Consumable movement control method, machine readable storage medium and computing equipment

Abstract

The embodiment of the invention provides a consumable movement control method, a machine readable storage medium and computing equipment, and belongs to the technical field of biological detection. The method comprises the steps that a consumable demand instruction generated by an upper computer based on the execution progress of an experiment execution module is received, and a first control instruction and a second control instruction are generated based on the consumable demand instruction; the first control instruction is sent to a mobile execution mechanism, so that the mobile execution mechanism grabs the target consumable in the source consumable area; and the second control instruction is sent to the mobile execution mechanism, so that the mobile execution mechanism releases the target consumables in the first target consumable area. Through the control instruction determined based on the consumable demand instruction, the control accuracy of the mobile execution mechanism is ensured, and through automatic movement of the consumables, the intelligence of the molecular diagnosis process is improved, the working process is simplified, and the working efficiency is improved.

Description

Technical Field

[0001] The present application relates to the field of biological detection technology, and in particular to a consumables movement control method, a machine-readable storage medium, and a computing device. Background Art

[0002] With the rapid development of domestic molecular diagnostic technology, medical institutions have transitioned from manual operations to a semi-automated, and even fully automated, era. However, for IVD (In Vitro Diagnostic Products) companies, most experiments are still conducted manually. With the gradual improvement of laboratory hardware facilities, the number of related laboratory equipment and instruments has increased significantly, resulting in increased learning costs for operators, reduced laboratory space utilization, and low efficiency and high error rates for manual operations. Summary of the Invention

[0003] In view of the above-mentioned deficiencies in the prior art, the purpose of the embodiments of the present application is to provide a consumables movement control method, a machine-readable storage medium and a computing device.

[0004] To achieve the above objectives, the first aspect of the present application provides a method for controlling the movement of consumables, which is applied to an all-in-one molecular diagnostic device. The all-in-one molecular diagnostic device includes a host computer, an experiment execution module, and a movement execution mechanism. The host computer is used to control the execution progress of the experiment execution module. The method for controlling the movement of consumables includes:

[0005] Receiving a consumables demand instruction generated by a host computer based on the execution progress of the experiment execution module, wherein the consumables demand instruction includes a source consumables area and a first target consumables area in the experiment execution module;

[0006] generating a first control instruction and a second control instruction based on the consumables demand instruction;

[0007] Sending a first control instruction to the mobile actuator to enable the mobile actuator to grab the target consumable in the source consumable area;

[0008] The second control instruction is sent to the mobile actuator to enable the mobile actuator to release the target consumable in the first target consumable area.

[0009] In an embodiment of the present application, the experiment execution module includes at least one of a cup separation module, an extraction submodule, a system configuration submodule, a lid pressing module, or an amplification experiment submodule.

[0010] In an embodiment of the present application, the consumables demand instruction further includes the source consumable orifice plate number, the consumable type, and the consumable quantity. The first control instruction includes a first track motor control instruction, a first robot control instruction, and a first gripper control instruction. The first control instruction is generated based on the consumables demand instruction, including:

[0011] generating a first track motor control instruction based on the source consumable area;

[0012] Generate a first robot control instruction based on the preset action corresponding to the source consumable orifice plate number and the consumable quantity;

[0013] A first gripper control instruction is generated based on the consumable type, and an action corresponding to the first gripper control instruction is determined to be grasping.

[0014] In an embodiment of the present application, generating a first robot control instruction based on a preset action corresponding to a source consumable orifice plate number and the quantity of consumables includes:

[0015] Determine whether there is a target consumable that has been grabbed;

[0016] In the case that there is no grasped target consumable, generating a first robot control instruction based on a preset action corresponding to the initial point position of the source consumable orifice plate number;

[0017] When there is a target consumable that has been grasped and a first quantity of the target consumable that has been grasped is less than the consumable quantity, determining the motion offset value based on the first quantity;

[0018] A first robot control instruction is generated based on the preset action and action offset value corresponding to the initial point position of the source consumable orifice plate number.

[0019] In an embodiment of the present application, the mobile actuator includes a track and a robot disposed on the track, the robot includes a gripper, and sending a first control instruction to the mobile actuator so that the mobile actuator grabs the target consumable in the source consumable area includes:

[0020] sending a first track motor control command to the track;

[0021] When it is determined that the track moves to the source consumable area based on the track motor control instruction, sending a first robot control instruction to the robot to make the robot move based on a preset action;

[0022] When the completion information fed back by the robot based on the first robot control instruction is received, the gripper is controlled to grab the target consumable based on the first gripper control instruction.

