Auxiliary signing system and method for sample introduction

Abstract

The invention discloses an auxiliary signing system and method for sample introduction. The system comprises an array track assembly, a sample discharge track assembly, a mechanical assembly, a collection assembly and an identification assembly, the array track assembly comprises an array track and a positioning clamping base arranged on the array track. The sample discharging track assembly comprises a sample discharging track and a sample discharging frame arranged on the sample discharging track; the positioning and clamping base and the sample discharging frame are both used for placing sample tubes; the mechanical assembly comprises a mechanical arm and a mechanical arm clamping jaw; the mechanical arm clamping jaw moves along the mechanical arm, and at least one part of the positioning clamping base and at least one part of the sample discharging frame are located on the plane where the movement path of the mechanical arm clamping jaw is located; the acquisition assembly is used for acquiring sample information of a sample tube; the recognition assembly is used for classifying and signing for the sample tubes according to the sample information, generating a moving instruction and sending the moving instruction to the mechanical arm clamping jaw; the mechanical arm clamping jaw is used for moving the sample tubes to the corresponding classification area of the sample discharging frame. According to the invention, automatic sample introduction and signing can be realized.

Description

Technical Field

[0001] This invention relates to the field of medical testing technology, and in particular to an auxiliary system and method for sample introduction and receipt. Background Technology

[0002] In the field of medical testing, before samples are processed for analysis, staff typically need to sign for them. This signing may involve checking the integrity of the sample container, the clarity of labeling, the adequacy of the sample quantity, and whether the transportation conditions meet requirements. Furthermore, the signatory needs to record the receipt time, location, and condition of the samples, and may use numbering or barcode scanning for traceability. Additionally, the signatory may need to consider how to handle abnormal situations, such as sample leakage, unclear labeling, or samples that do not meet requirements, for example, by rejecting the sample and notifying the sender. Finally, the signed-for samples may need to be sorted according to different testing procedures and temporarily stored according to prescribed preservation conditions until they are processed for analysis.

[0003] Currently, sample tube receipt in hospitals typically relies on the recipient voluntarily inserting the sample tubes into the collection rack, with staff periodically signing for the tubes. However, this process often lacks timely verification and accurate recording of whether the recipient correctly retained the sample, or when and where the sample was taken. Furthermore, this manual process places a heavy workload on staff and is prone to errors, frequently resulting in lost samples.

[0004] Therefore, how to overcome the shortcomings of existing technologies and solve the problem of large workload and easy error in manual signing of sample tubes is a problem to be solved in this technical field. Summary of the Invention

[0005] This invention provides an auxiliary receipt system for sample introduction, which can realize automated sample introduction and automated receipt, reduce manual operation steps, and reduce the probability of human operation errors. The system includes: an array track assembly, a sample dispensing track assembly, a mechanical assembly, a data acquisition assembly, and an identification assembly. The array track assembly includes an array track and multiple positioning clamping bases disposed on the array track; the sample dispensing track assembly includes a sample dispensing track and multiple sample dispensing racks disposed on the sample dispensing track; both the positioning clamping bases and the sample dispensing racks are used to place sample tubes; The mechanical component includes a robotic arm and robotic arm grippers disposed on the robotic arm; The robotic arm gripper moves along the robotic arm, and at least a portion of the positioning and gripping base and at least a portion of the sample ejector are located on the plane of the movement path of the robotic arm gripper. The acquisition component is used to: acquire sample information of the sample tube when the robotic arm moves the sample tube by the robotic arm gripper; The identification component is used to: classify and sign off on sample tubes according to sample information, and generate a movement command based on the classification and signing results and send it to the robotic arm gripper. The robotic arm gripper is used to move the sample tube to the corresponding classification area in the sample rack movement command after receiving a movement command.

[0006] This invention also provides an auxiliary method for sample injection and acceptance, applied to the identification component in the aforementioned system. This method enables automated sample injection and acceptance, reducing manual operation steps and lowering the probability of human error. The method includes: The sample information collected by the acquisition component is obtained, and the sample information is feature extracted. The sample information is collected by the acquisition component while the sample tube is in motion. Specifically, when the positioning clamping base on which the sample tube is placed is transported to the clamping position, the sample tube is clamped by the robotic arm gripper, and the array track transports the positioning clamping base. The features are compared with a preset standard model, and the samples in the sample tube are judged to be qualified based on the comparison results. Once the samples are deemed qualified, they are categorized and signed for, and a movement instruction is generated, which includes a categorization identifier. The movement command is sent to the robotic arm gripper so that the robotic arm gripper moves the sample tube to the sample exit track and places the sample tube into the classification area corresponding to the classification mark in the sample exit rack.

[0007] This invention also provides a computer device, including a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, it implements the above-mentioned auxiliary receipt method for sample introduction.

[0008] This invention also provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the above-described auxiliary receipt method for sample introduction.

[0009] This invention also provides a computer program product, which includes a computer program that, when executed by a processor, implements the above-mentioned auxiliary receipt method for sample introduction.

[0010] The solution proposed in this embodiment of the invention can achieve the following beneficial effects: I. Achieve full automation of sample classification process and reduce labor costs. Compared to the traditional method of sample tube sorting that relies on manual handling, verification, and classification, the positioning and clamping base of the array track assembly in this application can carry sample tubes to be processed in batches. The identification component automatically completes the sample information classification and receipt and issues instructions, and the robotic arm gripper completes the precise transfer of sample tubes according to the instructions, without any manual intervention. This not only significantly reduces the labor intensity of medical staff or operators, but also avoids fatigue errors that may occur in manual operation, and reduces labor costs, making it particularly suitable for scenarios with large sample volumes, such as hospitals and testing institutions.

[0011] II. Improve the accuracy of sample transport and classification, and reduce errors and losses.

[0012] On the one hand, the positioning clamping base and sample ejection rack can stably limit the placement of sample tubes, preventing them from shaking or tipping over during transport and preventing leakage or contamination of the samples inside. On the other hand, the movement path of the robotic arm gripper covers the core operating area. Combined with the precise movement commands generated by the recognition component based on sample information, it can achieve precise docking between the sample tubes and the corresponding classification areas of the sample ejection rack. This effectively avoids the problems of misplacement and omission that are prone to occur during manual classification, ensuring the accuracy of sample classification and receipt, and providing reliable guarantees for subsequent testing and other processes.

