Sample scheduling system and scheduling method equipped with double scheduling trolley

Abstract

The application discloses a sample scheduling system and a scheduling method, which are equipped with double scheduling trolleys, can reduce waiting time, effectively improve the operation efficiency of a sample scheduling system, and thus improve the working efficiency of the whole pipeline. The scheduling system comprises a functional area, a trolley scheduling linear guide rail, and a buffer area, one end of the buffer area is provided with an automatic cap removing device, a sample rack channel, and an image recognition system, the other end is provided with a horizontal rear-end track area, and the trolley scheduling linear guide rail is provided with a first scheduling trolley and a second scheduling trolley. The method comprises the following steps: S1, sample sending, S2, the first scheduling trolley transports samples to the sample rack channel, S3, the first scheduling trolley transports samples to the buffer area, S4, the second scheduling trolley transports sample racks, S5, the second scheduling trolley transports the sample racks to the rear-end track, and S6, the second trolley transports the detected samples. The scheduling system and the method can improve the scheduling efficiency and reduce the waiting time.

Description

Technical Field

[0001] This invention relates to the field of in vitro diagnostic medical technology, and in particular to a sample scheduling system and method equipped with dual scheduling carts. Background Technology

[0002] With the increasing automation of testing equipment, multi-module analytical testing lines offer advantages in accuracy and efficiency when testing large volumes of samples, and are widely used in large hospitals, testing institutions, and laboratories. To meet the requirements of automated analysis, sample scheduling systems are widely used in biochemical analyzers, immunoassay analyzers, and laboratory automated analysis equipment. These systems can handle large numbers of samples. Hospitals with high sample testing volumes typically equip their automated lines with high-speed instruments, requiring high scheduling efficiency from the sample scheduling module. However, current mainstream scheduling modules involve numerous actions or processes involving the scheduling carts or transport devices. Before completing a set of actions or processes, the carts or transport devices often need to wait in their original positions, impacting scheduling efficiency and consequently affecting the overall efficiency of the automated line. Summary of the Invention

[0003] The technical problem to be solved by the present invention is to provide a sample scheduling system and scheduling method equipped with dual scheduling carts, which can significantly reduce waiting time, effectively improve the operating efficiency of the sample scheduling system, and thus improve the working efficiency of the entire pipeline.

[0004] The technical solution adopted by the present invention to solve its technical problem is: a sample scheduling system equipped with dual scheduling vehicles, including a functional area; a buffer area is provided on one side of the functional area;

[0005] A vertical trolley scheduling linear guide is provided between the buffer area and the functional area; a first scheduling trolley and a second scheduling trolley are provided on the trolley scheduling linear guide.

[0006] The buffer area includes a first buffer area and a second buffer area; an automatic decapping device is provided at one end of the first buffer area;

[0007] An image recognition system is provided on one side of the automatic hat removal device; a sample rack channel is provided between the automatic hat removal device and the image recognition system; a horizontal rear track area is provided at one end of the second buffer area;

[0008] The rear track area is equipped with a return channel, a regular channel, and an emergency channel;

[0009] The functional areas include a cryogenic storage chamber, a recovery area, a routine sample injection area, and an emergency sample injection channel.

[0010] A first trolley drive device is provided on one side of one end of the trolley scheduling linear guide rail to drive the first scheduling trolley to move along the trolley scheduling linear guide rail; the first trolley drive device includes a first scheduling trolley timing belt and a first scheduling trolley drive mechanism to drive the first scheduling trolley timing belt to rotate.

[0011] A second trolley drive device is provided on one side of the other end of the trolley scheduling linear guide rail to drive the second scheduling trolley to move along the trolley scheduling linear guide rail; the second trolley drive device includes a second scheduling trolley timing belt and a second scheduling trolley drive mechanism to drive the second scheduling trolley timing belt to rotate.

[0012] Furthermore, a first transverse guide rail is provided on one side of the conventional sample injection area; a conventional sample rack pusher that can move along the first transverse guide rail is provided on the first transverse guide rail; the conventional sample rack pusher pushes the sample tubes into the scheduling trolley.

[0013] A second transverse guide rail is provided on one side of the emergency sample inlet channel; an emergency sample rack pusher that can move along the second transverse guide rail is provided on the second transverse guide rail; the emergency sample rack pusher pushes the emergency sample to move within the emergency sample inlet channel; a first position sensor and a second position sensor are provided on the second transverse guide rail.

[0014] Furthermore, a third position sensor, a fourth position sensor, and a fifth position sensor are provided on one side of the trolley scheduling linear guide rail; the third position sensor corresponds to the emergency sample injection channel; the fourth position sensor corresponds to the sample rack channel; and the fifth position sensor corresponds to the low-temperature storage chamber.

[0015] Furthermore, the low-temperature storage chamber has a conveying channel; a sample rack pushing device is installed in the conveying channel; a sixth position sensor and a seventh position sensor are installed on one side of the conveying channel.

[0016] Furthermore, the first scheduling trolley includes a first support frame, a first lateral drive device, a first clamping device, and a first sample rack channel;

[0017] The first clamping device includes a first fixed base and a first sample holder claw; a first lifting linear guide rail is provided on the first fixed base; a transmission hole is provided above the first fixed base, and a first lifting drive motor is provided on one side of the transmission hole; the first lifting drive motor is provided with a rotating shaft; the rotating shaft of the first lifting drive motor passes through the transmission hole and is provided with a first guide wheel connecting block; a protrusion is provided at the lower end of the first sample holder claw, and a first guide groove is provided on the protrusion; a guide wheel is provided in the first guide groove; the guide wheel is rotatably connected to the first guide wheel connecting block; a vertical slide groove is provided on one side of the first fixed base, a first lifting position optical coupler is provided at the upper end of the vertical slide groove, and a second lifting position optical coupler is provided at the lower end; a first lifting optical coupler baffle is provided at the lower end of one end of the first sample holder claw; the first lifting optical coupler baffle is located in the vertical slide groove;

[0018] A first lateral drive device is provided on the first support frame. The first lateral drive device includes a first lateral drive motor, a first synchronous belt, a first lateral linear guide rail, a first lateral position optocoupler, and a second lateral position optocoupler. The first synchronous belt is connected to the first lateral drive motor via a synchronous pulley. The first lateral linear guide rail is located at the bottom of the first support frame. A slider is provided on the first lateral linear guide rail. The first synchronous belt is fixedly connected to the slider. The first fixed base is fixedly connected to the slider. A first lateral position optocoupler and a second lateral position optocoupler are respectively provided at both ends of the first lateral linear guide rail. A lateral position optocoupler baffle is provided on the first fixed base.

[0019] A first sample rack channel is provided above one end of the first support frame; the first sample rack claw can move laterally into the first sample rack channel; sample rack infrared sensors are provided at both ends of the first sample rack channel; a first sample rack clamping device is provided in the middle of the first sample rack channel; and a first optical coupler baffle is provided at the bottom of the first support frame.