[0023] In an embodiment of the present application, before the step of sending the first track motor control instruction to the track, the method further includes:

[0024] Control the reset of the gripper based on the gripper origin;

[0025] determining a first track reset instruction based on the track origin;

[0026] Obtain the real-time location of the robot and determine whether the robot is in a safe movement area based on the real-time location;

[0027] When the robot is in a safe moving area, controlling the track reset based on a first track reset instruction;

[0028] When the robot is not in the safe moving area, a second track reset instruction is generated based on a preset reversing position;

[0029] Controlling the track to move to a preset reversing position based on the second track reset instruction, and controlling the robot to reset;

[0030] After the robot is reset, the track is reset based on the first track reset instruction.

[0031] In an embodiment of the present application, the consumables demand instruction further includes a target consumables orifice plate number, and the second control instruction includes a second track motor control instruction, a second robot control instruction, and a second gripper control instruction. The second control instruction is generated based on the consumables demand instruction, including:

[0032] generating a second track motor control instruction based on the first target consumable area;

[0033] Generate a second robot control instruction based on a preset action corresponding to the target consumable plate number;

[0034] Determine that the action corresponding to the second gripper control instruction is release.

[0035] In an embodiment of the present application, the consumables movement control method further includes:

[0036] Receiving a consumables discard instruction generated by the host computer based on the execution progress of the experiment execution module, wherein the consumables discard instruction includes a consumables discard area and a second target consumables area in the experiment execution module;

[0037] generating a third control instruction and a fourth control instruction based on the consumables discard instruction;

[0038] Sending a third control instruction to the mobile actuator to enable the mobile actuator to grab the consumables to be discarded in the second target consumable area;

[0039] The fourth control instruction is sent to the mobile execution mechanism to enable the mobile execution mechanism to release the consumables to be discarded in the consumables discarding area.

[0040] A second aspect of the present invention provides a machine-readable storage medium having instructions stored thereon, the instructions being used to enable a machine to execute the method for controlling the movement of consumables as described in the above embodiment.

[0041] A third aspect of the present invention provides a computing device, comprising: a memory, a processor, and a program stored in the memory and executable on the processor, wherein the program is configured to implement the consumables movement control method as described in the above embodiment.

[0042] Through the above technical solution, a host computer receives a consumables demand instruction generated based on the execution progress of the experimental execution module, and generates a first control instruction and a second control instruction based on the consumables demand instruction. The first control instruction is then sent to the mobile actuator to cause it to grab the target consumable in the source consumable area, and the second control instruction is sent to the mobile actuator to cause it to release the target consumable in the first target consumable area. The control instructions determined based on the consumables demand instruction ensure the accuracy of the control of the mobile actuator. By achieving automated movement of consumables, the intelligence of the molecular diagnostic process is enhanced, the workflow is simplified, and work efficiency is improved.

[0043] Other features and advantages of the embodiments of the present application will be described in detail in the subsequent detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] The accompanying drawings are used to provide a further understanding of the embodiments of the present application and constitute a part of the specification. Together with the following detailed description, they are used to explain the embodiments of the present application but do not constitute a limitation on the embodiments of the present application. In the accompanying drawings:

[0045] Figure 1 1 is a flow chart of a method for controlling the movement of consumables according to an embodiment of the present application;

[0046] Figure 2 Schematic diagram of the structure of a molecular diagnostic all-in-one device according to one embodiment of the present application;

[0047] Figure 3 Schematic diagram of the connection between the rail robot module and the mobile actuator according to one embodiment of the present application. DETAILED DESCRIPTION

[0048] The following describes the specific embodiments of the present invention in detail with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are only used to illustrate and explain the present invention and are not intended to limit the present invention.

[0049] It should be noted that if the embodiments of the present application involve directional indications (such as up, down, left, right, front, back, etc.), the directional indications are only used to explain the relative position relationship, movement status, etc. between the various components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indications will also change accordingly.

[0050] In addition, if there are descriptions involving "first", "second", etc. in the embodiments of the present application, the descriptions of "first", "second", etc. are only for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of such features. In addition, the technical solutions between the various embodiments can be combined with each other, but they must be based on the fact that they can be implemented by ordinary technicians in this field. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such a combination of technical solutions does not exist and is not within the scope of protection required by this application.