[0013] III. Optimize work processes and improve overall work efficiency

[0014] The array track enables batch placement of sample tubes via multiple positioning clamping bases, while the sample unloading rack centrally stores the sorted sample tubes. Combined with the efficient movement and transport of the robotic arm grippers, this significantly reduces the overall time required for sample placement, information collection, and sorting. The collaborative operation of all components eliminates the need for manual handover, creating a continuous workflow. Compared to traditional decentralized sample processing methods with high manual intervention, this significantly improves the overall throughput of sample processing, helping relevant institutions enhance service efficiency.

[0015] IV. The components are rationally laid out, highly adaptable, and easy to maintain.

[0016] Each component has a clearly defined function and an independent structure. The design of the array track and sample dispensing track can flexibly adapt to the storage needs of sample tubes of different sizes. The combination of the robotic arm and grippers also facilitates the adjustment of motion parameters according to the actual scenario. At the same time, the modular structural design allows individual components, such as the robotic arm grippers and positioning clamping base, to be repaired or replaced individually when they malfunction, without the need for overall maintenance. This reduces the impact of equipment failure on operations and lowers maintenance costs and downtime losses.

[0017] V. Standardize sample management to facilitate traceability and control.

[0018] The comprehensive collection of sample information by the acquisition component, along with the classification and acceptance function of the identification component, creates a complete record of sample flow. The destination of each sample tube can be traced through relevant information, facilitating quick access to sample status and location for staff and enabling standardized sample management. This traceability not only helps solve problems such as sample loss and confusion but also meets the compliance requirements of the testing and medical fields for controllable sample flow processes. Attached Figure Description

[0019] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort. In the drawings: Figure 1 This is a schematic diagram of the auxiliary receipt system for sample injection in an embodiment of the present invention; Figure 2 A top view of the auxiliary receipt for sample injection provided in an embodiment of the present invention; Figure 3 This is a schematic diagram of the first window and the second window in an embodiment of the present invention; Figure 4 This is a schematic diagram of the structure of the first positioning clamping base in the embodiments of this invention; Figure 5 This is a schematic diagram of the structure of the second positioning clamping base in the embodiments of this invention; Figure 6 This is a schematic diagram of the shock-absorbing spring arrangement in an embodiment of the present invention; Figure 7 This is a schematic diagram illustrating the automatic return of misplaced samples in an embodiment of the present invention; Figure 8 This is a schematic diagram of the third window in an embodiment of the present invention; Figure 9 This is a schematic diagram of the abnormal sample diversion track arrangement in an embodiment of the present invention; Figure 10 This is a flowchart of the auxiliary receipt process for sample injection in an embodiment of the present invention; Figure 11 This is a schematic diagram of a computer device in an embodiment of the present invention. Detailed Implementation

[0020] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the embodiments of the present invention will be further described in detail below with reference to the accompanying drawings. Here, the illustrative embodiments of the present invention and their descriptions are used to explain the present invention, but are not intended to limit the present invention.

[0021] Figure 1 This is a schematic diagram of the auxiliary receipt system for sample introduction in an embodiment of the present invention. Figure 2 A top view of the auxiliary receipt for sample introduction provided in an embodiment of the present invention includes: an array track assembly, a sample exit track assembly, a mechanical assembly, a data acquisition assembly, and an identification assembly; The array track assembly includes an array track 1 and a plurality of positioning clamping bases 6 disposed on the array track 1; the sample dispensing track assembly includes a sample dispensing track 2 and a plurality of sample dispensing racks 7 disposed on the sample dispensing track 2; the positioning clamping bases 6 and the sample dispensing racks 7 are both used to place sample tubes; The mechanical component includes a robotic arm 3 and a robotic arm gripper 4 disposed on the robotic arm 3; The robotic arm gripper 4 moves along the robotic arm 3, and at least a portion of the positioning and holding base 6 and at least a portion of the sample ejector 7 are located on the plane of the movement path of the robotic arm gripper 4. The acquisition component is used to: acquire sample information of sample tube 5 when the robotic arm 3 moves the sample tube 5 by the robotic arm gripper 4; The identification component is used to: classify and sign off on the sample tube 5 according to the sample information, and generate a movement command based on the classification and signing result and send it to the robotic arm gripper 4. The robotic arm gripper 4 is used to move the sample tube 5 to the corresponding classification area in the sample rack 7 after receiving a movement command.

[0022] In this embodiment of the invention, the acquisition components include a visual camera 8 and an optical sensor 9.

[0023] By adopting the above technical solution, based on the cooperation of array track 1, sample exit track 2 and robotic arm gripper 4, the clamping and transportation of sample tube 5 can be realized; based on the cooperation of robotic arm gripper 4, vision camera 8 and optical sensor 9, during the process of clamping and transporting sample tube 5 by robotic arm gripper 4, the information of sample tube 5 can be obtained by the acquisition component, and then the identification component can classify and sign off on sample tube 5 according to the information of sample tube 5, thereby realizing automated sample entry and exit and automated signing off, reducing manual operation steps and reducing the probability of human operation error.

[0024] In one embodiment, the array track 1 includes a first array track 101 and a second array track 102; The first array track 101 and the second array track 102 are circular tracks, and a portion of each is located on the plane of the movement path of the robotic arm gripper 4.

[0025] By adopting the above technical solution, using two tracks, the first array track 101 and the second array track 102, to carry the sample tube 5 respectively, it is possible to collect and transport different samples separately. For example, if the objects for sample collection are at different locations, the two tracks can respectively correspond to the collection and transport of samples at different locations. At the same time, setting the two tracks as a ring, with a portion of each track located on the plane of the movement path of the robotic arm gripper 4, can save space as much as possible without hindering the robotic arm gripper 4 from grasping the sample tube 5.

[0026] Figure 3 This is a schematic diagram of the first window and the second window in an embodiment of the present invention. In one embodiment, it further includes a first window 10 and a second window 11 for inserting the sample tube 5. The first array track 101 is located at least part of the first window 10, and the second array track 102 is located at least part of the second window 11.

[0027] By adopting the above technical solution, the first window 10 and the second window 11 can be located in different positions, such as different locations of the sampling object; at the same time, at least a part of the track is located at the window, which makes it convenient for the sampling object to insert the sample tube 5 into the positioning clamping base 6 on the track.

[0028] Figure 4 This is a schematic diagram of the structure of the first positioning clamping base in the embodiments of this invention. In one embodiment, the positioning clamping base 6 includes a guide wedge 601 and a buffer ring 602 disposed on the inner wall of the guide wedge 601. The guide wedge 601 has a hollow center and its inner diameter matches the outer diameter of the sample tube 5.

