Position checking and detecting device, transportation system and docking method

Abstract

The invention discloses a position checking detection device, a transportation system and a butt joint method, the device comprises a detection module and an alignment module, the detection module comprises a detection piece, a mounting seat and a sensing assembly, the detection piece is slidably mounted on the mounting seat along a first direction, the detection piece is provided with a first insertion part and a sensing reference part, and the sensing assembly is used for sensing the reference part; the position of the detection piece relative to the mounting seat in the first direction is detected; the alignment module comprises an alignment block provided with a second insertion part, and the second insertion part and the first insertion part are oppositely arranged at intervals in the first direction. Through mutual insertion of a first insertion part and a second insertion part which are matched with each other, position checking of two mutually perpendicular dimensions along a surface perpendicular to a first direction is realized, position checking along the first direction is realized by detecting the relative position of a detection piece, and a detection module and an alignment module are arranged at an interval only in one direction, so that the detection accuracy is improved. Therefore, position checking can be carried out in three mutually perpendicular dimensions in the space.

Description

Technical Field

[0001] The present invention relates to the technical field of spatial position detection, and more particularly to a position verification detection device, a transportation system and a docking method. Background Art

[0002] When two docking modules moving relative to each other are docked, it is necessary to verify their docking positions to ensure the accurate relative docking positions of the two docking modules in three dimensions in space, improve the accuracy and reliability of docking, and avoid safety accidents caused by inaccurate docking positions or obstacles between the two docking modules.

[0003] Currently available position sensors can only detect position distances in a single dimension, and there is no sensor that can simultaneously verify the positions in three dimensions in space. Even if multiple position sensors are used to separately verify the position distances in three dimensions in space, the structure and software control are relatively complex, and it is difficult to meet the requirements of multi-dimensional spatial position verification detection in actual working conditions.

[0004] Therefore, it is necessary to design a simple position verification detection device to achieve position compound detection in multi-dimensional space. Summary of the Invention

[0005] The present invention aims to solve at least one of the technical problems existing in the prior art. For this purpose, the present invention provides a position verification detection device, a transportation system and a docking method to achieve position verification in three dimensions.

[0006] A position verification detection device according to the first aspect of an embodiment of the present invention includes:

[0007] A detection module, including a detection member, a mounting seat and an induction assembly, the detection member is slidably mounted on the mounting seat along a first direction, the detection member is provided with a first insertion portion and an induction reference portion, and the induction assembly is used to sense the induction reference portion to detect the position of the detection member relative to the mounting seat in the first direction;

[0008] An alignment module, provided with a second insertion portion, the second insertion portion and the first insertion portion are arranged opposite to each other at intervals along the first direction, and are configured to be able to be inserted with the first insertion portion along the first direction.

[0009] A position verification detection device according to an embodiment of the present invention has at least the following beneficial effects:

[0010] The present invention realizes the position verification in two dimensions on a plane perpendicular to the first direction through the mutual insertion of the first insertion part and the second insertion part. When the mutual insertion is successful, it indicates that the position docking in two dimensions is correct. The induction component senses the induction reference part of the detection part to detect the position of the detection part relative to the mounting seat in the first direction, realizing the position verification in the first direction. Combining the above verification steps, by setting the induction component in one direction, the position verification can be realized in three mutually perpendicular dimensions, ensuring the accurate docking of two relatively moving modules in space and meeting the requirements of multi-dimensional space position verification detection in actual working conditions.

[0011] According to some embodiments of the present invention, the detection module further includes a buffer component, and the buffer component is used to apply a buffer force along the first direction towards the second insertion part to the detection part.

[0012] According to some embodiments of the present invention, the buffer component includes a spring, and both ends of the spring act on the mounting seat and the detection part respectively.

[0013] According to some embodiments of the present invention, the spring is sleeved on the outer periphery of the detection part. The detection part is provided with a first abutting part that abuts against one end of the spring, and the mounting seat is provided with a second abutting part that abuts against the other end of the spring. The spring is located between the first abutting part and the second abutting part.

[0014] According to some embodiments of the present invention, the mounting seat is provided with a through hole, the through hole is arranged along the first direction, and the detection part is slidably arranged in the through hole.

