A method for detecting a human body fluid

Abstract

The present application relates to a kind of human body fluid detection method, belong to medical detection technical field, solve the following technical problems one of existing in prior art: aerosol biological pollution existing in existing detection mode;Traditional cover opening means poor adaptability to non-standard sample tube, high cover opening failure rate;Clamping unreliable caused by tube cover difference;Cannot accurately determine the loose opportunity and identify torque overload, abnormality of card stagnation.The method comprises: conveying body fluid sample from the placement area to the cover opening device;Perform cover opening operation;Process aerosol;After opening the cover, sample is transported to analytical instrument for detection.The method of the present application eliminates the biological pollution risk in operation by means of safety protection device, thereby solving the aerosol biological pollution problem existing in existing detection mode.

Description

Technical Field

[0001] This invention relates to the field of medical testing technology, and in particular to a method for detecting human body fluids. Background Technology

[0002] In the pretreatment stage of bodily fluid sample testing, sample tubes typically require opening. Traditional manual opening methods involve direct contact between the operator and the sample tube. The moment the cap is twisted or removed, aerosols containing potential pathogens are easily generated at the tube opening. These tiny aerosol particles can remain suspended and diffuse in the air for extended periods, posing a serious biosafety threat to operators and the laboratory environment. While some existing semi-automatic capping devices reduce human contact, they lack dedicated aerosol protection mechanisms, leaving the risk of contaminant spillage unresolved. Therefore, effectively suppressing and managing the diffusion of aerosols generated during the capping process is a pressing technical problem that needs to be solved in this field. Summary of the Invention

[0003] In view of the above analysis, the present invention aims to provide a method for detecting human body fluids, in order to solve one of the following technical problems existing in the prior art: aerosol biological contamination in existing detection methods; poor adaptability of traditional capping methods to non-standard sample tubes and high capping failure rate; unreliable clamping due to tube cap differences; inability to accurately determine the timing of loosening and identify torque overload and jamming abnormalities.

[0004] The objective of this invention is mainly achieved through the following technical solutions: A method for detecting human body fluids includes the following steps: Step 1: The delivery mechanism transports the body fluid sample from the placement area to the opening device; Step 2: The lid-opening device performs the lid-opening operation; Step 3: Safety protection devices handle aerosols; Step 4: The sample after opening is transported to the analytical instrument for testing via a conveying mechanism.

[0005] Furthermore, step 1 or step 2 also includes the step of the barcode recognition module recognizing the barcode and interfacing with the Laboratory Information System (LIS).

[0006] Furthermore, step 1 or step 2 also includes a liquid volume identification module that identifies the liquid volume and compares it with the preset minimum requirements in the Laboratory Information System (LIS).

[0007] Furthermore, step 2 involves performing the opening operation, which includes: clamping the cap of the body fluid tube, applying rotational power, and monitoring the resistance torque and vibration during the opening process in real time.

[0008] Furthermore, the opening operation described in step 2 also includes: dynamically adjusting the rotation speed and / or clamping force based on the real-time monitored resistance torque and vibration signals.

[0009] Further, step 3 includes: performing the opening operation in a negative pressure environment, filtering the air in the opened environment to capture fine particulate matter, and disinfecting the opened environment with ultraviolet light.

[0010] Furthermore, step 3 also includes: establishing a negative pressure environment before opening the lid and maintaining the negative pressure environment throughout the entire lid opening process.

[0011] Furthermore, step 2 also includes: after the cap opening operation is completed, the released body fluid tube cap is recovered.

[0012] Furthermore, in step 2, the top of the unscrewed cap is grasped by adsorption and the cap is moved to the recycling position by swinging motion.

[0013] Furthermore, before step 2, the method includes: identifying the tube type of the body fluid sample tube, and calling the corresponding capping parameters according to the identified tube type. The capping parameters include rotation direction, torque magnitude, and gripping method.

[0014] Furthermore, the method involves using a body fluid sample opening device to test the body fluid sample.

[0015] The technical solution of this invention can achieve at least one of the following effects: (1) The method for detecting human body fluids described in this invention eliminates the risk of biological contamination during operation by using a safety protection device, thereby solving the problem of aerosol biological contamination in existing detection methods.

