Sample injection system and control method thereof

Abstract

The invention discloses a sample introduction system and a control method thereof, and relates to the technical field of sample transfer equipment. A plurality of sample racks for placing sample tubes are arranged above the sample introduction mechanism; the manipulator is used for grabbing the sample tube on the sample frame and placing the sample tube in an adapter; the high-angle shooting visual system is arranged on the manipulator; and the rotary vision system is arranged on the manipulator. According to the sample introduction system, the technical problems that in the sample introduction system in the prior art, in the sample tube transferring process, only single bar code information identification can be completed on the sample tube, meanwhile, a mechanical arm can affect the identification of the information of the sample tube by the bar code scanning device, and the success rate of identifying the information of the sample tube by the bar code scanning device is low are solved; the manipulator grabs the sample tube and then drives the sample tube to rotate, comprehensive data information of the sample tube is accurately recognized through the rotary visual system in a multi-view mode, and the information recognition success rate of the sample tube is increased.

Description

Technical Field

[0001] The present invention relates to the technical field of sample transfer devices, and particularly relates to a sample injection system and a control method thereof. Background Art

[0002] At present, for the pre-treatment part of the laboratory pipeline, for sample tubes that need to be classified and transferred, a sample transfer manipulator is required to grab them. After grabbing, they are placed at the scanning device position for sample tube information recognition. After recognition, the sample transfer manipulator transfers the sample tube to the next process position according to the sample tube information. Such transfer actions are cumbersome and time-consuming, greatly reducing the overall throughput of the equipment and the line body, and the recognition device only supports single information recognition.

[0003] The prior art discloses a bar code scanning and recognition method and a test tube sorting platform applied to a test tube sorting platform. Among them, the above test tube sorting platform is a transfer manipulator plus a bar code scanning device. On the one hand, during the transfer of the sample tube, the bar code scanning device can only complete the recognition of a single bar code information, and the success rate of sample tube information recognition is relatively low. On the other hand, the manipulator will affect the bar code scanning device's recognition of the sample tube information, resulting in a relatively low success rate of the bar code scanning device's recognition of the sample tube information and affecting the sample injection efficiency. Therefore, a sample injection system for solving the above problems is proposed. Summary of the Invention

[0004] The purpose of the present invention is to provide a sample injection system and a control method thereof, which solve the technical problems that in the prior art, during the transfer of the sample tube, the sample injection system can only complete the recognition of a single bar code information of the sample tube, and at the same time, the manipulator will affect the bar code scanning device's recognition of the sample tube information, resulting in a relatively low success rate of the bar code scanning device's recognition of the sample tube information and affecting the sample injection efficiency.

[0005] To achieve the above purpose, the present invention provides a sample injection system, including:

[0006] An equipment rack;

[0007] A sample injection mechanism, arranged on the equipment rack, and several sample racks are placed above the sample injection mechanism, and the sample racks are used to place sample tubes;

[0008] A manipulator, arranged above the sample injection mechanism, and the manipulator is used to grab the sample tubes on the sample racks and place them in an adapter, and the manipulator can drive the grabbed sample tubes to rotate;

[0009] An overhead shooting vision system, arranged on the manipulator, and the overhead shooting vision system is used to identify the types of several sample racks to distinguish the priorities of several sample racks, and the overhead shooting vision system can identify the positions of the sample tubes on the sample racks to assist the manipulator in grabbing the sample tubes;

[0010] A rotating vision system is arranged on the manipulator. The rotating vision system is used to identify the comprehensive data information of the sample tube, so as to control the manipulator to transport the sample tube to the corresponding position according to the comprehensive data information of the sample tube.

[0011] Preferably, the manipulator includes: an X-axis guide rail arranged on the top of the equipment rack, a Y-axis guide rail slidably arranged on the X-axis guide rail, a Z-axis guide rail slidably arranged on the Y-axis guide rail, and a rotating gripper arranged on the Z-axis guide rail. The rotating gripper is used to grasp and / or rotate the sample tube.

[0012] Preferably, a first driving motor is arranged on the X-axis guide rail. The output end of the first driving motor is in transmission connection with a first transmission belt. One side of the first transmission belt is fixedly connected with a first sliding seat. The first sliding seat is slidably connected with the X-axis guide rail, and the first sliding seat is connected with the Y-axis guide rail; a second driving motor is arranged on the Y-axis guide rail. The output end of the second driving motor is in transmission connection with a second transmission belt. One side of the second transmission belt is fixedly connected with a second sliding seat. The second sliding seat is slidably connected with the Y-axis guide rail, and the second sliding seat is connected with the Z-axis guide rail; a third driving motor is arranged on the Z-axis guide rail. The output end of the third driving motor is in transmission connection with a third transmission belt. One side of the third transmission belt is fixedly connected with a third sliding seat. The third sliding seat is slidably connected with the Z-axis guide rail, and the third sliding seat is connected with the rotating gripper.