[0020] Furthermore, the second scheduling trolley includes a second support frame, a second lateral drive mechanism, a second clamping device, and a second sample rack channel;

[0021] The second clamping device includes a second fixed base and a second sample holder claw; a second lifting linear guide rail is provided on the second fixed base; a transmission hole is provided above the second fixed base, and a second lifting drive motor is provided on one side of the transmission hole; the second lifting drive motor is provided with a rotating shaft; the rotating shaft of the second lifting drive motor passes through the transmission hole and is provided with a second guide wheel connecting block; a protrusion is provided at the lower end of the second sample holder claw, and a second guide groove is provided on the protrusion; a second guide wheel is provided in the second guide groove; the second guide wheel is rotatably connected to the second guide wheel connecting block; a second vertical slide is provided on one side of the second fixed base, a third lifting position optical coupler is provided at the upper end of the second vertical slide, and a fourth lifting position optical coupler is provided at the lower end; a second lifting optical coupler baffle is provided at the lower end of one end of the second sample holder claw; the second lifting optical coupler baffle is located in the second vertical slide.

[0022] The second support frame is provided with a second lateral drive device; the second lateral drive device includes an upper lateral drive mechanism and a lower lateral drive mechanism;

[0023] The lower transverse drive mechanism includes a second transverse drive motor, a first-layer synchronous belt, and a second transverse linear guide; a third transverse position optocoupler is provided at one end of one side of the first-layer synchronous belt, and a fourth transverse position optocoupler is provided at the other end; the second transverse linear guide is fixedly installed at the bottom of the second support frame;

[0024] The upper lateral drive mechanism includes a third lateral drive motor, a second-layer synchronous belt, a third lateral linear guide rail, a guide rail mounting plate, a fifth lateral position optocoupler, and a sixth lateral position optocoupler. The third lateral drive motor, generally paired with a synchronous pulley, drives the second clamping device via the second-layer synchronous belt to achieve horizontal movement. The fifth and sixth lateral position optocouplers are located at both ends of the third lateral linear guide rail and fixed on the second support frame, matching the optocoupler baffles on the second clamping device. The guide rail mounting plate is slidably mounted on the second lateral linear guide rail. The third lateral linear guide rail is mounted on the guide rail mounting plate.

[0025] The second fixed base is slidably mounted on the third transverse linear guide rail; the second layer synchronous belt is fixedly connected to the second fixed base; a second sample rack channel is provided above one end of the second support frame; the second sample rack claw can move laterally into the second sample rack channel; sample rack infrared sensors are provided at both ends of the second sample rack channel; a second sample rack clamping device is provided in the middle of the second sample rack channel; a buffer area sample rack identification sensor is provided at one end of the second sample rack channel; an infrared obstacle avoidance sensor is provided on one side of the second support frame.

[0026] Specifically, the automatic hat removal device uses a robotic arm.

[0027] Specifically, the image recognition system uses a smart camera or an industrial camera to achieve image recognition and barcode scanning functions.

[0028] The present invention also provides a sample scheduling method equipped with dual scheduling vehicles, using the sample scheduling system equipped with dual scheduling vehicles described in the present invention;

[0029] It also includes the following scheduling steps:

[0030] S1. The sample rack is placed in the basket in the regular sample injection area or in the emergency sample injection channel. The sample rack pusher on the side of the regular sample injection channel or the emergency sample injection channel in the regular sample injection area pushes the sample rack into the sample rack channel of the first dispatch trolley. The first dispatch trolley then transports the sample rack to the automatic cap removal device.

[0031] S2. The first dispatching trolley transports the sample rack to the sample rack channel of the automatic decapping device. The image recognition system identifies the status of each sample tube and feeds the identification results back to the instrument control system. Then, based on the sample rack type identified by the system, the next step is performed. If the sample rack is a quality control / calibration sample rack, the first dispatching trolley directly transfers the sample rack to the first buffer area. For other sample racks, the automatic decapping device is controlled to complete intelligent sorting, automatic decapping, and rotating barcode scanning of the sample tubes.

[0032] S3. After the other sample racks are processed by the automatic cap removal device, the first dispatching trolley will transfer the sample racks to the first buffer area.

[0033] S4. After the sample rack enters the first buffer area, the scheduling system controls the second scheduling trolley to move to the position corresponding to the first buffer area; and transfers the sample rack according to its detection items, detection priorities or detection types.

[0034] S5. The second dispatch trolley transports the sample rack to the rear track, and then sends it into the detection device for detection via the sample rack pushing device on the rear track;

[0035] S6. If the test is completed but the corresponding analyzer shows an abnormal test result, the device will be transferred to the second buffer area via the second dispatch trolley for retesting.

[0036] If the test is completed but the corresponding analyzer shows no abnormalities, the sample will be transferred to the recycling area via the second dispatch trolley.

[0037] If it is a quality control or calibration sample rack, the second dispatch trolley will transfer it to the low-temperature storage room.

[0038] The beneficial effects of the present invention are as follows: The sample scheduling system equipped with dual scheduling vehicles described in this invention has the following advantages:

[0039] 1. The sample scheduling system equipped with dual scheduling vehicles described in this invention provides a dual scheduling vehicle system that is independently controlled and works collaboratively, which can greatly improve the scheduling efficiency of the sample scheduling system and reduce waiting time.

[0040] The sample scheduling method equipped with dual scheduling vehicles described in this invention has an intelligent path planning and dynamic task allocation mechanism, which can automatically adjust the scheduling strategy according to task priority and equipment status, thereby improving overall operating efficiency.

[0041] The sample scheduling system equipped with dual scheduling vehicles described in this invention has automatic obstacle avoidance and path conflict detection functions, ensuring stable operation when multiple tasks are running concurrently, and improving the system's reliability and automation level.

[0042] The sample scheduling system equipped with dual scheduling vehicles described in this invention provides a modular design for the dual scheduling vehicles, allowing each functional unit to be upgraded and maintained independently, reducing later maintenance costs and improving system scalability.