[0015] According to some embodiments of the present invention, a limiting part is provided at the end of the detection part away from the second insertion part, and the limiting part abuts against the side surface of the mounting seat facing away from the second insertion part.

[0016] According to the transportation system of the second aspect of the present invention, it is characterized in that it includes:

[0017] The above-mentioned position verification detection device;

[0018] A first docking module and a second docking module that move relatively along the first direction, the detection module is installed on the first docking module, and the alignment module is installed on the second docking module.

[0019] According to the docking method of the third aspect of the present invention, it is characterized in that it is applicable to the above-mentioned transportation system, and the method includes:

[0020] Set a preset distance for the relative movement of the first docking module and the second docking module, and control the first docking module and the second docking module to start moving relatively along the first direction;

[0021] Obtain the travel of the first docking module and the second docking module moving relative to each other along the first direction in real time and the signal feedback of the sensing component;

[0022] Judge whether the travel reaches the preset distance and whether the signal feedback changes;

[0023] According to the judgment on the travel and the signal feedback, obtain the docking situation of the first docking module and the second docking module, and control the relative movement of the first docking module and the second docking module along the first direction to continue or terminate.

[0024] According to some embodiments of the present invention, the obtaining the docking situation of the first docking module and the second docking module according to the judgment on the travel and the signal feedback, and controlling the relative movement of the first docking module and the second docking module along the first direction to continue or terminate includes:

[0025] When the travel does not reach the preset distance and the signal feedback changes, it is judged that the docking situation is abnormal, and the relative movement of the first docking module and the second docking module along the first direction terminates;

[0026] When the travel does not reach the preset distance and the signal feedback does not change, it is judged that the docking is not completed, and the relative movement of the first docking module and the second docking module along the first direction continues;

[0027] When the travel reaches the preset distance and the signal feedback does not change, it is judged that the docking is completed, and the relative movement of the first docking module and the second docking module along the first direction terminates.

[0028] According to some embodiments of the present invention, the obtaining the docking situation of the first docking module and the second docking module according to the judgment on the travel and the signal feedback, and controlling the relative movement of the first docking module and the second docking module along the first direction to continue or terminate includes:

[0029] When the travel does not reach the preset distance and the signal feedback changes, it is judged that the docking situation is abnormal, and the relative movement of the first docking module and the second docking module along the first direction terminates;

[0030] When the travel does not reach the preset distance and the signal feedback does not change, it is judged that the docking is not completed, and the relative movement of the first docking module and the second docking module along the first direction continues;

[0031] When the stroke exceeds a preset distance, the signal feedback changes, it is determined that the docking is completed, and the relative movement of the first docking module and the second docking module along the first direction terminates.

[0032] Other features and advantages of the present invention will be set forth in the following description, and in part will be obvious from the description, or may be learned by practice of the present invention. Brief Description of the Drawings

[0033] The present invention will be further described below in conjunction with the drawings and embodiments, where:

[0034] Figure 1 The front view of one embodiment of the position verification and detection device provided by the present invention;

[0035] Figure 2 The structural exploded view of one embodiment of the position verification and detection device provided by the present invention;

[0036] Figure 3 The A-A cross-sectional view of one embodiment of the position verification and detection device provided by the present invention;

[0037] Figure 4 The A-A cross-sectional view after docking of the position verification and detection device provided by the present invention;

[0038] Figure 5 The structural schematic diagram of one embodiment of the transportation system provided by the present invention;

[0039] Figure 6 The flow schematic diagram of the docking method provided by the present invention.

[0040] Reference Numerals in the Drawings:

[0041] Detection module 100; Detection element 110; First insertion part 111; Inductive reference part 112; First abutting part 113; Limiting part 114; Mounting seat 120; Through hole 121; Second abutting part 122; Inductive component 130; Sensor 131; Mounting bracket 132; Buffer component 140; Spring 141;

[0042] Alignment module 200; Alignment block 210; Second insertion part 211;

[0043] First docking module 310; Second docking module 320. Detailed Description of the Embodiments

[0044] Embodiments of the present invention will be described in detail below. Examples of the embodiments are shown in the accompanying drawings, where the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below by referring to the accompanying drawings are exemplary and are only used to explain the present invention and should not be construed as a limitation of the present invention.