[0013] Preferably, the sample feeding mechanism includes: a movable drawer slidably connected with the equipment rack. The movable drawer is used to place the sample rack. A fourth driving motor is arranged on the equipment rack. The output end of the fourth driving motor is in transmission connection with a fourth transmission belt. One side of the fourth transmission belt is fixedly connected with the movable drawer.

[0014] Preferably, a self-tensioning mechanism is arranged on the equipment rack. The self-tensioning mechanism includes: an assembly column arranged on the equipment rack, a plurality of guide shafts and support springs arranged on the side surface of the assembly column. An installation block is slidably connected to the plurality of guide shafts. The other end of the support spring abuts against the installation block. A driven roller is arranged on the top surface of the installation block. The driven roller is in transmission connection with the fourth transmission belt.

[0015] Preferably, the sample feeding mechanism includes: an assembly frame arranged on one side of the equipment rack. An injection bin is arranged on the assembly frame. An injection channel is arranged above the injection bin. The injection channel is used to transport the sample tube into the injection bin.

[0016] Preferably, an interface track is provided on the equipment rack, and a track layout position is provided on the interface track. The interface track is used to receive the centrifuged sample tube.

[0017] Preferably, the comprehensive data information includes: the barcode of the sample tube, the liquid level of the sample tube, whether there is a tube cap on the sample tube, the type of the sample tube, and whether the sample tube has been centrifuged.

[0018] Correspondingly, the technical solution of the present invention also provides a sample injection system method, which is applied to the sample injection system described in any one of the above. The sample injection system control method includes:

[0019] Place the sample tube on the corresponding sample rack, and place the sample rack on the sample injection mechanism;

[0020] Control the manipulator to drive the overhead vision system to move to identify the types of several sample racks, distinguish the priorities of several sample racks, and at the same time control the overhead vision system to identify the position of the sample tube to be grabbed on the sample rack to assist the manipulator in grabbing the sample tube;

[0021] Control the manipulator to drive the rotating vision system to identify the comprehensive data information of the sample tube, and control the manipulator to transport the sample tube to the corresponding process position according to the comprehensive data information of the sample tube.

[0022] Preferably, the step of controlling the rotating vision system to identify the comprehensive data information of the sample tube includes:

[0023] Control the rotating vision system to check the barcode of the sample tube, the liquid level of the sample in the sample tube, whether there is a tube cap on the sample tube, the type of the sample tube, and whether the sample tube has been centrifuged, so as to make a comprehensive judgment on the sample tube;

[0024] According to the judgment result, control the manipulator to transfer the sample tube that needs to be centrifuged to the centrifugation adaptation area, control the manipulator to transfer the centrifuged sample tube to the next process position, and control the manipulator to transfer the mis-placed sample tube to the wrong area sample rack.

[0025] Compared with the above background technology, a sample injection system provided by the present invention has the following beneficial effects:

[0026] (1) After the manipulator in the present invention grabs the sample tube, it drives the sample tube to rotate. The comprehensive data information of the sample tube is accurately identified from multiple perspectives through the rotary vision system. Moreover, by driving the grabbed sample tube to rotate by the manipulator, the interference of the manipulator on the identification of the sample tube information by the rotary vision system is avoided, effectively improving the success rate of sample tube information identification. The manipulator transports the grabbed sample tube to the corresponding process position according to the comprehensive data information of the sample tube, thereby improving the sample injection efficiency of the system. The sample injection system control method adopted in the present invention also has the above beneficial effects.

[0027] (2) The present invention uses the overhead vision system to identify the position of the sample tube to be grabbed on the sample rack, assisting the manipulator to accurately grab the corresponding sample tube, thus solving the phenomenon of the manipulator grabbing empty, and effectively improving the sample injection efficiency of the system; on the other hand, by scanning and recording the types of multiple sample racks through the overhead vision system, distinguishing the priorities of several sample racks, and transferring the sample tubes on the sample racks to the adapter in sequence by the manipulator according to the priorities of the sample racks, ensuring the orderly progress of sample tube injection and effectively improving the operation efficiency of the sample injection system. The sample injection system control method adopted in the present invention also has the above beneficial effects. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for description in the embodiments or the prior art. Obviously, the drawings in the following description are only the embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained according to the provided drawings.