[0043] The sample scheduling system equipped with dual scheduling vehicles described in this invention not only improves sample transportation efficiency through the flexible collaboration of the two scheduling vehicles, but also significantly reduces the frequency of manual intervention, making the overall process more intelligent and efficient. Attached Figure Description

[0044] Figure 1 This is a schematic diagram of the layout of a sample scheduling system equipped with dual scheduling vehicles in an embodiment of the present invention;

[0045] Figure 2 This is a schematic diagram of the structure of a sample scheduling system equipped with dual scheduling vehicles in an embodiment of the present invention;

[0046] Figure 3 This is a schematic diagram of the internal structure of the first dispatching vehicle in an embodiment of the present invention;

[0047] Figure 4 This is a schematic diagram of the first dispatching trolley transporting the sample rack in an embodiment of the present invention;

[0048] Figure 5 This is a schematic diagram of the structure of the first scheduling trolley clamping device in an embodiment of the present invention;

[0049] Figure 6 This is a schematic diagram of the internal structure of the second dispatching vehicle in an embodiment of the present invention;

[0050] Figure 7 This is a schematic diagram of the second dispatching trolley transporting the sample rack in an embodiment of the present invention;

[0051] Figure 8 This is a schematic diagram of the structure of the second dispatching trolley in an embodiment of the present invention;

[0052] Figure 9 This is a schematic diagram of the double-layer transmission structure of the second dispatching trolley in an embodiment of the present invention;

[0053] Figure 10 This is a schematic diagram of the structure of the second scheduling trolley clamping device in an embodiment of the present invention;

[0054] Figure 11 This is a flowchart of the dispatching process for the first dispatching vehicle in an embodiment of the present invention;

[0055] Figure 12 This is a flowchart of the second dispatching vehicle allocation process in an embodiment of the present invention;

[0056] The diagram indicates the following: 100 - Rear track area, 200 - Sample rack channel, 300 - Low temperature storage chamber, 400 - Recovery area, 500 - Regular sample injection area, 600 - Emergency sample injection channel, 700 - First dispatch trolley, 800 - Second dispatch trolley, 900 - Buffer area, 1000 - Trolley dispatch linear guide, 1100 - Automatic cap removal device, 1200 - Image recognition system. Detailed Implementation

[0057] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0058] like Figure 1 As shown, the present invention discloses a sample scheduling system equipped with dual scheduling trolleys, comprising a functional area; a buffer area 900 is provided on one side of the functional area; a vertical trolley scheduling linear guide rail 1000 is provided between the buffer area 900 and the functional area; a first scheduling trolley 700 and a second scheduling trolley 800 are provided on the trolley scheduling linear guide rail 1000; the buffer area 900 includes a first buffer area 920 and a second buffer area 910; an automatic cap removal device 1100 is provided at one end of the first buffer area 920; an image recognition system 1200 is provided on one side of the automatic cap removal device 1100; a sample rack channel 200 is provided between the automatic cap removal device 1100 and the image recognition system 1200; and a horizontal rear track area 100 is provided at one end of the second buffer area 910.

[0059] The functional areas include a low-temperature storage chamber 300, a recovery area 400, a routine sample injection area 500, and an emergency sample injection channel 600.

[0060] The rear track area 100 is provided with a channel for sending the sample rack into the detection unit or processing unit. The rear track area 100 also includes a return channel 130, a regular channel 120, and an emergency channel 130. The regular channel 120 and the emergency channel 130 can send the sample rack into the detection unit for testing. The return channel 130 returns the sample rack.

[0061] The main function of the sample rack channel 200 is to serve as a sample rack buffer, facilitating the automatic cap removal device 1100 and the image recognition system 1200 to process it accordingly.

[0062] The primary function of the low-temperature storage chamber 300 is to store quality control or calibration sample racks. The primary function of the recovery area 400 is to recover sample racks that have been tested and found to be free of abnormalities. The low-temperature storage chamber 300 has a transport channel 310; a sample rack pushing device is installed within the transport channel 310; a sixth position sensor 320 and a seventh position sensor 370 are installed on one side of the transport channel 310.

[0063] The main function of the conventional sample introduction area 500 is to introduce conventional samples. The main function of the emergency sample introduction channel 600 is to introduce emergency samples. Specifically, a first transverse guide rail is provided on one side of the conventional sample introduction area 500; a conventional sample rack pusher that can move along the first transverse guide rail is provided on the first transverse guide rail; the conventional sample rack pusher pushes the sample tubes into the dispatching trolley;

[0064] A second transverse guide rail is provided on one side of the emergency sample inlet channel 600; an emergency sample rack pusher that can move along the second transverse guide rail is provided on the second transverse guide rail; the emergency sample rack pusher pushes the emergency sample to move within the emergency sample inlet channel 600; a first position sensor 620 and a second position sensor 630 are provided on the second transverse guide rail.

[0065] A first trolley drive device is provided on one side of one end of the trolley scheduling linear guide rail 1000 to drive the first scheduling trolley 700 to move along the trolley scheduling linear guide rail 1000; the first trolley drive device includes a first scheduling trolley timing belt 710 and a first scheduling trolley drive mechanism 720 to drive the first scheduling trolley 710 timing belt to rotate.

[0066] A second trolley drive device is provided on one side of the other end of the trolley scheduling linear guide 1000 to drive the second scheduling trolley 800 to move along the trolley scheduling linear guide 1000; the second trolley drive device includes a second scheduling trolley timing belt 810 and a second scheduling trolley drive mechanism 820 to drive the second scheduling trolley timing belt 810 to rotate. To facilitate trolley positioning, a third position sensor 1003, a fourth position sensor 1002, and a fifth position sensor 1005 are further provided on one side of the trolley scheduling linear guide 1000; the third position sensor corresponds to the emergency sample injection channel 600; the fourth position sensor corresponds to the sample rack channel; and the fifth position sensor corresponds to the low-temperature storage chamber.

[0067] like Figure 1 ,2 As shown, the sample scheduling system equipped with dual scheduling trolleys comprises two sets of scheduling trolleys that operate independently. The first scheduling trolley is primarily responsible for front-end scheduling tasks, including scheduling sample rack loading in the sample loading area, transporting emergency sample racks to the buffer area, and scheduling automatic capping and barcode scanning. The second scheduling trolley handles back-end scheduling tasks, such as transporting sample racks to the back-end track, scheduling sample rack retrieval, automatic retesting, and automatic quality control. Each set of scheduling trolleys has an independent control drive device, allowing for flexible allocation of work according to different task requirements, effectively avoiding task conflicts and waiting time. Furthermore, this structure optimizes paths, enabling the scheduling trolleys to intelligently avoid obstacles during operation, further improving operational efficiency. The scheduling trolleys also employ a modular design, facilitating the installation and maintenance of each component, reducing the difficulty of equipment troubleshooting and repair, and ensuring the stable and efficient operation of sample scheduling. Simultaneously, this structure demonstrates good adaptability to unexpected situations, such as a surge in sample volume or partial equipment failure, while maintaining a high level of operational efficiency. Furthermore, the modular and intelligent design gives this scheduling system strong compatibility and flexibility, enabling it to adapt to various testing scenarios and workflows. Through real-time monitoring of the scheduling cart's operating status, the system can promptly identify and handle anomalies such as path congestion, communication interruptions, and emergency sample insertions, ensuring the continuity of sample flow. In addition, the system employs the Rk3588 controller to achieve independent control and collaborative scheduling of the two scheduling carts, meeting multi-tasking requirements and giving it greater adaptability to diverse testing needs. Whether it's routine testing, batch testing, or emergency sample processing, tasks can be completed efficiently and systematically.

[0068] To facilitate the retrieval and placement of sample racks and to facilitate the control of the trolley, the first scheduling trolley 700 further includes a first support frame 701, a first lateral drive device, a first clamping device 730, and a first sample rack channel 702.