[0051] Figure 1 The flow chart of the method for controlling the movement of consumables according to an embodiment of the present application is shown in FIG. In the embodiment of the present application, a method for controlling the movement of consumables is provided, which is applied to a molecular diagnostic all-in-one device. The molecular diagnostic all-in-one device includes a host computer, an experiment execution module, and a movement execution mechanism. The host computer is used to control the execution progress of the experiment execution module, such as Figure 1 As shown, the consumables movement control method includes:

[0052] Step S100: receiving a consumables demand instruction generated by a host computer based on the execution progress of an experiment execution module, wherein the consumables demand instruction includes a source consumables area and a first target consumables area in the experiment execution module;

[0053] Step S200, generating a first control instruction and a second control instruction based on the consumables demand instruction;

[0054] Step S300: sending a first control instruction to a mobile actuator to enable the mobile actuator to grab a target consumable in a source consumable area;

[0055] Step S400: Send a second control instruction to the mobile actuator to enable the mobile actuator to release the target consumable in the first target consumable area.

[0056] In this embodiment, it should be noted that the molecular diagnostic all-in-one machine can realize a fully automatic molecular diagnostic pipeline and complete the continuous, automatic and uninterrupted execution of each process in the molecular diagnostic test. The molecular diagnostic all-in-one machine includes a host computer, an experiment execution module and a mobile actuator. Among them, the host computer is used to control the execution progress of the experiment execution module. The experiment execution module is used to execute various steps of the molecular diagnostic technology, such as sample information entry, sample tube cover opening and closing, sample cup separation, nucleic acid extraction, PCR (Polymerase Chain Reaction, polymerase chain reaction) system construction, capping and PCR amplification experiment steps. The experiment execution module can be composed of at least one of a separate cup separation module, an extraction submodule, a system configuration submodule, a capping module or an amplification experiment submodule; it can also include only a single-throughput POCT (Point-Of-Care Testing, instant testing) submodule, or it can also include one or more of a separate cup separation module, an extraction submodule, a system configuration submodule, a capping module, an amplification experiment submodule and the single-throughput POCT submodule. In one embodiment, the experiment execution module includes at least one of a cup separation module, an extraction submodule, a system configuration submodule, a cover pressing module or an amplification experiment submodule. It should be noted that the mobile actuator is used to execute the movement of consumables. In one embodiment, the molecular diagnostic all-in-one machine may also include a track robot module, which can be used to control the mobile actuator. In one embodiment, the upper computer can also be used directly to control the mobile actuator. In this embodiment, the control of the mobile actuator by the track robot module is used as an example for explanation. Reference Figure 2 , Figure 2 A schematic diagram shows the host computer, experiment execution module, and track-based robotic arm module within the integrated molecular diagnostics system. The experiment execution module includes a cup separation module, an extraction submodule, a system configuration submodule, a lid pressing module, an amplification experiment submodule, and the single-throughput POCT submodule. The extraction submodule includes a 96-throughput extraction submodule and a 16-throughput extraction submodule; the amplification experiment submodule includes a 16-throughput PCR submodule and a 96-throughput PCR submodule.

[0057] It should be noted that the host computer can communicate with the experiment execution module through the LAN interface (local area network interface) to control the orderly execution of the experiment execution module based on the test requirements. In each step of the experiment execution, there are different requirements for the type of consumables, the quantity of consumables, the location of consumables, etc. That is, the demand for consumables is not the same according to different execution progress. The host computer is used to control the execution progress of the experiment execution module, and can determine the demand for consumables based on the current execution progress, thereby generating consumable demand instructions. It can be understood that the consumable demand instructions include relevant information such as the type of consumables, the quantity of consumables, the location of consumables, and the storage location of consumables. The track robot module can parse out the control action that needs to be executed currently by obtaining the consumable demand instructions generated by the host computer based on the execution progress of the experiment execution module, thereby generating relevant control instructions to control the mobile actuator to execute the action and realize the movement of consumables.

[0058] It should be noted that the source consumable area refers to the area where consumables are stored; the first target consumable area refers to the location of the target consumables required in the experiment execution module; and the target consumables refer to the consumables required in the current experiment execution module. In this embodiment, the consumables demand instruction includes the source consumables area and the first target consumables area in the experiment execution module. The track robot module can generate a first control instruction and a second control instruction based on the consumables demand instruction. The first control instruction is used to control the mobile actuator to move to the source consumables area to grab the target consumables; the second control instruction is used to control the mobile actuator that has grabbed the target consumables to move from the source consumables area to the first target consumables area, and control the mobile actuator to release the target consumables in the first target consumables area.