[0045] In the description of the present invention, it should be understood that the orientation or positional relationship indicated by terms such as up and down, etc. is based on the orientation or positional relationship shown in the accompanying drawings. It is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as a limitation of the present invention.

[0046] In the description of the present invention, "a plurality of" means two or more. If the first and the second are described, it is only for the purpose of distinguishing technical features and should not be construed as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features or implicitly specifying the sequence relationship of the indicated technical features.

[0047] In the description of the present invention, unless otherwise clearly defined, terms such as "set", "installed", "connected", etc. should be understood in a broad sense. Those skilled in the art can reasonably determine the specific meanings of the above terms in the present invention in combination with the specific content of the technical solution.

[0048] The technical solution of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the embodiments described below are some, but not all, embodiments of the present invention.

[0049] With the continuous development of automation technology, laboratory automation pipeline systems have gradually been widely used in major medical institutions such as blood stations and related fields. Such highly automated systems can effectively improve sample processing efficiency and reduce human errors, providing strong support for medical diagnosis and scientific research work. With the popularization of laboratory pipeline systems, they also face some new challenges and problems in actual operation. Especially in the sample handover link, when two docking modules in relative motion are docked, it is necessary to check their docking positions. For example: in the blood station pipeline system project, sample tubes often need to be automatically transferred between different floors. Generally, elevator equipment and blood station pipeline equipment are developed and designed by different companies, and elevator control and pipeline control belong to two different control systems. During the process of sample tube handover, the blood station pipeline equipment needs to extend into the elevator for docking. During this process, if the elevator does not stop accurately, or the elevator car door fails, or there is an obstruction between the two, serious safety accidents and biochemical pollution risks will occur when the blood station pipeline equipment extends into the elevator. In this case, the accuracy verification of the docking between the two is particularly important.

[0050] Existing position sensors can only detect position distances in a single dimension, and there is no sensor that can simultaneously verify the positions in three spatial dimensions. Even if multiple position sensors are used to separately verify the position distances in three spatial dimensions, the structure and software control are relatively complex, and it is difficult to meet the requirements of actual working conditions for multi-dimensional spatial position verification and detection.

[0051] To solve the above problems, the present invention proposes a position verification and detection device, a transportation system, and a docking method, which can achieve position verification in three dimensions through a single sensing component.

[0052] Reference Figures 1 to 5 , the following embodiments are made for a position verification and detection device, a transportation system, and a docking method of the present invention:

[0053] Referring to Figure 1 and Figure 2 As shown, the position verification and detection device of the embodiment of the present invention includes a detection module 100 and an alignment module 200. The detection module 100 and the alignment module 200 are arranged at intervals. For the convenience of description, the connection direction of the detection module 100 and the alignment module 200 is set as the first direction.

[0054] Among them, the detection module 100 includes a detector 110, a mounting base 120, and an induction component 130. The detector 110 is slidably mounted on the mounting base 120 along the first direction. The detector 110 is provided with a first insertion portion 111 and an induction reference portion 112. The induction component 130 detects the position of the detector 110 relative to the mounting base 120 by inducing the induction reference portion 112.

[0055] The alignment module 200 includes an alignment block 210. The alignment block 210 is provided with a second insertion portion 211 that is matingly inserted with the first insertion portion 111. The second insertion portion 211 and the first insertion portion 111 are arranged opposite to each other at intervals along the first direction.

[0056] Through the mating insertion of the first insertion portion 111 and the second insertion portion 211, it is ensured that position alignment is achieved on the plane perpendicular to the first direction, so as to complete position verification in two mutually perpendicular direction dimensions on this plane. After the first insertion portion 111 and the second insertion portion 211 are inserted, the detector 110 slides relative to the mounting base 120, and the induction component 130 detects the position of the detector 110 to achieve position verification along the first direction. Combining the above three-dimensional position verifications, the docking position verification in space can be achieved through a single-dimensional sensing component.