[0016] (2) The human body fluid detection method of the present invention introduces a deep learning model to directly learn and extract deep features related to the opening torque from the image of the sample tube cap by force feedback control that depends on a preset threshold. This allows for dynamic prediction of the most suitable initial torque threshold T0 and safe torque upper limit Ts for each sample tube to be opened, which serves as the benchmark for subsequent adaptive torque control. This solves the technical problem of poor adaptability of the opening method to non-standard sample tubes and high failure rate of opening.

[0017] (3) The human body fluid detection method of the present invention overcomes the problem of unreliable clamping caused by differences such as tube cap shape tolerance, surface slipperiness or material variation by adaptively adjusting the clamping force, reducing the probability of slippage when the cap is opened. At the same time, the independent anti-slip alarm judgment can identify and stop unnecessary operation on abnormal samples (such as severe deformation or non-compliance with specifications) in a timely manner, preventing efficiency loss and mechanical wear caused by the equipment running idle.

[0018] (4) The human body fluid detection method of the present invention accurately identifies the loosening time by the torque reduction rate; the torque over-limit alarm prevents overload breakage; when the rotation angle exceeds the limit and the torque is always lower than the threshold, it is determined to be stuck and stopped to avoid idling. Thus, it solves the technical problem of not being able to accurately determine the loosening time and identify torque overload and stuck abnormalities.

[0019] In this invention, the above-described technical solutions can be combined with each other to achieve more preferred combinations. Other features and advantages of this invention will be set forth in the following description, and some advantages may become apparent from the description or be learned by practicing the invention. The objects and other advantages of this invention can be realized and obtained from what is particularly pointed out in the description and drawings. Attached Figure Description

[0020] The accompanying drawings are for illustrative purposes only and are not intended to limit the invention. Throughout the drawings, the same reference numerals denote the same parts.

[0021] Figure 1 This is a schematic flowchart of the human body fluid detection method in an embodiment of the present invention; Figure 2 This is a schematic diagram of the structure of the body fluid sample tube opening device in an embodiment of the present invention; Figure 3 This is a schematic diagram of the structure of the ring-shaped capture device in an embodiment of the present invention; Figure 4 This is a flowchart illustrating the torque control algorithm based on a deep learning model in an embodiment of the present invention. Figure 5 This is a schematic diagram of the pre-detection and anti-slip judgment process in an embodiment of the present invention.

[0022] Figure label: 1-Opening device, 11-Opening clamp, 111-Clamper body, 1111-Suction port, 112-First opening wheel, 113-Second opening wheel, 114-Lifting frame, 13-Cover recycling device, 131-Drive motor, 132-Swing frame, 14-Support base, 141-Cover compartment; 2-Safety protection device, 21-Negative pressure chamber, 22-HEPA filter, 23-Disinfection device; 3-Annular capture device, 31-Annular cavity, 32-Annular suction groove, 311-Suction chamber, 312-Blowing chamber, 313-Annular blowing port. Detailed Implementation

[0023] The preferred embodiments of the present invention will now be described in detail with reference to the accompanying drawings, which constitute a part of the present invention and are used together with the embodiments of the present invention to illustrate the principles of the present invention, but are not intended to limit the scope of the present invention.

[0024] The technical solution of this application and how the technical solution of this application solves the above-mentioned technical problems are described in detail below with specific embodiments.

[0025] Example 1 Embodiment 1 of the present invention provides a method for detecting human body fluids, which aims to solve the technical problem of aerosol biological pollution in existing detection methods.

[0026] like Figure 1 As shown, the method includes the following steps: Step 1: The delivery mechanism transports the body fluid sample from the placement area to the opening device 1; Step 2: The lid-opening device 1 performs the lid-opening operation; Step 3, safety protection device 2 treats the aerosol; Step 4: The opened sample is transported to the body fluid analysis instrument for testing via the delivery mechanism.

[0027] Step 1 automates sample positioning and transport, moving the original sample from the placement area to the capping station. Step 2 uses a force feedback adaptive algorithm to physically open the cap, adjusting the capping force and strategy in real time. Step 3 implements biosafety protection, instantly capturing and processing harmful aerosols generated during capping to prevent the spread of biological contamination. Step 4 automatically transfers the opened sample to the analytical instrument. This capping method eliminates the risk of biological contamination during operation through safety protection devices, thus solving the aerosol biological contamination problem present in existing detection methods.