[0069] The first clamping device 730 includes a first fixed base 731 and a first sample holder claw 703; a first lifting linear guide rail 732 is provided on the first fixed base 731; a transmission hole is provided above the first fixed base 731, and a first lifting drive motor 734 is provided on one side of the transmission hole; the first lifting drive motor is provided with a rotating shaft; the rotating shaft of the first lifting drive motor passes through the transmission hole and is provided with a first guide wheel connecting block 735; a protrusion 7 is provided at the lower end of the first sample holder claw 703. 031, a first guide groove 7032 is provided on the protrusion; a guide wheel 733 is provided in the first guide groove 7032; the guide wheel is rotatably connected to the first guide wheel connecting block 735; a vertical slide groove is provided on one side of the first fixed base 731, a first lifting position optical coupler 737 is provided at the upper end of the vertical slide groove, and a second lifting position optical coupler 738 is provided at the lower end; a first lifting optical coupler baffle 736 is provided at one end of the first sample holder claw 703; the first lifting optical coupler baffle is located in the vertical slide groove;

[0070] A first lateral drive device is provided on the first support frame 701. The first lateral drive device includes a first lateral drive motor 705, a first synchronous belt 704, a first lateral linear guide rail 707, a first lateral position optocoupler 706, and a second lateral position optocoupler 709. The first synchronous belt 704 is connected to the first lateral drive motor 705 via a synchronous pulley. The first lateral linear guide rail 707 is located at the bottom of the first support frame 701. A slider is provided on the first lateral linear guide rail. The first synchronous belt 704 is fixedly connected to the slider. The first fixed base 731 is fixedly connected to the slider. The first lateral linear guide rail 707 is provided with a first lateral position optocoupler 706 and a second lateral position optocoupler 709 at both ends. A lateral position optocoupler baffle 708 is provided on the first fixed base 731.

[0071] A first sample rack channel 702 is provided above one end of the first support frame 701; the first sample rack claw 703 can move laterally into the first sample rack channel 702; sample rack infrared sensors 711 are provided at both ends of the first sample rack channel 702; a first sample rack clamping device 712 is provided in the middle of the first sample rack channel 702; and a first optical coupler baffle 712 is provided at the bottom of the first support frame 701.

[0072] Specifically, such as Figure 3 , 4 As shown in Figure 5, the first dispatching trolley 700 includes a first support frame, a first lateral drive device, a first clamping device, and a first sample rack channel. Figure 3As shown, the first lateral drive device is located on the first support frame and includes a first drive motor, a first synchronous belt, a first lateral linear guide rail, a first lateral position optocoupler, and a second lateral position optocoupler. The first synchronous belt is connected to the drive motor via a synchronous pulley and is fixedly connected to the slider of the first lateral linear guide rail. The first drive motor drives the clamping device located on the lateral linear guide rail via the synchronous belt to achieve horizontal movement. The first and second position optocouplers are located at both ends of the synchronous belt and cooperate with the lateral position optocoupler baffles on the first clamping device to achieve its horizontal positioning. Figure 3 , 5 As shown, the clamping device is fixed on the slider of the transverse linear guide rail and includes a first sample rack claw, a first lifting linear guide rail, a first lifting optical coupler baffle, a first lifting position optical coupler, a second lifting position optical coupler, a first guide wheel, a first guide wheel connecting block, and a lifting drive mechanism. The first sample rack claw is slidably mounted on the first lifting linear guide rail and has a first guide groove. The first guide wheel is located in the guide groove and rotatably mounted on the first guide wheel connecting block. The other end of the first guide wheel connecting block is fixed to the shaft of the lifting drive motor. The guide wheel structure is similar to an eccentric wheel. The drive motor drives the guide wheel to move up and down in the guide groove through forward and reverse rotation, realizing the lifting movement of the first sample rack claw. The two lifting position optical couplers are located at the ends of the sample rack claw's up and down movement and are fixed on the fixed base. The lifting optical coupler baffle is fixed on the sample rack claw and works with the lifting optical coupler to position the lifting movement of the sample rack claw. The sample rack channel of the first scheduling trolley is located at the top of the support frame and is equipped with a first clamping structure and a sample rack sensor, such as... Figure 4 As shown, the first clamping structure is equipped with a pre-tensioning spring, which pre-compresses the sample rack to effectively prevent the sample rack from shifting or sliding. Specifically, the first clamping structure adopts a spring pre-tensioning mechanism. Sample rack sensors are fixed at both ends of the channel and use reflection to identify whether there is a sample rack in the channel and whether the sample rack is completely inside the channel. The movement path of the first scheduling trolley is planned in real-time by the embedded controller RK3588 according to task instructions, and precise positioning is achieved in conjunction with position sensors located at various positions along its movement path; the sensors include... Figure 1 The vehicle is equipped with third, fourth, and fifth position sensors. Furthermore, it also features infrared obstacle avoidance sensors, fixed to the support frame of the first dispatching vehicle and facing the direction of the second dispatching vehicle. These sensors can perceive the surrounding environment in real time and maintain efficient interaction with the main control system, thereby achieving intelligent dispatching and multi-vehicle collaborative operation. The infrared obstacle avoidance sensors can immediately trigger an early warning mechanism upon detecting an obstacle, avoiding collisions and downtime risks. A communication module ensures the real-time performance and stability of data interaction between the dispatching vehicle and the main control system. This design not only improves the intelligence level of sample dispatching but also significantly enhances the overall system's collaborative efficiency and operational reliability.

[0073] Specifically, the second scheduling trolley 800 includes a second support frame 801, a second lateral drive mechanism, a second clamping device 830, and a second sample rack channel 802;

[0074] The second clamping device 830 includes a second fixed base 810 and a second sample holder claw 834; a second lifting linear guide rail 833 is provided on the second fixed base 831; a transmission hole is provided above the second fixed base 831, and a second lifting drive motor 839 is provided on one side of the transmission hole; the second lifting drive motor 839 is provided with a rotating shaft; the rotating shaft of the second lifting drive motor 839 passes through the transmission hole and is provided with a second guide wheel connecting block 838; a protrusion is provided at the lower end of the second sample holder claw 834, and the protrusion has... A second guide groove 836 is provided; a second guide wheel 837 is provided inside the second guide groove 836; the second guide wheel 837 is rotatably connected to the second guide wheel connecting block 838; a second vertical slide groove is provided on one side of the second fixed base 831, a third lifting position optical coupler 8392 is provided at the upper end of the second vertical slide groove, and a fourth lifting position optical coupler 8393 is provided at the lower end; a second lifting optical coupler baffle 8391 is provided at one end of the second sample holder claw 834; the second lifting optical coupler baffle 8391 is located inside the second vertical slide groove;

[0075] A second lateral drive device is provided on the second support frame 801; the second lateral drive device includes an upper lateral drive mechanism and a lower lateral drive mechanism.

