Liquid flocculation centrifugal system and control method thereof

Abstract

The invention discloses a liquid flocculation centrifugal system and a control method thereof, and relates to the field of water quality detection.The liquid flocculation centrifugal system comprises a first pipetting mechanism, a medicament adding mechanism, a flocculation reaction cup, a second pipetting mechanism, a centrifugal machine and a solid-liquid separation mechanism which are matched in sequence and are all in communication connection with a controller, and the first pipetting mechanism transfers a sample to the flocculation reaction cup; a stirrer, a temperature controller and an ultrasonic oscillator are arranged in the reaction cup, an injection gun head of the second pipetting mechanism is provided with an automatic turnover filter screen, the injection gun head is wrapped during suction and avoids during injection, and the solid-liquid separation mechanism completes final separation. On the basis of all the components which are matched in sequence, automatic execution of the liquid flocculation centrifugal process is achieved, and the processing precision and efficiency are improved.

Description

Technical Field

[0001] This application relates to the field of water quality testing technology, and in particular to a liquid flocculation centrifugation system and its control method. Background Technology

[0002] In laboratory water quality analysis, the pretreatment of water samples has a crucial impact on the accuracy of the analytical results. Flocculation and centrifugation are commonly used pretreatment methods to remove suspended particles, colloidal substances, and other interfering components from water samples, enabling subsequent high-precision detection methods such as spectrophotometry and chromatography. Currently, flocculation and centrifugation operations in laboratories are still primarily manual, specifically including: manually adding flocculants, manually stirring to promote the reaction, transferring the reacted sample to centrifuge tubes, and then placing it in a centrifuge for separation.

[0003] However, manual processing is inefficient and inaccurate, which seriously affects the accuracy and efficiency of subsequent testing. Summary of the Invention

[0004] In view of the above problems, this application provides a liquid flocculation centrifugation system and its control method to improve the processing accuracy and efficiency of the liquid flocculation centrifugation process. The specific solution is as follows:

[0005] The first aspect of this application provides a liquid flocculation centrifugation system, comprising:

[0006] The system consists of a first pipetting mechanism, a reagent dosing mechanism, a flocculation reaction cup, a second pipetting mechanism, a centrifuge, a solid-liquid separation mechanism, and a controller.

[0007] The first pipetting mechanism, the reagent dosing mechanism, the flocculation reaction cup, the second pipetting mechanism, the centrifuge, and the solid-liquid separation mechanism are all communicatively connected to the controller;

[0008] The first pipetting mechanism is equipped with a first robotic arm, a first injection device movably mounted on the first robotic arm via a slot, a first liquid level sensor, and a first hydraulic sensor. The first liquid level sensor and the first hydraulic sensor are located inside the first injection device. The movement range of the first robotic arm includes the sample storage area and the placement area of ​​the flocculation reaction cup.

[0009] The drug dispensing mechanism is movably mounted to the first robotic arm via a slot;

[0010] The flocculation reaction cup is equipped with a stirrer, a temperature controller and an ultrasonic oscillator.

[0011] The second pipetting mechanism is equipped with a second robotic arm and a second injection device that is movably mounted on the second robotic arm via a slot. The second injection device includes an injection nozzle with an automatically folding filter. The movement range of the second robotic arm includes the placement area of ​​the flocculation reaction cup and the placement area of ​​the centrifuge. When the injection nozzle draws liquid, the automatically folding filter is in a first position that covers the injection nozzle. When the injection nozzle injects liquid, the automatically folding filter is in a second position that does not cover the injection nozzle.

[0012] The solid-liquid separation mechanism includes a third robotic arm, a third injection device movably mounted on the third robotic arm via a slot, a filtration device, and a liquid holding container. The movement range of the third robotic arm includes the placement area of ​​the centrifuge and the liquid inlet area of ​​the filtration device. The liquid outlet of the filtration device is connected to the inlet of the liquid holding container.

[0013] In one possible implementation, the first injection device includes:

[0014] The reservoir, syringe pump, and syringe tip are all components of the syringe.

[0015] The syringe tip is connected to the first connection port of the syringe pump, and the second connection port of the syringe pump is connected to the opening of the reservoir.

[0016] The first hydraulic sensor is disposed inside the injection nozzle, and the first liquid level sensor is disposed outside the liquid storage chamber;

[0017] The injection pump is communicatively connected to the controller.

[0018] In one possible implementation, the drug dispensing mechanism includes:

[0019] Multiple dispensing nozzles, a multi-channel peristaltic pump, multiple medicine bottles, and multiple secondary liquid level sensors.

[0020] The medicine bottle is connected to one inlet of the multi-channel peristaltic pump via a pipe, and one outlet of the multi-channel peristaltic pump is connected to the dispensing nozzle. The second liquid level sensor is installed on the outside of the medicine bottle.

[0021] The multi-channel peristaltic pump is communicatively connected to the controller.

[0022] In one possible implementation, the flocculation reaction cup further includes:

[0023] An optical turbidity sensor is installed inside the flocculation reaction cup at a preset distance from the bottom of the cup, and the optical turbidity sensor is communicatively connected to the controller.

[0024] In one possible implementation, the liquid flocculation centrifugation system further includes:

[0025] A cleaning machine, wherein the cleaning machine is located within the movement range of the third robotic arm;

[0026] The cleaning machine is communicatively connected to the controller.

[0027] A second aspect of this application provides a control method for a liquid flocculation centrifugation system, applied to a controller of the liquid flocculation centrifugation system as provided in the first aspect and any implementation thereof, the control method for the liquid flocculation centrifugation system comprising:

[0028] In response to the start control signal, the first pipetting mechanism is controlled to transfer a first dose of sample liquid from the sample vial to the flocculation reaction cup, and the reagent dosing mechanism is controlled to add a second dose of flocculant from the target reagent vial to the flocculation reaction cup. The target reagent vial is the reagent vial corresponding to the reagent identifier in the start control signal, and the first dose and the second dose are parameters in the start control signal.

[0029] When the dosing mechanism stops adding the agent, the flocculation reaction cup is controlled to mix the sample liquid and the flocculant.

[0030] When the mixing in the flocculation reaction cup is finished, the second pipetting mechanism is controlled to inject the mixed liquid in the flocculation reaction cup into the centrifuge tube, and the centrifuge is controlled to run.