[0028] Furthermore, step 1 or step 2 also includes the step of the barcode recognition module recognizing the barcode and interfacing with the Laboratory Information System (LIS).

[0029] When a body fluid sample tube is delivered to or located at the opening station, the barcode recognition module automatically scans and reads the barcode information on the tube. The read barcode data communicates with the Laboratory Information System (LIS). The system accurately associates the sample tube with its electronic application form in the LIS database. After successful identification and verification, it sends a "sample is ready to be opened" status back to the LIS.

[0030] Furthermore, step 1 or step 2 also includes a liquid volume recognition module that identifies the volume of body fluid and compares it with the minimum requirements preset in the Laboratory Information System (LIS).

[0031] Before opening the cap, the body fluid volume is automatically measured and compared with the minimum requirements preset by LIS. A pass / rejection instruction is generated and uploaded to intercept unqualified samples at the source.

[0032] Furthermore, the opening operation described in step 2 also includes: dynamically adjusting the rotation speed and / or clamping force based on the real-time monitored resistance torque and vibration signals.

[0033] By dynamically adjusting the rotation speed and / or clamping force based on real-time monitored resistance torque and vibration signals, the system can adaptively respond to the tightness of the cap and abnormal friction conditions during the cap opening process, avoiding torque overshoot or unstable clamping. This step further improves the smoothness and success rate of cap opening, reducing the risk of sample tube breakage or liquid splashing.

[0034] Further, step 3 includes: performing the opening operation in a negative pressure environment, filtering the air in the opened environment to capture fine particulate matter, and disinfecting the opened environment with ultraviolet light.

[0035] Performing the opening operation in a negative pressure environment prevents the aerosol generated during opening from spreading outwards. Filtering the air in the opened environment to capture fine particulate matter purifies the air inside the chamber, and ultraviolet disinfection of the opened environment kills residual microorganisms. This step effectively controls the spread of biological contaminants, ensures the safety of operators and the surrounding environment, and reduces the risk of cross-contamination.

[0036] Furthermore, in order to address the aerosol leakage problem caused by the failure to establish a negative pressure environment in a timely manner, step 3 also includes: establishing a negative pressure environment before opening the lid and maintaining the negative pressure environment throughout the entire lid opening process.

[0037] Establishing a negative pressure environment before opening the lid ensures that contaminants are under control the moment the lid is opened, and maintains this negative pressure throughout the opening process to prevent intermittent aerosol leakage. This step ensures the integrity and continuity of biosafety protection, preventing contaminant spillage due to delayed or fluctuating negative pressure activation.

[0038] Furthermore, step 2 also includes: after the cap opening operation is completed, the released body fluid tube cap is recovered.

[0039] After the opening operation is completed, the released body fluid tube cap will be automatically returned to the designated location, which can prevent the tube cap from being scattered in the work area and reduce the direct contact between operators and contaminants.

[0040] To address the biosafety risks posed by manual contact with contaminated pipe caps, step 2 involves using an adsorption method to grasp the top of the unscrewed pipe cap and then using a swinging motion to move the cap to the recycling location.

[0041] By using adsorption to grab the top of the unscrewed tube cap, contamination or damage caused by clamping the tube body can be avoided. Then, the tube cap is smoothly moved to the recycling position by swinging motion, realizing non-contact automatic recycling.

[0042] Furthermore, before step 2, the method includes: identifying the tube type of the body fluid sample tube, and calling the corresponding capping parameters according to the identified tube type. The capping parameters include rotation direction, torque magnitude, and gripping method.

[0043] Before opening the cap, the tube type of the body fluid sample tube is identified, and the corresponding opening parameters such as rotation direction, torque magnitude and gripping method are called according to the identification results. Different opening strategies can be implemented for different cap structures.