[0029] Figure 1 It is a three-dimensional structure diagram of the sample injection system provided by the embodiment of the present invention;

[0030] Figure 2 It is a three-dimensional structure diagram of the manipulator provided by the embodiment of the present invention;

[0031] Figure 3 It is a three-dimensional structure diagram of the interface track provided by the embodiment of the present invention;

[0032] Figure 4 It is a three-dimensional structure diagram of the mobile drawer provided by the embodiment of the present invention;

[0033] Figure 5 is Figure 4 an enlarged schematic view of part A in;

[0034] Figure 6 It is a three-dimensional structure diagram of the sample injection mechanism provided by another embodiment of the present invention.

[0035] Specifically, 1 - equipment rack; 2 - interface track; 201 - lofting position; 3 - manipulator; 301 - X-axis guide rail; 3011 - first driving motor; 3012 - first transmission belt; 3013 - first sliding seat; 302 - Y-axis guide rail; 3021 - second driving motor; 3022 - second transmission belt; 3023 - second sliding seat; 303 - Z-axis guide rail; 3031 - third driving motor; 3032 - third transmission belt; 304 - rotating gripper; 4 - top-down vision system; 5 - rotating vision system; 6 - movable drawer; 7 - sample rack; 8 - sample tube; 9 - fourth driving motor; 10 - fourth transmission belt; 11 - self-tensioning mechanism; 1101 - assembly column; 1102 - guide shaft; 1103 - mounting block; 1104 - driven roller; 1105 - linear bearing; 1106 - support spring; 12 - sample loading bin; 13 - sample loading channel; 14 - translation mechanism; 15 - lifting mechanism. Detailed implementation manners

[0036] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments 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.

[0037] In order to enable those skilled in the art in the technical field to better understand the solution of the present invention, the present invention will be further described in detail below in conjunction with the accompanying drawings and specific implementation manners.

[0038] As Figure 1 and Figure 2 shown, to achieve the above object, the present invention provides a sample loading system, including: an equipment rack 1, a sample loading mechanism, and a manipulator 3.

[0039] Among them, the sample loading mechanism is arranged on the equipment rack 1, and several sample racks 7 are placed above the sample loading mechanism. The sample racks 7 are used to place sample tubes 8. It should be noted that the sample racks 7 are mainly used to carry the sample tubes 8, and different types of sample racks 7 are distinguished by colors. The types of sample racks 7 include emergency sample racks, regular sample racks 7, and error sample racks 7. Among them, the sample tubes 8 on the emergency sample racks 7 will be preferentially loaded. The sample tubes 8 on the regular sample racks 7 will be loaded after the sample tubes 8 on the emergency sample racks 7 are loaded. The sample tubes 8 on the error sample racks 7 will not be loaded and will directly enter the next process position for processing.

[0040] The manipulator 3 is arranged above the sample injection mechanism. The manipulator 3 is used to grab the sample tube 8 on the sample rack 7 and place it in the adapter. The adapter is used to place the sample tube 8. After the sample tube 8 is placed in the adapter, it enters the corresponding device uniformly through the adapter. Specifically, the adapter is a centrifugal adapter, and through the centrifugal adapter, the sample tubes 8 can be uniformly placed into the centrifugal device for centrifugation.

[0041] The top-down vision system 4 is arranged on the manipulator 3. The top-down vision system 4 is used to identify the types of several sample racks 7 to distinguish the priorities of several sample racks 7. According to the priorities of the sample racks 7, the manipulator 3 sequentially transfers the sample tubes 8 on the sample racks 7 to the adapter, ensuring the orderly progress of sample tube 8 injection and effectively improving the operation efficiency of the sample injection system.

[0042] The top-down vision system 4 can identify the position of the sample tube 8 on the sample rack 7 to assist the manipulator 3 in grabbing the sample tube 8. By identifying the position of the sample tube 8 to be grabbed on the sample rack 7 through the top-down vision system 4, it assists the manipulator 3 to accurately grab the corresponding sample tube 8, thus solving the phenomenon of the manipulator 3 grabbing nothing and effectively improving the sample injection efficiency of the system.

