Collision detection method and collision detection system

Abstract

The invention relates to the technical field of medical instruments, and provides a collision detection method and a collision detection system.The collision detection method comprises the steps that real-time information of a pipetting part and a pipetting arm is obtained; judging the vibration intensity of the pipetting part according to the real-time vibration information of the pipetting part relative to the pipetting arm, wherein the real-time vibration information is obtained according to the vibration related information of the real-time information; based on the vibration intensity, determining a collision judgment condition of the pipetting part; according to the real-time information, judging whether the pipetting part meets a collision judgment condition or not; and if yes, judging that the pipetting part is collided. The problems of slow response, high omission ratio and low accuracy in the prior art can be solved, and the pipetting part is effectively prevented from being collided and damaged.

Description

Technical Field

[0001] This invention relates to the field of medical device technology, and in particular to a collision detection method and collision detection system. Background Technology

[0002] Current medical diagnostic equipment commonly uses pipetting components, such as syringes, to transfer liquids to a target location. However, during movement, these components may encounter obstacles and collide with them, causing damage. To address this, existing technologies typically incorporate collision sensors on pipetting components. When a collision occurs, an early warning is triggered to prevent further impacts and avoid irreparable damage.

[0003] Currently, commonly used sensor detection types include mechanical bottom contact detection and conductive sheet contact detection. However, these detection methods generally suffer from slow response. Their triggering structures, such as strain gauges and conductive sheets, need to undergo significant deformation to transmit the corresponding detection signal to the system to prevent the collision from continuing. This results in a high false negative rate and low accuracy. Furthermore, by the time a warning signal is generated, the degree of deformation from the collision action is already quite severe, and the collision may further intensify during the period from the warning to the control stop, making it impossible to effectively prevent damage to the pipetting components. Summary of the Invention

[0004] In order to overcome the shortcomings of the prior art, the present invention aims to provide a collision detection method and collision detection system, which can solve the problems of slow response, high false negative rate and low accuracy in the prior art, and effectively avoid damage to the pipetting components by collision.

[0005] In a first aspect, the present invention provides a collision detection method applied to a pipetting device, the pipetting device including a pipetting arm, a pipetting component disposed on the pipetting arm, and a sensing mechanism for collecting vibration information of the pipetting component, the pipetting component being movable along a specified direction with the pipetting arm, characterized in that the method includes: Obtain real-time information about the pipetting component and the pipetting arm; The intensity of vibration of the pipetting component is determined based on the real-time vibration information of the pipetting component relative to the pipetting arm, wherein the real-time vibration information is obtained based on the vibration-related information of the real-time information; Based on the intensity of the vibration, the collision determination criteria for the pipetting component are determined; Based on the real-time information, determine whether the pipetting component meets the collision determination criteria; If so, it is determined that a collision has occurred with the pipetting component.

[0006] According to the collision detection method of the first aspect of the present invention, the collision phenomenon of the pipetting component is judged by the collected vibration signal. By utilizing the characteristic that the difference between the vibration signal of the pipetting component and the vibration signal of the pipetting arm is large when the collision occurs, the intensity of the vibration of the pipetting component relative to the pipetting arm is determined. The collision phenomenon can be identified in real time, eliminating the warning delay caused by sensor triggering. At the same time, based on the current intensity of vibration and relevant information in real time, such as motion state, interference caused by excessive vibration due to acceleration and deceleration can be eliminated. Thus, it can accurately identify whether the pipetting component has collided. It has strong anti-interference ability, realizes high-precision collision detection with low false alarm, and ensures the stable operation of the pipetting device.

[0007] In a preferred embodiment of the present invention, the intensity of vibration includes a first vibration state, a second vibration state, and a third vibration state ordered from strongest to weakest. The determined collision determination condition includes at least a first condition based on the duration of vibration, a second condition based on the kurtosis of the vibration signal of the pipetting component in the real-time information, and a third condition based on the frequency energy obtained based on the real-time information. Specifically, when the pipetting component is in the first vibration state, the collision determination condition is determined to be any one of the first, second, and third conditions; when the pipetting component is in the second vibration state, the collision determination condition is determined to be any one of the first and second conditions; and when the pipetting component is in the third vibration state, the collision determination condition is determined to be the first condition.

[0008] In a preferred embodiment of the present invention, the sensing mechanism includes a first vibration sensing point disposed on the pipetting component and a second vibration sensing point disposed on the pipetting arm. In the method, the vibration-related information includes motion information of the pipetting arm or the pipetting component, a first vibration signal obtained based on the first vibration sensing point, and a second vibration signal obtained based on the second vibration sensing point.

[0009] In a preferred embodiment of the present invention, the real-time vibration information includes the impact acceleration of the pipetting component relative to the pipetting arm. The real-time vibration information is obtained based on the vibration-related information of the real-time information, including: obtaining a first vibration acceleration of the pipetting component from the first vibration signal and a second vibration acceleration of the pipetting arm from the second vibration signal; correcting the first vibration acceleration and / or the second vibration acceleration according to the motion information; and obtaining the impact acceleration based on the first vibration acceleration and the second vibration acceleration after correction.

[0010] In a preferred embodiment of the present invention, the step of correcting the first vibration acceleration and / or the second vibration acceleration based on the motion information includes: determining a correction coefficient based on the motion information, and correcting the second vibration acceleration according to the correction coefficient; the step of obtaining the collision acceleration based on the first vibration acceleration and the second vibration acceleration includes: the collision acceleration is the absolute value of the difference between the first vibration acceleration and the corrected second vibration acceleration.

[0011] In a preferred embodiment of the present invention, the corrected second vibration acceleration is the product of the original second vibration acceleration and the correction coefficient. The motion information includes the moving speed of the pipette arm. Determining the correction coefficient based on the motion information includes: when the moving speed falls within a first speed range, the correction coefficient is a first value; when the moving speed falls within a second speed range, the correction coefficient is a second value; when the moving speed falls within a third speed range, the correction coefficient is a third value. The first speed range, the second speed range, and the third speed range are arranged in ascending order and are continuous. The second value is greater than the first value but less than the third value, and all three values ​​are less than 1.