[0044] Furthermore, to address the technical challenges of capturing pulsating aerosols at the source during cap opening and the ease with which aerosols can escape during single negative pressure suction, the annular capture device 3 is activated during the cap opening operation in step 2. This creates a localized high-speed negative pressure environment around the pipe opening: the annular cavity 31 is connected to a negative pressure source, and the negative pressure is transmitted to the pipe opening area through the annular suction groove 32, capturing the aerosols at the source during the pulsating leakage. Simultaneously, the blowing chamber 312 is connected to a positive pressure source, forming a purge air curtain (using sterile air) through the annular blowing port 313, which bounces the escaping aerosols back towards the suction direction, achieving source interception through a combination of blowing and suction. This step reduces the risk of aerosol spillage during cap opening and improves the reliability of biosafety protection.

[0045] Furthermore, embodiments of the present invention also provide a body fluid sample tube opening device used in the above-described detection method. For example... Figure 2 As shown, it includes a cap-opening device 1 and a safety protection device 2. The cap-opening device 1 is used to identify the type of body fluid tube cap and perform the cap-opening operation. The safety protection device 2 is used to prevent aerosol diffusion during the cap-opening process. The safety protection device 2 includes a negative pressure chamber 21, a HEPA filter 22 and a disinfection device 23. The cap-opening device 1 is set inside the negative pressure chamber 21 to obtain a negative pressure environment. The HEPA filter 22 is set inside the negative pressure chamber 21 to capture small particles inside the negative pressure chamber 21. The disinfection device 23 is set inside the negative pressure chamber 21 to disinfect the environment inside the negative pressure chamber 21.

[0046] The cap-opening device 1 is responsible for identifying the type of body fluid tube cap and performing the cap-opening operation. The safety protection device 2 provides a closed negative pressure environment through the negative pressure chamber 21 to prevent aerosols from spreading outward; the HEPA filter 22 captures small particulate matter in the chamber; and the disinfection device 23 sterilizes the chamber environment.

[0047] Furthermore, such as Figure 2 As shown, the cap opening device includes a cap opening clamp 11, a rotary drive unit, a force feedback component, and a cap recovery device 13. The cap opening clamp 11 is used to clamp and release the body fluid tube cap, the rotary drive unit is used to provide rotational power for the cap opening action, the force feedback component is used to monitor the resistance torque and vibration during the rotation process in real time, and the cap recovery device 13 is used to recover the released body fluid tube cap.

[0048] The rotary drive unit can be a servo motor.

[0049] The force feedback system can be equipped with torque and vibration sensors to monitor the dynamic resistance during the opening process in real time.

[0050] The cap recycling device 13 can be an electromagnetic chuck type structure, which has a recycling tank. The electromagnetic chuck can adsorb and collect the unscrewed caps and place them into the recycling tank.

[0051] Furthermore, such as Figure 2 As shown, the lid opening device 1 also includes a support base 14, and the lid opening clamp 11 is disposed on the support base 14. The support base 14 is disposed inside the negative pressure chamber 21.

[0052] The support base 14 provides a mounting base for the cover holder 11 and other related components.

[0053] like Figure 3 As shown, the lid opening clamp 11 includes a clamp body 111, a first lid opening wheel 112 and a second lid opening wheel 113. The first lid opening wheel 112 and the second lid opening wheel 113 are rotatably mounted on the clamp body 111. A rotation drive unit is connected to the first lid opening wheel 112 or the second lid opening wheel 113 to drive the first lid opening wheel 112 or the second lid opening wheel 113 to rotate.

[0054] The clamp body 111 of the cap opener 11 serves as the mounting base. The first cap opener 112 and the second cap opener 113 clamp the two sides of the cap and secure it firmly using friction. A rotary drive unit is connected to the first cap opener 112 or the second cap opener 113 to drive it to rotate, thereby rotating the cap and completing the cap opening operation.

[0055] Furthermore, such as Figure 2 As shown, both the first opening wheel 112 and the second opening wheel 113 include a rotating shaft, and the rotation drive unit drives the first opening wheel 112 and / or the second opening wheel 113 to rotate by driving the rotating shaft.

[0056] The rotating shaft transmits the power of the rotary drive unit to the clamping wheels, which can drive one or two clamping wheels to rotate synchronously, thereby achieving active rotation of the pipe cap.

[0057] Furthermore, such as Figure 2 As shown, the cover opening clamp 11 also includes a lifting frame 114, which is movably mounted on the support base 14.