[0043] It should be noted that when the top-down vision system 4 identifies the type of the sample rack 7, preset photos of different types of sample racks 7 are pre-set in the top-down vision system 4. By comparing the photo of the sample rack 7 below it identified by the top-down vision system 4 with the preset photos, the type of the sample rack 7 can be quickly judged.

[0044] The rotary vision system 5 is arranged on the manipulator 3. The rotary vision system 5 is used to identify the comprehensive data information of the sample tube 8. The manipulator 3 transports the grabbed sample tube 8 to the corresponding process position according to the comprehensive data information of the sample tube 8, thereby improving the sample injection efficiency of the system. Moreover, after the manipulator 3 grabs the sample tube 8 and lifts it to a certain height, it drives the sample tube 8 to rotate. The rotary vision system 5 accurately identifies the comprehensive data information of the sample tube 8 from multiple perspectives. And by driving the grabbed sample tube 8 to rotate through the manipulator 3, the interference of the manipulator 3 on the rotary vision system 5 when identifying the information of the sample tube 8 is avoided, effectively improving the success rate of sample tube 8 information identification.

[0045] During use, place the sample tube 8 on the corresponding sample rack 7, and place the sample rack 7 on the sample injection mechanism; control the manipulator 3 to drive the top-down vision system 4 to move to identify the types of several sample racks 7 and distinguish the priorities of several sample racks 7. According to the priorities of the sample racks 7, the manipulator 3 sequentially transfers the sample tubes 8 on the sample racks 7 to the adapter. At the same time, control the top-down vision system 4 to identify the positions of the sample tubes 8 to be grabbed on the sample racks 7 to assist the manipulator 3 in grabbing the sample tubes 8. After the manipulator 3 grabs the sample tubes 8 and lifts them to a certain height, it drives the sample tubes 8 to rotate. At this time, the rotating vision system 5 accurately identifies the comprehensive data information of the sample tubes 8 from multiple perspectives, improving the success rate of information identification of the sample tubes 8. At the same time, control the manipulator 3 to convey the grabbed sample tubes 8 to the corresponding process positions according to the comprehensive data information of the sample tubes 8, thereby improving the sample injection efficiency of the system.

[0046] In one embodiment of the present invention, the manipulator 3 includes: an X-axis guide rail 301 provided on the top of the equipment rack 1, the length direction of the X-axis guide rail 301 is consistent with the left-right length direction of the equipment rack 1, a Y-axis guide rail 302 is slidably provided on the X-axis guide rail 301, the length direction of the Y-axis guide rail 302 is consistent with the front-back length direction of the equipment rack 1, a Z-axis guide rail 303 is slidably provided on the Y-axis guide rail 302, the length direction of the Z-axis guide rail 303 is consistent with the height direction of the equipment rack 1, and a rotating gripper 304 is provided on the Z-axis guide rail 303. The rotating gripper 304 can grab the sample tube 8 and drive the grabbed sample tube 8 to rotate.

[0047] It should be noted that a first driving motor 3011 is provided on the X-axis guide rail 301. The output end of the first driving motor 3011 is drivingly connected to a first transmission belt 3012. One side of the first transmission belt 3012 is fixedly connected to a first sliding seat 3013. The first sliding seat 3013 is slidably connected to the X-axis guide rail 301. The first sliding seat 3013 is connected to the Y-axis guide rail 302. By driving the first transmission belt 3012 to rotate forward and backward by the first driving motor 3011, the Y-axis guide rail 302 is driven to reciprocate along the length direction of the X-axis guide rail 301, so as to adjust the position of the rotating gripper in the left-right length direction of the equipment rack 1. A second driving motor 3021 is provided on the Y-axis guide rail 302. The output end of the second driving motor 3021 is drivingly connected to a second transmission belt 3022. One side of the second transmission belt 3022 is fixedly connected to a second sliding seat 3023. The second sliding seat 3023 is slidably connected to the Y-axis guide rail 302. The second sliding seat 3023 is connected to the Z-axis guide rail 303. By driving the second transmission belt 3022 to rotate forward and backward by the second driving motor 3021, the Z-axis guide rail 303 is driven to reciprocate along the length direction of the Y-axis guide rail 302, so as to adjust the position of the rotating gripper in the front-back length direction of the equipment rack 1. A third driving motor 3031 is provided on the Z-axis guide rail 303. The output end of the third driving motor 3031 is drivingly connected to a third transmission belt 3032. One side of the third transmission belt 3032 is fixedly connected to a third sliding seat. The third sliding seat is slidably connected to the Z-axis guide rail 303. The third sliding seat is connected to the rotating jaw 304. By driving the third transmission belt 3032 to rotate forward and backward by the third driving motor 3031, the rotating jaw 304 is driven to reciprocate along the length direction of the Z-axis guide rail 303, so as to adjust the position of the rotating gripper in the height length direction of the equipment rack 1.