[0076] The lower transverse drive mechanism includes a second transverse drive motor 807, a first-layer synchronous belt 804, and a second transverse linear guide rail 8191; a third transverse position optocoupler 803 is provided at one end of one side of the first-layer synchronous belt 804, and a fourth transverse position optocoupler 806 is provided at the other end; the second transverse linear guide rail 8191 is fixedly installed at the bottom of the second support frame 801.

[0077] The upper lateral drive mechanism includes a third lateral drive motor 808, a second-layer synchronous belt 805, a third lateral linear guide rail 818, a guide rail mounting plate 817, a fifth lateral position optocoupler 815, and a sixth lateral position optocoupler 816. The third lateral drive motor 808, generally paired with a synchronous pulley, drives the second clamping device through the second-layer synchronous belt 805 to achieve horizontal movement. The fifth lateral position optocoupler 815 and the sixth lateral position optocoupler 816 are located at both ends of the third lateral linear guide rail 818 and fixed on the second support frame 801, matching the optocoupler baffles on the second clamping device. The guide rail mounting plate 817 is slidably mounted on the second lateral linear guide rail 8191. The third lateral linear guide rail 818 is mounted on the guide rail mounting plate 817.

[0078] The second fixed base 831 is slidably mounted on the third transverse linear guide rail 818; the second layer synchronous belt 805 is fixedly connected to the second fixed base 831; a second sample rack channel 802 is provided above one end of the second support frame 801; the second sample rack claw 834 can move laterally into the second sample rack channel 802; sample rack infrared sensors are provided at both ends of the second sample rack channel 802; a second sample rack clamping device 814 is provided in the middle of the second sample rack channel 802; a buffer area sample rack identification sensor 813 is provided at one end of the second sample rack channel 802; and an infrared obstacle avoidance sensor 816 is provided on one side of the second support frame 801.

[0079] like Figure 6 , 7 As shown in Figures 8, 9, and 10, the overall architecture of the second scheduling trolley 800 is similar to that of the first scheduling trolley, also including a second support frame, a second lateral drive device, a second clamping device, and a second sample rack channel. The difference lies in the fact that the second scheduling trolley adopts a double-layer transmission structure design in the horizontal direction, enabling the second clamping device to achieve the function of pushing and pulling sample racks in both left and right directions. Furthermore, the design includes sensors for identifying and locating sample racks in the buffer area, allowing for precise identification of the specific positions of sample racks within the buffer area. Figure 6 , 9 As shown, the lower transverse drive mechanism is fixed to the bottom of the second support frame and includes a second transverse drive motor, a first-layer synchronous belt, a second transverse linear guide rail, a third position optocoupler and a fourth position optocoupler. The second transverse drive motor is paired with a synchronous pulley and drives the entire second transverse drive mechanism to achieve horizontal movement through the first-layer synchronous belt.

[0080] like Figure 6 , 8 9. The upper transverse drive mechanism is slidably mounted on the second transverse linear guide rail. It includes a third transverse drive motor, a second-layer synchronous belt, the third transverse linear guide rail, a guide rail mounting plate, a fifth transverse position optocoupler, and a sixth transverse position optocoupler. The third drive motor, equipped with a synchronous pulley, drives the second clamping device to achieve horizontal movement via the third synchronous belt. The fifth and sixth transverse position optocouplers are located at both ends of the third transverse linear guide rail and fixed to the second support frame, cooperating with the optocoupler baffles on the second clamping device to achieve positioning. Figure 6 , 10 The second clamping device is fixed to the third transverse linear guide rail of the upper drive mechanism. It includes a second sample holder claw, a second lifting linear guide rail, a lifting optical coupler baffle, a third lifting position optical coupler, a fourth lifting position optical coupler, a second guide wheel, a second guide wheel connecting block, and a lifting drive mechanism. Its connection method and lifting motion are the same as those of the clamping device of the first scheduling trolley. Figure 7The sample rack channel of the second dispatching trolley is located at the top of the second support frame. Sample rack sensors are installed at both ends of the channel to detect whether a sample rack is present and whether it is fully inserted. A sample rack clamping mechanism is located in the middle, employing a spring-loaded pre-tightening mechanism. The springs pre-compress the sample rack, effectively preventing it from shifting or sliding. Figure 8 On the side facing the buffer area, a buffer area sample rack identification sensor is also provided to identify whether there are sample racks in the buffer area. The second dispatching trolley is also equipped with an infrared obstacle avoidance sensor, which is fixed on the second support frame and faces the direction of the first dispatching trolley. Its function and role are the same as those on the first dispatching trolley. The dispatching trolley drive mechanism performs path planning through task instructions issued by the main control system and coordinates with the first dispatching trolley to achieve seamless task docking. The main control system adopts an Rk3588 embedded controller, which interacts with the dispatching trolley drive module and LIS system in real time via Ethernet. It can accurately capture the position feedback signal of the dispatching trolley and meet the real-time requirements of dual dispatching trolley collaborative control.

[0081] The coordinated operation of two dispatch vehicles makes the sample processing workflow more efficient and intelligent. Through this dual-vehicle collaboration, sample racks can be efficiently moved between different workstations, significantly improving overall testing efficiency and automation. Furthermore, the system's task priority management and automatic path conflict avoidance functions ensure stable operation even under high-concurrency tasks.

[0082] In this embodiment, the automatic cap removal device 1100 mainly functions to achieve intelligent sorting and automatic cap removal of the sample racks, as well as to cooperate with the image recognition system to achieve rotational barcode scanning; specifically, the automatic cap removal device 1100 adopts a robotic arm. The image recognition system uses a smart camera or an industrial camera to achieve image recognition and barcode scanning functions.

[0083] This invention also provides a sample scheduling method equipped with dual scheduling vehicles, employing the aforementioned sample scheduling system equipped with dual scheduling vehicles; it further includes the following scheduling steps:

[0084] 1. The sample rack is placed in the basket in the regular sample injection area or in the emergency sample injection channel. The sample rack pusher on the side of the regular sample injection channel or the emergency sample injection channel in the regular sample injection area pushes the sample rack into the sample rack channel of the first dispatch trolley 700. The first dispatch trolley 700 then transports the sample rack to the automatic cap removal device.

[0085] Specifically, the sample rack is placed in the basket of the regular sample injection area or in the emergency sample injection area. The sample rack pusher of the regular sample injection channel or the emergency sample injection channel pushes the sample rack into the sample rack channel of the first scheduling trolley. The sample rack gripper of the first scheduling trolley is driven by the guide wheel controlled by the lifting drive mechanism from the second lifting position optical coupler to the first lifting position optical coupler to lock the sample rack, preventing the sample rack from swaying or shifting horizontally during the movement of the scheduling trolley. The first scheduling trolley drive mechanism drives the first scheduling trolley through the synchronous belt to transport the sample rack to the automatic cap removal module area located on the right side of the front of the scheduling module.