[0057] Specifically, referring to Figure 3As shown, in this embodiment, the detector 110 is a rod-shaped structure extending in the first direction. The end of the detector 110 close to the second mating part 211 is the first mating part 111, and the end far from the second mating part 211 is the sensing reference part 112. The second mating part 211 is a counterbore structure that matches and mates with the end of the detector 110. The inner diameter of the counterbore is greater than the outer diameter of the detector rod and meets the requirements of the docking error range. When the first mating part 111 extends into the counterbore along the first direction, it indicates that the positions of the detection module 100 and the alignment module 200 are accurately corresponding on the plane perpendicular to the first direction, thus achieving position alignment on the two-dimensional plane perpendicular to the first direction.

[0058] In some other embodiments, the first mating part 111 and the second mating part 211 can be other structures. For example, the second mating part 211 is a boss structure, and the first mating part 111 is a groove that matches the boss structure, as long as the first mating part 111 and the second mating part 211 match and mate with each other.

[0059] In order to limit the sliding direction of the detector 110 to extend along the first direction, a through hole 121 extending in the first direction is provided on the mounting seat 120. The detector 110 is slidably arranged in the through hole 121, and the end of the detector 110 close to the second mating part 211 extends out of the through hole 121. The through hole 121 plays a guiding role for the detector 110. In some other embodiments, the detector 110 can be slidably arranged on the mounting seat 120 in other forms. For example, mutually engaging sliders and guide rails are respectively provided on the detector 110 and the mounting seat 120.

[0060] Furthermore, in order to prevent the device from failing due to mechanical impact during docking, the detection module 100 further includes a buffer assembly 140. The buffer assembly 140 is used to apply a buffer force to the detector 110 along the first direction towards the second mating part 211, so as to avoid excessive movement impact of the detector 110 relative to the mounting seat 120 during docking, resulting in part damage. The buffer assembly 140 in this embodiment includes a spring 141. The two ends of the spring 141 act on the mounting seat 120 and the detector 110 respectively, providing buffering when the detector 110 is impacted, and converting the impact kinetic energy into elastic potential energy through elastic deformation.

[0061] In some other embodiments, the buffer assembly 140 can be in other forms, such as a hydraulic rod, an elastic airbag, etc., as long as it can buffer the relative movement between the detector 110 and the mounting seat 120.

[0062] Specifically, regarding the installation method of the spring 141: The detector 110 is provided with a first abutting part 113 that abuts against one end of the spring 141, and the mounting seat 120 is provided with a second abutting part 122 that abuts against the other end of the spring 141. The spring 141 is arranged between the first abutting part 113 and the second abutting part 122.

[0063] The first abutting portion 113 of this embodiment is a first step provided on the outer peripheral wall of the detecting member 110. Since the detecting member 110 is a rod-shaped structure, by designing the outer diameter of the first inserting portion 111 of the detecting member 110 to be larger than the outer diameter of the induction reference portion 112, a ring-shaped first step is formed on the outer peripheral wall of the detecting member 110. Similarly, by designing the inner diameter of the hole section of the inner peripheral wall of the through hole 121 near the second inserting portion 211 to be larger than the inner diameter of the hole section away from the second inserting portion 211, a ring-shaped second step is formed on the inner peripheral wall of the through hole 121.

[0064] The first step and the second step are arranged oppositely. The spring 141 is sleeved on the outer periphery of the detecting member 110, and both ends of the spring 141 are respectively abutted against the first step and the second step. The movement of the spring 141 in the first direction is restricted by the first step and the second step, and the spring 141 is prevented from moving perpendicular to the first direction by the detecting member 110, thereby completing the installation and fixation of the spring 141.

[0065] By arranging the spring 141 at the end of the detecting member 110, on the one hand, when the detecting member 110 is subjected to pressure and slides relatively to the mounting seat 120, a buffering force towards the second inserting portion 211 is applied, so that the sliding of the detecting member 110 has a collision buffer area, avoiding the device from being damaged by impact and prolonging the service life. On the other hand, after the detecting member 110 completes the position calibration process each time, the detecting member 110 is automatically reset by the spring 141, and there is no need to manually adjust the detecting member 110 back to the initial position.

[0066] In some other embodiments, the installation method of the spring 141 can be other forms. For example, a boss exceeding the outer edge is provided on the first inserting portion 111, one end of the spring 141 is connected to the boss, and one end is connected to the side surface of the mounting seat 120 close to the second inserting portion 211.