[0029] By adopting the above technical solution, the sample tube 5 can be conveniently inserted into the guide wedge 601, and the vibration of the sample tube 5 during transmission can be reduced by the buffer ring 602.

[0030] Figure 5 This is a schematic diagram of the structure of the second positioning clamping base in the embodiments of this invention. In one embodiment, the positioning clamping base 6 further includes a base plate 603 and a first clamping arm 604 and a second clamping arm 605 disposed opposite to each other on the base plate 603. Pressure sensors 606 are provided on the inner walls of the first clamping arm 604 and the second clamping arm 605. A telescopic motor 607 is provided on the outer side of the first clamping arm 604, and the output end of the telescopic motor 607 is connected to the outer side of the first clamping arm 604. The substrate 603 is provided with a slide rail 608 for the first clamping arm 604 to slide. Two baffles 609 are also disposed opposite to each other on the substrate 603. The two baffles 609, together with the first clamping arm 604 and the second clamping arm 605, form a limiting space for the sample tube 5.

[0031] By adopting the above technical solution, the pressure sensor 606, the telescopic motor 607 and the slide rail 608 can be used to detect the pressure between the clamping arm and the sample tube 5. In this way, when facing sample tubes of different sizes, the clamping force of the clamping arm can be automatically adjusted to make the clamping arm clamp the sample tube 5 more secure.

[0032] In one embodiment, the first clamping arm 604 and the second clamping arm 605 are made of shape memory alloy material and have a wavy inner wall.

[0033] By adopting the above technical solution, the sample tube 5 is clamped by a wave-shaped clamping arm made of shape memory alloy material, which can adapt to sample tubes of different shapes and specifications.

[0034] Figure 6 This is a schematic diagram of the shock-absorbing spring arrangement in an embodiment of the present invention. In one embodiment, a plurality of shock-absorbing springs 610 are arranged below the substrate 603.

[0035] By adopting the above technical solution, a shock-absorbing spring is set at the bottom of the substrate 603 to reduce the shaking of the sample tube during transmission.

[0036] Figure 7 This is a schematic diagram of the automatic return of misplaced samples in an embodiment of the present invention. In one embodiment, an electric door 611 is provided on the substrate 603, a weight sensor 612 is provided on the electric door 611, an infrared sensor 613 is provided on the baffle 609, and an inclined slide 614 is provided below the substrate 603.

[0037] By adopting the above technical solution, the sample tube 5 can be simply detected for misplacement based on the weight sensor 612 and the infrared sensor 613, and the misplaced sample can be automatically returned in conjunction with the electric door 611 and the inclined slide 614 below.

[0038] Figure 8 This is a schematic diagram of a third window in an embodiment of the present invention. In one embodiment, the system further includes a third window 12. At least a portion of the sampling track 2 is located at the third window 12, and a human-computer interaction component 13 is also provided at the third window 12; The human-computer interaction component 13 is used to store, query, or provide voice prompts for the classification and acceptance results and sample information.

[0039] By adopting the above technical solution, a third window 12 can be set up in the staff's work area. The staff only needs to transfer the sample tube 5 transported from the sample exit track 2 at the third window 12 so that it can be tested in the next step. As for the receipt of the sample tube 5, it has been completed in the previous transportation process. The staff can view the receipt record through the human-computer interaction component 13. The human-computer interaction component 13 can also issue different prompts to remind the staff when the receipt is completed or when there is an abnormality in the receipt.

[0040] Figure 9 This is a schematic diagram of the abnormal sample diversion track arrangement in an embodiment of the present invention. In one embodiment, the system further includes an abnormal track component. The abnormal track assembly includes an abnormal sample diversion track 14, an abnormal sample discharge track 15, an abnormal sample robotic arm 17, and an abnormal sample robotic arm gripper 18. The abnormal sample discharge track 15 is located between the discharge track 2 and the second array track 102. The abnormal sample discharge track 15 is located between the abnormal sample diversion track 14 and the first array track 101. The abnormal sample discharge rack 16 is located on the abnormal sample discharge track 15.

[0041] An abnormal sample robotic arm 17 and an abnormal sample robotic arm gripper 18 are installed above the abnormal sample discharge track 15 and the abnormal sample diversion track 14.

[0042] In one embodiment, the identification component is used for: Feature extraction is performed on the sample information; The features are compared with the preset standard model, and the samples in sample tube 5 are judged to be qualified based on the comparison results. Once the samples are deemed qualified, they are categorized and signed for, and a movement instruction is generated, which includes a categorization identifier.

[0043] In one embodiment, the acquisition component includes a visual camera 8 and an optical sensor 9; The sample information includes images acquired by the visual camera 8 and status information acquired by the optical sensor 9; The features include the sample tube body code and sample liquid level extracted from the image, and the transmittance extracted from the status information.

[0044] By adopting the above technical solution, the identification component can compare the relevant features of the tube barcode, sample liquid level and sample status with the preset qualified model. If the deviation is within the preset threshold, it is judged as qualified, and qualified samples are classified and signed for according to different sample types. If the deviation is not within the preset threshold, it means that the collected sample is unqualified and can be directly classified into the unqualified category.

[0045] In one embodiment, the acquisition component further includes a weight sensor and an infrared sensor 613; The sample information includes the sample weight collected by the weight sensor and the sample characteristics collected by the infrared sensor 613; The identification component is used for: The sample weight and sample characteristics are compared with a preset standard model, and the sample is determined to be a preset type of sample based on the comparison results. When the sample is not a preset type of sample, the sample is determined to be a misplaced sample, and an opening command is sent to the electric door 611 so that after the electric door 611 is opened, the sample is returned from the slide rail 614.

[0046] In one embodiment, the identification component is used for: When a sample is determined to be non-compliant, a sample discharge command is generated and sent to the robotic arm gripper 4, so that the robotic arm gripper 4 places the sample tube 5 of the non-compliant sample on the abnormal sample diversion track 14. After the abnormal sample diversion track 14 transports the sample tube 5 to the corresponding position of the abnormal sample robotic arm gripper 18, the abnormal sample robotic arm gripper 18 picks up the sample tube 5 and transfers it to the abnormal sample discharge rack 16. After the abnormal sample discharge rack 16 is full, the sample is discharged through the abnormal sample discharge track 15.

[0047] In one embodiment, the system further includes a disinfection component for: Before the sample tube 5 is transferred to the recognition component, the sample tube 5 is disinfected.