[0031] When the centrifuge stops running, the solid-liquid separation mechanism is controlled to perform solid-liquid separation on the liquid in the centrifuge tube to obtain the processed liquid.

[0032] In one possible implementation, the flocculation reaction cup in the liquid flocculation centrifugation system further includes:

[0033] An optical turbidity sensor is disposed inside the flocculation reaction cup and is communicatively connected to the controller;

[0034] The control of mixing the sample liquid and the flocculant in the flocculation reaction cup includes:

[0035] The stirrer, the temperature controller, and the ultrasonic oscillator are controlled to operate for a preset time.

[0036] After the stirrer, the temperature controller and the ultrasonic oscillator stop operating, the optical turbidity sensor is controlled to collect the turbidity value of the mixed liquid in the flocculation reaction cup;

[0037] If the turbidity value is less than a preset turbidity threshold, a trigger signal is output to indicate that the flocculation reaction cup has ended mixing.

[0038] If the turbidity value is not less than the preset turbidity threshold, the preset duration is updated based on the turbidity value, and the stirrer, the temperature controller and the ultrasonic oscillator are controlled to operate based on the updated preset duration.

[0039] In one possible implementation, prior to controlling the stirrer, the temperature controller, and the ultrasonic oscillator to operate based on an updated preset duration, the following is also included:

[0040] If the updated preset duration is not greater than the preset normal operating duration threshold, the operation steps of controlling the stirrer, the temperature controller and the ultrasonic oscillator to operate based on the updated preset duration are executed;

[0041] If the updated preset duration exceeds the preset normal operating duration threshold, the stirrer, the temperature controller, and the ultrasonic oscillator will be controlled to stop operating, and an abnormal flocculation alarm signal will be output.

[0042] In one possible implementation, the first injection device includes:

[0043] The liquid reservoir, the syringe pump, and the syringe tip are provided. The syringe tip is connected to the first connection port of the syringe pump, and the second connection port of the syringe pump is connected to the opening of the liquid reservoir.

[0044] The first hydraulic sensor is disposed inside the injection nozzle, and the first liquid level sensor is disposed outside the liquid storage chamber;

[0045] The injection pump is communicatively connected to the controller;

[0046] The control of the first pipetting mechanism to transfer a first dose of sample liquid from the sample vial to the flocculation reaction cup includes:

[0047] Control the first robotic arm to move to the sample position indicated in the start control signal;

[0048] After the first robotic arm has finished moving, the injection pump is controlled to run to draw the sample liquid from the sample container into the storage chamber, and the first liquid level sensor is controlled to collect the liquid level in the storage chamber, and the first hydraulic sensor is controlled to collect the liquid pressure at the injection nozzle.

[0049] When the liquid pressure is not greater than a preset safety pressure threshold and the liquid level is equal to the liquid level corresponding to the first dose, the injection pump is locked and the first robotic arm is moved to the placement area of ​​the flocculation reaction cup.

[0050] After the first robotic arm movement is detected, the injection pump is controlled to operate to inject the sample liquid from the storage chamber into the flocculation reaction cup, and the first liquid level sensor is controlled to collect the liquid level in the storage chamber.

[0051] When the liquid level is 0, the injection pump is locked, and the first robotic arm is moved to the sample storage area.

[0052] One possible implementation also includes:

[0053] When the liquid pressure is greater than the preset safety pressure threshold and the liquid level is less than the liquid level corresponding to the first dose, the injection pump is locked and an alarm signal for injection nozzle blockage is output.

[0054] By employing the above technical solution, this application provides a liquid flocculation centrifugation system and its control method. Through a first pipetting mechanism equipped with a first robotic arm, a first injection device, a first liquid level sensor, and a first hydraulic sensor movably mounted on the first robotic arm via slots, the system automatically and quantitatively injects sample liquid from the sample storage area into the flocculation reaction cup. Simultaneously, by configuring a reagent dosing mechanism movably mounted on the first robotic arm via slots, the system automatically adds flocculant to the flocculation reaction cup. Subsequently, by configuring a stirrer, a temperature controller, and an ultrasonic oscillator inside the flocculation reaction cup, constant-temperature automatic flocculation is achieved. Furthermore, by configuring a second pipetting mechanism with a second robotic arm and a second injection device movably mounted on the second robotic arm via a slot, the second injection device is equipped with an injection nozzle with an automatically folding filter. The automatically folding filter is configured to be in a first position covering the injection nozzle when it is drawing liquid, and in a second position not covering the injection nozzle when it is injecting liquid. The movement range of the second robotic arm includes the placement area of ​​the flocculation reaction cup and the placement area of ​​the centrifuge, thereby automatically transferring the mixed liquid without flocculation into the centrifuge. Finally, by configuring a solid-liquid separation mechanism including a third robotic arm, a third injection device movably mounted on the third robotic arm via a slot, a filter device, and a liquid container, the movement range of the third robotic arm includes the placement area of ​​the centrifuge and the inlet area of ​​the filter device. The liquid outlet of the filter device is connected to the inlet of the liquid container, achieving solid-liquid separation and liquid collection of the centrifuged mixed liquid. Therefore, this application achieves automated execution of the liquid flocculation centrifugation process, improving the operational accuracy and efficiency of liquid flocculation centrifugation. Attached Figure Description

[0055] The above and other features, advantages, and aspects of the embodiments of this disclosure will become more apparent from the accompanying drawings and the following detailed description. Throughout the drawings, the same or similar reference numerals denote the same or similar elements. It should be understood that the drawings are schematic, and the originals and elements are not necessarily drawn to scale.

[0056] Figure 1 This is a schematic diagram of the structure of a liquid flocculation centrifugation system provided in this application;

[0057] Figure 2 This application provides a schematic diagram of the structure of a first pipetting mechanism;

[0058] Figure 3 This is a schematic diagram of the structure of a flocculation reaction cup provided in this application;

[0059] Figure 4 This application provides a schematic diagram of the structure of a second pipetting mechanism;

[0060] Figure 5 This application provides a schematic diagram of the structure of an automatic folding filter screen;

[0061] Figure 6 This application provides a schematic diagram of the structure of an automatic folding filter screen;

[0062] Figure 7 This is a schematic diagram of a solid-liquid separation mechanism provided in this application;

[0063] Figure 8 A schematic diagram of the structure of a first injection device provided in this application;

[0064] Figure 9 This application provides a schematic diagram of the structure of a drug dispensing mechanism;

[0065] Figure 10 A flowchart of a control method for a liquid flocculation centrifugation system provided in this application;

[0066] Figure 11 A flowchart of a control method for a liquid flocculation centrifugation system provided in this application. Detailed Implementation

[0067] The embodiments of this application are described below with reference to the accompanying drawings. The terminology used in the implementation section of this application is for explaining specific embodiments only and is not intended to limit the scope of this application.