[0059] In this embodiment, a host computer receives a consumables demand instruction generated based on the execution progress of the experiment execution module, and generates a first control instruction and a second control instruction based on the consumables demand instruction. The first control instruction is sent to the mobile actuator to cause the mobile actuator to grab the target consumable in the source consumable area, and the second control instruction is sent to the mobile actuator to cause the mobile actuator to release the target consumable in the first target consumable area. The control instructions determined based on the consumables demand instruction ensure the accuracy of the control of the mobile actuator. By achieving automated movement of consumables, the intelligence of the molecular diagnostic process is enhanced, the workflow is simplified, and work efficiency is improved.

[0060] Specifically, in one embodiment, the consumable demand instruction further includes a source consumable orifice plate number, a consumable type, and a consumable quantity; the first control instruction includes a first track motor control instruction, a first robot control instruction, and a first gripper control instruction; and generating the first control instruction based on the consumable demand instruction includes:

[0061] generating a first track motor control instruction based on the source consumable area;

[0062] Generate a first robot control instruction based on the preset action corresponding to the source consumable orifice plate number and the consumable quantity;

[0063] A first gripper control instruction is generated based on the consumable type, and an action corresponding to the first gripper control instruction is determined to be grasping.

[0064] In the present embodiment, it should be noted that the source consumable area may include multiple consumable orifice plates, and different consumables may be placed in different consumable orifice plates in the same source consumable area. The source consumable orifice plate number can be used to accurately locate the specific consumable orifice plate. The consumable type is the type of consumable required for the current consumable demand, and the consumable quantity is the quantity of consumables required for the current consumable demand. In the present embodiment, the mobile actuator includes a track and a robot arranged on the track, and the robot includes a gripper, wherein the track is used to carry the robot to move, and the robot is used to move to the target position so that the gripper grabs the target consumable. The first control instruction includes a first track motor control instruction, a first robot control instruction, and a first gripper control instruction, which are respectively used to control the track, the robot, and the gripper in the mobile actuator.

[0065] It should be noted that the preset actions corresponding to the source consumable plate numbers are predetermined robot motions based on actual application scenarios. Based on these scenarios, a pre-defined relationship between source consumable plate numbers and preset actions is generated. When the track carrying the robot reaches the source consumable area, the robot determines the preset action to be performed based on the source consumable plate number and executes it.

[0066] Based on the source consumable area, a first track motor control instruction is generated to control the track to run to the source consumable area. Based on the preset action corresponding to the source consumable orifice plate number, the robot is controlled to run to the source consumable orifice plate number, and the robot is accurately positioned on the source consumable orifice plate number based on the number of consumables. Different types of consumables have different properties such as size and weight. Based on the type of consumable, information such as the strength and degree of contraction of the gripper when performing the grasping action can be determined. Based on the type of consumable, a first gripper control instruction is generated, and the action corresponding to the first gripper control instruction is determined to be grasping, which can achieve effective grasping of the target consumable and prevent the consumable from falling.

[0067] In this embodiment, the control instructions of each component in the mobile actuator are determined by the first track motor control instructions, the first robot control instructions and the first gripper control instructions, so as to achieve precise control of the mobile actuator's grasping of consumables and improve the accuracy and effectiveness of the consumable movement.

[0068] In one embodiment, generating a first robot control instruction based on a preset action corresponding to a source consumable orifice plate number and a consumable quantity includes:

[0069] Determine whether there is a target consumable that has been grabbed;

[0070] In the case that there is no grasped target consumable, generating a first robot control instruction based on a preset action corresponding to the initial point position of the source consumable orifice plate number;

[0071] When there is a target consumable that has been grasped and a first quantity of the target consumable that has been grasped is less than the consumable quantity, determining the motion offset value based on the first quantity;

[0072] A first robot control instruction is generated based on the preset action and action offset value corresponding to the initial point position of the source consumable orifice plate number.

[0073] In this embodiment, it should be noted that, in the molecular diagnosis process, there may be multiple target consumables required by some experimental execution modules. For example, for a 16-well plate or a 96-well plate, when acquiring or releasing consumables, it is necessary to grasp or release them at a specific position in the well plate. In this embodiment, in order to save system resources, only the initial point corresponding to the source consumable well plate number is set for such situations. The preset action, that is, after the robot performs the consumable movement action for the initial point, the consumable movement of the remaining points corresponding to the source consumable well plate number needs to increase the action offset value to accurately locate. In one embodiment, the action offset value can be based on the initial point as the origin, and the next point in the source consumable well plate is characterized by the offset amount relative to the initial point, wherein the next point includes the point in the source consumable well plate where the consumable movement has not yet been performed.

