following conditions is met:

[0086] Condition 1: The cuvette completes the current processing step and meets the preset status conditions

[0087] Status condition definition:

[0088] Incubation plate transfer: The incubation time of the reaction cup is ≥ the preset threshold (for example, 300 seconds) and the temperature fluctuation is within the range of ±0.5°C;

[0089] Handover of cleaning tray: the number of times the cleaning liquid is dispensed is ≥ 3 times, and the residual amount of the cleaning liquid at the last time is tested to be qualified;

[0090] Reading disk handover: The reading signal strength reaches the set threshold (for example, SNR ≥ 10).

[0091] Detection logic:

[0092] Data is collected in real time through sensors (such as the incubation plate temperature sensor and the fluid pressure sensor) and compared with the preset conditions recorded in the Test structure. If the conditions are met, the step status in the Test structure is updated to "Transfer Ready".

[0093] Condition 2: The corresponding position of the next module is in a receivable state

[0094] Receivable status determination:

[0095] Hardware status detection: Use photoelectric sensors or limit switches to detect whether the target position is occupied (for example, there is no reaction cup blocking signal at the cleaning plate entrance);

[0096] Software Mark Synchronization: Checks whether the target position's mark status in the TestPos structure is "Idle". If the target position is marked as "Busy" or "Failed", the handover is not triggered.

[0097] The following uses the transfer from the end of the outer circle of the incubation tray to the entrance of the cleaning tray as an example to illustrate the specific application of the judgment table:

[0098] Step 1: Status detection and condition triggering

[0099] The incubation time of the reaction cup at the end of the outer circle of the incubation plate (YP_Out_9) reaches 300 seconds, and its step status is marked as "incubation completed" in the Test structure;

[0100] The photoelectric sensor at the cleaning plate entrance (WP_In_1) detects an unobstructed signal, and the position is marked as "free" in the TestPos structure.

[0101] Step 2: Handover instruction generation

[0102] According to the mapping rule of YP_Out_9→WP_In_1 in the judgment table, the following control instructions are generated:

[0103] The robot 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), the movement speed is set to 50mm / s;

[0104] Liquid path preparation instruction: Activate the liquid path channel (Channel_3) corresponding to the cleaning plate inlet, pre-fill the cleaning liquid and remove bubbles;

[0105] Timing control parameters: The synchronization delay between the robot arm grasping action and the fluid circuit activation is set to 100ms.

[0106] Step 3: Status synchronization update

[0107] After the handover is completed, mark YP_Out_9 in the TestPos structure as "free" and WP_In_1 as "occupied";

[0108] Update the step status of the reaction cup in the Test structure to "cleaning" and reset the cleaning countdown parameters.

[0109] When multiple key locations meet the handover conditions at the same time, the judgment table is executed according to the following priority:

[0110] 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;

[0111] Prioritize timing dependencies: For steps with a strict time sequence (e.g., incubation → washing → measurement and reading), execute them in the order of the process chain.

[0112] Prioritize 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.

[0113] In step S2, in this embodiment, the dynamic scheduling execution step achieves parallel execution of multi-module instructions and avoids resource conflicts through chained dependencies and multi-threaded coordination mechanisms. Based on the pre-generated secondary functional module instruction set, combined with precondition verification, countdown delay control, and state synchronization updates, the timing accuracy and action consistency of the hardware execution unit are ensured.

[0114] In this embodiment, the pre-generated instruction set operated by the dynamic scheduling execution step is generated by the periodic pre-calculation phase of step S1. Its core structure includes instruction type, target module, action parameters and dependency identifiers. Specifically, the instruction set defines the atomic operations of each secondary functional module through the following elements:

[0115] 1. Command type: including robot arm movement, liquid distribution, incubation plate rotation, sensor triggering, etc.

