Robotic intelligent feedback regulation method for operating a biochemical instrument

Abstract

The present application relates to the technical field of robot control, and particularly relates to a robot intelligent feedback adjustment method for operating biochemical instruments, which comprises the following steps: after a robot completes current operation on a target operation part of a biochemical instrument, the robot releases the action relationship between an end effector and the target operation part along an off-site path in segments, generates an off-site consequence receipt, and retains a reversible return node; determines a subsequent operation affected as a consequence occupation action, generates a consequence occupation identifier, and determines a minimum return adjustment path; controls the robot to perform supplementary release, reverse unloading, liquid removal, re-pressing or re-positioning along the minimum return adjustment path, and again performs segmented release until the consequence occupation identifier is eliminated and the subsequent operation is restored. The present application can identify hidden abnormalities in biochemical instruments caused by flexible structures, liquid film adhesion, light weight of consumables and elastic latches, and improve operation reliability and timeliness of abnormality discovery.

Description

Technical Field

[0001] This invention relates to the field of robot control technology, and in particular to an intelligent feedback regulation method for operating biochemical instruments. Background Technology

[0002] Biochemical instruments typically require operations such as opening and closing chamber doors, inserting and removing consumables, moving sample racks, pressing buttons, rotating bottle caps, and transferring liquids during sample testing, reagent reactions, cleaning and separation, and sample transfer. With increasing laboratory automation, robots are gradually being used to replace manual operation of existing biochemical instruments. However, current robot operation methods largely rely on preset trajectories, visual positioning, simple force control thresholds, or instrument feedback signals. They usually focus on whether the current action is completed correctly, but pay less attention to whether the residual consequences after the current action will affect the next operation.

[0003] In real-world biochemical instrument scenarios, many anomalies do not immediately become apparent as the robot continuously contacts the target area. For example, a door seal may appear closed when pressed by the end effector, but may spring back after removal; lightweight sample holders or tip holders may move slightly with the end effector during release; elastic latches may not fully release under pressure, only rebounding with a delay after the robot has moved away; and liquid films may form between tips, bottle necks, or wells, causing residual liquid to occupy the sample dispensing path to the next well. These anomalies are often not obvious failures of the current operation itself, but rather the spatial, force, or liquid consequences left over from the current operation that encroach on the execution conditions of the next operation.

[0004] In existing technologies, even if anomalies can be detected after operation via vision or sensors, the solutions typically involve alarms, repeating the original actions, or replanning the entire robot trajectory. This can easily lead to process interruptions, cycle delays, or secondary disturbances. Especially in high-throughput biochemical analysis, if problems such as pipette tip residue, consumable tracking, drawer rebound, and delayed release of seals are not identified and addressed in a timely manner, they can cause cross-contamination, incorrect sample addition at well locations, consumable retrieval failures, collisions within the instrument compartment, or accidental triggering. Summary of the Invention

[0005] This invention provides a robot intelligent feedback adjustment method for operating biochemical instruments. After completing the current operation, the robot does not completely leave its position directly, but transforms the leaving process into an active feedback detection process. It further determines whether the residual consequences of the current operation occupy the execution conditions of the next operation, and performs local return adjustment without changing the subsequent global trajectory, thereby improving the reliability and continuity of the operation of the biochemical instrument robot.

[0006] A robotic intelligent feedback control method for operating biochemical instruments comprises the following steps: S1. After the robot completes the current operation on the target operation part of the biochemical instrument, it disconnects the interaction between the end effector and the target operation part in segments along the reversible dislocation path, and generates a dislocation consequence receipt based on the rebound, follow-up, delayed release or liquid traction state that occurs after each segment is disconnected, while retaining the reversible return node corresponding to the dislocation consequence receipt. S2, based on the departure consequence receipt, determine whether the subsequent impact of the current operation occupies the execution conditions of the next operation, determine the affected subsequent operation as the consequence occupation action, generate the corresponding consequence occupation identifier, and determine the minimum return adjustment path to eliminate the consequence occupation identifier starting from the reversible return node. S3, based on the consequence occupation flag, pause the corresponding consequence occupation action, control the robot to perform supplementary release, reverse unloading, dehydration, repressing or repositioning along the minimum return adjustment path, and perform segmented release again until the consequence occupation flag is eliminated and subsequent operations resume.

[0007] Optionally, the disengagement path is divided into multiple release segments with increasing pose steps. The end effector is controlled to perform a tentative backward movement in each release segment along the direction away from the target operating part. After each release segment is completed, the movement is paused. A displacement sensor is used to detect whether the target operating part or the operated consumable exhibits rebound displacement, follow-up offset, delayed release of force attenuation curve, or liquid traction.

[0008] Optionally, in S1: when any of the states of rebound displacement, follow-up offset, delayed release or liquid traction is detected for the first time in a certain release segment, the state type, the corresponding segment identifier and the current pose of the end effector are recorded as the departure consequence receipt, and the current pose of the end effector is marked as the reversible return node corresponding to the departure consequence receipt.

[0009] Optionally, S1 further includes: if the state is not detected in all the release segments, then generate a departure consequence receipt indicating no consequence occupancy, and use the end point of the departure path as a reversible return node.

[0010] Optionally, S2 obtains the off-position consequence receipt and reads the execution condition parameters of the next operation from a preset task scheduling table. The execution condition parameters include at least the target space area of ​​the next operation, the safe approach distance, or the allowable contact force threshold.