[0058] The lifting frame 114 is vertically mounted on the support base 14 and is used to drive the lid opening clamp 11 to move vertically, so as to achieve precise positioning by descending to the lid gripping height before opening the lid and rising to the lid unloading position after opening the lid.

[0059] like Figure 2 As shown, the cap recycling device 13 includes a drive motor 131, a swing frame 132, and a cap suction cup. The swing frame 132 is mounted on the output shaft of the drive motor 131 and swings with the rotation of the output shaft. The cap suction cup is mounted on the swing frame 132 and is used to adsorb the top of the cap and detach from the cap holder 11 by the swing of the swing frame 132.

[0060] The drive motor 131 provides the swing power, which drives the swing frame 132 to swing in an arc. The cap suction cup set on the swing frame 132 adsorbs the top of the unscrewed cap, and as the swing frame 132 swings, it smoothly pulls the cap out of the cap holder 11 and moves it to the recycling position.

[0061] Furthermore, the clamp body 111 has a suction port 1111 in the center, which is used for the tube cap suction cup to pick up the tube cap through the suction port 1111 and remove it by swinging motion.

[0062] Furthermore, the cap-opening system also includes a barcode recognition module, a liquid volume recognition module, and a tube type recognition module. The barcode recognition module is used to recognize the barcode of the body fluid sample tube, the liquid volume recognition module is used to recognize the liquid volume in the body fluid sample tube, and the tube type recognition module is used to recognize the tube type of the body fluid sample tube.

[0063] Furthermore, the lid-opening system also includes a control device connected to the lid-opening device to control the operation of the lid-opening device, and the control device connected to the safety protection device to control the activation and deactivation of the safety protection device.

[0064] Furthermore, such as Figure 3 As shown, the cap-opening system also includes an annular capture device 3, which is mounted on the clamp body 111. This device creates a localized high-speed negative pressure environment around the pipe opening when the cap is opened, capturing transiently leaking aerosols at the source. It includes an annular cavity 31 and an annular suction groove 32. The annular cavity 31 is connected to a negative pressure source, and the annular suction groove 32 precisely transmits the negative pressure to the pipe opening area, forming a high-speed suction airflow. The annular cavity 31 includes a suction chamber 311 connected to the annular suction groove 32 for concentrated negative pressure suction. Furthermore, the annular cavity 31 also includes a blowing chamber 312 and an annular blowing port 313. The blowing chamber 312 is connected to a positive pressure source, and the annular blowing port 313 forms a purge air curtain, rebounding the escaped aerosols back to the suction direction, achieving a combination of blowing and suction to improve the reliability of source capture.

[0065] Example 2 Embodiment 2 of the present invention is a further improvement on Embodiment 1, aiming to solve the technical problems of poor adaptability of traditional capping methods to non-standard sample tubes and high capping failure rate; The lid-opening operation in step 2 employs a force feedback adaptive lid-opening algorithm, specifically a torque control algorithm based on a deep learning model. like Figure 4 As shown, the torque control algorithm includes an offline training phase and an online application phase; During the offline training phase, perform the following operations: Step 2-1. Dataset Construction and Training: Collect sample tube cap images and their corresponding physical parameters, collect torque data through standardized cap opening experiments, and train a convolutional neural network model. The input of the model includes tube cap images, and the output is the predicted initial torque threshold T0 and the safe torque upper limit Ts. During the online application phase, perform the following operations: Step 2-2. Real-time prediction: The system acquires the image of the pipe cap to be opened, inputs it into the trained model, and predicts T0 and Ts applicable to the pipe cap. Steps 2-3. Adaptive control: The lid opening device adaptively controls the rotational torque based on the predicted T0 and Ts to complete the lid opening.

[0066] First, the system can make more accurate predictions for various non-standard situations (such as special bottle caps or slight deformation), solving the technical problems of poor adaptability and high failure rate of traditional capping methods for non-standard sample tubes. Second, by providing personalized torque parameters that are closer to actual needs, the system reduces trial adjustments during the capping process, speeds up the capping process, and minimizes the risk of tube breakage due to torque overload because the predicted safety upper limit Ts is more accurate.