[0068] The embodiments of this application will now be described with reference to the accompanying drawings. Those skilled in the art will recognize that, with technological advancements and the emergence of new scenarios, the technical solutions provided in the embodiments of this application are equally applicable to similar technical problems.

[0069] The terms "first," "second," etc., used in the specification, claims, and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such terms are interchangeable where appropriate; this is merely a way of distinguishing objects with the same attributes in the embodiments of this application. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion, so that a process, method, system, product, or apparatus that comprises a series of elements is not necessarily limited to those elements but may include other elements not explicitly listed or inherent to those processes, methods, products, or apparatuses.

[0070] The first aspect of this application provides a liquid flocculation centrifugation system, such as... Figure 1 As shown, the liquid flocculation centrifugation system includes:

[0071] The system comprises a first pipetting mechanism 101, a reagent dosing mechanism 102, a flocculation reaction cup 103, a second pipetting mechanism 104, a centrifuge 105, a solid-liquid separation mechanism 106, and a controller 107. The first pipetting mechanism 101, the reagent dosing mechanism 102, the flocculation reaction cup 103, the second pipetting mechanism 104, the centrifuge 105, and the solid-liquid separation mechanism 106 are all communicatively connected to the controller 107.

[0072] The first pipetting mechanism 101 is equipped with a first robotic arm, a first injection device movably mounted on the first robotic arm via a slot, a first liquid level sensor, and a first hydraulic sensor. The first liquid level sensor and the first hydraulic sensor are located inside the first injection device. The movement range of the first robotic arm includes the sample storage area and the placement area of ​​the flocculation reaction cup 103.

[0073] The agent dosing mechanism 102 is movably mounted on the first robotic arm via a slot;

[0074] The flocculation reaction cup 103 is equipped with a stirrer, a temperature controller and an ultrasonic oscillator.

[0075] The second pipetting mechanism 104 is equipped with a second robotic arm and a second injection device that is movably mounted on the second robotic arm via a slot. The second injection device includes an injection nozzle with an automatically folding filter. The movement range of the second robotic arm includes the placement area of ​​the flocculation reaction cup 103 and the placement area of ​​the centrifuge 105. When the injection nozzle draws liquid, the automatically folding filter is in a first position that covers the injection nozzle. When the injection nozzle injects liquid, the automatically folding filter is in a second position that does not cover the injection nozzle.

[0076] The solid-liquid separation mechanism 106 includes a third robotic arm, a third injection device movably mounted on the third robotic arm via a slot, a filter device, and a liquid holding container. The movement range of the third robotic arm includes the placement area of ​​the centrifuge 105 and the liquid inlet area of ​​the filter device. The liquid outlet of the filter device is connected to the inlet of the liquid holding container.

[0077] It should be noted that, in practical applications, the structural diagram of the first pipetting mechanism 101 described above can be as follows: Figure 2 As shown, the first pipetting mechanism 101 includes a first robotic arm 201, a first injection device 202, and a first liquid level sensor and a first hydraulic pressure sensor disposed inside the first injection device. When the first robotic arm moves to the sample storage area (e.g., ... Figure 2 When the test tube rack 203 is in the middle (e.g.) Figure 2 (As indicated by the dashed line), the first robotic arm 201 drives the first injection device 202 to aspirate the sample from the test tube. After aspiration is complete, the first robotic arm 201 moves the first injection device 202 to the placement area of ​​the flocculation reaction cup 103, and the first injection device 202 injects the aspirated sample into the flocculation reaction cup 103.

[0078] It should be noted that, in practical applications, the aforementioned reagent dosing mechanism 102 is used to add flocculant to the flocculation reaction cup 103. This application configures the reagent dosing mechanism 102 to be movably mounted on the first robotic arm of the first pipetting mechanism via a slot, thereby automatically injecting flocculant into the flocculation reaction cup 103 when the first robotic arm moves to the placement area of ​​the flocculation reaction cup 103. This achieves automatic dosing of the flocculant, improving the accuracy and efficiency of flocculant addition.

[0079] It should be noted that, in practical applications, the structure of the flocculation reaction cup 103 described above can be varied. Here, one example is provided: the structural schematic diagram of the flocculation reaction cup 103 is as follows... Figure 3 As shown, a stirrer 301 is installed at the bottom of the cup to thoroughly mix the sample and flocculant. A temperature controller 302 is installed on the inner side wall of the cup to regulate the temperature of the mixed liquid, ensuring it remains within the optimal temperature range for flocculant precipitation. An ultrasonic oscillator 303 is also installed on the inner side wall of the cup to apply ultrasonic waves to the mixed liquid, accelerating the reaction rate between the sample and the flocculant. By configuring the above-mentioned flocculation reaction cup 103, this application improves the reaction rate and reaction effect compared to manual stirring.

[0080] It should be noted that, in practical applications, the types of stirrers mentioned above can be various, including but not limited to: mechanical stirrers, magnetic stirrers, and airflow stirrers. This application does not impose excessive limitations or elaborate on the types of stirrers mentioned above.

[0081] It should be noted that, in practical applications, the structural diagram of the second pipetting mechanism 104 described above can be as follows: Figure 4 As shown, the second pipetting mechanism 104 includes a second robotic arm 401 and a second injection device 402, the second injection device 402 including an automatically folding filter screen 403. The second robotic arm 401 moves to the placement area of ​​the flocculation reaction cup 103 (e.g., ...). Figure 4 When the second robotic arm 401 is positioned (as indicated by the dashed line), the automatic folding filter 403 is in the first position, covering the injection nozzle of the second injection device 402. The automatic folding filter 403 filters the flocculation in the flocculation reaction cup 103, allowing the second injection device 402 to collect the clarified liquid. When the second robotic arm 401 moves to the placement area of ​​the centrifuge 105, the automatic folding filter 403 is in a second position, not covering the injection nozzle, to prevent residual flocculation from falling into the centrifuge tubes when the second injection device 402 injects clarified liquid into the centrifuge 105, causing the clarified liquid to wash over the automatic folding filter 403.