[0074] Specifically, determine whether there are target consumables that have been grabbed. If there are no target consumables that have been grabbed, the robot can first start to move the consumables from the initial point of the source consumable orifice plate number. At this time, the first robot control instruction is generated based on the preset action corresponding to the initial point of the source consumable orifice plate number. When there are target consumables that have been grabbed and the first quantity of the target consumables that have been grabbed is less than the quantity of consumables, the initial point of the source consumable orifice plate number has completed the consumables movement. At this time, the robot needs to determine other points based on the initial point to move the consumables. The other points are determined by the action offset value. In this embodiment, the robot can be controlled to execute the consumables movement of each point on the source consumable orifice plate in a certain order. At this time, it is only necessary to determine the first quantity of the target consumables that have been grabbed to locate the next point where the consumables need to be moved. In this embodiment, the action offset value is determined based on the first quantity, and the preset action corresponding to the initial point of the source consumable orifice plate number and the action offset value are combined to generate the first robot control instruction.

[0075] In one embodiment, corresponding preset actions can be pre-set for all points in the source consumable well plate, and each point can be associated with a preset action respectively. The movement of the consumables at each point is directly achieved by controlling the robot to execute the preset action.

[0076] In this embodiment, the precise movement of the multi-point orifice plate consumables is achieved by setting the motion offset value, thereby improving the accuracy of controlling the movement of the robot while saving system resources.

[0077] In one embodiment, the consumables demand instruction further includes a target consumables plate number, the second control instruction includes a second track motor control instruction, a second robot control instruction, and a second gripper control instruction, and generating the second control instruction based on the consumables demand instruction includes:

[0078] generating a second track motor control instruction based on the first target consumable area;

[0079] Generate a second robot control instruction based on a preset action corresponding to the target consumable plate number;

[0080] Determine that the action corresponding to the second gripper control instruction is release.

[0081] In this embodiment, it should be noted that the first target consumable area refers to the location of the target consumables required in the experiment execution module; the target consumable orifice plate number is used to accurately locate the orifice plate position where the target consumables need to be placed in the first target consumable area. After the mobile actuator grabs the target consumables in the source consumable area, it is necessary to control the mobile actuator to release the target consumables in the first target consumable area based on the second control instruction. The second control instruction includes a second track motor control instruction, a second robot control instruction, and a second gripper control instruction, which are respectively used to control the track, robot, and gripper in the mobile actuator.

[0082] Specifically, based on the first target consumable area, a second track motor control instruction is generated to control the track to run to the first target consumable area, and based on the target consumable orifice plate number, the corresponding preset action is found to generate a second robot control instruction for controlling the robot to run to the position corresponding to the target consumable plate orifice number. And the action corresponding to the second gripper control instruction is determined to be release, which can achieve precise placement of the target consumable. It is understandable that for the second robot control instruction, the action offset value can also be determined based on the number of consumables to achieve precise positioning of the robot on the source consumable orifice plate number. The method of determining the action offset value is similar to the method of determining the first robot control instruction, and will not be repeated here.

[0083] In this embodiment, the control instructions of each component in the mobile actuator are determined by the second track motor control instructions, the second robot control instructions and the second gripper control instructions, so as to achieve precise control of the release of consumables by the mobile actuator and improve the accuracy and effectiveness of the consumable movement.

[0084] In one embodiment, the mobile actuator includes a track and a robot disposed on the track, the robot includes a gripper, and sending a first control instruction to the mobile actuator so that the mobile actuator grabs the target consumable in the source consumable area includes:

[0085] sending a first track motor control command to the track;

[0086] When it is determined that the track moves to the source consumable area based on the track motor control instruction, sending a first robot control instruction to the robot to make the robot move based on a preset action;

[0087] When the completion information fed back by the robot based on the first robot control instruction is received, the gripper is controlled to grab the target consumable based on the first gripper control instruction.

[0088] In this embodiment, it should be noted that the mobile actuator includes a track and a robot disposed on the track, and the robot includes a gripper. Figure 3 In one embodiment, the track manipulator module can communicate with the host computer through the RS232 interface to the LAN interface; communicate with the gripper through a group of RS485 interfaces; communicate with the robot in the mobile actuator through a group of RS232 interfaces, and can realize the detection of the robot's operation and fault status through two IO (Input / Output) interfaces, and three IO interfaces respectively control the execution of the robot's reset, start, stop and other actions. In one embodiment, the robot can be an RC90 four-axis robot; the track manipulator module can also control the external track motor through a group of PWM+CW (drive pulse + direction), and connect the zero-crossing detection circuit through the IO interface to realize the status monitoring of the track motor.