[0067] Furthermore, such as Figure 4 As shown, the dataset construction and training in step 2-1 specifically includes: Step 2-1-1. Construct a dataset by collecting images of no less than 1000 sample tube caps and labeling the true diameter D and material type M of each sample; perform a standardized cap-opening experiment on the samples and record the clamping force F, rotation angle, real-time torque T, and cap-opening status. Step 2-1-2. Feature extraction and fusion: Extract texture, color and shape features from the pipe cap image, fuse these visual features with the corresponding D, M and F data to form a fused feature vector, and then perform normalization processing. Step 2-1-3. Model training and validation: The convolutional neural network is iteratively trained using fused feature vectors and real-time torque labels. The performance is evaluated using a validation set during training, and overfitting is prevented by early stopping. Finally, the optimal model weights are saved.

[0068] Through multi-modal feature fusion, the model's prediction of torque overcomes the limitations of a single vision model, fully considering physical factors such as the material friction coefficient and the torque difference caused by the diameter, making the output torque thresholds (T0, Ts) more targeted and accurate. At the same time, using a large-scale dataset and anti-overfitting strategies (such as validation set evaluation, early stopping method), it ensures that the model can still maintain stable prediction performance when facing new or mutated tube caps that have never been seen before, thus significantly improving the success rate of opening the cap and reducing the breakage rate in practical applications.

[0069] Further, the adaptive control in step 2-3 is specifically as follows: The cap-opening device uses the predicted initial torque threshold T0 as the reference value for the starting torque, and during the entire rotational cap-opening process, it monitors the torque in real time through a force sensor to ensure that the real-time torque never exceeds the predicted upper limit of the safe torque Ts.

[0070] The adaptive control step converts the static torque parameters (T0 and Ts) predicted by the deep learning model into a safe, efficient, and closed-loop execution dynamic control strategy. By using the predicted initial torque threshold T0 as the reference for starting and initial control, the system can start gently and quickly enter the effective unscrewing stage, avoiding slipping or starting failure caused by improper initial torque setting; at the same time, it monitors in real time through a force sensor and strictly limits the entire process within the upper limit of the safe torque Ts.

[0071] The intelligent start based on T0 improves the success rate and response speed of the first attempt to open the cap, while the rigid constraint of Ts reduces the risks such as test tube breakage, liquid leakage, or mechanism damage caused by torque overload. When facing diverse sample tubes, the system can complete the cap-opening task with the highest possible efficiency under the premise of safety.

[0072] Embodiment 3 Embodiment 3 of the present invention is a further improvement based on Embodiment 2, aiming to solve the technical problem of unreliable clamping caused by cap differences.

[0073] As Figure 5 shown, the adaptive control in step 2-3 further includes a pre-probing and anti-slip judgment stage, and the specific steps are as follows: Step 2-3-1, clamping and pre-probing: Control the clamping mechanism to clamp the cap with the initial clamping force F0, and perform a small rotation, and measure the real-time torque T at this time; Step 2-3-2, torque judgment and clamping force adjustment: Compare the real-time torque T with the initial torque threshold T0: If T≤T0, increase the clamping force by a preset step size and return to step 2-3-1 to perform pre-probing again; If T0<T<Ts, end the pre-probing stage and enter the starting cap-opening stage; Step 2-3-3, anti-slip alarm: If after continuous multiple adjustments and preliminary detections, the real-time torque T never exceeds the initial torque threshold T0, it is determined as a slip failure, the open cover failure state is output, and the process ends.

[0074] In step 2-3-1, by clamping the tube cap with a conservative initial clamping force F0 and performing a small rotation, on the premise of not causing excessive stress, the real-time torque feedback T in the current clamping state is actively obtained. This small movement is equivalent to a tactile exploration, and at the same time, it avoids slipping or overload directly caused by improper setting of the initial clamping force; in step 2-3-2, by comparing the detected torque T with the predicted threshold T0 in real time: when T≤T0, it means the clamping force is insufficient, and the system increases the clamping force step by step and cycles the detection; when the torque enters the effective range of T0<T<Ts, it indicates that a reliable force transmission relationship has been established, and the preliminary detection stage is immediately ended. This step is essentially a process for the system to autonomously find the optimal working point; in step 2-3-3, when the system detects that after continuous multiple clamping force adjustments and detections, the torque still cannot reach the effective threshold T0, it is determined that there is a fundamental slip failure (such as tube cap deformation, inconsistent specifications, etc.). By immediately aborting the process and outputting a clear open cover failure state, this step can effectively prevent the equipment from idling loss.