[0067] Since the spring 141 applies a buffering force towards the second inserting portion 211 to the detecting member 110, the detecting member 110 needs to be limited to prevent the detecting member 110 from sliding out of the through hole 121 under the action of the spring 141. In this embodiment, a limiting portion 114 is provided at the end of the detecting member 110 away from the second inserting portion 211. The limiting portion 114 includes a gasket perpendicular to the first direction, and the gasket is fixed to the end of the detecting member 110 by bolts.

[0068] Since the cross-sectional radius of the gasket is greater than the inner diameter of the through hole 121, the gasket abuts against one side of the mounting seat 120 facing away from the second engaging portion 211, thereby achieving the limit of the detecting member 110. The combined action of the spring 141 and the gasket enables the detecting member 110 to maintain its initial position when not touching an obstacle or the second engaging portion 211, avoiding the interference of external factors such as gravity on the detecting member 110, and enabling the detecting module 100 and the aligning module 200 to be arranged in all directions.

[0069] In this embodiment, the end of the detecting member 110 away from the second engaging portion 211 is the sensing reference portion 112. The sensing assembly 130 includes a sensor 131 and a mounting bracket 132. The sensor 131 in this embodiment is a proximity photoelectric switch, and the photoelectric switch is a non-contact switch. By using the occlusion or reflection of the light beam by the detected object, the synchronous circuit turns on the circuit, thereby detecting the position or presence of the detected object.

[0070] The mounting bracket 132 is arranged at one end of the through hole 121 away from the second engaging portion 211. The sensor 131 is mounted on the mounting bracket 132 and is spaced from the end of the detecting member 110 in the initial position. The distance between the sensor 131 and the end of the detecting member 110 in the initial position is set as the safety distance.

[0071] Refer to Figure 4 As shown, when the first engaging portion 111 abuts against the bottom end of the second engaging portion 211, if the relative movement stroke of the detecting module 100 and the aligning module 200 continues to reach the safety distance, due to the pressure of the detecting member 110 on the aligning block 210, the detecting member 110 moves relative to the mounting seat 120, driving the sensing reference portion 112 to slide to the position of the sensor 131, occluding the light beam. At this time, the trigger sensor 131 feedback signal changes.

[0072] In some other embodiments, the sensing reference portion 112 and the sensor 131 can adopt other forms and structures. For example, the sensor 131 can adopt a Hall sensor, and the sensing reference portion 112 is a magnet provided on the detecting member 110. By changing the magnetic field with the movement of the magnet following the detecting member 110, the sensor 131 senses the position change of the detecting member 110.

[0073] The present invention also proposes a transportation system, and the following embodiments are made:

[0074] The transportation system in this embodiment includes the above-mentioned first docking module 310, second docking module 320, and position verification and detection device. The first docking module 310 and the second docking module 320 move relative to each other in the first direction. The detecting module 100 is installed on the first docking module 310, and the aligning module 200 is installed on the second docking module 320.

[0075] Usage mode for the transportation system: The first docking module 310 and the second docking module 320 move relative to each other in the first direction, and a preset distance for the relative movement is set. If during the movement to the preset distance, the detecting member 110 touches an obstacle, fails to align and engage, or the relative movement stroke exceeds the preset distance, the detecting member 110 slides under pressure, and the sensing reference portion 112 slides to trigger the sensor 131. The transportation system determines that the docking is abnormal based on the feedback signal of the sensor 131 and terminates the docking. Thus, through the cooperation of one sensor 131 with other components, position verification is achieved in three mutually perpendicular dimensions. Only one sensor 131 is provided, which is relatively simple in structure and software control and can effectively reduce costs.

[0076] Refer to Figure 5 As shown, the following is an embodiment of the transportation system for the handover process of blood station sample tubes. The first docking module 310 and the second docking module 320 are respectively the output end of the sample tube transmission pipeline device and the receiving end located inside the elevator. The transportation system further includes a docking driving mechanism and a control system. The docking driving mechanism is used to control the first docking module 310 and the second docking module 320 to move relative to each other in the first direction, and the control system is signal-connected to the docking driving mechanism and the sensing component.