[0012] In a preferred embodiment of the present invention, determining the intensity of vibration of the pipetting component based on real-time vibration information of the pipetting component relative to the pipetting arm includes: determining the range into which the impact acceleration falls; determining the intensity of vibration of the pipetting component based on the range; wherein the range includes a first vibration range, a second vibration range, and a third vibration range that are greater than a preset threshold and are arranged in ascending order and are continuous; when the impact acceleration falls within the first vibration range, the pipetting component is in the first vibration state; when the impact acceleration falls within the second vibration range, the pipetting component is in the second vibration state; and when the impact acceleration falls within the third vibration range, the pipetting component is in the third vibration state.

[0013] In a preferred embodiment of the present invention, when the pipetting component is in the first vibration state, the second vibration state, or the third vibration state, the real-time information includes the duration of the pipetting component in the three vibration states; the first condition includes: determining whether the duration is greater than a first threshold; if it is greater, then the first condition is met.

[0014] In a preferred embodiment of the present invention, when the pipetting component is in the first vibration state or the second vibration state, the second condition includes: when it is determined at the current moment that the pipetting component has fallen into the first vibration state or the second vibration state, the first vibration acceleration at each moment including the current moment or at a specified time before the current moment is taken as a dataset; based on the dataset, it is determined whether the kurtosis of the first vibration acceleration is greater than a second threshold; if it is greater, the second condition is met; the kurtosis of the first vibration acceleration is obtained by the following formula: Ku=1 / N*∑((Xi-µ) / σ)4-3 Where Ku is the kurtosis, N is the number of data points for the first vibration acceleration, Xi is the data value of the first vibration acceleration, µ is the mean, and σ is the standard deviation.

[0015] In a preferred embodiment of the present invention, when the pipetting component is in the first vibration state, the third condition includes: when it is determined at the current moment that the pipetting component has fallen into the first vibration state, converting all the first vibration signals at all times into frequency domain signals; calculating the energy ratio of the frequency domain signal in a specified interval; determining whether the energy ratio is greater than a third threshold; if it is greater, then the third condition is met.

[0016] In a second aspect, the present invention provides a collision detection system applied to a pipetting device, the pipetting device including a pipetting arm, a pipetting component disposed on the pipetting arm, and a sensing mechanism for collecting vibration information of the pipetting component, the pipetting component being capable of moving along a specified direction with the pipetting arm, characterized in that the collision detection system includes: The acquisition unit is used to acquire real-time information about the pipetting component and the pipetting arm; An extraction unit is used to extract real-time vibration information of the pipetting component relative to the pipetting arm based on the real-time information. The determining unit is used to determine the intensity of vibration of the pipetting component based on the real-time vibration information, and to determine the collision determination condition of the pipetting component based on the intensity of vibration. The processing unit is used to determine whether the pipetting component meets the collision determination conditions based on the real-time information, so as to determine whether the pipetting component has experienced a collision.

[0017] In a third aspect, the present invention also provides a computer-readable storage medium storing a computer program that, when executed by a processor, performs the collision detection method for a pipetting component as described in the first aspect embodiment.

[0018] Other features and advantages of the invention will be set forth in the following description and will be apparent in part from the description or may be learned by practicing the invention. The objects and other advantages of the invention may be realized and obtained by means of the structures and / or processes particularly pointed out in the description, claims, and drawings. Attached Figure Description

[0019] Figure 1 This is a schematic diagram of the pipetting device provided in an embodiment of the present invention;

[0020] Figure 2 A flowchart of a collision detection method provided in an embodiment of the present invention;

[0021] Figure 3 This is a schematic diagram of the collision detection system provided in an embodiment of the present invention. Detailed Implementation

[0022] The following detailed description of the embodiments of the present invention, in conjunction with the accompanying drawings, will provide a thorough understanding of how the present invention uses technical means to solve technical problems and achieve technical effects, enabling its implementation. It should be noted that these specific descriptions are merely intended to facilitate a clearer understanding of the present invention by those skilled in the art, and are not intended to limit the scope of the invention. For example, the terms "first" and "second" mentioned in the embodiments of the present invention are not intended to limit the invention, but are merely used to indicate the sequence numbers of multiple identical or similar devices or mechanisms. Those skilled in the art can readjust these sequence numbers for ease of description or during the organization of technical solutions. Furthermore, alternative solutions are described for some mechanisms in different embodiments, and these alternatives can be applied to other identical or similar devices or mechanisms. As long as there is no conflict, the various embodiments and features in each embodiment of the present invention can be combined with each other, and the resulting technical solutions are all within the protection scope of the present invention.

[0023] First, the pipetting device used in this invention will be described.

[0024] See Figure 1The pipetting apparatus includes a drive mechanism, a pipetting arm 2, and a pipetting component 1 mounted on the pipetting arm 2. The pipetting component 1 is connected to an aspiration device, which provides negative pressure to allow the pipetting component 1 to draw in liquid and provides positive pressure to expel liquid from the pipetting component 1. Typically, the pipetting component 1 can be implemented as a needle-like structure, with an internal storage space for storing liquid. Its bottom end has a liquid inlet / outlet communicating with the storage space, while the other end of the bottom end is connected to the aspiration device. The liquid inlet / outlet is used to draw liquid into the storage space and to expel liquid from the storage space. To facilitate liquid transfer, the pipetting component 1 is usually positioned at the bottom of the pipetting arm 2. However, the pipetting component 1 is easily damaged in the event of a collision; therefore, collision sensing and braking mechanisms are required for the pipetting component 1. The drive mechanism can be configured as an XYZ three-axis drive mechanism, which drives the pipette arm 2 through three sliding components located in the three axes. In this embodiment, it can also be configured as a dual-axis drive mechanism, with a rotating shaft connecting the pipette arm 2, causing the pipette arm 2 to rotate around a specified axis. A lifting mechanism, such as a lifting slide rail combined with a drive motor, can be provided on the pipette arm 2 to drive the pipette component 1 to move up and down on the pipette arm 2. Thus, under the action of the dual-axis drive mechanism, the pipette arm 2 causes the pipette component 1 to move within a specified area. Of course, the drive mechanism can also be configured with other feasible structures in the prior art, all of which are within the scope of this invention.