[0116] 2. Target module identifier: points to the secondary functional module (such as the robotic arm module, hydraulic module) that executes the instruction;

[0117] 3. Action parameters:

[0118] Mechanical instructions: motion trajectory coordinates, speed, acceleration;

[0119] Liquid circuit instructions: dispense volume, channel number, flow rate;

[0120] Incubation instructions: target temperature, countdown threshold;

[0121] 4. Dependency identification:

[0122] Pre-command list (Parent IDs): must satisfy its completion status;

[0123] Subsequent instruction list (Child IDs): triggers the update of its predecessor counter;

[0124] Resource mutex lock (Mutex Flag): Marks occupied hardware resources (such as liquid channels and robotic arm tracks).

[0125] The instruction set is stored in a structured data format (such as JSON or binary encoding) and passed to the dynamic scheduling module via a message queue. In step S2, the scheduler parses the instruction set content and dynamically arranges the execution order based on dependencies and resource status, ensuring the timing consistency of parallel operations among multiple modules.

[0126] like Figure 3 Specifically, the steps for calculating all secondary functional modules in the next cycle can be as follows:

[0127] 1. Based on the current test position in the instrument and the test sample information list, the turntable rotation calculation function is used to obtain the test position in the instrument for the next cycle. As the instrument runs, each module may move out a test (temporarily saved) and move in a test (temporarily vacant).

[0128] 2. Then, based on the inter-module key position judgment table, combined with the test sample information list and module coordinate information, the inter-module position calculation function is used to obtain the test position changes caused by the inter-module actions in the next cycle, and fill in the temporarily vacant tests.

[0129] 3. According to the storage location of each project reagent, and combined with the test sample information list and the reagent information in the current reagent disk, the reagent judgment selection function is used to obtain the next cycle secondary function module action array Next SecFun[] (including the data of the reagent arm and the secondary function module in the reagent disk).

[0130] 4. Then, according to the key position judgment table in the module, combined with the test sample information list and module coordinate information, as well as the next cycle secondary function module action array Next SecFun[] (including the data of the secondary function modules in the reagent arm and reagent disk), calculation is performed in the position calculation function in the module to obtain the next cycle secondary function module action array NextSecFun[] (including the data of all secondary function modules).

[0131] 5. Finally, by deleting the inactive pre-instruction functions, an array of secondary function module actions that actually need to be executed in the next cycle is formed.

[0132] In this embodiment, the dynamic scheduling execution in step S2 includes:

[0133] S21. For each secondary functional module instruction, verify whether all its preceding instructions are completed;

[0134] S22. If the preconditions are met, generate countdown delay parameters according to the instruction type, send a control instruction to the subordinate computer, and start the countdown;

[0135] S23. After the instruction is executed, the pre-counter associated with the subsequent instruction is updated.

[0136] The dynamic scheduling execution process first verifies the preconditions of each secondary functional module instruction. The many-to-many relationship between instructions is managed through a chain dependency structure. For example, a certain robot arm grasping instruction may depend on multiple predecessor instructions (such as the incubation plate rotating into place and the liquid channel pre-filling completed), and the instruction itself can also serve as a prerequisite for multiple subsequent instructions (such as cleaning distribution, measurement and positioning). The chain dependency structure is implemented through a directed graph model, in which nodes represent instructions and edges represent dependency types (such as time sequence dependency and resource mutual exclusion dependency). If and only if the status of all predecessor nodes of an instruction are marked as "completed", the instruction can enter the executable queue.

[0137] Furthermore, if the preconditions are met, a countdown delay parameter is generated based on 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, the robot arm movement instruction requires a brake stabilization time, and the liquid distribution instruction requires waiting 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 robot arm movement and turntable rotation), the delay time is calculated based on the length of the motion trajectory and the maximum acceleration; for liquid operation instructions (such as reagent distribution and cleaning fluid injection), the delay time is related to the pipeline volume and liquid viscosity.

[0138] After a command is issued, its execution progress is monitored in real time through the hardware status feedback interface. When a command completion signal is received, the associated pre-counter for subsequent commands is immediately updated. For example, after the incubation plate rotation command completes, the pre-counter values for all subsequent commands (such as robotic arm grasping and fluid circuit temperature calibration) are decremented by 1. When the pre-counter reaches zero, the corresponding command is activated and added to the execution queue. Counter updates are implemented through atomic transactions to avoid state conflicts in multi-threaded concurrent scenarios.