[0075] By adaptively adjusting the clamping force, the problem of unreliable clamping caused by differences such as the shape tolerance of the tube cap, surface slipperiness or material variation is overcome, and the probability of slipping during the formal open cover is reduced.

[0076] Further, after starting the open cover stage, it further includes a loosening judgment and a screwing-off stage: Step 2-3-4, start and monitoring: Start rotating at the initial angular velocity and continuously monitor the real-time torque T and the rotation angle A; Step 2-3-5, state judgment and response: If it is monitored that the real-time torque T suddenly drops during the rotation process and the drop amplitude exceeds a preset ratio, it is determined that the cover body has loosened and enters the screwing-off stage; If the real-time torque T reaches or exceeds the safety torque upper limit Ts, stop immediately and alarm; If the rotation angle A exceeds a preset angle threshold and is still not determined as loosened, it is determined as a jamming failure and the process ends; Step 2-3-6, screwing-off and releasing: In the screwing-off stage, reduce the torque control target and increase the rotation speed, continuously rotate until the cover body is detached; then reduce the clamping force and transfer the unscrewed tube cap to the collection device.

[0077] In steps 2-3-4, rotation is initiated with a stable initial angular velocity to avoid impact caused by an excessively abrupt start. In step 2-3-5, three key states are processed in parallel based on monitoring data: identifying sudden torque drops, which accurately captures the decisive moment of cap loosening to ensure the process can proceed to the next stage in a timely manner; monitoring whether the torque exceeds the limit (T≥Ts), which executes the final safety hard protection and can forcibly terminate the process in extreme cases of predictive model failure to prevent damage; and judging whether the rotation angle exceeds the limit, which diagnoses abnormalities such as thread jamming or crossing, and avoids equipment idling and ineffective operation. In step 2-3-6, after determining looseness, a "reduced torque, increased speed" strategy is adopted to unscrew the cap in the most efficient and low-risk manner, preventing fluid splashing due to excessive torque in the final stage. Subsequently, the clamping force is reduced and the cap is removed to smoothly release the sample tube and complete the station cleaning, preparing for the processing of the next sample.

[0078] By combining the above steps, the system can accurately identify the normal state where the threaded connection between the cap and the tube body has been successfully disengaged, and can also intercept abnormal states such as excessive torque and angle jamming. This maximizes the success rate of cap opening while minimizing the risks to the equipment and samples. This ensures that the entire system has the judgment and final processing capabilities close to those of a professional human operator when facing complex real-world working conditions.

[0079] Furthermore, the method also includes data recording and model updating steps: Steps 2-3-7: After the opening process is completed, save the set of data during this opening process. The data includes at least the real-time torque sequence T, rotation angle A, and clamping force F. Steps 2-3-8 involve using the recorded grouped data as new training samples to incrementally train and update the convolutional neural network model.

[0080] Data recording and model updates enable the entire lid-opening system to continuously learn and optimize itself. The system can learn from experience, ensuring that the lid-opening system can maintain and continuously improve its high success rate and reliability throughout its entire life cycle.

[0081] Example 4 Embodiment 4 of the present invention is a further improvement based on Embodiment 3, and aims to solve the technical problems of being unable to accurately determine the timing of loosening and identify torque overload and jamming abnormalities.

[0082] In steps 2-3-4, the initial angular velocity is used Start rotation and continuously monitor real-time torque. and rotation angle ; In steps 2-3-5, the judgment of sudden torque drop (determining that the cover is loose) includes: set up For a preset small angle increment (e.g., 5°), the corresponding monitored torque decrease is: ; in, The rotation angle is The real-time torque value monitored at that time; As the rotation angle increases The real-time torque value monitored; If within multiple consecutive (e.g., 3) such angle intervals, we have: ; in If the preset descent rate threshold (positive number) is met, it is determined that the cover has become loose and the unscrewing stage begins.

[0083] In steps 2-3-5, to eliminate instantaneous noise interference, when the real-time torque... Both its short-term average values ​​have reached or exceeded the upper limit of safe torque. An alarm is triggered at a certain time, that is: ; in The moving average time window length (e.g., 0.1 seconds). It is a time variable; at this point, the process should be stopped and terminated immediately.