[0025] The pipetting device can be used for sample, mixture, or reagent transfer. For example, during dilution, the pipetting component 1 is moved by a drive mechanism to a first target location containing the diluent, where it aspirates the diluent and transfers it to a mixing station at a second target location. Subsequently, it continues to aspirate the sample from a third target location containing a sample container, moves it to the second target location, and discharges the sample to the mixing station to mix it, thus achieving the sample dilution process. Similarly, when it is necessary to transfer liquid to other locations, the liquid transfer is also achieved through a drive mechanism combined with a suction device.

[0026] Taking the aforementioned embodiment as an example, during the pipetting process, obstacles may exist on the movement trajectory of the pipetting component 1. For example, the container holding the reagent may obstruct the movement trajectory due to its height, or the pipetting component 1 may collide with the obstacle because the device fails to detect obstacles such as the workbench in front of it. Therefore, it is necessary to install a sensing component on the pipetting device to detect whether the pipetting component 1 has collided, in order to prevent further collisions and damage to the pipetting component 1.

[0027] In this invention, to achieve high-precision collision detection of the pipetting component 1, the pipetting device further includes a sensing mechanism for collecting vibration information of the pipetting component 1. The vibration information collected by this sensing mechanism includes the vibration signal of the pipetting component 1 and the vibration signal (first vibration signal and second vibration signal) of the pipetting arm 2, to provide feedback on the vibration information of the pipetting component 1 and the pipetting arm 2. In this embodiment, the sensing mechanism includes a first sensor located at a first vibration sensing point P and a second sensor located at a second vibration sensing point Q. Both sensors can be configured as vibration sensors to detect and measure vibrations in the mechanical system, converting mechanical vibrations into electrical signals and feeding them back to the control system. Because the vibration sensors can provide real-time feedback on the vibration information of the pipetting component 1 and the pipetting arm 2, the control system can determine the state of the pipetting component 1 and the pipetting arm 2 in real time based on the feedback vibration information. Compared with traditional instantaneous collision sensors, this method has the advantages of fast response and high accuracy.

[0028] Based on the pipetting device described above, in order to achieve rapid and accurate identification of collision phenomena, the present invention proposes a collision detection method applied to the pipetting device in its first aspect, see [reference]. Figure 2 Specifically, it includes: S100, acquires real-time information on the pipetting components and pipetting arm; This real-time information includes vibration-related information concerning the pipetting components and pipetting arm, such as that mentioned in the pipetting apparatus described in the foregoing embodiments, see [reference]. Figure 1 The pipetting component has a first vibration sensing point P, and the pipetting arm has a second vibration sensing point Q. The sensing mechanism includes a first sensor located at the first vibration sensing point P and a second sensor located at the second vibration sensing point Q. Accordingly, the first sensor acquires a first vibration signal related to the pipetting component at the first vibration sensing point P, and the second sensor acquires a second vibration signal related to the pipetting arm at the second vibration sensing point Q. The first and second vibration signals change with the movement of the pipetting component and the pipetting arm, providing real-time feedback on their status.

[0029] Of course, if the vibration-related information required for collision detection in this embodiment is the real-time vibration information of the pipetting component relative to the pipetting arm, the real-time vibration information can also be obtained through an additional independent sensing component and a designated position. For example, the sensor is set between the pipetting arm and the sensing component, and the obtained vibration information is the differential vibration information of the pipetting component relative to the pipetting arm. Alternatively, the real-time vibration information can be obtained through vibration signals from other positions. All of these methods are within the scope of this invention.

[0030] S200, the intensity of vibration of the pipetting component is determined based on the real-time vibration information of the pipetting component relative to the pipetting arm, wherein the real-time vibration information is obtained based on the vibration-related information of the real-time information; In this step, real-time vibration information is used to provide feedback on the intensity of vibration of the pipetting component relative to the pipetting arm. That is, when there is a relative vibration phenomenon between the two, the pipetting component is corrected based on the vibration condition of the pipetting arm. If the pipetting component produces a greater vibration effect, it indicates that the pipetting component has collided with the obstacle. It should be noted that during the vibration of the pipetting component, under normal circumstances, since the pipetting arm is used to move the pipetting component, the motion state of the pipetting component should be relatively consistent with that of the pipetting arm and affected by the pipetting arm when it is not subjected to any external force other than the driving component. For example, in a static state, the pipetting component is stationary relative to the pipetting arm, and the vibration between the two is usually relatively small. In a state of uniform or accelerated motion, the pipetting component remains stable relative to the pipetting arm, but a large resonance phenomenon may occur during or after acceleration. Therefore, it is necessary to correct the vibration information of the pipetting component based on the vibration information of the pipetting arm to obtain the actual vibration information caused by external forces in the actual process. If there is an excessive vibration deviation between the pipetting component and the pipetting arm, it indicates that an external obstacle has been encountered, causing a collision force that results in a huge relative vibration between the pipetting component and the pipetting arm, and the pipetting component has collided.

[0031] In conjunction with the description in step S100 above, the real-time vibration information can be obtained from the vibration-related information in the real-time information. In one embodiment, the vibration-related information can be set as the first vibration signal acquired by the first sensor on the pipetting component and the second vibration signal acquired by the second sensor on the pipetting arm.

[0032] S300, based on the severity of vibration, determines the collision detection conditions for the pipetting component; The collision detection criteria vary depending on the specific circumstances. For instance, when vibrations are relatively severe and fall within the range of conditions where collisions are likely to occur, it is not advisable to immediately classify it as a collision. Further assessment is needed for accurate detection and to avoid false alarms caused by accidental severe vibrations such as resonance interference. Collision detection criteria can be set based on the duration of the severe collision, the steepness of the vibration signal, and whether the dominant frequency energy of the vibration signal is abnormal. It should be noted that in cases of relatively mild vibration, factors such as relatively low movement speed or significant external resistance may cause this level of intensity. Alternatively, the large amplitude generated after a collision may lead to a result where the vibration distance is perceived as relatively weak and the duration as narrow based on vibration-related information. Therefore, it is necessary to redefine the collision detection criteria to prevent misjudgments or missed detections when collision detection is based on vibration information.