[0048] In this embodiment of the invention, the disinfection component includes an ultraviolet disinfection lamp and an atomizing disinfection nozzle. The sample tube passes through a disinfection channel before being transferred to the identification component; the disinfection time and dosage are automatically adjusted according to the sample type. This method can compensate for the lack of disinfection in the sample pretreatment stage of existing technologies and reduce the risk of laboratory biocontamination.

[0049] In one embodiment, the system further includes a display component for: The position of the sample in the physical orbit and virtual space is mapped in real time using a three-dimensional digital twin model.

[0050] The aforementioned sample flow visualization system based on digital twins enables the display of a complete animation of the sample's journey from placement to shelving via a VR interactive interface, and supports historical data playback and anomaly point location. This method visualizes abstract sample flow data, facilitating management personnel to monitor the device's operational status and quickly locate transmission faults.

[0051] In one embodiment, the identification component is further configured to: When the priority of the sample tube body code is urgent, a priority processing command is sent to the robotic arm 3 so that the robotic arm 3 can transport the sample tube 5 to the top layer of the sample rack.

[0052] In the above embodiments, a dedicated channel for emergency samples can be set up in the sorting and shelving mechanism. A priority algorithm is triggered by the emergency identification mark (such as a red barcode prefix) in the sample tube's code. The robotic arm prioritizes transporting emergency samples to the top of the sample rack and issues an urgency prompt via a voice module. This method optimizes the sample testing process and shortens the turnaround time for emergency samples (by 50% compared to traditional processes).

[0053] In this embodiment of the invention, a speech recognition engine can be integrated into the human-computer interaction component to support natural language queries (such as "query Zhang San's urine sample status"). Semantic analysis is used to convert voice commands into data retrieval requests, and the results are returned in text and image format. This approach improves the ease of use for medical staff and reduces the time cost of manually inputting queries.

[0054] In this embodiment of the invention, the flow of people around the device can be detected by an infrared sensor, and the device can be automatically switched to an energy-saving mode (such as low-speed track operation and intermittent component hibernation) during off-peak hours. Combined with the hospital's pre-set peak hours according to the work schedule, the device can be woken up in advance to enter full-speed operation. This method can reduce the device's standby power consumption (energy saving rate ≥30%) while ensuring processing efficiency during peak hours.

[0055] Example 1

[0056] refer to Figure 1 and Figure 2 In the sample injection auxiliary receipt system, the array track 1 is provided with multiple positioning clamping bases 6 for placing sample tubes 5, and the sample dispensing track 2 is provided with multiple sample dispensing racks 7 for placing sample tubes 5. The array track 1 includes a first array track 101 and a second array track 102, which are circular tracks with one side of each track lying on a straight line. The robotic arm gripper 4 moves along the robotic arm 3, and the first array track 101 and the second array track 102 are on the plane of movement of the robotic arm gripper 4, so that at least a part of the positioning clamping base 6 and at least a part of the sample ejection frame 7 of each array track are on the plane of movement path of the robotic arm gripper 4; then, clamping points of the two tracks can be set on the side of the first array track 101 and the second array track 102 that are on the same straight line, so that after the robotic arm gripper 4 moves to the upper part of the corresponding clamping point, it falls down to the clamping point, clamps the sample tube 5 on the positioning clamping base 6, and rises again, and then drives the sample tube 5 to move to the sample ejection frame 7 of the sample ejection track 2, completing the transfer and transportation of the sample tube 5.

[0057] In the above scheme, the combination of array track 1, sample dispensing track 2, and robotic arm gripper 4 enables the clamping and transportation of sample tube 5. Furthermore, using two tracks, the first array track 101 and the second array track 102, to carry the sample tube 5 separately allows for the separate collection and transport of samples from different target objects. For example, if different objects are located in different positions, the two tracks can each correspond to the collection and transport of different target objects. Simultaneously, setting the two tracks as a ring, with a portion of each track located on the plane of the robotic arm gripper 4's movement path, saves space as much as possible without hindering the robotic arm gripper 4 from grasping the sample tube 5.

[0058] It should be noted that the robotic arm gripper 4 can be a common two-jaw, three-jaw, or four-jaw gripper, as long as it has the functions of moving along the robotic arm 3, rising and falling, gripping, and rotating. Existing robotic arm grippers can basically meet the requirements. The array track 1, sample delivery track 2, and other tracks can also be common transport tracks on the market, as long as they can complete the transport function. The specific structures of the robotic arm gripper 4, array track 1, and sample delivery track 2 are existing technologies and will not be described in detail here.

[0059] In some embodiments, a vision camera 8 and an optical sensor 9 for acquiring sample information from the sample tube 5 are provided on one side of the robotic arm gripper 4. In addition to the gripper part that can move up and down, the robotic arm gripper 4 also includes a mounting base part. The vision camera 8 and the optical sensor 9 can be fixed at the mounting base part of the robotic arm gripper 4 and face the gripper. When the gripper picks up the sample tube 5, it drives the sample tube 5 to rotate ±90° or ±180° so that the vision camera 8 and the optical sensor 9 can acquire sample information from various angles of the sample tube 5. The sample information can be an image.

[0060] Furthermore, the visual camera 8 and optical sensor 9 are connected to an identification component, which is used to classify and sign off on the sample tubes 5 based on the sample information. If the sample information is an image, specifically, the identification component extracts features such as sample tube body encoding (including target object information, signing time, signer, signing location, etc.), sample liquid level, and sample state from images of the sample tubes 5 from multiple angles. By comparing the extracted features with a preset standard model, the component determines whether the sample is qualified and classifies and signs off on the samples. During feature comparison, a deviation threshold can be preset (e.g., 50%, which is adjusted according to the actual feature comparison items). If the deviation is within the preset threshold, the sample is judged as qualified and can proceed to subsequent machine testing. Qualified samples are classified and signed off according to their different types. If the deviation is not within the preset threshold, the collected sample is unqualified and can be directly classified into the unqualified category. An unqualified record is kept, and staff are reminded to notify the target object that the sample is unqualified and needs to be replaced. Categorized acceptance includes classification labels such as sample type, distinction of inspection items, and distinction of different target object types. The specific classification labels are determined according to the needs and are not limited here.