[0077] Since the blood station pipeline device needs to extend into the elevator for docking during the sample tube handover process, the position verification detection device can meet the position verification requirements in a multi-dimensional space, ensuring that the docking is completed when the elevator position is accurate, the elevator car door opens smoothly, and there is no obstruction between them, thereby ensuring the safety and reliability of the process of the blood station pipeline device extending into the elevator and avoiding safety accidents and biochemical contamination.

[0078] Refer to Figure 6 As shown, the embodiment of the present invention further provides a docking method applicable to the above-mentioned transportation system. The method includes:

[0079] S100: Set a preset distance for the relative movement of the first docking module 310 and the second docking module 320, and control the first docking module 310 and the second docking module 320 to start moving relative to each other in the first direction;

[0080] (It should be noted that here, controlling the first docking module 310 and the second docking module 320 to start moving relative to each other in the first direction means that there is a relative displacement change between the first docking module 310 and the second docking module 320. That is, it can be that the second docking module 320 remains stationary while the first docking module 310 moves relative to the second docking module 320 in the first direction, with a relative displacement change between the first docking module 310 and the second docking module 320. It can also be that the first docking module 310 remains stationary while the second docking module 320 moves relative to the first docking module 310 in the first direction. Or it can be that the first docking module 310 and the second docking module 320 move towards each other in the first direction.)

[0081] S200: Obtain in real time the travel of the first docking module 310 and the second docking module 320 moving relative to each other in the first direction and the signal feedback of the sensing component;

[0082] S300: Judge whether the travel reaches the preset distance and whether the signal feedback changes;

[0083] S400: According to the judgment on the travel and the signal feedback, obtain the docking situation of the first docking module 310 and the second docking module 320, and control the relative movement of the first docking module 310 and the second docking module 320 in the first direction to continue or terminate.

[0084] Among them, for S400, according to the judgment on the travel and the signal feedback, obtaining the docking situation of the first docking module 310 and the second docking module 320 and controlling the relative movement of the first docking module 310 and the second docking module 320 in the first direction to continue or terminate may include various judgment logics. The following details two embodiments of the docking method.

[0085] Embodiment 1

[0086] When the travel does not reach the preset distance and the signal feedback changes, that is, before the first insertion part 111 is inserted into the second insertion part 211, it is pushed by other external forces and slides relative to the detection module 100, causing the induction reference part 112 to trigger a change in the signal feedback of the sensing component 130, indicating that there is an obstacle or inaccurate docking during the relative movement of the first docking module 310 and the second docking module 320. It is judged that the docking is not completed and abnormal, and the relative movement of the first docking module 310 and the second docking module 320 in the first direction terminates;

[0087] When the travel does not reach the preset distance and the signal feedback does not change, it indicates that there is no obstacle during the relative movement of the first docking module 310 and the second docking module 320. It is judged that the docking is not completed and there is no abnormality, and the relative movement of the first docking module 310 and the second docking module 320 in the first direction continues;

[0088] When the travel reaches the preset distance and the signal feedback does not change, it indicates that the first docking module 310 and the second docking module 320 have been docked with each other, the first insertion part 111 and the second insertion part 211 are correspondingly and matingly inserted, it is judged that the docking is completed and no abnormality occurs, and the relative movement of the first docking module and the second docking module in the first direction terminates.

[0089] Based on the above judgments, the docking method of this embodiment can dynamically detect the position alignment of the docking modules, so as to meet the requirements of automatic intervention in the docking process, ensure the safety and reliability of the docking process, eliminate the need for manual operation, and reduce waste of human resources.

[0090] Refer to Figure 5 As shown, the docking method of this embodiment is applied to the scenario of blood station sample tube handover:

[0091] For example, the first docking module 310 is a blood station assembly line device, the second docking module 320 is an elevator device, the detection module 100 is installed on the first docking module 310, and the alignment module 200 is installed on the second docking module 320. When the elevator car door fails, the elevator alignment is inaccurate, or there is an obstruction between the two, the travel does not reach the preset distance, the detector 110 on the detection module 100 touches the obstruction or the elevator car door and is under pressure, the detector 110 slides under the pressure, the induction reference part 112 triggers the sensor 131, causing the signal feedback to change, the transportation system receives the signal feedback transmitted by the sensor 131, judges that the docking situation is abnormal, the transportation system terminates the docking according to the signal feedback, and issues an alarm;

[0092] When the elevator alignment is accurate, if the travel reaches the preset distance, the detector 110 touches the bottom end of the second insertion part 211, the relative movement stops, and the sensor 131 is not triggered, which means that the positions are calibrated correctly in all three dimensions, and it is judged that the first docking module 310 and the second docking module 320 reach the docking position and there is no abnormality in the docking process.