[0089] In this embodiment, the determined first track motor control instruction, first robot control instruction, and first gripper control instruction are sent to the track, robot, and gripper, respectively. Specifically, the first track motor control instruction is sent to the track, and after the track moves to the source consumable area based on the track motor control instruction, the first robot control instruction is sent to the robot to cause the robot to move based on the preset action. And upon receiving the completion information fed back by the robot based on the first robot control instruction, the gripper is controlled to grasp the target consumable based on the first gripper control instruction. Effective control of each component of the mobile actuator is achieved, ensuring the accurate grasping of consumables, and improving the automation and intelligence level of the molecular diagnostic all-in-one machine.

[0090] In one embodiment, before the step of sending the first track motor control instruction to the track, the method further includes:

[0091] Control the reset of the gripper based on the gripper origin;

[0092] determining a first track reset instruction based on the track origin;

[0093] Obtain the real-time location of the robot and determine whether the robot is in a safe movement area based on the real-time location;

[0094] When the robot is in a safe moving area, controlling the track reset based on a first track reset instruction;

[0095] When the robot is not in the safe moving area, a second track reset instruction is generated based on a preset reversing position;

[0096] Controlling the track to move to a preset reversing position based on the second track reset instruction, and controlling the robot to reset;

[0097] After the robot is reset, the track is reset based on the first track reset instruction.

[0098] In this embodiment, it should be noted that before the mobile actuator executes the first control instruction, it is necessary to reset the various components of the mobile execution structure to avoid the mobile actuator from colliding with experimental equipment during movement due to the components that have not been reset, or to avoid the inability to effectively control the mobile actuator. In this embodiment, reset control is performed separately for each component in the mobile actuator. The jaw origin represents the default state of the jaw, and the reset control of the jaw is achieved based on the jaw origin. The track origin represents the default position of the track, and the first track reset instruction is generated based on the track origin, which can be used to control the track to return to the track origin. The mobile safety area refers to the position of the robot that will not affect the movement of the track during the track movement. If the robot is not in the mobile safety area, then in the process of controlling the track to return to the track origin, the robot is very likely to collide with other experimental equipment or consumables to varying degrees. Therefore, before the control track executes the first track reset instruction, it is necessary to ensure that the robot is in the mobile safety area.

[0099] Specifically, the real-time position of the robot is obtained, and based on the real-time position, it is determined whether the robot is in a safe area for movement. When the robot is in a safe area for movement, the track is reset based on the first track reset instruction. When the robot is not in a safe area for movement, a second track reset instruction is generated based on a preset reversing position. The second track reset instruction is used to control the track to move to a preset reversing position. The second track reset instruction is sent to the track to move the track to the preset reversing position and control the robot to reset. The space required for the robot to reset may be relatively large, and the preset reversing position refers to an area where the robot can be safely reset. In one embodiment, all experimental execution modules of the molecular diagnostic all-in-one machine may be on the same side of the robot. In order to avoid collision between the robot and the experimental execution module during track reset, the robot can be controlled to reverse and complete the reset in the preset reversing area. After the robot is reset, the track is reset based on the first track reset instruction.

[0100] In this embodiment, the risk of movement collision of the mobile actuator is reduced by resetting the mobile actuator, and the ability to accurately control the mobile actuator is improved, further improving the intelligence level of the molecular diagnosis process.

[0101] In one embodiment, the consumables movement control method further includes:

[0102] Receiving a consumables discard instruction generated by the host computer based on the execution progress of the experiment execution module, wherein the consumables discard instruction includes a consumables discard area and a second target consumables area in the experiment execution module;

[0103] generating a third control instruction and a fourth control instruction based on the consumables discard instruction;

[0104] Sending a third control instruction to the mobile actuator to enable the mobile actuator to grab the consumables to be discarded in the second target consumable area;

[0105] The fourth control instruction is sent to the mobile execution mechanism to enable the mobile execution mechanism to release the consumables to be discarded in the consumables discarding area.

[0106] In this embodiment, it should be noted that the host computer is used to control the execution progress of the experiment execution module and can determine the degree of consumables usage based on the current execution progress, thereby generating a consumables discard instruction. It is understandable that the consumables discard instruction includes relevant information such as the type of consumables to be discarded, the number of consumables, the current location of the consumables, and the location where the consumables are discarded. The track robot module can parse the control action that needs to be executed by obtaining the consumables discard instruction generated by the host computer based on the execution progress of the experiment execution module, thereby generating relevant control instructions to control the mobile actuator to execute the action and realize the movement of consumables.