[0061] Finally, the robotic arm gripper 4 moves the sample tubes 5 to the corresponding classification area of ​​the sample dispensing rack 7 according to the classification and acceptance results. The sample dispensing rack 7 can be adjusted in position via the sample dispensing track 2 to meet placement requirements. The sample dispensing rack 7 can be divided into different classification areas to correspond to different classification labels. When a certain area is full of sample tubes 5, the sample dispensing rack 7 can be pushed out via the sample dispensing track 2, reminding staff to collect and transfer the accepted sample tubes 5. Simultaneously, the sample information of the sample tubes 5 on the sample dispensing rack 7 is automatically stored.

[0062] refer to Figure 4 As shown, the positioning and clamping base 6 includes a guide wedge 601 and a buffer ring 602 disposed on the inner wall of the guide wedge 601. The guide wedge 601 is hollow in the middle and its inner diameter matches the outer diameter of the sample tube 5, so that the sample tube 5 can be easily inserted into the guide wedge 601, and the buffer ring 602 reduces the vibration experienced by the sample tube 5 during transmission. Multiple positioning and clamping bases 6 can be provided and distributed at certain intervals on the first array track 101 and the second array track 102, so that during the operation of the first array track 101 and the second array track 102, multiple positioning and clamping bases 6 sequentially pass the placement point or clamping point of the sample tube 5.

[0063] refer to Figure 3As shown, the system also includes a first window 10 and a second window 11 for inserting the sample tube 5. At least a portion of the first array track 101 is located at the first window 10, and at least a portion of the second array track 102 is located at the second window 11. The first window 10 and the second window 11 are also the placement points of the sample tube 5. Through the above technical solution, the first window 10 and the second window 11 can be located at different locations; at the same time, at least a portion of the track is located at the window, which facilitates the target object to insert the sample tube 5 into the positioning clamping base 6 on the track.

[0064] refer to Figure 8 As shown, the system also includes a third window 12, at least a portion of the sample dispensing track 2 is located at the third window 12, so that the sample dispensing rack 7 carrying the sample tubes 5 can be transported to the third window 12 via the sample dispensing track 2. Staff only need to transfer the sample tubes 5 transported from the sample dispensing track 2 at the third window 12 for further testing. The third window 12 is also equipped with a human-machine interface component 13, which includes a display screen, processor, and memory. The display screen provides a user interface, and the human-machine interface component 13 includes data storage, information query, and voice prompt functions. It can automatically generate sample receipt reports, store sample process data, and traceability information. The receipt of the sample tubes 5 has already been completed during the previous transportation process. Staff can view the receipt record through the human-machine interface component 13. The human-machine interface component 13 can also issue different prompts to remind staff in cases of receipt completion or receipt abnormalities. In addition, the human-computer interaction component 13 can also pre-set the storage position coordinates of different categories of samples on the sample rack 7, so that the robotic arm gripper 4 and the sample dispensing track 2 can move according to the pre-set storage position coordinates, thereby placing the sample tube 5 at the preset storage position coordinates of the corresponding category.

[0065] It should be noted that, except for the three windows, the rest of the area is enclosed and blocked by walls, and the robotic arm 3 can be fixed between the walls.

[0066] In summary, Embodiment 1 of this application, based on the cooperation of the array track 1, the sample exit track 2, and the robotic arm gripper 4, can realize the gripping and transportation of the sample tube 5. Based on the cooperation of the robotic arm gripper 4, the vision camera 8, and the optical sensor 9, during the process of gripping and transporting the sample tube 5 by the robotic arm gripper 4, the vision camera 8 and the optical sensor 9 can acquire information about the sample tube 5, thereby enabling the identification component to classify and sign off on the sample tube 5 according to the information of the sample tube 5, thus realizing automated sample entry and exit and automated signing off, reducing manual operation steps and lowering the probability of human operation errors.

[0067] Furthermore, in Embodiment 1 of this application, two tracks, a first array track 101 and a second array track 102, are used to carry the sample tube 5 respectively, which can realize the separate collection and transmission of samples from different target objects. At the same time, by setting the two tracks as a ring and having a portion of each track located on the plane of the movement path of the robotic arm gripper 4, space can be saved as much as possible without hindering the robotic arm gripper 4 from grasping the sample tube 5.

[0068] Example 2

[0069] Based on the sample injection auxiliary signing system provided in Embodiment 1, this Embodiment 2 provides an alternative to the positioning clamping base 6 therein.

[0070] refer to Figure 6 As shown, the positioning clamping base 6 provided in Embodiment 2 of this application includes a base plate 603 and a first clamping arm 604 and a second clamping arm 605 disposed opposite to each other on the base plate 603. The first clamping arm 604 and the second clamping arm 605 are made of shape memory alloy material and have a corrugated inner wall. The corrugated clamping arms made of shape memory alloy material are used to clamp the sample tube 5, which can adapt to sample tubes of different shapes and specifications. At the same time, the cross-section of the inner wall of the first clamping arm 604 and the second clamping arm 605 along the horizontal plane is arc-shaped to match the outer peripheral shape of the sample tube 5.

[0071] Pressure sensors 606 are provided on the inner walls of both the first clamping arm 604 and the second clamping arm 605. A telescopic motor 607 is provided on the outer side of the first clamping arm 604, and the output end of the telescopic motor 607 is connected to the outer side of the first clamping arm 604. The telescopic motor 607 can be mounted on a support base 615, and the height of the telescopic motor 607 can be adjusted by the support base 615 to reach the middle of the first clamping arm 604, thereby facilitating the movement of the first clamping arm 604. In addition, a slide rail 608 is provided on the base plate 603 for the first clamping arm 604 to slide. The first clamping arm 604 can slide by engaging the bottom slider on the slide rail 608. Two baffles 609 are also provided opposite to each other on the base plate 603. The two baffles 609, together with the first clamping arm 604 and the second clamping arm 605, form a limiting space for the sample tube 5. Through the cooperation of the pressure sensor 606, the telescopic motor 607, and the slide rail 608, the pressure between the clamping arm and the sample tube 5 can be detected. Therefore, when dealing with sample tubes of different sizes, the distance between the two clamping arms can be adjusted via the telescopic motor 607, thereby automatically adjusting the clamping force of the clamping arms to make the clamping arms hold the sample tube 5 more securely. This solution can achieve adaptive clamping of sample tubes of different sizes, such as according to the type of the target object, reducing the sample breakage rate.

[0072] refer to Figure 6As shown, a plurality of shock-absorbing springs 610 are disposed below the substrate 603, and the shock-absorbing springs 610 are preferentially distributed on both sides or four corners below the substrate 603. By providing shock-absorbing springs 610 at the bottom of the substrate 603 through the above technical solution, the shaking of the sample tube during the transmission process can be reduced.