[0093] Based on the above judgments, the docking method of this embodiment is applicable to the application scenario of blood station sample tube handover, and can terminate the docking in case of elevator car door failure or inaccurate elevator alignment, etc., to ensure the safety of the sample tube handover process and effectively avoid the risks of safety accidents and biochemical contamination.

[0094] Embodiment 2

[0095] When the travel does not reach the preset distance and the signal feedback changes, it is judged that the docking is abnormal, and the relative movement of the first docking module 310 and the second docking module 320 in the first direction terminates;

[0096] When the travel distance has not reached the preset distance and the signal feedback remains unchanged, it is determined that the docking is not completed, and the relative movement of the first docking module 310 and the second docking module 320 in the first direction continues;

[0097] When the travel distance exceeds the preset distance and the signal feedback changes. It should be noted that "exceeding the preset distance" means that after the first engaging portion 111 abuts against the second engaging portion 211 to complete the matching engagement, the relative movement of the first docking module 310 and the second docking module 320 continues for a safe distance, causing the abutting member 110 to slide relative to the mounting base 120, driving the sensing reference portion 112 to slide, triggering a change in the signal feedback of the sensor 131. It is determined that the docking is completed, and the relative movement of the first docking module 310 and the second docking module 320 in the first direction terminates. The part of the travel distance of the relative movement that exceeds the preset distance is within the safe range, and at this time, the docking is completed normally.

[0098] Based on the above judgments, the docking method of this embodiment can dynamically detect the position alignment of the docking modules, thereby meeting the requirements for automatic intervention in the docking process, ensuring the safety and reliability of the docking process, eliminating the need for manual operation, and reducing waste of manpower.

[0099] Refer to Figure 5 As shown, the docking method of this embodiment is applied to the scenario of blood sample tube handover in a blood station:

[0100] For example, the first docking module 310 is a blood station assembly line device, the second docking module 320 is an elevator device, the detection module 100 is installed on the first docking module 310, and the alignment module 200 is installed on the second docking module 320. When the elevator car door malfunctions, the elevator alignment is inaccurate, or there is an obstruction between them, and the travel distance has not reached the preset distance, the detection member 110 abuts against the obstruction or the car door and is under pressure. The detection member 110 slides under the action of the pressure, and the sensing reference portion 112 slides to trigger the sensor 131, causing a change in the signal feedback. The transportation system receives the signal feedback transmitted by the sensor 131, determines that the docking is abnormal, terminates the docking according to the signal feedback, and issues an alarm.

[0101] When the elevator alignment is accurate, after the travel distance reaches the preset distance, the detection member 110 abuts against the bottom end of the second insertion portion 211. The first docking module 310 and the second docking module 320 continue to move relative to each other for a safe distance. The detection member 110 slides relative to the mounting base 120 under pressure, and the sensing reference portion 112 triggers the sensor 131 to cause a change in the signal feedback. The transportation system receives the signal feedback transmitted by the sensor 131. The transportation system terminates the docking according to the signal feedback. The first docking module 310 and the second docking module 320 reach the docking position, and the relative movement does not exceed the safe range, and it is determined that the docking is normal.

[0102] Based on the above judgments, the docking method of this embodiment is applicable to the application scenario of the handover of blood sample tubes in blood banks. It can terminate the docking in case of elevator car door failures or inaccurate elevator correspondence, ensuring the safety of the sample tube handover process and effectively avoiding the risks of safety accidents and biochemical contamination.

[0103] In the description of this specification, the descriptions referring to terms such as "one embodiment", "some embodiments", "schematic embodiments", "examples", "specific examples", or "some examples" etc. mean that the specific features, structures, materials, or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described can be combined in a suitable manner in any one or more embodiments or examples.