[0139] Preferably, for scenarios where resources are mutually exclusive (e.g., a fluid channel cannot simultaneously perform allocation and cleaning operations), a semaphore mechanism is used to lock resources. When an instruction requests a mutually exclusive resource, the resource's current state is checked: if it's idle, the instruction is immediately locked and executed; if it's busy, the instruction is suspended until the resource is released. This semaphore mechanism works in conjunction with the chained dependency structure to ensure instruction execution order and system security in resource conflict scenarios.

[0140] During parallel instruction execution, a multi-threaded scheduler coordinates tasks across modules. The scheduler manages executable instructions based on a priority queue, assigning higher execution weight to instructions involved in critical paths (such as cross-module handoffs and high-priority sample processing). Preferably, the thread pool size is dynamically adjusted based on the number of hardware execution units. For example, the robotic arm control thread, fluidic drive thread, and sensor acquisition thread run independently to avoid performance bottlenecks caused by resource contention.

[0141] Preferably, the dynamic scheduling execution process also includes exception interrupt handling logic. When hardware feedback status is abnormal (e.g., position out of tolerance, hydraulic pressure exceeding limits), the current instruction is immediately interrupted and a rollback mechanism is triggered: the associated instruction's pre-interruption counter is restored to its pre-interruption state, and any occupied mutex resources are released. After the interrupt is handled, the type of exception determines whether the instruction will be retried or a fault-tolerant process will be initiated (e.g., switching to a backup hydraulic channel).

[0142] In step S3, in this embodiment, the state synchronization update step uses a dual-structure collaborative mechanism to achieve real-time mapping between the cuvette's physical position and the test logic state, and smoothly transition the control instruction set during cycle switching. The TestPos and Test structures are responsible for managing hardware position data and test process status, respectively. Event-driven update rules ensure the consistency of multi-module collaborative operation.

[0143] When the real-time position information of the reaction cup is managed through the TestPos structure, a hierarchical data structure is used to adapt to the operational characteristics of different modules. For the outer and inner rings of the incubation disk, their circular queue structure tracks the rotation status of the turntable through a dynamic index update mechanism. For example, after each rotation cycle of the circular queue of the outer ring of the incubation disk, the index of the last reaction cup is advanced according to the preset step size, the occupied flag of the original position is released, and the reaction cup index is inserted into the next free position of the inner ring queue. The static arrays of the cleaning disk and the reading disk are based on a fixed mapping relationship between physical coordinates, and the status of each position (such as occupied, idle, abnormal) is directly accessed through the array index. The shift register structure of the dilution disk updates the placeholder flag according to the sequence of fluidic operation. For example, when a fluidic channel completes the dispensing action, the shift register advances the placeholder flag to the next channel to ensure the continuity of the fluidic operation.

[0144] When a cuvette is transferred across modules, the TestPos status of the target module is updated according to a preset mapping table. For example, when transferring a cuvette at the end of the outer ring of the incubation tray to the entrance of the cleaning tray, the corresponding coordinate conversion rule is first queried in the mapping table to calculate the physical coordinates of the cleaning tray entrance. The status of the cleaning tray entrance position in the TestPos structure is then marked as "occupied," and the index value of the original position on the incubation tray is cleared. This mapping table contains the geometric relationships and motion trajectory parameters of key positions between modules, ensuring the physical feasibility and data consistency of the transfer action.

[0145] When the test step status is managed through the Test structure, its field definitions include sample identification, detection method, reagent dosage, current step, and time parameters. For example, when the test step changes to the "Incubation" phase, the Test structure records the current incubation start time and generates a countdown parameter based on the preset threshold corresponding to the detection method (such as a 300-second incubation for chemiluminescence). When the step status changes to a preset processing phase (such as cleaning or reading), the corresponding secondary module instruction set is triggered. For example, after entering the "Cleaning" phase, the Test structure calls the cleaning module's liquid path allocation instruction set and simultaneously updates the reagent remaining parameters.