[0033] The intensity of vibration can be divided into a first vibration state, a second vibration state, and a third vibration state, ordered from strong to weak. In the first vibration state, the vibration of the pipetting component relative to the pipetting arm is relatively strong. In the second vibration state, the vibration of the pipetting component relative to the pipetting arm is of moderate intensity. In the third vibration state, the vibration of the pipetting component relative to the pipetting arm is relatively weak.

[0034] In the first vibration state, the collision typically occurs when the pipette is moving at high speed, or due to a collision or other factors resulting in a severe impact. Because of the severity and rapid occurrence of the collision, the presence of a collision can be determined by analyzing the vibration signals collected at the moment of impact. On the other hand, considering that the vibration state of the pipette during a violent collision will fluctuate greatly within a certain period, and the impact sharpness at the moment of impact is high, the collision can be determined by analyzing the vibration signals collected within this short time to identify the kurtosis of the pipette. A large kurtosis indicates that the vibration state is not an isolated phenomenon, and a collision has occurred. However, during detection, the short duration of the collision may prevent immediate judgment of the collision based on a single or a few vibration signals. This means that emergency braking measures cannot be taken after the collision, especially when the pipette is moving at high speed, as the collision resistance during the collision will exert a relative force on it. In response to the work done, after a violent collision, the pipetting component will exhibit abnormal vibration due to the repositioning action of the pipetting arm. The moment the pipetting component detaches from the obstacle due to inertia under the reaction force of the collision, it will generate a vibration waveform caused by the collision. This invention can determine whether the pipetting component generates an abnormal waveform caused by the collision by acquiring the vibration signal within this time period. This allows for monitoring whether the dominant frequency waveform generated by the pipetting arm is abnormal during this process. The determination is made by statistically analyzing the dominant frequency energy of the pipetting component within this time period. If the frequency energy falls within the abnormal collision range during this period, it indicates that the pipetting component has generated an abnormal waveform caused by the collision under this relative vibration state, thus indicating that a collision has occurred. Typically, this frequency energy is the dominant frequency energy of the FFT (Fast Fourier Transform). Therefore, the determination conditions for the first vibration state include at least a first condition based on the vibration duration, a second condition based on the kurtosis of the vibration signal of the pipetting component in real-time information, and a third condition based on the frequency energy obtained from real-time information.

[0035] In the second vibration state, the collision typically occurs when the pipette is moving at a moderate speed, or is a moderate-level collision caused by other factors. This type of collision is highly destructive to the pipette and requires a rapid response to avoid damage. To eliminate accidental interference from the pipette during its movement, the collision determination condition is set to either the first or second condition. While the collision duration in this second state is longer than that in the first vibration state, it still falls within the category of short, intense collisions. The third condition, which takes the longest time among all collision determination conditions, is not applicable in this state. Specifically, if the second vibration state is within a set time range, it indicates that the pipetting component has collided with an obstacle, causing a relatively severe vibration state during that time period, and the collision process is ongoing. In the second condition, since the collision occurs for a short time, the collision caused under this vibration condition is not an unresponsive instantaneous collision, and is less severe than the first vibration state. Therefore, the kurtosis of the vibration signal curve within the specified time can still be used as a criterion for judging the relative vibration state. In this condition, the collision state can be analyzed in real time by continuously acquired vibration signals to take emergency braking measures. Therefore, the pipetting component in the second vibration state can also be analyzed by kurtosis to determine whether it is in a collision state.

[0036] In the third vibration state, collisions typically occur when the pipette part is moving at a relatively slow speed, or when the pipette part experiences a severe collision due to other factors. Because the collision is relatively minor and the pace is slow, a relatively large number of vibration signals can be collected and analyzed to determine if a collision has occurred. Therefore, to eliminate accidental interference from the pipette part during its movement, the collision determination condition is determined as the first condition based on the determination time analysis, promptly detecting the collision and preventing further damage to the pipette part. Since the collision is minor and the impact on the pipette part is slight with minimal kurtosis fluctuations, the second condition is not suitable. Furthermore, compared to the first and second vibration states, there is sufficient time for vibration signal analysis to determine if a collision has occurred, eliminating the need for an additional third condition.

[0037] It should also be noted that the vibration signals collected in the first and second vibration states may not necessarily meet the first condition after a collision. Due to the relatively strong collision, the vibration signal may fluctuate significantly within a specified duration. Furthermore, the instantaneous collision that may occur in the first vibration state lacks a basis for data analysis. Therefore, it is necessary to set a second and third condition for judgment. For the pipetting components in the first and second vibration states, the vibration signal fluctuations caused by violent collisions are very sharp. For example, after colliding with an obstacle, the collision time is short. Under the second condition, the vibration signal of the pipetting component fluctuates. The kurtosis is relatively large, and for the first vibration state, for example, due to the very short collision time and insufficient vibration signal data, the pipetting component will produce a specific abnormal waveform at the moment it leaves the obstacle. Therefore, the third condition can be used to further determine whether the pipetting component has experienced the collision. Thus, the vibration signal of the pipetting component in the first vibration state only needs to meet one of the three conditions to indicate that a collision has occurred. In the second vibration state, the collision is weaker than that in the first vibration state, but it is not a collision phenomenon that cannot be judged in time. Therefore, the third condition is eliminated, and only one of the first and second conditions needs to be met to determine whether a collision has occurred.

[0038] In the specific implementation process, the real-time vibration information includes the collision acceleration of the pipetting component relative to the pipetting arm. When a collision occurs, the more violent the collision, the slower the acceleration of the first vibration signal relative to the second vibration signal during vibration. That is, when the collision force is large, the resonance phenomenon caused is more severe. For example, under the action of a large collision force, the collision force will be rapidly transferred from the pipetting component to the pipetting arm, so that the relative vibration state between the two is similar, and the collision acceleration will be relatively small. For a small collision force, the collision force will apply most of the force to the pipetting component, causing the pipetting component to vibrate, while the vibration generated on the pipetting arm is very small. In this case, the collision acceleration is large. Therefore, the collision acceleration can be used to determine the intensity of the vibration of the pipetting component after correction by the pipetting arm during the vibration process.