[0073] refer to Figure 7 As shown, an electric door 611 is provided on the substrate 603, a weight sensor 612 is provided on the electric door 611, an infrared sensor 613 is provided on the baffle 609, and an inclined slide 614 is provided below the substrate 603. Through the above technical solution, simple misplacement detection of the sample tube 5 can be performed based on the weight sensor 612 and the infrared sensor 613, and an automatic sample return function can be achieved in conjunction with the electric door 611 and the inclined slide 614 below. For example, when an empty tube is inserted, the weight difference can be detected by the weight sensor 612; when a foreign object is inserted, the abnormality of the inserted object can be detected by the infrared beam sensors on both baffles 609. The identification component determines that it is a misplaced sample and sends an opening command to the electric door 611, controlling the electric door 611 to open and allowing the empty tube or foreign object to return along the slide 614. The slide 614 is only installed at the delivery window. The slide 614 is not connected to the substrate 603, but is located below the array track 1 at the delivery window. When the array track 1 moves the positioning clamping base 6 to the delivery window, the target object inserts the sample tube 5 into the positioning clamping base 6. At this point, a judgment is made as to whether a sample has been mistakenly delivered. If a mistaken delivery is determined, the sample tube 5 is automatically retracted from the slide 614 below. This solution solves the problem of misdelivered or incorrectly delivered samples in the prior art, improving the accuracy of front-end sample reception.

[0074] In summary, Embodiment 2 of this application uses a wave-shaped clamping arm made of shape memory alloy to clamp the sample tube 5, which can adapt to sample tubes of different shapes and sizes. In addition, through the cooperation of pressure sensor 606, telescopic motor 607 and slide rail 608, the pressure between the clamping arm and the sample tube 5 can be detected. Thus, when facing sample tubes of different sizes, the clamping force of the clamping arm can be automatically adjusted, making the clamping arm clamp the sample tube 5 more stable and reducing the sample breakage rate.

[0075] Example 3

[0076] Based on the sample injection auxiliary receipt system provided in Embodiment 1, this Embodiment 3 provides an arrangement of abnormal sample diversion tracks.

[0077] refer to Figure 9As shown, in addition to the arrangement of the first array track 101, the second array track 102, the sample dispensing track 2, the robotic arm 3, and the robotic arm gripper 4, an abnormal sample diversion track 14 is arranged between the sample dispensing track 2 and the second array track 102, and an abnormal sample dispensing track 15 is arranged between the abnormal sample diversion track 14 and the first array track 101. An abnormal sample dispensing rack 16 is provided on the abnormal sample dispensing track 15. At the same time, an abnormal sample robotic arm 17 and an abnormal sample robotic arm gripper 18 are provided above the abnormal sample dispensing track 15 and the abnormal sample diversion track 14. With the above settings, when the identification component determines that the sample in the sample tube 5 is unqualified, that is, an abnormal sample, the robotic arm gripper 4 places the unqualified sample tube 5 onto the abnormal sample diversion track 14. After the abnormal sample diversion track 14 transports the sample tube 5 to the corresponding position of the abnormal sample robotic arm gripper 18, the abnormal sample robotic arm gripper 18 picks up the sample tube 5 and transfers it to the abnormal sample discharge rack 16. After the abnormal sample discharge rack 16 is full, the sample can be discharged through the abnormal sample discharge track 15.

[0078] The above methods can improve sample classification efficiency and prevent abnormal samples from clogging the main transmission channel, making them suitable for high-volume testing scenarios. Furthermore, this setup does not occupy additional space, resulting in a more compact and rational structure.

[0079] Example 4

[0080] Based on the sample injection auxiliary receipt system provided in Example 1, Figure 10 This is a flowchart of the auxiliary receipt method for sample injection in an embodiment of the present invention, as shown below. Figure 10 As shown, the method includes the following steps: Step S1: Obtain sample information collected by the acquisition component, and perform feature extraction on the sample information. The sample information is collected by the acquisition component when the sample tube 5 is in motion. Specifically, when the positioning clamping base 6 on which the sample tube 5 is placed is transported to the clamping position, the sample tube 5 is clamped by the robotic arm gripper 4, and the array track 1 transports the positioning clamping base 6. Step S2: Compare the features with the preset standard model, and judge the qualification of the samples in sample tube 5 based on the comparison results; Step S3: When the sample is determined to be qualified, the sample is classified and signed for, and a movement instruction is generated, which includes a classification identifier; Step S4: Send the movement command to the robotic arm gripper 4 so that the robotic arm gripper 4 moves the sample tube 5 to the sample exit track 2 and places the sample tube 5 into the classification area corresponding to the classification mark in the sample exit rack 7.

[0081] In the above steps, the positioning clamping base 6 is transported via the array track 1. When the positioning clamping base 6, containing the sample tube 5, is transported to the clamping position, the robotic arm gripper 4 clamps the sample tube 5. In this step, two windows are provided for inserting the target object into the sample tube, and two circular array tracks transport the sample from the two windows respectively. The robotic arm gripper 4 rotates the sample tube 5 so that the vision camera 8 and optical sensor 9 can acquire sample information from the sample tube 5. Before the robotic arm gripper 4 grasps the sample tube 5, an image of the sample tube 5 can be acquired by the vision camera 8, and sample tubes of different sizes can be distinguished by features. Appropriate clamping parameters for the robotic arm gripper 4 can be matched based on the identified size, ensuring stable clamping of the sample tube without damage.

[0082] The identification component extracts features from the sample information in sample tube 5. Based on the extracted features, a feature comparison is performed with a preset label model to determine whether the sample is qualified and to classify and accept it. Specifically, the target object information of sample tube 5 can be obtained through the barcode on the tube; the sample liquid level can be compared to determine whether the sample quantity is qualified; and the sample state can be compared to determine whether the sample state is qualified.

[0083] The robotic arm gripper 4 moves the sample tube 5 to the sample dispensing track 2, and places the sample tube 5 into the corresponding classification area of ​​the sample dispensing rack 7 according to the classification and acceptance results.

[0084] In one embodiment, the method further includes: The sample weight was obtained from the gravimetric sensor and the sample characteristics were obtained from the infrared sensor. The sample weight and sample characteristics are compared with a preset standard model, and the sample is determined to be a preset type of sample based on the comparison results. When the sample is not a preset type sample, the sample is determined to be a missubmitted sample, and an opening command is sent to the electric door (611).

[0085] In one embodiment, the method further includes: When a sample is determined to be unqualified, a sample release instruction is generated and sent to the robotic arm gripper 4.