[0048] Such as Figure 4As shown in the figure, in an embodiment of the present invention, the sample injection mechanism includes: a movable drawer 6, which is slidably connected to the equipment rack 1. The movable drawer 6 is used to place the sample rack 7. A fourth driving motor 9 is arranged on the equipment rack 1. The output end of the fourth driving motor 9 is drivingly connected to a fourth transmission belt 10, and one side of the fourth transmission belt 10 is fixedly connected to the movable drawer 6. Specifically, a fixed frame is arranged below the movable drawer 6. The fixed frame is arranged at the left end of the movable drawer 6 and is connected to one side of the fourth transmission belt 10. In the initial state, the fixed frame is located at the left end of the transmission belt. At this time, the movable drawer 6 is located inside the equipment rack 1. When it is necessary to place the sample rack 7, control the fourth driving motor 9 to drive the fourth transmission belt 10 to rotate forward. The fourth transmission belt 10 drives the movable drawer 6 to move to the right through the fixed frame until the movable drawer 6 extends out of the equipment rack 1. Place the sample rack 7 loaded with the sample tube 8 on the upper part of the movable drawer 6 in sequence. Control the fourth driving motor 9 to drive the fourth transmission belt 10 to rotate reversely. The fourth transmission belt 10 drives the movable drawer 6 to move to the left through the fixed frame until the movable drawer 6 returns to the initial position. Compared with directly placing the sample rack 7 inside the equipment rack 1, it is more convenient to place the sample rack 7 on the movable drawer 6, and when the movable drawer 6 returns to the initial position, the position of the sample rack 7 in the sample injection mechanism always remains the same, so as to assist the manipulator 3 to more accurately grasp the sample tube 8 on the sample rack 7.

[0049] It should be noted that when the top-down vision system 4 judges the position of the sample tube 8 on the sample rack 7, the top-down vision system 4 takes a photo of the movable drawer 6 when it does not extend out of the equipment rack 1 in advance as a preset photo. After the sample rack 7 loaded with the sample tube 8 is placed on the movable drawer 6, the top-down vision system 4 identifies the photo of the sample rack 7 below it and compares it with the preset photo, so as to quickly judge the presence or absence of the sample tube 8 in the holes of the sample rack 7 and the specific position of the sample tube 8 on the sample rack 7. Further, the top-down vision system 4 establishes a plane coordinate system according to the recognized image. The initial position of the manipulator 3 is the origin of the coordinate system. After the top-down vision system 4 judges the specific position of the sample tube 8 on the sample rack 7, it determines the coordinate point of the sample tube 8 on the sample rack 7, and controls the manipulator 3 to move according to the relative position between the coordinate point and the origin of the coordinate system to accurately grasp the corresponding sample tube 8.

[0050] Such as Figure 5As shown in the figure, a self-tensioning mechanism 11 is provided on the equipment rack 1. The self-tensioning mechanism 11 includes: an assembly column 1101 provided on the equipment rack 1. The length direction of the assembly column 1101 is perpendicular to the length direction of the movable drawer 6. A plurality of guide shafts 1102 are provided on the side surface of the assembly column 1101. Preferably, two guide shafts 1102 are provided. Both of the two guide shafts 1102 are perpendicular to the assembly column 1101, and the two guide shafts 1102 are parallel to each other. An installation block 1103 is slidably connected to the two guide shafts 1102. A linear bearing 1105 is provided through the side surface of the installation block 1103. The linear bearing 1105 is slidably connected to the guide shaft 1102, that is, the installation block 1103 can reciprocate along the axial direction of the guide shaft 1102. A driven roller 1104 is provided on the top surface of the installation block 1103. The driven roller 1104 is drivingly connected to the fourth transmission belt 10. Specifically, the right ends of the two guide shafts 1102 are fixedly connected to the assembly column 1101, and a support spring 1106 is provided between the two guide shafts. The support spring 1106 keeps pushing against the installation block to keep the fourth transmission belt 10 always in a tensioned state, preventing the fourth transmission belt 10 from falling off the driven roller 1104, so as to ensure that the fourth transmission belt 10 stably drives the movable drawer 6 to reciprocate on the equipment rack 1.