[0086] 2. The first dispatching trolley 700 transports the sample rack to the sample rack channel of the automatic decapping device 1100. The image recognition system identifies the status of each sample tube and feeds the identification results back to the instrument control system. Then, based on the sample rack type identified by the system, the next step is performed. If the sample rack is a quality control / calibration sample rack, the first dispatching trolley directly transfers the sample rack to the first buffer area. For other sample racks, the automatic decapping device is controlled to complete the intelligent sorting, automatic decapping, and rotating barcode scanning of the sample tubes.

[0087] Specifically, when the first dispatching trolley carrying the sample rack moves to the position of the fourth sensor, the optocoupler baffle at the lower end of the dispatching trolley cooperates with the fourth sensor for identification and positioning, aligning the sample rack channel of the first dispatching trolley with the sample rack channel of the automatic decapping module. Then, the sample rack is clamped by the sample rack grippers of the dispatching trolley's clamping device. The lateral drive mechanism of the dispatching trolley, via a synchronous belt, drives the clamping device to move horizontally from the first lateral position optocoupler to the second lateral position optocoupler, at which point the sample rack is completely transferred into the sample rack channel of the decapping module. The image recognition system then identifies the status of each sample tube individually and feeds the identification results back to the instrument control system. Based on the sample rack type identified by the system, the system assists the decapping module in completing functions such as intelligent sorting, automatic decapping, and rotary barcode scanning. If the sample rack is a quality control / calibration sample rack, the first dispatching trolley directly transfers the sample rack to the first buffer area.

[0088] 3. After the other sample racks are processed by the automatic cap removal device, the first dispatch trolley 700 will transfer the sample racks to the first buffer area.

[0089] Specifically, after completing the above action sequence, the lifting drive mechanism of the clamping device of the first scheduling trolley drives the sample rack gripper to move downward to the second lifting position optical coupler via the guide wheel. At this time, the sample rack gripper disengages from the sample rack, and the clamping device is pulled back to the first lateral position optical coupler, i.e., the initial position of the clamping device, via the lateral drive mechanism. Then, the scheduling system controls the first scheduling trolley to move to the corresponding cap removal module sample rack channel according to the project priority set by the user. The corresponding sample rack carrying the priority detection project is pulled out into the sample rack channel of the first scheduling trolley via the clamping device. Then, the first scheduling trolley drive mechanism transports the sample rack to the first buffer area for placement. The sample rack control process is the same as that of transporting to the cap removal channel. During the process, the sample rack identification sensor on the sample rack channel can ensure that the first scheduling trolley can determine the specific position of the sample rack even in the event of a sudden power outage or instrument shutdown and power-on, and promptly feed the information back to the instrument control system. The control system issues a corresponding command, and the first scheduling trolley executes to move the sample rack back into its own channel to prevent the risk of jamming or sample misalignment due to task interruption.

[0090] 4. After the sample rack enters the first buffer area, the scheduling system controls the second scheduling trolley 800 to move to the position corresponding to the first buffer area; and transfers the sample rack according to its detection items, detection priorities or detection types.

[0091] Specifically, after the sample rack enters the first buffer area, the system, based on the current idle status of the detection module and the detection task priority set by the user, issues an instruction to the scheduling system. The second scheduling trolley drive mechanism, according to the system instruction, drives the second scheduling trolley to the first buffer area via a synchronous belt, and transfers the sample rack according to its detection items, detection priorities, or detection types. The second horizontal drive mechanism of the second scheduling trolley drives the clamping device to below the corresponding sample rack in the first buffer area. The lifting drive mechanism of the clamping device drives the sample rack gripper to rise to the position optocoupler and stop. At this time, the gripper can just hold the sample rack. The second horizontal drive mechanism then drives the clamping device to move horizontally via the synchronous belt, pulling the sample rack horizontally out into the sample rack channel of the second scheduling trolley, completing the transfer of the sample rack from the first buffer area to the second scheduling trolley. After the second scheduling trolley receives the sample rack in the first buffer area according to the system instruction, it transports different types of sample racks to the corresponding next processing module according to the preset path of the scheduling system.

[0092] 5. The second dispatching trolley 800 transports the sample rack to the rear track, and then sends it into the testing device for testing via the sample rack pushing device on the rear track.

[0093] Specifically, the regular and emergency sample racks are transferred to the rear track via the second dispatch trolley. System commands align the sample rack channel of the second dispatch trolley with the corresponding regular or emergency channel on the rear track. Then, the second dispatch trolley performs a horizontal transport action. First, the first lateral drive mechanism remains stationary. The second lateral drive mechanism, via a synchronous belt, drives the clamping device of the dispatch trolley to transport the sample rack horizontally to the third lateral position optical coupler. Then, the lifting drive mechanism of the clamping device drives the sample rack gripper downwards to the second lifting position optical coupler via guide wheels. At this point, the sample rack gripper disengages from the sample rack. The second lateral drive mechanism then pulls the clamping device back to the fourth lateral position optical coupler on the second dispatch trolley, stopping it at its initial position. At this point, the sample rack gripper is in the center of the sample rack channel. The second dispatch trolley then executes the next action according to the dispatch system commands.

[0094] The quality control / calibration sample rack is transported to the low-temperature storage room by the second scheduling trolley. The second lateral drive mechanism keeps the clamping device stationary at the fourth lateral position optical coupler. The first lateral drive mechanism drives the second lateral drive mechanism to stop at the second lateral position optical coupler via a synchronous belt. Then, the lifting drive mechanism of the clamping device drives the sample rack gripper to move downward and detach from the sample rack via guide wheels. The first lateral drive mechanism then pulls the second lateral drive mechanism back to the first lateral position optical coupler on the second scheduling trolley and stops. The second scheduling trolley then executes the next action according to the scheduling system instructions.

[0095] 6. If the test is completed but the corresponding analyzer shows an abnormal test result, the device will be transferred to the second buffer area via the second dispatch trolley for retesting.

[0096] If the test is completed but the corresponding analyzer shows no abnormalities, the sample will be transferred to the recycling area via the second dispatch trolley.

[0097] If it is a quality control or calibration sample rack, the second dispatch trolley will transfer it to the low-temperature storage room.

[0098] 7. After the sample racks in the return channel are transferred, the sample racks in the second or first buffer zone are transferred. Based on system judgment, if there are sample racks in the second buffer zone that need retesting, the scheduling system prioritizes ordering the second scheduling trolley to transfer the sample racks in the second buffer zone to the rear track. If there are emergency sample racks in the first buffer zone, the emergency sample racks in the first buffer zone are prioritized to be transferred to the emergency channel of the rear track. The system synchronously updates the detection status and priority of the sample rack and provides real-time feedback to the control center. If the retest result returns to normal, the sample rack is transferred to the recovery area by the second scheduling trolley according to the normal procedure. If it is still abnormal, it is transferred to the second buffer zone, and the sample rack information is locked and an alarm is triggered, awaiting manual intervention. The entire scheduling process is seamlessly connected, ensuring the efficient and orderly operation of the detection pipeline. Simultaneously, the scheduling system continuously optimizes the travel paths of each scheduling trolley by dynamically comparing timestamps with the task queue, avoiding channel congestion and resource contention. In complex scenarios with multiple tasks running concurrently, the scheduling system dynamically allocates scheduling resources based on real-time load, ensuring zero waiting time for high-priority tasks throughout the process.