[0082] In one possible implementation, the control parameters of the controller 107 may be parameters that have been pre-edited and stored in a database, or parameters that have been set by a remote terminal connected to the controller 107.

[0083] This application configures the second pipetting mechanism 104 with a second robotic arm and a second injection device movably mounted on the second robotic arm via a slot. The second injection device includes an injection nozzle with an automatically folding filter. The movement range of the second robotic arm includes the placement area of ​​the flocculation reaction cup 103 and the placement area of ​​the centrifuge 105. When the injection nozzle draws liquid, the automatically folding filter is in a first position that covers the injection nozzle. When the injection nozzle injects liquid, the automatically folding filter is in a second position that does not cover the injection nozzle. This achieves automatic transfer of the flocculated liquid to the centrifuge, improving processing efficiency while avoiding the impact of flocculants on the subsequent centrifugation effect.

[0084] In one possible implementation, the structure of the second injection device 402 described above may be the same as that of the first injection device 202 described above.

[0085] It should be noted that, in practical applications, the structure of the aforementioned automatic folding filter 403 can be varied; two examples are provided here:

[0086] like Figure 5The diagram shows a schematic of an automatically folding filter screen, including a filter screen cover 501, a cover base 502, a drive connecting rod 503, a sliding sleeve 504, and a drive device 505. The sliding sleeve 504 is fitted onto the second injection device 402. To improve movement and fitting stability, the surface of the second injection device can be provided with toothed grooves that mesh with the power output gear of the drive device 505. The drive connecting rod 503 is located on the outer surface of the sliding sleeve, with one end fixedly connected to the cover base 502. The cover base 502 is fixedly connected to the filter screen cover 501. When the automatically folding filter screen needs to be in the first position, the drive device 505 drives the automatically folding filter screen to move towards the injection nozzle of the second injection device 402. After reaching the predetermined position, the drive connecting rod 503 drives the cover base 502 and the filter screen cover 501 to rotate, thus wrapping the injection nozzle. The schematic diagram of the automatically folding filter screen in the first position is shown below. Figure 6 As shown.

[0087] It should be noted that, in practical applications, the structural diagram of the above-mentioned solid-liquid separation mechanism 106 can be as follows: Figure 7 As shown, it includes a third robotic arm 701, a third injection device 702 movably mounted on the third robotic arm 701 via a slot, a filter device 703, and a liquid container 704. The moving range of the third robotic arm 701 is the placement area of ​​the centrifuge 105 and the liquid inlet area of ​​the filter device 703. The liquid outlet of the filter device 703 is connected to the inlet of the liquid container 704.

[0088] It should be noted that, in actual application scenarios, the structure of the third injection device 702 is the same as that of the first injection device 202 and the second injection device 402.

[0089] This application achieves automatic quantitative injection of sample liquid from the sample storage area into the flocculation reaction cup by configuring a first pipetting mechanism equipped with a first robotic arm, a first injection device movably mounted on the first robotic arm via a slot, a first liquid level sensor, and a first hydraulic sensor. Simultaneously, by configuring a reagent dosing mechanism movably mounted on the first robotic arm via a slot, it achieves automatic addition of flocculant to the flocculation reaction cup. Subsequently, by configuring a stirrer, a temperature controller, and an ultrasonic oscillator inside the flocculation reaction cup, it achieves constant-temperature automatic flocculation. Furthermore, by configuring a second pipetting mechanism equipped with a second robotic arm and a second injection device movably mounted on the second robotic arm via a slot, the second injection device is equipped with an injection nozzle with an automatically folding filter. The automatically folding filter is configured to be in a first position covering the injection nozzle when the injection nozzle is drawing liquid, and in a second position not covering the injection nozzle when the injection nozzle is injecting liquid. The movement range of the second robotic arm includes the placement area of ​​the flocculation reaction cup and the placement area of ​​the centrifuge, thereby achieving automatic transfer of the mixed liquid without flocculants into the centrifuge. Finally, by configuring a solid-liquid separation mechanism including a third robotic arm, a third injection device movably mounted on the third robotic arm via a slot, a filter device, and a liquid holding container, the movement range of the third robotic arm is the placement area of ​​the centrifuge and the liquid inlet area of ​​the filter device. The liquid outlet of the filter device is connected to the inlet of the liquid holding container, thus realizing solid-liquid separation and liquid collection of the centrifuged mixed liquid. It is evident that this application achieves automated execution of the liquid flocculation centrifugation process, improving the operational accuracy and efficiency of liquid flocculation centrifugation.

[0090] In one possible implementation, the first injection device described above includes:

[0091] The reservoir, syringe pump, and syringe tip are all components of the syringe.

[0092] The syringe tip is connected to the first connection port of the syringe pump, and the second connection port of the syringe pump is connected to the opening of the reservoir.

[0093] The first hydraulic sensor is located inside the injection nozzle, and the first liquid level sensor is located outside the liquid storage chamber.

[0094] The syringe pump is communicatively connected to the controller 107.

[0095] It should be noted that, in practical applications, the structural diagram of the first injection device described above can be as follows: Figure 8As shown, the connection port of the injection nozzle 801 is connected to the first connection port of the injection pump 802, and the second connection port of the injection pump 802 is connected to the opening of the reservoir 803. A first hydraulic sensor 804 is disposed inside the injection nozzle 801, and a first liquid level sensor 805 is disposed outside the reservoir 803. The first hydraulic sensor 804 is used to monitor the suction pressure of the first injection device, thereby assisting in fault detection of whether the injection nozzle 801 is blocked or whether the injection pump 802 is malfunctioning. The first liquid level sensor 805 is used to monitor the amount of sample drawn or injected. This application does not specify or elaborate on the specific models of the reservoir, injection pump, injection nozzle, first hydraulic sensor, and first liquid level sensor.