[0146] When an abnormal state is detected, the error code field in the Test structure is updated, triggering a fault-tolerant instruction. For example, if the hydraulic pressure sensor detects a blockage signal, the Test structure will mark the error code as "fluid circuit failure," terminate the current hydraulic circuit instruction, and initiate the backup channel switching process. The triggering logic of this fault-tolerant instruction is linked to the TestPos structure. For example, if a position calibration anomaly occurs, the cuvette position is forcibly reset to the last stable state to avoid hardware conflicts.

[0147] 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 instruction execution and pre-calculation. When the fixed time window arrives, regardless of whether the current cycle instructions are all completed, it is forced to switch to the next cycle instruction set to ensure the timing stability of the system operation. When the instruction is completed ahead of time and the next cycle instruction set is pre-calculated and ready, the switch is triggered immediately to reduce the window waiting time. The switching operation is implemented through atomic transactions: freeze the write operation of the current TestPos and Test structures, load the next cycle instruction set generated by pre-calculation into the execution queue, and reset the cycle timer.

[0148] Preferably, updates to the TestPos structure utilize a transaction log mechanism. Each time a position changes, a log record containing a timestamp, operation type, and data snapshot is generated for state recovery and recovery in abnormal scenarios. For example, if the hardware feedback position deviates excessively from the TestPos record, log replay can be used to reconstruct the most recent consistent state, minimizing system downtime.

[0149] Preferably, priority arbitration logic is introduced into the judgment process of the cycle switching conditions. When the time window ends and the instruction completion conditions are met simultaneously, the instruction switching is prioritized to improve efficiency. However, when the pre-calculation is not completed, even if the time window ends, the switching is delayed until the instruction set is ready, ensuring the continuity of control instructions.

[0150] In a preferred embodiment of the present invention, the method further comprises an exception handling step.

[0151] In this embodiment, the exception handling steps use a multi-level detection mechanism and a layered recovery strategy to ensure that the system responds quickly and maintains a safe state when hardware deviations, resource anomalies, or communication failures occur. The specific processing logic for each exception scenario is described below:

[0152] 1.Hardware feedback position deviation exceeding limit processing

[0153] When the actual position of the execution unit such as the robotic arm or turntable deviates from the pre-calculated position recorded in the TestPos structure by more than a preset threshold (for example, the position deviation of the incubation plate is >1mm, and the deviation of the reading plate is >0.5mm), the system immediately interrupts all instructions in the current cycle and starts the position calibration process. The calibration process includes:

[0154] Sensor calibration: The physical coordinates of the reaction cup are re-scanned by the 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 ring of the incubation plate and calculates the offset between the actual coordinates and the theoretical value.

[0155] TestPos structure reconstruction: Update the circular queue index and position status in TestPos according to the calibration results. For example, the last index of the outer circle of the incubation plate is corrected to the actual detected position number.

[0156] Instruction set correction: Based on the calibrated TestPos state, the cross-module handover instructions of the current cycle are regenerated and the execution progress before the interruption is restored.

[0157] 2. Dealing with insufficient reagents

[0158] When the reagent tank's liquid level sensor or weight sensor detects that the remaining volume is lower than the safety threshold (for example, the remaining volume is less than 10 mL), the system triggers a graded alarm and performs a rollback operation:

[0159] Liquid circuit operation freeze: immediately terminate all reagent dispensing instructions, turn off the liquid circuit pump and lock the relevant channels;

[0160] Robotic arm homing: Forces the robotic arm that is performing a grabbing or handover action to return to its initial coordinates to prevent the cuvette from being retained;

[0161] Test structure rollback: roll back the current test step status to the previous stable stage (for example, roll back from "cleaning" to "incubation completed"), and update the error code to "insufficient reagents";

[0162] Alarm notification: The operator is prompted to replace the reagent through the sound and light alarm and the host computer interface, and the subsequent test tasks are suspended until manual confirmation.