[0039] In this embodiment, based on the previously described example with a first sensor and a second sensor, the real-time vibration information in step S200 is obtained based on vibration-related information of the real-time data, including: S210, a first vibration acceleration about the pipetting component is obtained from the first vibration signal, and a second vibration acceleration about the pipetting arm is obtained from the second vibration signal; In a general implementation, the first vibration signal is the voltage signal of the first sensor, and the first vibration acceleration can be obtained by dividing the first vibration signal by the sensitivity of the sensor, i.e., ap(t) = Vp / M1, where ap(t) is the first vibration acceleration, Vp is the first vibration signal, and M1 is the sensitivity of the first sensor. Similarly, the second vibration signal is the voltage signal of the second sensor, and the second vibration acceleration is obtained by dividing the second vibration signal by the sensitivity of the second sensor, i.e., ar(t) = Vr / M2, where ar(t) is the second vibration acceleration, Vp is the second vibration signal, and M2 is the sensitivity of the second sensor. Of course, the first and second vibration accelerations can also be obtained by transforming vibration signals from other types of sensors, which is also within the scope of this invention.

[0040] S220, correct the first vibration acceleration and / or the second vibration acceleration based on the motion information; After obtaining the first vibration acceleration ap(t) and the second vibration acceleration ar(t), these two can be corrected to obtain the actual detected collision acceleration of the pipetting component relative to the pipetting arm. Generally, the acceleration used for correction is the second vibration acceleration. This correction corrects for the influence of the second vibration acceleration on the first vibration acceleration. Since the first vibration acceleration is the vibration acceleration directly detected and obtained for the pipetting component, while the vibration acceleration of the pipetting arm will affect the vibration acceleration of the pipetting component, the actual vibration acceleration of the pipetting component after excluding the influence of the pipetting arm's vibration acceleration from the first vibration acceleration of the pipetting component is the actual vibration acceleration of the pipetting component, excluding the influence of factors such as driving cause and connection structure. The vibration effect of the pipetting arm may attenuate or increase when transmitted to the pipetting component, thus requiring correction of the second vibration acceleration to accurately obtain the collision acceleration.

[0041] In one embodiment, the second vibration acceleration is corrected in conjunction with the current motion state, and S220 includes: S221, determine the correction coefficient based on the motion information, and correct the second vibration acceleration according to the correction coefficient.

[0042] The motion information can be set as the moving speed of the pipette arm, the moving speed of the pipetting component, or the acceleration of the pipetting component and the pipette arm combined with the moving speed, all of which are within the scope of implementation of this invention. In this embodiment, the correction coefficient is set to K(V), which is a correction coefficient that corrects for the moving speed V of the pipette arm. For example, in the aforementioned dual-axis drive mechanism, the rotational speed of the pipette arm driven by the rotary drive component under the action of the rotary axis is Vr, so the correction coefficient is set to K(Vr). As in the aforementioned three-axis drive mechanism, when the X-axis drive component drives the pipette arm to move along the X-axis, its moving speed is Vx, and when the Y-axis drive component drives the pipette arm to move along the Y-axis, its moving speed is Vy. Of course, if the pipetting component collides during descent, the corresponding moving speed is Vz, which can also be applied to the correction coefficient.

[0043] For ease of calculation, the corrected second vibration acceleration is the product of the original second vibration acceleration and the correction coefficient, i.e., aR(t) = K(V) * ar(t). When the motion information is the moving speed of the pipette arm, the correction coefficient in step S221 is determined in the following way: When the moving speed falls within the first speed range F1, the correction coefficient is the first value k1; When the moving speed falls within the second speed range F2, the correction factor is the second value k2; When the movement speed falls within the third speed range F3, the correction factor is the third value k3.

[0044] The first, second, and third speed ranges are arranged in ascending order and are continuous. The second value is greater than the first value but less than the third value. That is, there are boundary values—a first speed threshold V1 and a second speed threshold V2—among the first, second, and third speed ranges. Therefore, the first speed range F1 is V < V1, the second speed range F2 is V1 ≤ V < V2, and the third speed range F3 is V ≥ V2. In this embodiment, the second vibration acceleration of the pipette arm is typically attenuated when it affects the pipette component; therefore, the correction coefficients k1, k2, and k3 are all less than 1.

[0045] The above correction coefficients are determined by taking into account the relationship between the impact force and the movement speed of the pipette arm, as well as the difference in position between the first vibration sensing point and the second vibration sensing point. Taking the pipette part as a needle-shaped part as an example, when its tip is obstructed, causing its root to undergo distance elastic deformation, high-frequency impact vibration is triggered. The pipette part is only subjected to a slight reaction force, and the vibration change is small. Therefore, different correction values ​​corresponding to different speeds are introduced.

[0046] S230, after correction, the collision acceleration is obtained based on the first vibration acceleration and the second vibration acceleration.

[0047] Based on the correction coefficients of the foregoing embodiments, the collision acceleration can be obtained using the following formula: D(t)=∣ap(t)-K(V)*ar(t)∣ The collision acceleration D(t) is the absolute value of the first vibration acceleration ap(t) after being corrected by the second vibration acceleration ar(t). Regardless of whether its direction is positive or negative, it can effectively reflect the intensity of the vibration of the current pipetting component.

[0048] Based on steps S210~S230, correspondingly, in S200, determining the intensity of vibration of the pipetting component based on the real-time vibration information of the pipetting component relative to the pipetting arm includes: S201, Determine the range within which the collision acceleration falls; S202, determine the intensity of vibration of the pipetting component based on the judgment range.