[0096] In one possible implementation, the above-mentioned drug dispensing mechanism 102 includes:

[0097] Multiple dispensing nozzles, a multi-channel peristaltic pump, multiple medicine bottles, and multiple secondary liquid level sensors.

[0098] The medicine bottle is connected to one inlet of a multi-channel peristaltic pump via a pipe, and one outlet of the multi-channel peristaltic pump is connected to the dispensing nozzle. A second liquid level sensor is installed on the outside of the medicine bottle.

[0099] The multi-channel peristaltic pump is connected to the controller 107 via communication.

[0100] It should be noted that, in practical application scenarios, the structural diagram of the above-mentioned agent dosing mechanism 102 is as follows: Figure 9 As shown, the medicine bottle 903 is connected to one inlet of the multi-channel peristaltic pump 901 through a pipe, and one outlet of the multi-channel peristaltic pump 901 is connected to a dispensing nozzle 902. The second liquid level sensor 904 is installed on the outside of the medicine bottle 903.

[0101] In one possible implementation, the aforementioned flocculation reaction cup 103 further includes:

[0102] An optical turbidity sensor is installed inside the flocculation reaction cup 103 at a preset distance from the bottom of the cup, and the optical turbidity sensor is communicatively connected to the controller 107.

[0103] It should be noted that in practical applications, the aforementioned preset distance can be determined based on calibration experiments, specifically the distance from the bottom boundary of the clear liquid layer in the mixture to the bottom of the cup. Since the function of the flocculation reaction cup 103 is to mix the sample and reagent to obtain a clear liquid sample mixture after removing some impurities (i.e., the produced flocculants), the time required for flocculant formation varies depending on factors such as dosage, temperature, and composition. Therefore, this application configures the aforementioned optical turbidity sensor at a preset distance from the bottom of the flocculation reaction cup 103. This optical turbidity sensor is used to determine whether a clear liquid meeting subsequent detection requirements has been generated, thereby controlling the operation of the flocculation reaction cup and improving the flocculation treatment effect.

[0104] In one possible implementation, the liquid flocculation centrifugation system provided by the first aspect of this application and any implementation thereof further includes:

[0105] The cleaning machine is positioned within the movement range of the third robotic arm;

[0106] The cleaning machine is connected to the controller 107 via communication.

[0107] It should be noted that, in practical application scenarios, this application configures the aforementioned cleaning machine within the movement range of the third robotic arm, so that after the second pipetting mechanism 104 completes one pipetting process, the cleaning machine is used to clean the automatic folding filter and the second injection device, thereby avoiding contamination of the sample by residual flocculants on the automatic folding filter and residual sample liquid from the second injection device, thus improving the processing effect and accuracy.

[0108] In one possible implementation, the cleaning machine described above can also be equipped with a corresponding gripping robotic arm for cleaning the flocculation reaction cup 103.

[0109] In one possible implementation, the liquid flocculation centrifugation system provided by the first aspect of this application and any implementation thereof may further include an audible and visual alarm unit. This unit may include audible and visual alarm devices (such as emergency lights and buzzers) and a control device respectively deployed at the first pipetting mechanism 101, the reagent dosing mechanism 102, the flocculation reaction cup 103, the second pipetting mechanism 104, and the centrifuge 105. The control device is communicatively connected to the controller 107. It is used to issue audible and visual alarm signals when the controller 107 detects an abnormality in any one or more mechanisms, thereby alerting the operator to the fault location.

[0110] The second aspect of this application provides a control method for a liquid flocculation centrifugation system, applicable to a controller of the liquid flocculation centrifugation system as provided in the first aspect and any implementation thereof, such as... Figure 10 As shown, the control method of this liquid flocculation centrifugation system includes:

[0111] S1001. In response to the start control signal, control the first pipetting mechanism to transfer the first dose of sample liquid in the sample bottle to the flocculation reaction cup, and control the reagent dosing mechanism to add the second dose of flocculant in the target reagent bottle to the flocculation reaction cup. The target reagent bottle is the reagent bottle corresponding to the reagent identifier in the start control signal, and the first dose and the second dose are parameters in the start control signal.

[0112] It should be noted that, in practical applications, the aforementioned start-up control signal can be a control signal sent by the controller after the operator sets the corresponding parameters in the controller. The aforementioned start-up control signal may include the spatial coordinates used by the first pipetting mechanism to determine the positions of the sample vial and the flocculation reaction cup, the timing control signals for the first pipetting mechanism and the reagent dosing mechanism, the reagent vial number for which the reagent is added in the reagent dosing mechanism, and the aforementioned first and second dosages.

[0113] In one possible implementation, during the execution of step S1001 above, the operation of the first liquid level sensor and the first hydraulic sensor can also be controlled, and the operating status of the first injection device in the first pipetting mechanism can be monitored based on the liquid level signal collected by the first liquid level sensor and the pressure value collected by the first hydraulic sensor. Specifically, when the liquid level signal is less than the first dose and the pressure value is less than the preset pressure threshold, the first injection device is determined to be abnormal.

[0114] S1002. When the reagent addition mechanism has ended, control the mixing of sample liquid and flocculant in the flocculation reaction cup.

[0115] In one possible implementation, whether the above-mentioned drug dosing mechanism has stopped adding the drug can be determined by receiving the liquid level signal of the drug bottle in which the drug is being added. For example, if the change in liquid level of the drug bottle is equal to the second dose mentioned above, then it is determined that the drug dosing mechanism has stopped adding the drug.

[0116] S1003. When the mixing in the flocculation reaction cup is finished, control the second pipetting mechanism to inject the mixed liquid in the flocculation reaction cup into the centrifuge tube, and control the centrifuge to run.

[0117] S1004. When the centrifuge stops running, control the solid-liquid separation mechanism to perform solid-liquid separation on the liquid in the centrifuge tube to obtain the processed liquid.

[0118] In one possible implementation, the flocculation reaction cup in the liquid flocculation centrifugation system provided in the first aspect of this application further includes:

[0119] An optical turbidity sensor is installed inside the flocculation reaction cup and is connected to the controller.

[0120] Controlling the mixing of sample liquid and flocculant in the flocculation reaction cup includes:

[0121] Control the stirrer, temperature controller, and ultrasonic oscillator to operate for a preset time;

[0122] After the stirrer, temperature controller and ultrasonic oscillator stop running, the optical turbidity sensor is controlled to collect the turbidity value of the mixed liquid in the flocculation reaction cup.