[0107] It should be noted that the consumables discarding area refers to the target area for storing consumables to be discarded, and the consumables need to be discarded to the consumables discarding area after use; the second target consumables area refers to the location in the experiment execution module where consumables need to be discarded; discarded consumables refer to consumables that have been used up in the current experiment and need to be discarded. In this embodiment, the consumables discarding instruction includes the consumables discarding area and the second target consumables area in the experiment execution module. The track robot module can generate a third control instruction and a fourth control instruction based on the consumables discarding instruction. Among them, the third control instruction is used to control the mobile actuator to move to the second target consumables area to grab the discarded consumables; the fourth control instruction is used to control the mobile actuator that has grabbed the discarded consumables to move from the second target consumables area to the consumables discarding area, and control the mobile actuator to release the discarded consumables in the consumables discarding area. It can be understood that the method of generating the third control instruction and the fourth control instruction based on the consumables discard instruction is similar to the method of generating the first control instruction and the second control instruction based on the consumables demand instruction. The difference between the two is mainly reflected in the direction of movement of the mobile actuator and the target of grasping and releasing. The specific steps of generating the third control instruction and the fourth control instruction based on the consumables discard instruction can refer to the method of generating the first control instruction and the second control instruction based on the consumables demand instruction, and will not be repeated here.

[0108] In this embodiment, the accuracy of the control of the mobile actuator is ensured by determining the control instructions based on the consumables discarding instructions, and by realizing the automated movement of consumables discarding, the intelligence of the molecular diagnosis process is improved, the workflow is simplified, and work efficiency is further improved.

[0109] An embodiment of the present application provides a machine-readable storage medium having instructions stored thereon, the instructions being used to enable a machine to execute the method for controlling the movement of consumables as described in the above embodiment.

[0110] An embodiment of the present application provides a computing device, comprising: a memory, a processor, and a program stored in the memory and executable on the processor, wherein the program is configured to implement the consumables movement control method as described in the above embodiment.

[0111] Those skilled in the art will appreciate that the embodiments of the present application can be provided as methods, systems, or computer program products. Therefore, the present application can adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment in combination with software and hardware. Moreover, the present application can adopt the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to magnetic disk storage, CD-ROM, optical storage, etc.) that contain computer-usable program code.

[0112] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the steps in the process. Figure 1 a process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0113] These computer program instructions may also be stored in a computer readable memory that can direct a computer or other programmable data processing device to work in a specific manner, so that the instructions stored in the computer readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 a process or multiple processes and / or boxes Figure 1 The function specified in one or more boxes.

[0114] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operational steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing the instructions executed on the computer or other programmable device for implementing the process. Figure 1 a process or multiple processes and / or boxes Figure 1 A step that specifies a function in one or more boxes.

[0115] In a typical configuration, a computing device includes one or more processors (CPUs), input / output interfaces, network interfaces, and memory.

[0116] The memory may include non-permanent memory in a computer-readable medium, random access memory (RAM) and / or non-volatile memory in the form of read-only memory (ROM) or flash RAM. The memory is an example of a computer-readable medium.

[0117] Computer-readable media includes permanent and non-permanent, removable and non-removable media that can be implemented by any method or technology to store information. The information can be computer-readable instructions, data structures, program modules or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, compact disc read-only memory (CD-ROM), digital versatile disc (DVD) or other optical storage, magnetic cassettes, magnetic tape, magnetic disk storage or other magnetic storage devices or any other non-transmission media that can be used to store information that can be accessed by a computing device. As defined herein, computer-readable media does not include transitory computer-readable media (transitory media), such as modulated data signals and carrier waves.

[0118] It should also be noted that the terms "comprises," "includes," or any other variations thereof are intended to encompass non-exclusive inclusion, such that a process, method, commodity, or apparatus that includes a series of elements includes not only those elements but also other elements not explicitly listed, or includes elements inherent to such process, method, commodity, or apparatus. In the absence of further limitations, an element defined by the phrase "comprises a ..." does not exclude the presence of other identical elements in the process, method, commodity, or apparatus that includes the element.

[0119] The above are merely embodiments of the present application and are not intended to limit the present application. For those skilled in the art, the present application may have various changes and variations. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present application should all be included within the scope of the claims of the present application.