[0104] The embodiments of the present invention have been described in detail above in conjunction with the accompanying drawings. However, the present invention is not limited to the above embodiments, and various changes can be made without departing from the spirit of the present invention within the scope of knowledge possessed by those of ordinary skill in the relevant art.

Claims

1. A position calibration detection device, characterized in that, Comprising: A detection module, including a detector, a mounting base, and an induction component. The detector is slidably mounted on the mounting base in a first direction. The detector is provided with a first engaging portion and an induction reference portion. The induction component is configured to sense the induction reference portion to detect the position of the detector relative to the mounting base in the first direction. An alignment module, including an alignment block. The alignment block is provided with a second engaging portion. The second engaging portion and the first engaging portion are arranged opposite to each other at an interval in the first direction and are configured to be able to engage with the first engaging portion in the first direction.

2. The position verification and detection device according to claim 1, wherein: The detection module further includes a buffer component, and the buffer component is configured to apply a buffer force to the detector in the first direction toward the second engaging portion.

3. The position verification and detection device according to claim 2, wherein: The buffer component includes a spring, and two ends of the spring act on the mounting base and the detector respectively.

4. The position verification and detection device according to claim 3, wherein: The spring is sleeved on the outer periphery of the detector. The detector is provided with a first abutting portion that abuts against one end of the spring, and the mounting base is provided with a second abutting portion that abuts against the other end of the spring. The spring is located between the first abutting portion and the second abutting portion.

5. The position verification and detection device according to claim 4, wherein: The mounting base is provided with a through hole, and the through hole is arranged in the first direction. The detector is slidably arranged in the through hole.

6. The position verification and detection device according to claim 5, wherein: A limiting portion is provided at an end of the detector away from the second engaging portion, and the limiting portion abuts against a side surface of the mounting base facing away from the second engaging portion.

7. A transportation system, characterized in that, Comprising: The position verification and detection device according to any one of claims 1 to 6; A first docking module and a second docking module that move relative to each other in the first direction. The detection module is mounted on the first docking module, and the alignment module is mounted on the second docking module.

8. A docking method, characterized in that, Applicable to the transportation system according to claim 7. The method includes: Setting a preset distance for the relative movement of the first docking module and the second docking module, and controlling the first docking module and the second docking module to start moving relative to each other in the first direction; Real-time obtaining the travel of the relative movement of the first docking module and the second docking module in the first direction and the signal feedback of the induction component; Judging whether the travel reaches the preset distance, and judging whether the signal feedback changes; According to the judgment on the travel and the signal feedback, obtaining the docking situation of the first docking module and the second docking module, and controlling the relative movement of the first docking module and the second docking module in the first direction to continue or terminate.

9. The docking method according to claim 8, wherein Based on the judgment of the travel and the signal feedback, obtaining the docking situation of the first docking module and the second docking module, and controlling the relative movement of the first docking module and the second docking module along the first direction to continue or terminate, includes: When the travel does not reach the preset distance and the signal feedback changes, judging that the docking situation is abnormal, and terminating the relative movement of the first docking module and the second docking module along the first direction; When the travel does not reach the preset distance and the signal feedback does not change, judging that the docking is not completed, and continuing the relative movement of the first docking module and the second docking module along the first direction; When the travel reaches the preset distance and the signal feedback does not change, judging that the docking is completed, and terminating the relative movement of the first docking module and the second docking module along the first direction.

10. The docking method according to claim 8, wherein Based on the judgment of the travel and the signal feedback, obtaining the docking situation of the first docking module and the second docking module, and controlling the relative movement of the first docking module and the second docking module along the first direction to continue or terminate, includes: When the travel does not reach the preset distance and the signal feedback changes, judging that the docking situation is abnormal, and terminating the relative movement of the first docking module and the second docking module along the first direction; When the travel does not reach the preset distance and the signal feedback does not change, judging that the docking is not completed, and continuing the relative movement of the first docking module and the second docking module along the first direction; When the travel exceeds the preset distance and the signal feedback changes, judging that the docking is completed, and terminating the relative movement of the first docking module and the second docking module along the first direction.

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