[0123] When the turbidity value is less than the preset turbidity threshold, a trigger signal is output to indicate that the mixing of the flocculation reaction cup has ended;

[0124] If the turbidity value is not less than the preset turbidity threshold, the preset duration is updated based on the turbidity value, and the stirrer, temperature controller and ultrasonic oscillator are controlled to run based on the updated preset duration.

[0125] It should be noted that this application, by configuring the system to update the preset time based on the turbidity value when the turbidity value is not less than a preset turbidity threshold, and controlling the stirrer, temperature controller, and ultrasonic oscillator to operate based on the updated preset time, avoids over-stirring, thereby shortening the processing time while ensuring the flocculation treatment effect and improving the processing efficiency of the flocculation centrifugation process. The aforementioned preset time can be obtained based on calibration test results of the running time corresponding to different turbidities.

[0126] In one possible implementation, the process of controlling the mixing of the sample liquid and flocculant in the flocculation reaction cup as described above also includes:

[0127] Before controlling the stirrer, temperature controller, and ultrasonic oscillator to run based on the updated preset duration, determine whether the updated preset duration exceeds the preset duration threshold. If so, output an abnormal flocculation reaction; otherwise, execute the operation steps to control the stirrer, temperature controller, and ultrasonic oscillator to run based on the updated preset duration.

[0128] It should be noted that this application, by configuring an optical turbidity sensor to collect the turbidity value of the mixed liquid in the flocculation reaction vessel after the stirrer, temperature controller, and ultrasonic oscillator stop operating, outputs a trigger signal to end mixing in the flocculation reaction vessel when the turbidity value is less than a preset turbidity threshold. When the turbidity value is not less than the preset turbidity threshold, the preset time is updated based on the turbidity value, and the stirrer, temperature controller, and ultrasonic oscillator are controlled to operate based on the updated preset time, thereby improving the flocculation treatment effect.

[0129] In one possible implementation, before controlling the stirrer, temperature controller, and ultrasonic oscillator to operate based on the updated preset duration, the following is also included:

[0130] If the updated preset duration is not greater than the preset normal operating duration threshold, execute the operation steps to control the stirrer, temperature controller and ultrasonic oscillator to run based on the updated preset duration;

[0131] If the updated preset duration exceeds the preset normal operating duration threshold, the stirrer, thermostat, and ultrasonic oscillator will stop operating, and an abnormal flocculation alarm signal will be output.

[0132] In one possible implementation, the first injection device includes:

[0133] The system includes a reservoir, an injection pump, and an injection nozzle. The injection nozzle's connector is connected to the first connector of the injection pump, and the second connector of the injection pump is connected to the opening of the reservoir.

[0134] The first hydraulic sensor is located inside the injection nozzle, and the first liquid level sensor is located outside the liquid storage chamber.

[0135] The syringe pump communicates with the controller;

[0136] Controlling the first pipetting mechanism to transfer a first dose of sample liquid from the sample vial to the flocculation reaction cup includes:

[0137] Control the first robotic arm to move to the sample position indicated in the start control signal;

[0138] After the first robotic arm has finished moving, the injection pump is controlled to run to draw the sample liquid from the sample container into the storage chamber, and the first liquid level sensor is controlled to collect the liquid level in the storage chamber, and the first hydraulic sensor is controlled to collect the liquid pressure at the injection nozzle.

[0139] When the liquid pressure is not greater than the preset safety pressure threshold and the liquid level is equal to the liquid level corresponding to the first dose, the injection pump is locked and the first robotic arm is moved to the placement area of ​​the flocculation reaction cup.

[0140] After the first robotic arm has finished moving, the injection pump is controlled to inject the sample liquid from the storage chamber into the flocculation reaction cup, and the first liquid level sensor is controlled to collect the liquid level in the storage chamber.

[0141] When the liquid level is 0, the injection pump is locked and the first robotic arm is moved to the sample storage area.

[0142] One possible implementation also includes:

[0143] When the liquid pressure is greater than the preset safe pressure threshold and the liquid level is less than the liquid level corresponding to the first dose, the injection pump is locked and an alarm signal for injection nozzle blockage is output.

[0144] In one possible implementation, the aforementioned drug dispensing mechanism includes:

[0145] Multiple dispensing nozzles, a multi-channel peristaltic pump, multiple medicine bottles, and multiple secondary liquid level sensors.

[0146] The medicine bottle is connected to one inlet of a multi-channel peristaltic pump via a pipe, and one outlet of the multi-channel peristaltic pump is connected to the dispensing nozzle. A second liquid level sensor is installed on the outside of the medicine bottle.

[0147] The multi-channel peristaltic pump communicates with the controller.

[0148] The aforementioned controlled agent dosing mechanism adds the second dose of flocculant from the target agent bottle to the flocculation reaction cup, including:

[0149] If the current liquid level of the second liquid level sensor of the target medicine bottle is not less than the minimum liquid level threshold, control the multi-channel peristaltic pump to open the inlet connected to the target medicine bottle, and control the multi-channel peristaltic pump to close the inlet connected to other medicine bottles.

[0150] The multi-channel peristaltic pump is controlled to pump the reagent in the target reagent bottle into the flocculation reaction cup, and the second liquid level sensor of the target reagent bottle is controlled to monitor the liquid level change of the target reagent bottle;

[0151] When the running time of the multi-channel peristaltic pump is equal to the running time corresponding to the second dose in the start control signal, and the liquid level change is equal to the second dose, control the multi-channel peristaltic pump to stop running;

[0152] If the running time of the multi-channel peristaltic pump is equal to the running time corresponding to the second dose in the start control signal, and the liquid level change is less than the second dose, the multi-channel peristaltic pump will be stopped and an alarm signal indicating abnormal drug addition will be output.

[0153] To facilitate understanding of the control method for a liquid flocculation centrifugation system provided in the second aspect and any implementation thereof of this application, an example of a possible implementation of this application is described below:

[0154] like Figure 11 The diagram shows a flowchart of a control method for a liquid flocculation centrifugation system. The specific operation steps are as follows:

[0155] Step S1101: Analyze the start control signal to obtain the coordinates of the sample bottle, flocculation reaction cup, centrifuge, target reagent bottle number, first dose, and second dose. Then trigger step S1102.