Claims

1. A method for controlling the movement of consumables, characterized in that: Applied to a molecular diagnostic all-in-one machine, the molecular diagnostic all-in-one machine includes a host computer, an experiment execution module and a mobile execution mechanism, the host computer is used to control the execution progress of the experiment execution module, and the consumables movement control method includes: receiving a consumables demand instruction generated by the host computer based on the execution progress of the experiment execution module, wherein the consumables demand instruction includes a source consumables area and a first target consumables area in the experiment execution module; generating a first control instruction and a second control instruction based on the consumables demand instruction; Sending the first control instruction to the mobile actuator to enable the mobile actuator to grab the target consumable in the source consumable area; The second control instruction is sent to the movement execution mechanism, so that the movement execution mechanism releases the target consumable in the first target consumable area.

2. The consumables movement control method according to claim 1, characterized in that: The experiment execution module includes at least one of a cup division module, an extraction submodule, a system configuration submodule, a lid pressing module or an amplification experiment submodule.

3. The consumables movement control method according to claim 1, characterized in that: The consumables demand instruction also includes a source consumable orifice plate number, a consumable type, and a consumable quantity. The first control instruction includes a first track motor control instruction, a first robot control instruction, and a first gripper control instruction. Generating the first control instruction based on the consumables demand instruction includes: generating a first track motor control instruction based on the source consumable area; generating a first robot control instruction based on the preset action corresponding to the source consumable orifice plate number and the consumable quantity; The first gripper control instruction is generated based on the consumable type, and the action corresponding to the first gripper control instruction is determined to be grasping.

4. The consumables movement control method according to claim 3, characterized in that: The generating of the first robot control instruction based on the preset action corresponding to the source consumable orifice plate number and the consumable quantity includes: Determine whether there is a target consumable that has been grabbed; In the case that there is no grasped target consumable, generating a first robot control instruction based on a preset action corresponding to the initial point position of the source consumable orifice plate number; When there is a target consumable that has been grasped and a first quantity of the target consumable that has been grasped is less than the consumable quantity, determining the motion offset value based on the first quantity; A first robot control instruction is generated based on the preset action corresponding to the initial point position of the source consumable orifice plate number and the action offset value.

5. The consumables movement control method according to claim 3, characterized in that: The mobile actuator includes a track and a robot disposed on the track, the robot includes a gripper, and sending the first control instruction to the mobile actuator so that the mobile actuator grabs the target consumable in the source consumable area includes: sending the first track motor control instruction to the track; When it is determined that the track moves to the source consumable area based on the track motor control instruction, sending the first robot control instruction to the robot to make the robot move based on the preset action; When receiving the completion information fed back by the robot based on the first robot control instruction, the gripper is controlled to grasp the target consumable based on the first gripper control instruction.

6. The consumable material movement control method according to claim 5, characterized in that: Before the step of sending the first track motor control instruction to the track, the method further includes: Controlling the reset of the gripper based on the gripper origin; determining a first track reset instruction based on the track origin; Obtaining a real-time position of the robot, and determining whether the robot is in a safe movement area based on the real-time position; When the robot is in the movement safety area, controlling the track to be reset based on the first track reset instruction; generating a second track reset instruction based on a preset reversing position when the robot is not in the movement safety area; Controlling the track to move to the preset reversing position based on the second track reset instruction, and controlling the robot to reset; After the robot is reset, the track is controlled to be reset based on the first track reset instruction.

7. The consumables movement control method according to claim 1, characterized in that: The consumables demand instruction also includes a target consumables orifice plate number, the second control instruction includes a second track motor control instruction, a second robot control instruction, and a second gripper control instruction, and the second control instruction is generated based on the consumables demand instruction, including: generating a second track motor control instruction based on the first target consumable area; Generate a second robot control instruction based on a preset action corresponding to the target consumable orifice plate number; Determine that the action corresponding to the second gripper control instruction is release.

8. The consumables movement control method according to claim 1, characterized in that: The consumables movement control method further includes: receiving a consumables discard instruction generated by the host computer based on the execution progress of the experiment execution module, wherein the consumables discard instruction includes a consumables discard area and a second target consumables area in the experiment execution module; generating a third control instruction and a fourth control instruction based on the consumables discard instruction; Sending the third control instruction to the mobile actuator to enable the mobile actuator to grab the consumables to be discarded in the second target consumable area; The fourth control instruction is sent to the movement execution mechanism, so that the movement execution mechanism releases the consumables to be discarded in the consumables discarding area.

9. A machine-readable storage medium having instructions stored thereon, the instructions being used to enable a machine to execute the method for controlling the movement of consumables according to any one of claims 1 to 8.

10. A computing device, characterized in that include: A memory, a processor, and a program stored in the memory and executable on the processor, wherein the program is configured to implement the consumables movement control method according to any one of claims 1 to 8.

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