[0099] Meanwhile, both the first and second dispatching vehicles are equipped with obstacle avoidance sensors, providing dual obstacle avoidance protection. Even if one sensor fails or malfunctions, collisions can still be effectively prevented. The obstacle avoidance sensors can perceive the surrounding environment in real time. When encountering obstacles or sudden moving objects, the sensors feed the information back to the dispatching system, which then issues commands to control the dispatching vehicles to automatically decelerate or pause. For example, when the first dispatching vehicle is heading to the first buffer area to place a sample rack, if the second dispatching vehicle happens to be arriving at the same area to transfer sample racks, the system will immediately plan a dynamic avoidance path to ensure that the two vehicles' trajectories do not conflict. The obstacle avoidance sensors continuously scan the area ahead, coordinating with control system commands for rapid response. Once a potential collision risk is detected, the travel sequence is immediately adjusted or a backup route is activated. At space-constrained intersections, the system prioritizes the smooth transport of emergency samples, automatically yielding to non-emergency tasks and recalculating the optimal path. The entire collaborative process requires no manual intervention, ensuring the continuity and safety of the dispatching system.

[0100] After completing its assigned task, the dispatching trolley automatically returns to the standby area and enters a low-power sleep state, awaiting the next command to wake it up. The system periodically executes a self-test program to calibrate sensors, check the smoothness of the track, and verify the stability of the communication link, ensuring reliability under long-term high-load operation.

[0101] Furthermore, the entire transfer process is monitored in real time by the system to ensure the stability and timeliness of sample rack transmission. During this process, the system, combined with feedback information from the identification sensors on the second dispatch trolley, can accurately determine the location information of the sample racks in the buffer area to ensure the accuracy of dispatch. At the same time, similar to the structure of the first dispatch trolley, sample rack identification sensors are installed in the channel to prevent the risk of rack jamming after power failure. The rear track that connects to the second dispatch trolley has three channels. Sample racks that are prioritized for testing directly enter the regular track and are transported to the corresponding testing instruments for testing. If the testing instruments for subsequent sample racks are located at a more distant location, the system can directly transport the subsequent sample racks to the corresponding analyzers through the emergency channel if it determines that there are no testing tasks in the emergency channel. After testing is completed, the sample racks return to the second dispatch trolley of the dispatch module through the return channel. The dispatch system issues instructions to control the second dispatch trolley to transfer the sample racks based on the feedback from the analyzer system on the test results.

[0102] Secondly, the system dynamically adjusts priority strategies based on sample type and clinical needs, ensuring that emergency samples always have the highest access privileges. Routine testing samples are processed according to user-preset rules, while special testing items are matched with specific processing procedures based on requirements, ensuring the accuracy and timeliness of results. The system monitors the time consumed at each stage in real time, and if any node exceeds a preset threshold, an early warning mechanism is triggered, dynamically adjusting the scheduling path to avoid bottlenecks.

Claims

1. A sample scheduling system equipped with dual scheduling vehicles, characterized in that: Includes a functional area; a buffer area (900) is provided on one side of the functional area. A vertical trolley scheduling linear guide (1000) is provided between the buffer area (900) and the functional area; a first scheduling trolley (700) and a second scheduling trolley (800) are provided on the trolley scheduling linear guide (1000). The buffer area includes a first buffer area (920) and a second buffer area (910); an automatic decapping device (1100) is provided at one end of the first buffer area (920). An image recognition system (1200) is provided on one side of the automatic hat removal device (1100); a sample rack channel (200) is provided between the automatic hat removal device (1100) and the image recognition system (1200); a horizontal rear track area (100) is provided at one end of the second buffer area (910). The rear track area (100) is equipped with a return channel (130), a regular channel (120) and an emergency channel (130). The functional areas include a low-temperature storage chamber (300), a recovery area (400), a routine sample injection area (500), and an emergency sample injection channel (600). A first trolley drive device is provided on one side of one end of the trolley scheduling linear guide (1000) to drive the first scheduling trolley (700) to move along the trolley scheduling linear guide (1000); the first trolley drive device includes a first scheduling trolley timing belt (710) and a first scheduling trolley drive mechanism (720) to drive the first scheduling trolley (710) to rotate along the timing belt. A second trolley drive device is provided on one side of the other end of the trolley scheduling linear guide (1000) to drive the second scheduling trolley (800) to move along the trolley scheduling linear guide (1000); the second trolley drive device includes a second scheduling trolley timing belt (810) and a second scheduling trolley drive mechanism (820) to drive the second scheduling trolley timing belt (810) to rotate.

2. The sample scheduling system equipped with dual scheduling vehicles as described in claim 1, characterized in that: A first transverse guide rail is provided on one side of the conventional sample injection area (500); a conventional sample rack pusher that can move along the first transverse guide rail is provided on the first transverse guide rail; the conventional sample rack pusher pushes the sample tubes into the scheduling trolley. A second transverse guide rail is provided on one side of the emergency sample inlet channel (600); an emergency sample rack pusher that can move along the second transverse guide rail is provided on the second transverse guide rail; the emergency sample rack pusher pushes the emergency sample to move within the emergency sample inlet channel (600); a first position sensor (620) and a second position sensor (630) are provided on the second transverse guide rail.

3. A sample scheduling system equipped with dual scheduling vehicles as described in claim 1, characterized in that: A third position sensor, a fourth position sensor, and a fifth position sensor are provided on one side of the trolley scheduling linear guide rail (1000); the third position sensor corresponds to the emergency sample injection channel (600); the fourth position sensor corresponds to the sample rack channel; and the fifth position sensor corresponds to the low-temperature storage chamber.

4. A sample scheduling system equipped with dual scheduling vehicles as described in claim 1, characterized in that: The low-temperature storage chamber (300) has a conveying channel (310); a sample rack pushing device is provided in the conveying channel (310); a sixth position sensor (320) and a seventh position sensor (370) are provided on one side of the conveying channel (310).