[0156] Step S1102: Control the first robotic arm of the first pipetting mechanism to move to the coordinates of the sample vial, control the first injection device of the first pipetting mechanism to extract the first dose of sample, record the running time of the first injection device, and control the liquid level signal collected by the first liquid level sensor and the pressure value collected by the first hydraulic sensor. Then trigger step S1103.

[0157] Step S1103: Determine whether the running time of the first injection device is equal to the first preset running time. If yes, then trigger step S1104; otherwise, trigger step S1103.

[0158] Step S1104: Determine whether the liquid level signal is equal to the first dose. If yes, trigger step S1108; otherwise, trigger step S1105.

[0159] Step S1105: Determine whether the pressure value is less than a preset pressure threshold. If yes, then trigger step S1106; otherwise, trigger step S1107.

[0160] Step S1106: Terminate the operation and output an alarm signal indicating an abnormality in the first injection device.

[0161] Step S1107: Control the first injection device to run for a second preset duration. And trigger step S1104.

[0162] It should be noted that, in actual application scenarios, the second preset duration in step S1107 is less than the first preset duration.

[0163] Step S1108: Control the first injection device to stop operating and control the first robotic arm to move to the coordinates of the flocculation reaction cup. Then trigger step S1109.

[0164] Step S1109: Control the first injection device to inject the first dose of sample into the flocculation reaction cup, and control the reagent dosing mechanism to add the second dose of flocculant from the target reagent bottle into the flocculation reaction cup. Step S1110 is then triggered.

[0165] Step S1110: Control the stirrer, temperature controller, and ultrasonic oscillator of the flocculation reaction cup to run for a preset time. And trigger step S1111.

[0166] In step S1111, after the stirrer, temperature controller, and ultrasonic oscillator stop operating, the optical turbidity sensor is controlled to collect the turbidity value of the mixed liquid in the flocculation reaction vessel, and step S1112 is triggered.

[0167] Step S1112: Determine whether the turbidity value is less than a preset turbidity threshold. If not, trigger step S1113; if yes, trigger step S1114.

[0168] Step S1113: Update the preset duration based on the turbidity value, and control the stirrer, temperature controller, and ultrasonic oscillator to run based on the updated preset duration. This triggers step S1111.

[0169] Step S1114: Control the second robotic arm of the second pipetting mechanism to move to the coordinates of the flocculation reaction cup, control the automatic folding filter of the second pipetting mechanism to be in the first position, and control the second injection device to extract a preset dose of clear liquid from the flocculation reaction cup. Then trigger step S1115.

[0170] Step S1115: Control the second robotic arm of the second pipetting mechanism to move to the centrifuge coordinates, control the automatic folding filter of the second pipetting mechanism to be in the second position, and control the second injection device to inject the preset dose of clear liquid into the centrifuge tube. Step S1116 is then triggered.

[0171] Step S1116: Control the centrifuge to run for a preset time. And trigger step S1117.

[0172] Step S1117: When the centrifuge has finished running, control the solid-liquid separation mechanism to perform solid-liquid separation on the liquid in the centrifuge tube to obtain the processed liquid.

[0173] It should also be noted that the device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs. In addition, in the accompanying drawings of the device embodiments provided in this application, the connection relationship between modules indicates that they have a communication connection, which can be implemented as one or more communication buses or signal lines.

[0174] Through the above description of the embodiments, those skilled in the art can clearly understand that this application can be implemented by means of software plus necessary general-purpose hardware, or it can be implemented by special-purpose hardware including application-specific integrated circuits, special-purpose CPUs, special-purpose memory, special-purpose components, etc. Generally, any function performed by a computer program can be easily implemented by corresponding hardware, and the specific hardware structure used to implement the same function can also be diverse, such as analog circuits, digital circuits, or special-purpose circuits. However, for this application, software program implementation is more often the preferred implementation method. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product is stored in a readable storage medium, such as a computer floppy disk, USB flash drive, mobile hard disk, ROM, RAM, magnetic disk, or optical disk, etc., and includes several instructions to cause a computer device (which may be a personal computer, training equipment, or network device, etc.) to execute the methods of the various embodiments of this application.

[0175] In the above embodiments, implementation can be achieved, in whole or in part, through software, hardware, firmware, or any combination thereof. When implemented in software, it can be implemented, in whole or in part, as a computer program product.

[0176] A computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, all or part of the flow or function according to the embodiments of this application is generated. The computer may be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions may be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another. For example, computer instructions may be transmitted from one website, computer, training device, or data center to another website, computer, training device, 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 may be any available medium that a computer can store or a data storage device such as a training device 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., DVDs), or semiconductor media (e.g., solid-state drives (SSDs)).

Claims

1. A liquid flocculation centrifugation system, characterized in that, include: The system consists of a first pipetting mechanism, a reagent dosing mechanism, a flocculation reaction cup, a second pipetting mechanism, a centrifuge, a solid-liquid separation mechanism, and a controller. The first pipetting mechanism, the reagent dosing mechanism, the flocculation reaction cup, the second pipetting mechanism, the centrifuge, and the solid-liquid separation mechanism are all communicatively connected to the controller; The first pipetting mechanism is equipped with a first robotic arm, a first injection device movably mounted on the first robotic arm via a slot, a first liquid level sensor, and a first hydraulic sensor. The first liquid level sensor and the first hydraulic sensor are located inside the first injection device. The movement range of the first robotic arm includes the sample storage area and the placement area of ​​the flocculation reaction cup. The drug dispensing mechanism is movably mounted to the first robotic arm via a slot; The flocculation reaction cup is equipped with a stirrer, a temperature controller and an ultrasonic oscillator. The second pipetting mechanism is equipped with a second robotic arm and a second injection device that is movably mounted on the second robotic arm via a slot. The second injection device includes an injection nozzle with an automatically folding filter. The movement range of the second robotic arm includes the placement area of ​​the flocculation reaction cup and the placement area of ​​the centrifuge. When the injection nozzle draws liquid, the automatically folding filter is in a first position that covers the injection nozzle. When the injection nozzle injects liquid, the automatically folding filter is in a second position that does not cover the injection nozzle. The solid-liquid separation mechanism includes a third robotic arm, a third injection device movably mounted on the third robotic arm via a slot, a filtration device, and a liquid holding container. The movement range of the third robotic arm includes the placement area of ​​the centrifuge and the liquid inlet area of ​​the filtration device. The liquid outlet of the filtration device is connected to the inlet of the liquid holding container.