[0049] The determination range includes a first vibration range, a second vibration range, and a third vibration range that are greater than a preset threshold and are arranged in ascending order and are continuous. For example, if there are boundary values, a first vibration threshold A1 and a second vibration threshold A2, among the first, second, and third vibration ranges, then the first vibration range is A1 < D(t) ≤ A2, the second vibration range is A2 < D(t) ≤ A3, and the third vibration range is D(t) > A3.

[0050] Therefore, when the collision acceleration falls within the first vibration range, the pipetting component is in the first vibration state; when the collision acceleration falls within the second vibration range, the pipetting component is in the second vibration state; and when the collision acceleration falls within the third vibration range, the pipetting component is in the third vibration state. Of course, if the collision acceleration is relatively small and does not fall within these three vibration ranges, it indicates that the relative vibration state of the pipetting component is relatively stable, such as being stationary or in motion without significant vibration relative to the pipetting arm, or exhibiting resonance with the pipetting arm, etc., and there is no possibility of a collision.

[0051] Based on the above implementation methods, the collision determination conditions corresponding to the three vibration states will be further introduced below.

[0052] <First condition> The first condition applies to all three vibration states. In this embodiment, the real-time information also includes the duration of the pipetting component in the vibration state. That is, when the control system determines that the pipetting component is in the first, second, or third vibration state based on the first and second vibration signals fed back by the first and second sensors, it determines the duration of the vibration state. For example, if the pipetting component is determined to be in the vibration state at time t1, the determination method can be that the collision acceleration D(t) is greater than A1 as described in the previous embodiment. Under this condition, starting from that time, if the collision acceleration D(t) obtained from the vibration signal is greater than A1 within the duration Δt of the subsequent time, it indicates that the first vibration state is met. It should be noted that since the collision acceleration condition only needs to satisfy D(t) > A1 under the first condition, after the first condition is triggered, the collision acceleration of the pipetting component in any of the three vibration states will meet the collision condition in the subsequent process. Therefore, if the duration Δt reaches the first threshold b1, i.e., Δt ≥ b1, it can be determined that a collision phenomenon has occurred.

[0053] Based on this, the first condition can be limited to: S311, determine whether the duration is greater than the first threshold; If S312 is greater than this, then the first condition is met; S313, if not, then the first condition is not met.

[0054] In one embodiment, since the vibration signal, including the first vibration signal and the second vibration signal, is acquired in real time, that is, the vibration signal is fed back once per unit time, its duration Δt can be replaced by multiple consecutive vibration signals. If the multiple consecutive collision accelerations D(t) corresponding to the duration Δt are L, it is only necessary to determine whether the L consecutive D(t) are greater than A1.

[0055] <Second Condition> When the pipetting component is in a first vibration state or a second vibration state, the second condition includes: S321, when it is determined at the current moment that the pipetting component falls into the first vibration state or the second vibration state, let the first vibration acceleration at each time including the current moment or at a specified time before the current moment be used as the data set; S322, Based on the dataset, determine whether the kurtosis of the first vibration acceleration is greater than the second threshold; If S323 is greater than this, then the second condition is met.

[0056] In this embodiment, the specified time and the first threshold in the first condition are set to different time values, although they can also be set to the same value. Under this condition, since the vibration signal is collected once per unit time, the number of vibration signals collected within the specified time Δt1 is fixed, and the number of first vibration accelerations corresponding to these vibration signals is also fixed. Therefore, the amount of data in the acquired dataset is fixed. When there is a sufficient amount of data, statistical calculations are performed on all the first vibration accelerations in the dataset to obtain the kurtosis corresponding to the first vibration acceleration. Of course, similar to the duration in the first condition, the specified time can also be determined by the number of continuously collected vibration signals.

[0057] In S321, the data used for kurtosis includes the first vibration acceleration of the pipette component at that moment when it is in either the first or second vibration state. For example, if it is known at a certain moment t1 that the pipette component is in either of these two vibration states, then all vibration signals contained in the dataset include the first vibration acceleration at all moments within a specified time period from moment t1. In one embodiment, the dataset is composed of n-1 data points from moment t1 and before, and kurtosis is calculated. In specific calculations, if the first vibration acceleration obtained at moment t1 is the 10th data point, and the first vibration signal corresponding to the 10th data point satisfies the collision determination condition that the pipette component is in either the first or second vibration state, then when calculating kurtosis based on the number of data points, the number of data points in the dataset is taken as 6, and the data contained in the dataset includes the 5th to 10th data points. In this embodiment, the data before the corresponding vibration state is used to calculate the kurtosis. This is mainly because before the pipetting component vibrates violently due to a collision, the pipetting component will have large vibration fluctuations due to contact with obstacles. Therefore, by calculating the data in the dataset before the vibration state, it is possible to accurately determine whether the pipetting component has experienced a collision.

[0058] In this embodiment, the kurtosis of the first vibration acceleration is obtained by the following formula: Ku = 1 / N * ∑((Xi-µ) / σ) 4 -3 Where Ku is the kurtosis, N is the number of data points for the first vibration acceleration, Xi is the data value of the first vibration acceleration, i.e., ap(t) in the aforementioned embodiment, µ is the mean of each data point in the dataset, and σ is the standard deviation of each data point in the dataset.

[0059] In this embodiment, the specific criteria for determining the second condition are whether the kurtosis Ku is greater than the second threshold b2.

[0060] <Third Condition> When the pipetting component is in the first vibration state, the third condition includes: S331, when it is determined at the current moment that the pipetting component has fallen into the first vibration state, convert all the first vibration signals at all times into frequency domain signals; S332, calculates the energy percentage of the frequency domain signal within a specified interval; S333, determine whether the energy percentage is greater than the third threshold; If S334 is greater than 1, then the third condition is met, that is, it is determined that a collision has occurred in the pipetting component.