[0051] As Figure 6 shown, in another embodiment of the present invention, the sample injection mechanism includes: an assembly frame provided on one side of the equipment rack 1. A sample injection bin 12 is provided on the assembly frame. Preferably, the sample injection bin 12 is a tipping type sample injection bin. A sample injection channel 13 is provided above the sample injection bin 12. The sample tube 8 is directly transported into the sample injection bin 12 through the sample injection channel 13. Further, a translation mechanism 14 and a lifting mechanism 15 are provided on the assembly frame. The sample tube 8 in the sample injection bin 12 can be transferred to the lifting mechanism 15 through the translation mechanism 14, and then the sample tube 8 transported from the translation mechanism 14 is further lifted to the top of the assembly frame by the lifting mechanism 15. The manipulator 3 directly grabs the sample tube 8 located at the top of the assembly frame for transfer.

[0052] It should be noted that when the sample tube 8 is transported by the sample injection bin 12, the overhead shooting vision system 4 is no longer needed. After the manipulator 3 grabs the sample tube 8 at the top of the assembly frame and lifts it to a certain height, the manipulator 3 drives the sample tube 8 to rotate, and the comprehensive data information of the sample tube 8 is accurately identified from multiple perspectives by the rotating vision system 5. The manipulator 3 directly transports the grabbed sample tube 8 to the corresponding process position according to the comprehensive data information of the sample tube 8.

[0053] As Figure 1 and Figure 3As shown in the figure, in one embodiment of the present invention, an interface track 2 is provided on the equipment rack 1. A track laying position 201 is provided on the interface track 2. The manipulator 3 places the centrifuged sample tube 8 on the track laying position 201, that is, receives the centrifuged sample tube 8 through the interface track 2. At the same time, a plane recognition system is provided on the interface track 2 to scan and recognize the information of the sample tube 8 through the plane recognition system. The interface track 2 is docked with the laboratory pipeline, and the interface track 2 transports the centrifuged sample tube 8 to the corresponding next process position according to the information of the sample tube 8.

[0054] It should be noted that the comprehensive data information includes: the barcode of the sample tube 8, the liquid level of the sample tube 8, whether there is a tube cap on the sample tube 8, the type of the sample tube 8, and whether the sample tube 8 is centrifuged. Among them, the barcode of the sample tube 8 is pasted on the outer wall of the sample tube 8. After the manipulator 3 grabs the sample tube 8 and lifts it to a certain height, it drives the sample tube 8 to rotate. The rotary vision system 5 takes pictures and scans the barcode. When the results are unique for multiple consecutive times, it means that the correct barcode has been scanned.

[0055] The sample injection system control method adopted by the present invention specifically includes the following steps: In the initial state, the mobile drawer 6 is located inside the equipment rack 1. Control the fourth drive motor 9 to drive the fourth transmission belt 10 to rotate forward. The fourth transmission belt 10 drives the mobile drawer 6 to move to the right through the fixed frame until the mobile drawer 6 extends out of the equipment rack 1. After placing the sample rack 7 with the sample tube 8 on the mobile drawer 6 in sequence, control the fourth drive motor 9 to drive the fourth transmission belt 10 to rotate in reverse. The fourth transmission belt 10 drives the mobile drawer 6 to move to the left through the fixed frame until the mobile drawer 6 returns to the initial position. Control the manipulator 3 to drive the overhead vision system 4 to move to identify the types of several sample racks 7 and distinguish the priorities of several sample racks 7. According to the priorities of the sample racks 7, the manipulator 3 transfers the sample tubes 8 on the sample racks 7 to the adapter in sequence. At the same time, control the overhead vision system 4 to identify the position of the sample tube 8 to be grabbed on the sample rack 7 to assist the manipulator 3 in grabbing the sample tube 8. After the manipulator 3 grabs the sample tube 8 and lifts it to a certain height, it drives the sample tube 8 to rotate. At this time, the rotary vision system 5 accurately identifies the comprehensive data information of the sample tube 8 from multiple perspectives. At the same time, control the manipulator 3 to transport the grabbed sample tube 8 to the corresponding process position according to the comprehensive data information of the sample tube 8.

[0056] It should be noted that the steps of controlling the rotation vision system 5 to identify the comprehensive data information of the sample tube 8 include: controlling the rotation vision system 5 to perform comprehensive determination on the barcode of the sample tube 8, the liquid level of the sample in the sample tube 8, whether there is a tube cap on the sample tube 8, the type of the sample tube 8, and whether the sample tube 8 is centrifuged; according to the determination result, controlling the manipulator 3 to transfer the sample tube 8 that needs to be centrifuged to the centrifugation adaptation area, controlling the manipulator 3 to transfer the centrifuged sample tube 8 to the next process position, and controlling the manipulator 3 to transfer the mis-placed sample tube 8 to the error area sample rack 7.