2. The liquid flocculation centrifugation system according to claim 1, characterized in that, The first injection device includes: The reservoir, syringe pump, and syringe tip are all part of the liquid storage system. The syringe tip is connected to the first connection port of the syringe pump, and the second connection port of the syringe pump is connected to the opening of the reservoir. The first hydraulic sensor is disposed inside the injection nozzle, and the first liquid level sensor is disposed outside the liquid storage chamber; The injection pump is communicatively connected to the controller.

3. The liquid flocculation centrifugation system according to claim 2, characterized in that, The drug dosing mechanism includes: Multiple dispensing nozzles, a multi-channel peristaltic pump, multiple medicine bottles, and multiple secondary liquid level sensors. The medicine bottle is connected to one inlet of the multi-channel peristaltic pump via a pipe, and one outlet of the multi-channel peristaltic pump is connected to the dispensing nozzle. The second liquid level sensor is installed on the outside of the medicine bottle. The multi-channel peristaltic pump is communicatively connected to the controller.

4. The liquid flocculation centrifugation system according to claim 1, characterized in that, The flocculation reaction cup also includes: An optical turbidity sensor is installed inside the flocculation reaction cup at a preset distance from the bottom of the cup, and the optical turbidity sensor is communicatively connected to the controller.

5. The liquid flocculation centrifugation system according to claim 1, characterized in that, The liquid flocculation centrifugation system further includes: A cleaning machine, wherein the cleaning machine is located within the movement range of the third robotic arm; The cleaning machine is communicatively connected to the controller.

6. A control method for a liquid flocculation centrifugation system, characterized in that, A controller applied to a liquid flocculation centrifugation system as described in any one of claims 1 to 5, wherein the control method for the liquid flocculation centrifugation system comprises: In response to the start control signal, the first pipetting mechanism is controlled to transfer a first dose of sample liquid from the sample vial to the flocculation reaction cup, and the reagent dosing mechanism is controlled to add a second dose of flocculant from the target reagent vial to the flocculation reaction cup. The target reagent vial is the reagent vial corresponding to the reagent identifier in the start control signal, and the first dose and the second dose are parameters in the start control signal. When the dosing mechanism stops adding the agent, the flocculation reaction cup is controlled to mix the sample liquid and the flocculant. When the mixing in the flocculation reaction cup is finished, the second pipetting mechanism is controlled to inject the mixed liquid in the flocculation reaction cup into the centrifuge tube, and the centrifuge is controlled to run. When the centrifuge stops running, the solid-liquid separation mechanism is controlled to perform solid-liquid separation on the liquid in the centrifuge tube to obtain the processed liquid.

7. The control method for the liquid flocculation centrifugation system according to claim 6, characterized in that, The flocculation reaction cup in the liquid flocculation centrifugation system further includes: An optical turbidity sensor is disposed inside the flocculation reaction cup and is communicatively connected to the controller; The control of mixing the sample liquid and the flocculant in the flocculation reaction cup includes: The stirrer, the temperature controller, and the ultrasonic oscillator are controlled to operate for a preset time. After the stirrer, the temperature controller and the ultrasonic oscillator stop operating, the optical turbidity sensor is controlled to collect the turbidity value of the mixed liquid in the flocculation reaction cup; If the turbidity value is less than a preset turbidity threshold, a trigger signal is output to indicate that the flocculation reaction cup has ended mixing. If the turbidity value is not less than the preset turbidity threshold, the preset duration is updated based on the turbidity value, and the stirrer, the temperature controller and the ultrasonic oscillator are controlled to operate based on the updated preset duration.

8. The control method for the liquid flocculation centrifugation system according to claim 6, characterized in that, Before the stirrer, the temperature controller, and the ultrasonic oscillator are controlled to operate based on the updated preset duration, the following is also included: If the updated preset duration is not greater than the preset normal operating duration threshold, the operation steps of controlling the stirrer, the temperature controller and the ultrasonic oscillator to operate based on the updated preset duration are executed; If the updated preset duration exceeds the preset normal operating duration threshold, the stirrer, the temperature controller, and the ultrasonic oscillator will be controlled to stop operating, and an abnormal flocculation alarm signal will be output.

9. The control method for the liquid flocculation centrifugation system according to claim 6, characterized in that, The first injection device includes: The liquid reservoir, the syringe pump, and the syringe tip are provided. The syringe tip is connected to the first connection port of the syringe pump, and the second connection port of the syringe pump is connected to the opening of the liquid reservoir. The first hydraulic sensor is disposed inside the injection nozzle, and the first liquid level sensor is disposed outside the liquid storage chamber; The injection pump is communicatively connected to the controller; The control of the first pipetting mechanism to transfer a first dose of sample liquid from the sample vial to the flocculation reaction cup includes: Control the first robotic arm to move to the sample position indicated in the start control signal; After the first robotic arm has finished moving, the injection pump is controlled to run to draw the sample liquid from the sample container into the storage chamber, and the first liquid level sensor is controlled to collect the liquid level in the storage chamber, and the first hydraulic sensor is controlled to collect the liquid pressure at the injection nozzle. When the liquid pressure is not greater than a preset safety pressure threshold and the liquid level is equal to the liquid level corresponding to the first dose, the injection pump is locked and the first robotic arm is moved to the placement area of ​​the flocculation reaction cup. After the first robotic arm movement is detected, the injection pump is controlled to operate to inject the sample liquid from the storage chamber into the flocculation reaction cup, and the first liquid level sensor is controlled to collect the liquid level in the storage chamber. When the liquid level is 0, the injection pump is locked, and the first robotic arm is moved to the sample storage area.

10. The control method for the liquid flocculation centrifugation system according to claim 9, characterized in that, Also includes: When the liquid pressure is greater than the preset safety pressure threshold and the liquid level is less than the liquid level corresponding to the first dose, the injection pump is locked and an alarm signal for injection nozzle blockage is output.

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