[0061] If there exists a moment when the pipetting component falls into the first vibration state, under the condition of slight collision, the pipetting component may exhibit a main vibration waveform within a certain period range under vibration. If the main vibration waveform is an abnormal waveform generated by the collision, it can be judged by frequency energy. In this embodiment, since the pipetting component and pipetting arm do not usually produce corresponding vibration phenomena, or their vibration phenomena are relatively mild and the resulting vibration signals are relatively stable, the first vibration signal at all moments in S331 can be set to the vibration signals collected at all moments after the vibration occurs. If the signal value of the vibration signal exceeds a specified value, it can be determined that the pipetting component or the pipetting component has produced a vibration phenomenon. Thus, starting from the identified vibration signal, when the pipetting component meets the falling condition of the first vibration state in the m-th data (such as D(t) being greater than A1 in the aforementioned embodiment), all data from the first data to that data are subjected to a fast Fourier transform, which is expressed as a frequency-voltage relationship curve, thereby converting the time domain signal into a frequency domain signal, and calculating the energy proportion w of the frequency domain signal within the specified interval [f1,f2], that is, calculating the waveform integral area corresponding to the frequency in the interval [f1,f2]. If w is greater than the third threshold b3, it indicates that there is an abnormal waveform caused by a collision, triggering a collision warning. In addition to identifying vibrations after an instantaneous collision, this third condition can also be used to prevent accidental triggering caused by atypical interferences such as human-induced knocking, and to accurately identify collision scenarios of various pipetting components.

[0062] Typically, the specified time for the second condition is less than the duration of the first condition, which is less than the analysis time for the dominant frequency proportion of the third condition. This is mainly because the analysis time for the second condition is short, while the first condition can satisfy all three vibration states. The third condition requires more time for dominant frequency analysis. Of course, depending on the specific implementation process, the time set for each condition can be flexibly set without being overly restricted.

[0063] Based on these three collision determination criteria, the detection sensitivity is increased and all possible collision scenarios are fully covered. The accuracy is high, and based on dual-signal differential processing, common-mode vibration interference is effectively suppressed, which can significantly reduce the false alarm rate.

[0064] S400 determines whether the pipetting component meets the collision detection criteria based on real-time information; S500, if so, it is determined that a collision has occurred in the pipetting component.

[0065] Based on the collision determination conditions mentioned in the foregoing embodiments, the real-time information includes a first vibration signal, a second vibration signal, duration, and moving speed, which includes both vibration and motion information, thereby enabling accurate determination of whether a collision has occurred with the pipetting component.

[0066] To implement the collision detection method of the first aspect embodiment described above, the present invention also provides a collision detection system 10 applied to a pipetting device in a second aspect, see below. Figure 3 The collision detection system 10 includes: Acquisition unit 11 is used to acquire real-time information of the pipetting component and pipetting arm; Extraction unit 12 is used to extract real-time vibration information of the pipetting component relative to the pipetting arm based on real-time information; The determining unit 13 is used to determine the intensity of vibration of the pipetting component based on real-time vibration information, and to determine the collision determination condition of the pipetting component based on the intensity of vibration. The processing unit 14 is used to determine whether the pipetting component meets the collision determination conditions based on real-time information, so as to determine whether the pipetting component has collided.

[0067] In a third aspect, embodiments of the present invention also provide a computer-readable storage medium, the computer-readable storage medium including a stored program, wherein, when the program is running, it controls the computer-readable storage medium to execute the collision detection method of the first aspect embodiment of the present invention within a device.

[0068] This invention also provides a computer device, which includes a processor, a memory, and a computer program stored in the memory and executable on the processor. When executed by the processor, the computer program implements the collision detection method described in the embodiments; to avoid repetition, these details are not elaborated here. Alternatively, when executed by the processor, the computer program implements the functions of each model / unit of the control device in the embodiments; to avoid repetition, these details are not elaborated here.

[0069] Computer devices include, but are not limited to, processors and memory. Those skilled in the art will understand that the above are merely examples of computer devices and do not constitute a limitation on computer devices. A computer device may include more or fewer components than illustrated, or a combination of certain components, or different components. For example, a computer device may also include input / output devices, network access devices, buses, etc.

[0070] The processor referred to can be a Central Processing Unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor can be a microprocessor or any conventional processor.

[0071] Memory can be an internal storage unit of a computer device, such as a hard drive or RAM. Memory can also be an external storage device of a computer device, such as a plug-in hard drive, Smart Media Card (SMC), Secure Digital (SD) card, or Flash Card. Furthermore, memory can include both internal and external storage units. Memory is used to store computer programs and other programs and data required by the computer device. Memory can also be used to temporarily store data that has been output or will be output.

[0072] In the above embodiments, implementation can be achieved entirely or partially through software, hardware, firmware, or any combination thereof. When implemented using software, it can be implemented entirely or partially in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer instructions are loaded and executed on a computer, all or part of the processes or functions described in the embodiments of this application are generated. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions can be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another. For example, the computer instructions can be transmitted from one website, computer, server, or data center to another website, computer, server, or data center via wired (e.g., coaxial cable, fiber optic, Digital Subscriber Line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) means. The computer-readable storage medium can be any available medium accessible to a computer or a data storage device such as a server or data center that integrates one or more available media. The available media may be magnetic media (e.g., floppy disks, hard disks, magnetic tapes), optical media (e.g., high-density digital video discs (DVDs)), or semiconductor media (e.g., solid-state drives (SSDs)).

[0073] While specific embodiments of the invention have been described in detail by way of examples, those skilled in the art should understand that the examples are for illustrative purposes only and not intended to limit the scope of the invention. Those skilled in the art should understand that modifications can be made to the above embodiments without departing from the scope and spirit of the invention. The scope of the invention is defined by the appended claims.

[0074] Finally, it should be noted that the above description is merely the preferred embodiment of the present invention and is not intended to limit the present invention in any way. Any person skilled in the art can make many possible variations and simple substitutions to the technical solutions of the present invention using the disclosed methods and techniques without departing from the scope of the present invention; all of these variations fall within the protection scope of the present invention.