5. A sample scheduling system equipped with dual scheduling vehicles as described in claim 1, characterized in that: The first dispatching trolley (700) includes a first support frame (701), a first lateral drive device, a first clamping device (730), and a first sample rack channel (702). The first clamping device (730) includes a first fixed base (731) and a first sample holder claw (703); a first lifting linear guide rail (732) is provided on the first fixed base (731); a transmission hole is provided above the first fixed base (731), and a first lifting drive motor (734) is provided on one side of the transmission hole; the first lifting drive motor is provided with a rotating shaft; the rotating shaft of the first lifting drive motor passes through the transmission hole and is provided with a first guide wheel connecting block (735); a protrusion (734) is provided at the lower end of the first sample holder claw (703). 031), a first guide groove (7032) is provided on the protrusion; a guide wheel (733) is provided in the first guide groove (7032); the guide wheel is rotatably connected to the first guide wheel connecting block (735); a vertical slide groove is provided on one side of the first fixed base (731), a first lifting position optical coupler (737) is provided at the upper end of the vertical slide groove, and a second lifting position optical coupler (738) is provided at the lower end; a first lifting optical coupler baffle (736) is provided at the lower end of one end of the first sample holder claw (703); the first lifting optical coupler baffle is located in the vertical slide groove; The first support frame (701) is provided with a first lateral drive device, which includes a first lateral drive motor (705), a first synchronous belt (704), a first lateral linear guide (707), a first lateral position optocoupler (706), and a second lateral position optocoupler (709). The first synchronous belt (704) is connected to the first lateral drive motor (705) through a synchronous pulley. The first lateral linear guide (707) is located at the bottom of the first support frame (701). A slider is provided on the first lateral linear guide. The first synchronous belt (704) is fixedly connected to the slider. The first fixed base (731) is fixedly connected to the slider. The first lateral linear guide (707) is provided with a first lateral position optocoupler (706) and a second lateral position optocoupler (709) at both ends. A lateral position optocoupler baffle (708) is provided on the first fixed base (731). A first sample rack channel (702) is provided above one end of the first support frame (701); the first sample rack claw (703) can move laterally into the first sample rack channel (702); sample rack infrared sensors (711) are provided at both ends of the first sample rack channel (702); a first sample rack clamping device (712) is provided in the middle of the first sample rack channel (702); and a first optical coupler baffle (712) is provided at the bottom of the first support frame (701).

6. A sample scheduling system equipped with dual scheduling vehicles as described in claim 1, characterized in that: The second dispatching trolley (800) includes a second support frame (801), a second lateral drive mechanism, a second clamping device (830), and a second sample rack channel (802). The second clamping device (830) includes a second fixed base (810) and a second sample holder claw (834); a second lifting linear guide rail (833) is provided on the second fixed base (831); a transmission hole is provided above the second fixed base (831), and a second lifting drive motor (839) is provided on one side of the transmission hole; the second lifting drive motor (839) is provided with a rotating shaft; the rotating shaft of the second lifting drive motor (839) passes through the transmission hole and is provided with a second guide wheel connecting block (838); a protrusion is provided at the lower end of the second sample holder claw (834), and the protrusion has... A second guide groove (836) is provided; a second guide wheel (837) is provided in the second guide groove (836); the second guide wheel (837) is rotatably connected to the second guide wheel connecting block (838); a second vertical slide groove is provided on one side of the second fixed base (831), a third lifting position optical coupler (8392) is provided at the upper end of the second vertical slide groove, and a fourth lifting position optical coupler (8393) is provided at the lower end; a second lifting optical coupler baffle (8391) is provided at the lower end of one end of the second sample holder claw (834); the second lifting optical coupler baffle (8391) is located in the second vertical slide groove; The second support frame (801) is provided with a second lateral drive device; the second lateral drive device includes an upper lateral drive mechanism and a lower lateral drive mechanism; The lower transverse drive mechanism includes a second transverse drive motor (807), a first-layer synchronous belt (804), and a second transverse linear guide (8191); a third transverse position optocoupler (803) is provided at one end of the first-layer synchronous belt (804), and a fourth transverse position optocoupler (806) is provided at the other end; the second transverse linear guide (8191) is fixedly installed at the bottom of the second support frame (801); The upper lateral drive mechanism includes a third lateral drive motor (808), a second-layer synchronous belt (805), a third lateral linear guide rail (818), a guide rail mounting plate (817), a fifth lateral position optocoupler (815), and a sixth lateral position optocoupler (816). The third lateral drive motor (808) is generally paired with a synchronous pulley to drive the second clamping device through the second-layer synchronous belt (805) to achieve horizontal movement. The fifth lateral position optocoupler (815) and the sixth lateral position optocoupler (816) are located at both ends of the third lateral linear guide rail (818) and fixed on the second support frame (801), matching the optocoupler baffles on the second clamping device. The guide rail mounting plate (817) is slidably mounted on the second lateral linear guide rail (8191). The third lateral linear guide rail (818) is mounted on the guide rail mounting plate (817). The second fixed base (831) is slidably mounted on the third transverse linear guide rail (818); the second layer synchronous belt (805) is fixedly connected to the second fixed base (831); a second sample rack channel (802) is provided above one end of the second support frame (801); the second sample rack claw (834) can move laterally into the second sample rack channel (802); sample rack infrared sensors are provided at both ends of the second sample rack channel (802); a second sample rack clamping device (814) is provided in the middle of the second sample rack channel (802); a buffer area sample rack identification sensor (813) is provided at one end of the second sample rack channel (802); an infrared obstacle avoidance sensor (816) is provided on one side of the second support frame (801).

7. A sample scheduling system equipped with dual scheduling vehicles as described in claim 6, characterized in that: The automatic hat removal device (1100) employs a robotic arm.

8. A sample scheduling system equipped with dual scheduling vehicles as described in claim 1, characterized in that: The image recognition system uses a smart camera or an industrial camera.

9. A sample scheduling method equipped with dual scheduling vehicles as described in claim 1, characterized in that: The sample scheduling system equipped with dual scheduling vehicles as described in any one of claims 1 to 8 is adopted; It also includes the following scheduling steps: S1. The sample rack is placed in the basket of the regular sample injection area or the corresponding sample rack is placed in the emergency sample injection channel. The sample rack pusher of the sample rack on the side of the regular sample injection channel or the emergency sample injection channel pushes the sample rack into the sample rack channel of the first dispatch trolley (700). The sample rack is then transported to the automatic cap removal device by the first dispatch trolley (700). S2. The first dispatching trolley (700) transports the sample rack to the sample rack channel of the automatic decapping device (1100). The image recognition system identifies the status of each sample tube and feeds back the identification results to the instrument control system. Then, based on the sample rack type identified by the system, the next step is performed. If the sample rack is a quality control / calibration sample rack, the first dispatching trolley directly transfers the sample rack to the first buffer area. For other sample racks, the automatic decapping device is controlled to complete the intelligent sorting, automatic decapping, and rotating barcode scanning of the sample tubes. S3. After the other sample racks are processed by the automatic cap removal device, the first dispatching trolley (700) will transfer the sample racks to the first buffer area. S4. After the sample rack enters the first buffer area, the scheduling system controls the second scheduling trolley (800) to move to the position corresponding to the first buffer area; and transfers the sample rack according to its detection items, detection priorities or detection types. S5. The second dispatching trolley (800) transports the sample rack to the rear track, and then sends it into the detection device for detection through the sample rack pushing device on the rear track; S6. If the test is completed but the corresponding analyzer shows an abnormal test result, the device will be transferred to the second buffer area via the second dispatch trolley for retesting. If the test is completed but the corresponding analyzer shows no abnormalities, the sample will be transferred to the recycling area via the second dispatch trolley. If it is a quality control or calibration sample rack, the second dispatch trolley will transfer it to the low-temperature storage room.

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