[0057] When identifying the barcode, the manipulator 3 drives the grasped sample tube 8 to rotate until the rotation vision system 5 takes pictures and scans the grasped sample tube 8 ten times. If the barcode results of the ten times of picture taking and scanning are unique, it is determined as the correct barcode. If there is one difference in the barcode results of the ten times of picture taking and scanning, it is determined as the wrong barcode. Then, the rotation vision system 5 takes pictures and scans the grasped sample tube 8 ten times again. If the barcode results of the ten times of picture taking and scanning are unique, it is determined as the correct barcode. If there is one difference in the barcode results of the ten times of picture taking and scanning, it is determined as the wrong barcode, and the staff is prompted to make further processing.

[0058] When judging the type of the sample tube 8 and whether there is a tube cap on the sample tube 8, preset photos are pre-set in the rotation vision system 5, and the rotation vision system 5 is used to identify and compare the photo of the sample tube 8 grasped by the manipulator 3 with the preset photos to judge the type of the sample tube 8 and whether there is a tube cap on the sample tube 8.

[0059] When judging whether the sample tube 8 is centrifuged, preset photos are pre-set in the rotation vision system 5, and the rotation vision system 5 is used to identify and compare the photo of the sample tube 8 grasped by the manipulator 3 with the preset photos. Among them, if the liquid in the sample tube 8 is stratified, it is determined that the liquid in the sample tube 8 has been centrifuged. If the liquid in the sample tube 8 is not stratified, it is determined that the liquid in the sample tube 8 has not been centrifuged.

[0060] When identifying the liquid level height in the sample tube 8, in the photo of the sample tube 8 grasped by the manipulator 3 identified by the rotation vision system 5, the height of the liquid surface from the bottom of the sample tube 8 is measured to calculate the liquid level height of the sample tube 8.

[0061] Further, it should be noted that when the adapter is a centrifuge adapter, it is necessary to balance the sample tube 8 on the centrifuge adapter. The height of the sample tube 8 grasped by the manipulator 3 is identified through the rotating vision system 5, and then combined with the determined type of the sample tube 8 and the liquid level height in the sample tube 8 to calculate the mass of the sample tube 8 and complete the subsequent automatic balancing function. In addition, a gravity sensor can be set on the rotating gripper 304 to assist in detecting the weight of the sample tube 8 through the gravity sensor, so that the adapter maintains weight balance, effectively ensuring that the centrifuge equipment completes centrifugation of the sample tube 8 on the adapter.

[0062] In summary, after the manipulator 3 grasps the sample tube 8 and lifts it to a certain height, it drives the sample tube 8 to rotate. The rotating vision system 5 accurately identifies the comprehensive data information of the sample tube 8 from multiple perspectives, improving the success rate of information recognition of the sample tube 8. Moreover, by driving the grasped sample tube 8 to rotate through the manipulator 3, the interference of the manipulator 3 on the rotating vision system 5 when identifying the information of the sample tube 8 is avoided, further improving the success rate of information recognition of the sample tube 8.

[0063] It should be noted that in this specification, relational terms such as first and second are only used to distinguish one entity from several other entities, and do not necessarily require or imply any actual relationship or order between these entities.

[0064] In this article, specific examples are used to elaborate on the principles and implementation modes of the present invention. The description of the above embodiments is only used to help understand the method and its core idea of the present invention. It should be pointed out that for those of ordinary skill in the art of this technology, without departing from the principle of the present invention, several improvements and modifications can be made to the present invention, and these improvements and modifications also fall within the protection scope of the present invention.

Claims

1. An injection system, characterized in that, Including: Equipment rack; Sampling mechanism, arranged on the equipment rack, with several sample racks placed above the sampling mechanism, and the sample racks are used to place sample tubes; Manipulator, arranged above the sampling mechanism, the manipulator is used to grab the sample tubes on the sample racks and place them in the adapter, and the manipulator can drive the grabbed sample tubes to rotate; Overhead vision system, arranged on the manipulator, the overhead vision system is used to identify the types of several sample racks to distinguish the priorities of several sample racks, and the overhead vision system can identify the positions of the sample tubes on the sample racks to assist the manipulator in grabbing the sample tubes; Rotating vision system, arranged on the manipulator, the rotating vision system is used to identify the comprehensive data information of the sample tubes, so as to control the manipulator to transport the sample tubes to the corresponding positions according to the comprehensive data information of the sample tubes.