Claims

1. A collision detection method applied to a pipetting device, the pipetting device comprising a pipetting arm, a pipetting component disposed on the pipetting arm, and a sensing mechanism for collecting vibration information of the pipetting component, wherein the pipetting component is capable of moving along a specified direction with the pipetting arm, characterized in that... The method includes: Obtain real-time information about the pipetting component and the pipetting arm; The intensity of vibration of the pipetting component is determined based on the real-time vibration information of the pipetting component relative to the pipetting arm, wherein the real-time vibration information is obtained based on the vibration-related information of the real-time information; Based on the intensity of the vibration, the collision determination conditions for the pipetting component are determined; Based on the real-time information, determine whether the pipetting component meets the collision determination criteria; If so, it is determined that a collision has occurred with the pipetting component.

2. The method according to claim 1, characterized in that, The intensity of vibration includes a first vibration state, a second vibration state, and a third vibration state ordered from strong to weak. The collision determination conditions can be determined by at least a first condition based on the duration of vibration, a second condition based on the kurtosis of the vibration signal of the pipetting component in the real-time information, and a third condition based on the frequency energy obtained based on the real-time information. Wherein, when the pipetting component is in the first vibration state, the collision determination condition is determined to be any one of the first condition, the second condition, and the third condition; When the pipetting component is in the second vibration state, the collision determination condition is determined to be either the first condition or the second condition; When the pipetting component is in the third vibration state, the collision determination condition is determined to be the first condition.

3. The method according to claim 2, characterized in that, The sensing mechanism includes a first vibration sensing point disposed on the pipetting component and a second vibration sensing point disposed on the pipetting arm. In the method... The vibration-related information includes the motion information of the pipette arm or the pipette component, the first vibration signal obtained based on the first vibration sensing point, and the second vibration signal obtained based on the second vibration sensing point.

4. The method according to claim 3, characterized in that, The real-time vibration information includes the collision acceleration of the pipetting component relative to the pipetting arm. The real-time vibration information is obtained based on the vibration-related information of the real-time information, including: A first vibration acceleration with respect to the pipetting component is obtained from the first vibration signal, and a second vibration acceleration with respect to the pipetting arm is obtained from the second vibration signal; The first vibration acceleration and / or the second vibration acceleration are corrected based on the motion information. After correction, the collision acceleration is obtained based on the first vibration acceleration and the second vibration acceleration.

5. The method according to claim 4, characterized in that, The step of correcting the first vibration acceleration and / or the second vibration acceleration based on the motion information includes: Based on the motion information, a correction coefficient is determined, and the second vibration acceleration is corrected according to the correction coefficient. The step of obtaining the collision acceleration based on the first vibration acceleration and the second vibration acceleration includes: The collision acceleration is the absolute value of the difference between the first vibration acceleration and the corrected second vibration acceleration.

6. The method according to claim 5, characterized in that, The corrected second vibration acceleration is the product of the original second vibration acceleration and the correction coefficient. The motion information includes the moving speed of the pipette arm. Determining the correction coefficient based on the motion information includes: When the moving speed falls within the first speed range, the correction coefficient is the first value; When the moving speed falls within the second speed range, the correction coefficient is the second value; When the moving speed falls within the third speed range, the correction coefficient is the third value; The first speed range, the second speed range, and the third speed range are arranged in ascending order and are continuous. The second value is greater than the first value but less than the third value, and the first value, the second value, and the third value are all less than 1.

7. The method according to claim 4, characterized in that, The step of determining the intensity of vibration of the pipetting component based on real-time vibration information of the pipetting component relative to the pipetting arm includes: Determine the range within which the collision acceleration falls; The degree of vibration of the pipetting component is determined based on the aforementioned range; The determination range includes a first vibration range, a second vibration range, and a third vibration range that are greater than a preset threshold and are arranged in ascending order and are continuous. When the collision acceleration falls within the first vibration range, the pipetting component is in the first vibration state; When the impact acceleration falls within the second vibration range, the pipetting component is in the second vibration state; When the impact acceleration falls within the third vibration range, the pipetting component is in the third vibration state.

8. The method according to claim 2, characterized in that, When the pipetting component is in the first vibration state, the second vibration state, or the third vibration state, the real-time information includes the duration of the pipetting component in each of the three vibration states. The first condition includes: Determine whether the duration is greater than the first threshold; If it is greater than, then the first condition is met.

9. The method according to claim 4, characterized in that, When the pipetting component is in the first vibration state or the second vibration state, the second condition includes: When it is determined at the current moment that the pipetting component falls into the first vibration state or the second vibration state, the first vibration acceleration at each moment including the current moment or at a specified time before the current moment is taken as the dataset; Based on the dataset, determine whether the kurtosis of the first vibration acceleration is greater than the second threshold; If it is greater than, then the second condition is met; The kurtosis of the first vibration acceleration is obtained by the following formula: Ku=1 / N*∑((Xi-µ) / σ) 4 -3 Where Ku is the kurtosis, N is the number of data points for the first vibration acceleration, Xi is the data value of the first vibration acceleration, µ is the mean, and σ is the standard deviation.

10. The method according to claim 3, characterized in that, When the pipetting component is in the first vibration state, the third condition includes: When it is determined at the current moment that the pipetting component has fallen into the first vibration state, all the first vibration signals at all times are converted into frequency domain signals; Calculate the energy percentage of the frequency domain signal within the specified interval; Determine whether the energy percentage is greater than the third threshold; If it is greater than, then the third condition is met.

11. A collision detection system applied to a pipetting device, the pipetting device comprising a pipetting arm, a pipetting component disposed on the pipetting arm, and a sensing mechanism for collecting vibration information of the pipetting component, the pipetting component being capable of moving along a specified direction with the pipetting arm, characterized in that, The collision detection system includes: The acquisition unit is used to acquire real-time information about the pipetting component and the pipetting arm; An extraction unit is used to extract real-time vibration information of the pipetting component relative to the pipetting arm based on the real-time information. The determining unit is used to determine the intensity of vibration of the pipetting component based on the real-time vibration information, and to determine the collision determination condition of the pipetting component based on the intensity of vibration. The processing unit is used to determine whether the pipetting component meets the collision determination conditions based on the real-time information, so as to determine whether the pipetting component has experienced a collision.

12. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program that, when executed by a processor, performs the collision detection method for a pipetting component as described in any one of claims 1 to 10.

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