[0086] In practical implementation, a multimodal sample qualification assessment model can be constructed. For example, it can integrate features from visual camera images (such as the clarity of sample tube codes like barcodes and sample liquid levels), the transmittance of optical sensors, and may also include a new odor sensor (to detect volatile substances). This multimodal model can be built using a Long Short-Term Memory (LSTM) network. The model can automatically update the assessment threshold based on historical data. This approach overcomes the limitations of single-source visual recognition, combining odor, optical, and other multi-source data to improve the accuracy of qualification assessment, and is particularly suitable for detecting sample contamination that is difficult to distinguish with the naked eye.

[0087] In one embodiment, a dynamic barcode distortion correction algorithm may also be provided, and the method further includes: After acquiring the image, the image is inversely transformed using the rotation angle of the robotic arm gripper and the camera position parameters, based on a real-time correction algorithm using the perspective transformation matrix, to obtain the sample tube body code.

[0088] In this embodiment of the invention, a real-time correction algorithm based on a perspective transformation matrix is ​​set up to address the perspective distortion of the barcode caused during sample tube rotation. The image is then inversely transformed using the rotation angle of the robotic arm gripper and the camera position parameters to restore the original shape of the barcode. This method solves the problem of barcode recognition failure caused by sample tube rotation in existing technologies, improving recognition efficiency (recognition accuracy ≥ 99.5%).

[0089] In one embodiment, a blockchain-enabled end-to-end sample traceability method can also be provided. In one embodiment, the method further includes: The sample information, comparison results, and process data are encrypted and then sent to the blockchain node integrated into the human-computer interaction component.

[0090] The process data includes information such as sample receipt time and location; smart contracts enable "sample status changes to be recorded on the blockchain," supporting two-way verification between the Hospital Information System (HIS) and blockchain data. This approach leverages the immutability of blockchain to address the issue of easily tampered sample traceability information in existing technologies, thus meeting medical data compliance requirements.

[0091] In summary, the beneficial effects of the system and method proposed in the embodiments of the present invention are as follows: 1. Based on the cooperation of array track 1, sample dispensing track 2 and robotic arm gripper 4, the sample tube 5 can be clamped and transported. Based on the cooperation of robotic arm gripper 4, vision camera 8 and optical sensor 9, during the process of clamping and transporting the sample tube 5 by robotic arm gripper 4, the vision camera 8 and optical sensor 9 can acquire information about the sample tube 5, so that the identification component can classify and sign off on the sample tube 5 according to the information of the sample tube 5, thereby realizing automated sample loading and unloading and automated signing off, reducing manual operation steps and reducing the probability of human operation errors.

[0092] 2. By using two tracks, the first array track 101 and the second array track 102, to carry the sample tube 5, it is possible to collect and transport samples from different target objects separately. The two tracks can correspond to the collection and transport of samples at different positions. At the same time, by setting the two tracks as a ring and having a portion of each track located on the plane of the movement path of the robotic arm gripper 4, space can be saved as much as possible without hindering the robotic arm gripper 4 from grasping the sample tube 5.

[0093] 3. The sample tube 5 is clamped by a wave-shaped clamping arm made of shape memory alloy material, which can adapt to sample tubes of different shapes and sizes. In addition, through the cooperation of pressure sensor 606, telescopic motor 607 and slide rail 608, the pressure between the clamping arm and the sample tube 5 can be detected. Thus, when facing sample tubes of different sizes, the clamping force of the clamping arm can be automatically adjusted to make the clamping arm clamp the sample tube 5 more secure.

[0094] This invention also provides a computer device. Figure 11 This is a schematic diagram of a computer device in an embodiment of the present invention. The computer device 1100 includes a memory 1110, a processor 1120, and a computer program 1130 stored in the memory 1110 and executable on the processor 1120. When the processor 1120 executes the computer program 1130, it implements the above-mentioned auxiliary receipt method for sample injection.

[0095] This invention also provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the above-described auxiliary receipt method for sample introduction.

[0096] This invention also provides a computer program product, which includes a computer program that, when executed by a processor, implements the above-mentioned auxiliary receipt method for sample introduction.

[0097] Those skilled in the art will understand that embodiments of the present invention can be provided as methods, systems, or computer program products. Therefore, the present invention can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present invention can take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0098] This invention is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart illustrations and / or block diagrams. Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0099] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0100] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0101] The specific embodiments described above further illustrate the purpose, technical solution, and beneficial effects of the present invention. It should be understood that the above descriptions are merely specific embodiments of the present invention and are not intended to limit the scope of protection of the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A sample introduction auxiliary receipt system, characterized in that, The system includes: an array track assembly, a sample delivery track assembly, a mechanical assembly, an acquisition assembly, and an identification assembly; The array track assembly includes an array track (1) and a plurality of positioning clamping bases (6) disposed on the array track (1); the sample dispensing track assembly includes a sample dispensing track (2) and a plurality of sample dispensing racks (7) disposed on the sample dispensing track (2); the positioning clamping bases (6) and the sample dispensing racks (7) are both used to place sample tubes; The mechanical component includes a robotic arm (3) and a robotic arm gripper (4) disposed on the robotic arm (3). The robotic arm gripper (4) moves along the robotic arm (3), and at least a portion of the positioning and clamping base (6) and at least a portion of the sample ejector (7) are located on the plane of the movement path of the robotic arm gripper (4); The acquisition component is used to: acquire sample information of sample tube (5) when the robotic arm (3) moves the sample tube (5) by the robotic arm gripper (4); The identification component is used to: classify and sign off on the sample tube (5) according to the sample information, and generate a movement command based on the classification and signing off results and send it to the robotic arm gripper (4). The robotic arm gripper (4) is used to move the sample tube (5) to the corresponding classification area in the sample rack (7) after receiving the movement command.

2. The system as described in claim 1, characterized in that, The array track (1) includes a first array track (101) and a second array track (102); The first array track (101) and the second array track (102) are circular tracks, and a portion of each is located on the plane of the movement path of the robotic arm gripper (4).

3. The system as described in claim 2, characterized in that, It also includes a first window (10) and a second window (11) for inserting the sample tube (5); The first array track (101) is located at least part of the first window (10), and the second array track (102) is located at least part of the second window (11).

4. The system as described in claim 1, characterized in that, The positioning clamping base (6) includes a guide wedge (601) and a buffer ring (602) disposed on the inner wall of the guide wedge (601). The guide wedge (601) has a hollow center and its inner diameter matches the outer diameter of the sample tube (5).