[0163] 3. Mechanical timeout processing

[0164] When the command execution time exceeds the preset threshold (for example, the robot arm movement timeout is greater than 10 seconds, the incubation plate rotation timeout is greater than 15 seconds), it is determined to be a mechanical timeout exception:

[0165] Hardware status self-check: detect whether the mechanical unit is stuck or derailed through limit switches and encoders;

[0166] Command retry or fault tolerance: If the self-check does not find any hardware damage, the current command will be retried (up to 3 times); if the retry fails, the backup module switch will be triggered (for example, the redundant robot arm track will be enabled);

[0167] Resource release: Release the occupied mutually exclusive resources (such as liquid channels and incubation plate positions) and update the placeholder mark in TestPos to "abnormal".

[0168] 4. Treatment of liquid line blockage

[0169] When the liquid circuit pressure sensor detects that the pressure value continuously exceeds the safety threshold (for example, >500kPa), it is determined that the liquid circuit is blocked:

[0170] Pressure release: immediately open the pressure relief valve to drain the liquid blocking the pipeline;

[0171] Channel switching: If there is a backup liquid channel, the current assigned task will be switched to the backup channel and re-executed;

[0172] Pipeline cleaning: Automatically inject cleaning fluid (such as deionized water) to flush blocked pipes until the pressure returns to normal;

[0173] 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.

[0174] 5. Communication interruption handling

[0175] When the communication signal loss between the central controller and the slave computer exceeds the reconnection threshold (for example, 5 seconds), it is determined to be a communication interruption:

[0176] Instruction freeze: Immediately freeze all unfinished instructions and prohibit the issuance of new instructions;

[0177] Maintaining hardware safety status: maintaining the current position of the robotic arm, shutting down the hydraulic pump power supply, and stopping the turntable rotation;

[0178] Local fault-tolerant control: The lower computer switches to local fault-tolerant mode and maintains basic operations (such as keeping the incubation tray temperature stable) according to the last instruction set received.

[0179] Network alarm: Send communication interruption alarm to the host computer and remote monitoring terminal through Ethernet or wireless module.

[0180] Preferably, when multiple exceptions are triggered simultaneously, the system performs processing according to the following priority:

[0181] Hardware safety-related exceptions (such as mechanical timeout and fluid blockage) take precedence over resource exceptions (such as insufficient reagents);

[0182] Highly disruptive anomalies (e.g., position deviation) take precedence over low-risk anomalies (e.g., communication loss);

[0183] After all exception handling is completed, manual confirmation and resetting of the error code are required before operation can be resumed.

[0184] In summary, this invention generates secondary module action instruction sets through a hierarchical pre-calculation mechanism, combines this with dynamic dependency scheduling to achieve multi-module collaborative operation, and manages the physical position of the cuvette and the test logic state using the TestPos and Test dual structures, respectively, to ensure accurate hardware execution timing and resource allocation. Circular queues, static arrays, and shift registers are employed to adapt to the position tracking requirements of different modules. Pre-set mapping tables are used to synchronize state updates during cross-module handovers. Periodic switching conditions and an exception rollback mechanism are introduced to smoothly switch control logic within a fixed time window or when the instruction set is ready. Calibration and safe recovery processes are triggered in the event of hardware deviations or resource anomalies, ensuring system stability and fault tolerance.

[0185] While embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions, and variations may be made to these embodiments without departing from the principles and spirit of the invention, and that the scope of the invention is defined by the appended claims and their equivalents.