[0084] In steps 2-3-5, if the cumulative rotation angle... Exceeding the theoretical maximum effective turning angle: ; in The preset maximum number of idle revolutions, such as 3 revolutions, and the recent average torque is consistently lower than the initial torque threshold. ,Right now: ; If the error is detected, the process is terminated.

[0085] By determining the rate of torque decrease with angle, the system can accurately identify the critical moment when the pipe cap becomes loose, avoiding premature switching that leads to unscrewing failure or delayed switching that results in ineffective rotation. Simultaneously, the torque over-limit alarm, employing both short-term average and instantaneous value judgments, effectively prevents pipe rupture and liquid leakage caused by false triggering due to instantaneous noise or torque overload. The angle over-limit jamming diagnosis automatically terminates the process when the number of idle rotations exceeds a preset threshold and the torque fails to increase, avoiding equipment idling losses. This solves the technical problems of accurately determining the timing of loosening and identifying torque overload and jamming anomalies.

[0086] In steps 2-3-6, after entering the unloading stage, the torque control target is reduced and the rotation speed is increased. The torque target value is based on the real-time torque. and initial threshold Adaptive reduction: ; in This is a factor that reduces the initial torque threshold (e.g., 0.6). This is the current real-time torque attenuation coefficient (e.g., 0.5).

[0087] The angular velocity increases dynamically based on the proportion of the angle that has been rotated out after loosening: ; in The initial angular velocity, This is the maximum acceleration factor (e.g., 2.5). This represents the total angle the equipment has rotated from the start of unloading until the current moment. The angle used to determine looseness. To fully rotate the cap to the required total angle, continue rotating until the cap detaches. Then reduce the clamping force and transfer the unscrewed cap to the collection device.

[0088] During the unloading phase, the target torque is adaptively reduced based on the current real-time torque, ensuring sufficient unloading driving force while preventing liquid splashing or cap rupture due to excessive torque at the end. At the same time, the angular velocity is dynamically increased according to the proportion of the angle that has been unscrewed after loosening, so that the unloading process transitions smoothly from slow to fast, shortening the overall cap opening time.

[0089] The above description is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any changes or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in the present invention should be included within the scope of protection of the present invention.

Claims

1. A method for detecting human body fluids, characterized in that, Includes the following steps: Step 1: The delivery mechanism delivers the body fluid sample from the placement area to the opening device (1); Step 2, the lid opening device (1) performs the lid opening operation; Step 3, safety protection device (2) treats aerosols; Step 4: The sample after opening is transported to the analysis instrument for body fluid testing via the delivery mechanism.

2. The method according to claim 1, characterized in that, Step 1 or Step 2 also includes the step of identifying the barcode through the barcode recognition module and interfacing with the Laboratory Information System (LIS).

3. The method according to claim 1, characterized in that, Step 1 or Step 2 also includes identifying the liquid volume through the liquid volume identification module and comparing it with the preset minimum requirements in the Laboratory Information System (LIS).

4. The method according to claim 1, characterized in that, Step 2 involves performing the opening operation, which includes clamping the body fluid tube cap, applying rotational power, and monitoring the resistance torque and vibration during the opening process in real time.

5. The method according to claim 1, characterized in that, Step 2, which involves performing the opening operation, further includes dynamically adjusting the rotation speed and / or clamping force based on the real-time monitored resistance torque and vibration signals.

6. The method according to claim 1, characterized in that, Step 3 specifically includes: performing the opening operation in a negative pressure environment, filtering the air in the opened environment to capture fine particulate matter, and disinfecting the opened environment with ultraviolet light.

7. The method according to claim 1, characterized in that, Step 3 also includes: establishing a negative pressure environment before opening the lid and maintaining the negative pressure environment throughout the entire lid opening process.

8. The method according to claim 1, characterized in that, Step 2 also includes: after the opening operation is completed, the released body fluid tube cap is recovered.

9. The method according to claim 8, characterized in that, In step 2, the top of the unscrewed cap is grasped by adsorption and then moved to the recycling position by swinging.

10. The method according to any one of claims 1-9, characterized in that, The method uses a body fluid sample opening device to test body fluid samples.

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