5. The system as described in claim 1, characterized in that, The positioning clamping base (6) further includes a base plate (603) and a first clamping arm (604) and a second clamping arm (605) disposed opposite to each other on the base plate (603). Pressure sensors (606) are provided on the inner walls of the first clamping arm (604) and the second clamping arm (605). A telescopic motor (607) is provided on the outer side of the first clamping arm (604), and the output end of the telescopic motor (607) is connected to the outer side of the first clamping arm (604). The substrate (603) is provided with a slide rail (608) for the first clamping arm (604) to slide. Two baffles (609) are also disposed opposite to each other on the substrate (603). The two baffles (609), together with the first clamping arm (604) and the second clamping arm (605), form a limiting space for the sample tube (5).

6. The system as described in claim 5, characterized in that, The first clamping arm (604) and the second clamping arm (605) are made of shape memory alloy material and have a wavy inner wall.

7. The system as described in claim 5, characterized in that, Multiple shock-absorbing springs (610) are provided below the substrate (603).

8. The system as described in claim 5, characterized in that, An electric door (611) is provided on the substrate (603), a weight sensor (612) is provided on the electric door (611), an infrared sensor (613) is provided on the baffle (609), and an inclined slide (614) is provided below the substrate (603).

9. The system as described in claim 1, characterized in that, It also includes a third window (12); At least a portion of the sampling track (2) is located at the third window (12), and a human-computer interaction component (13) is also provided at the third window (12). The human-computer interaction component (13) is used to store, query, or provide voice prompts for the classification and acceptance results and sample information.

10. The system as described in claim 2, characterized in that, It also includes abnormal orbit components; The abnormal track assembly includes an abnormal sample diversion track (14), an abnormal sample discharge track (15), an abnormal sample robotic arm (17), and an abnormal sample robotic arm gripper (18). An abnormal sample discharge track (15) is set between the discharge track (2) and the second array track (102), an abnormal sample discharge track (15) is set between the abnormal sample diversion track (14) and the first array track (101), and an abnormal sample discharge rack (16) is set on the abnormal sample discharge track (15). An abnormal sample robotic arm (17) and an abnormal sample robotic arm gripper (18) are installed above the abnormal sample output track (15) and the abnormal sample diversion track (14).

11. The system as claimed in claim 10, characterized in that, The identification component is used for: Feature extraction is performed on the sample information; The features are compared with the preset standard model, and the samples in the sample tube (5) are judged to be qualified based on the comparison results. Once the samples are deemed qualified, they are categorized and signed for, and a movement instruction is generated, which includes a categorization identifier.

12. The system as claimed in claim 11, characterized in that, The acquisition components include a visual camera (8) and an optical sensor (9); The sample information includes images acquired by the visual camera (8) and status information acquired by the optical sensor (9); The features include the sample tube body code and sample liquid level extracted from the image, and the transmittance extracted from the status information.

13. The system as described in claim 12, characterized in that, The identification component is also used for: When the priority of the sample tube body code is urgent, a priority processing instruction is sent to the robotic arm (3) so that the robotic arm (3) transports the sample tube (5) to the top layer of the sample rack.

14. The system as described in claim 8, characterized in that, The acquisition component also includes a weight sensor and an infrared sensor (613). The sample information includes the sample weight collected by the weight sensor and the sample characteristics collected by the infrared sensor (613); The identification component is used for: The sample weight and sample characteristics are compared with a preset standard model, and the sample is determined to be a preset type of sample based on the comparison results. When the sample is not a preset type of sample, the sample is determined to be a misplaced sample, and an opening command is sent to the electric door (611) so that after the electric door (611) is opened, the sample is returned from the slide (614).

15. The system as claimed in claim 11, characterized in that, The identification component is used for: When a sample is determined to be unqualified, a sample discharge command is generated and sent to the robotic arm gripper (4) so ​​that the robotic arm gripper (4) places the sample tube (5) of the unqualified sample on the abnormal sample diversion track (14). After the abnormal sample diversion track (14) transports the sample tube (5) to the corresponding position of the abnormal sample robotic arm gripper (18), the abnormal sample robotic arm gripper (18) picks up the sample tube (5) and transfers it to the abnormal sample discharge rack (16). After the abnormal sample discharge rack (16) is full, the sample is discharged through the abnormal sample discharge track (15).

16. The system as claimed in claim 1, characterized in that, It also includes a disinfection component for: Before the sample tube (5) is transferred to the identification component, the sample tube (5) is disinfected.

17. The system as claimed in claim 1, characterized in that, It also includes a presentation component for: The position of the sample in the physical orbit and virtual space is mapped in real time using a three-dimensional digital twin model.

18. A method for assisting in the receipt of sample injection, characterized in that, An identification component applied to the system according to any one of claims 1 to 17, comprising: The sample information collected by the acquisition component is obtained, and the sample information is feature extracted. The sample information is collected by the acquisition component when the sample tube (5) is in motion. When the positioning clamping base (6) on which the sample tube (5) is placed is transported to the clamping position, the sample tube (5) is clamped by the robotic arm gripper (4), and the array track (1) transports the positioning clamping base (6). The features are compared with the preset standard model, and the samples in the sample tube (5) are judged to be qualified based on the comparison results. Once the samples are deemed qualified, they are categorized and signed for, and a movement instruction is generated, which includes a categorization identifier. The movement command is sent to the robotic arm gripper (4) so ​​that the robotic arm gripper (4) moves the sample tube (5) to the sample exit track (2) and places the sample tube (5) into the classification area corresponding to the classification mark in the sample exit rack (7).

19. The method as described in claim 18, characterized in that, Also includes: The sample weight collected by the weight sensor and the sample characteristics collected by the infrared sensor (613) are obtained; The sample weight and sample characteristics are compared with a preset standard model, and the sample is determined to be a preset type of sample based on the comparison results. When the sample is not a preset type sample, the sample is determined to be a missubmitted sample, and an opening command is sent to the electric door (611).

20. The method as described in claim 18, characterized in that, Also includes: When a sample is determined to be unqualified, a sample release instruction is generated and sent to the robotic arm gripper (4).

21. A computer device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the computer program, it implements the method according to any one of claims 18 to 20.

22. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program that, when executed by a processor, implements the method of any one of claims 18 to 20.

23. A computer program product, characterized in that, The computer program product includes a computer program that, when executed by a processor, implements the method of any one of claims 18 to 20.

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