Claims

1. A multi-module parallel motion control method for a high-speed fully automatic chemiluminescence immunoassay analyzer, characterized in that: The analyzer includes a plurality of primary function modules and secondary function modules thereunder, and the method includes the following steps: S1. Cycle pre-calculation: In the current execution cycle, based on the real-time position information of the reaction cup and the test sample parameters, pre-calculate the action instruction set of all secondary functional modules in the next cycle; S2, dynamic scheduling execution: Based on the pre-generated instruction set, the parallel actions of multiple modules are coordinated through the predecessor and successor dependencies, driving the hardware execution unit to complete sample processing; S3, status synchronization update: synchronize the cuvette position data and test step status in real time, and switch to the next cycle instruction set at the end of the cycle; The cycle pre-calculation in step S1 specifically includes: S11, predicting the position of the reaction cups of each module in the next cycle based on the turntable rotation rule; S12. Dynamically fill position gaps and generate cross-module transfer instructions based on the inter-module key position judgment table; S13. Generate reagent allocation action parameters based on the reagent remaining amount and test item requirements; S14, converting the logic state into mechanical control instructions through key position rules within the module; The real-time position information of the reaction cup is managed by the TestPos structure, including: The circular queues on the outer and inner circles of the incubation disk dynamically update the index of the last reaction cup as the turntable rotates; The static array of cleaning disk and reading disk, fixed mapping position status according to physical coordinates; The shift register structure of the dilution plate advances the reaction cup placeholder mark according to the liquid circuit action sequence; When the cuvette is transferred across modules, the TestPos status of the target module is updated according to the preset mapping table.

2. The high-speed fully automatic chemiluminescence immunoassay multi-module parallel motion control method according to claim 1, characterized in that: The inter-module key position judgment table defines the transfer rules for the reaction cup at the end of the outer circle of the incubation plate, the entrance of the cleaning plate, and the exit of the reading plate, and triggers the transfer instruction when one of the following conditions is met: The cuvette completes the current processing step and meets the preset status conditions; The corresponding position of the next module is in a receivable state.

3. The high-speed fully automatic chemiluminescence immunoassay multi-module parallel motion control method according to claim 1, characterized in that: The dynamic scheduling execution in step S2 includes: S21. For each secondary functional module instruction, verify whether all its preceding instructions are completed; S22. If the preconditions are met, generate countdown delay parameters according to the instruction type, send a control instruction to the subordinate computer, and start the countdown; S23. After the instruction is executed, the pre-counter associated with the subsequent instruction is updated.

4. The high-speed fully automatic chemiluminescence immunoassay multi-module parallel motion control method according to claim 3, characterized in that: The preceding instructions and the subsequent instructions are linked in a chain structure, supporting many-to-many dependency relationships; The dependency relationship includes at least one of time sequence dependency and resource mutual exclusion dependency.

5. The high-speed fully automatic chemiluminescence immunoassay multi-module parallel motion control method according to claim 1, 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, the last position in the outer circle is cleared and the inner circle is inserted; After the reading disk is detected, the reaction cup is marked as discarded and the placeholder is released, and the cleaning disk entrance status is updated to be receivable; When the dilution plate liquid path action is completed, the reaction cup placeholder mark is advanced according to the shift register rule.

6. The high-speed fully automatic chemiluminescence immunoassay multi-module parallel motion control method according to claim 1, characterized in that: The test step status is managed by the Test structure, including: Sample identification, test method, reagent dosage, current step and time parameters; When the step status changes to the preset processing stage, the corresponding secondary module instruction set is triggered according to the stage type; When an abnormal state is detected, the error code in the Test structure is updated and the fault tolerance instruction is triggered.

7. The high-speed fully automatic chemiluminescence immunoassay multi-module parallel motion control method 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 condition is: The preset time window ends; or All current cycle instructions are executed and the next cycle instruction set is pre-calculated.

8. The multi-module parallel motion control method for a high-speed fully automatic chemiluminescence immunoassay analyzer according to claim 1, characterized in that: The method further comprises an exception handling step: When the deviation between the hardware feedback state and the pre-calculated position exceeds the threshold, the current cycle is interrupted and position calibration is started; When the reagent remaining amount is insufficient, the machine times out, the liquid line is blocked or the communication is interrupted, the test steps are rolled back to a safe state and an alarm is triggered.

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