2. The sampling system according to claim 1, characterized in that, The manipulator includes: an X-axis guide rail, arranged on the top of the equipment rack, a Y-axis guide rail is slidably arranged on the X-axis guide rail, a Z-axis guide rail is slidably arranged on the Y-axis guide rail, and a rotating gripper is arranged on the Z-axis guide rail, and the rotating gripper is used to grab and / or rotate the sample tubes.

3. The sampling system according to claim 2, characterized in that, A first driving motor is arranged on the X-axis guide rail, the output end of the first driving motor is drivingly connected to a first transmission belt, one side of the first transmission belt is fixedly connected to a first sliding seat, the first sliding seat is slidably connected to the X-axis guide rail, and the first sliding seat is connected to the Y-axis guide rail; a second driving motor is arranged on the Y-axis guide rail, the output end of the second driving motor is drivingly connected to a second transmission belt, one side of the second transmission belt is fixedly connected to a second sliding seat, the second sliding seat is slidably connected to the Y-axis guide rail, and the second sliding seat is connected to the Z-axis guide rail; a third driving motor is arranged on the Z-axis guide rail, the output end of the third driving motor is drivingly connected to a third transmission belt, one side of the third transmission belt is fixedly connected to a third sliding seat, the third sliding seat is slidably connected to the Z-axis guide rail, and the third sliding seat is connected to the rotating gripper.

4. The sampling system according to claim 1, characterized in that, The sampling mechanism includes: a movable drawer, slidably connected to the equipment rack, the movable drawer is used to place the sample racks, a fourth driving motor is arranged on the equipment rack, the output end of the fourth driving motor is drivingly connected to a fourth transmission belt, and one side of the fourth transmission belt is fixedly connected to the movable drawer.

5. The sampling system according to claim 4, wherein, A self-tensioning mechanism is arranged on the equipment rack, and the self-tensioning mechanism includes: an assembly column arranged on the equipment rack, several guide shafts and support springs are arranged on the side of the assembly column, an installation block is slidably connected to several guide shafts, the other end of the support spring abuts against the installation block, a driven roller is arranged on the top surface of the installation block, and the driven roller is drivingly connected to the fourth transmission belt.

6. The sampling system according to claim 1, characterized in that, The sampling mechanism includes: an assembly frame, arranged on one side of the equipment rack, an injection bin is arranged on the assembly frame, and an injection channel is arranged above the injection bin, and the injection channel is used to transport the sample tubes into the injection bin.

7. An injection system according to claim 1, characterized in that An interface track is provided on the equipment rack, and a track lofting position is provided on the interface track. The interface track is used to receive the centrifuged sample tube.

8. An injection system according to claim 1, wherein The comprehensive data information includes: the barcode of the sample tube, the liquid level of the sample tube, whether there is a tube cap on the sample tube, the type of the sample tube, and whether the sample tube has been centrifuged.

9. A method for controlling a sample injection system, applied to the sample injection system according to any one of claims 1-8, characterized in that, The sample injection system control method includes: Placing the sample tube on the corresponding sample rack and placing the sample rack on the sample injection mechanism; Controlling the manipulator to drive the overhead vision system to move to identify the types of several sample racks, distinguish the priorities of several sample racks, and at the same time control the overhead vision system to identify the position of the sample tube to be grabbed on the sample rack to assist the manipulator in grabbing the sample tube; Controlling the manipulator to drive the rotary vision system to identify the comprehensive data information of the sample tube, and controlling the manipulator to convey the sample tube to the corresponding process position according to the comprehensive data information of the sample tube.

10. The control method of a sample injection system according to claim 9, characterized in that, The step of controlling the rotary vision system to identify the comprehensive data information of the sample tube includes: Controlling the rotary vision system to check the barcode of the sample tube, the liquid level of the sample in the sample tube, whether there is a tube cap on the sample tube, the type of the sample tube, and whether the sample tube has been centrifuged to make a comprehensive judgment on the sample tube; According to the judgment result, controlling the manipulator to transfer the sample tube that needs to be centrifuged to the centrifugation adaptation area, controlling the manipulator to transfer the centrifuged sample tube to the next process position, and controlling the manipulator to transfer the misplaced sample tube to the wrong area sample rack.

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