[0011] Optionally, the state type and the pose of the end effector when the state occurs, recorded in the departure consequence receipt, are used to compare with the execution condition parameters of the next operation: When the state type is rebound or follow-up, determine whether the current position of the target operation part or the operation consumable has invaded the target space area of ​​the next operation; When the state type is delayed release or liquid entanglement, determine whether the residual force / residual liquid of the end effector or its carried consumables exceeds the safe approach distance or allowable contact force threshold. If any judgment result is yes, then the next operation is determined as a consequence occupancy action, and a consequence occupancy identifier containing the occupancy condition type and conflict area information is generated.

[0012] Optionally, the reversible return node corresponding to the departure consequence receipt is used as the starting point of the path planning. Based on the state type in the departure consequence receipt, the corresponding release, reverse unloading, dehydration, repressing, or repositioning action element is selected from the pre-built action element library. Without changing the global motion trajectory of subsequent operations, the shortest connection trajectory from the reversible return node to the selected action element required to eliminate the conflict is determined as the minimum return adjustment path.

[0013] Optionally, based on the consequence occupation identifier, a pause command is sent to the robot task scheduler to interrupt the subsequent operation that was determined to be a consequence occupation action; The end effector is controlled to return to the reversible return node corresponding to the displacement consequence receipt, and performs a release, reverse unloading, dehydration, repressurization or repositioning action that matches the state type of the displacement consequence receipt along the minimum return adjustment path.

[0014] Optionally, after the minimum return adjustment path is completed, the end effector is controlled to perform a trial retreat and status detection again along the returnable departure path in the segmented release manner described in step S1, and a new departure consequence receipt is generated.

[0015] Optionally, the new displacement consequence receipt is compared with the consequence occupancy identifier to determine whether the rebound, follow-up, delayed release, or liquid entanglement state that caused the consequence occupancy has disappeared: If so, then remove the consequence occupancy flag and unsuspend the subsequent operations to resume execution; Otherwise, update the reversible return node based on the new off-position consequence receipt, and repeat this step after redetermining the minimum return adjustment path until the consequence occupancy flag is eliminated.

[0016] The beneficial effects of this invention are: This invention transforms the robot's disengagement process after completing the current operation into an active feedback detection process, enabling the detection of delayed anomalies that are difficult to expose under continuous contact. Existing robots operating biochemical instruments typically leave immediately after performing actions such as pressing, pushing, clamping, adding samples, and opening / closing chamber doors, or rely solely on visual position and equipment feedback signals to determine whether the operation is complete. However, in actual use of biochemical instruments, problems such as the rebound of flexible seals, delayed release of elastic latches, movement of lightweight consumables, liquid residue on pipette tips, and liquid film entanglement at the bottle neck often only become apparent when the end effector gradually releases its interaction. This invention disengages the end effector from the target operating part in segments along a reversible disengagement path, detecting rebound, movement, delayed release, or liquid entanglement in each segment, generating a disengagement consequence receipt, and retaining the corresponding reversible return node. Therefore, the robot does not passively wait for anomalies to occur, nor does it check the results only after it has completely left the position. Instead, it actively induces and captures the residual consequences of the current operation during the leaving process. It can identify hidden anomalies in biochemical instruments caused by flexible structures, liquid film adhesion, lightweight consumables, and elastic locking, thereby improving operational reliability and the timeliness of anomaly detection.

[0017] This invention does not simply determine whether the current operation is abnormal, but further determines whether the residual consequences of the current operation occupy the target space area, safe access distance, or allowable contact force threshold of the next operation. For example, liquid hanging on the pipette tip may occupy the sample addition conditions of the next well position, sample rack homing may occupy the conditions of the next grasping, drawer rebound may occupy the transfer space of the robotic arm, and delayed release of the latch may occupy the contact force conditions of the next step. This invention generates a consequence occupancy flag based on the departure consequence receipt, identifies the affected subsequent operation as a consequence occupancy action, and selects actions such as supplementary release, reverse unloading, liquid removal, re-pressing, or repositioning from the action primitive library starting from the reversible return node to form a minimum return adjustment path. After adjustment, the robot performs segmented release again and generates a new departure consequence receipt. Subsequent operations can only resume after confirming that the consequence occupancy flag has been eliminated. Thus, this invention avoids the cycle time delay caused by global replanning, reduces the risks of cross-contamination, mis-addition, consumable grasping failure, intra-chamber collision, and instrument mis-triggering, and is particularly suitable for high-throughput, continuous biochemical instrument robot operation scenarios. Attached Figure Description

[0018] To more clearly illustrate the technical solutions in this invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only for this invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0019] Figure 1This is a schematic diagram of the method flow according to an embodiment of the present invention; Figure 2 This is a schematic diagram of the execution steps of embodiment S3 of the present invention. Detailed Implementation

[0020] The present invention will now be described in detail with reference to the accompanying drawings and specific embodiments. For some well-known technologies, those skilled in the art may also use other alternative methods to implement the invention. Moreover, the accompanying drawings are only for more specific description of the embodiments and are not intended to specifically limit the present invention.

[0021] This invention does not involve post-operation inspection, but rather actively transforms the dislocation process into a feedback detection process. The robot does not leave directly, but rather dissolves the interaction in stages. By dislocating itself, it exposes delayed anomalies that cannot be detected under continuous contact, making it particularly suitable for problems related to flexible seals, liquid film entanglement, lightweight consumable follow-up, and elastic clips in biochemical instruments.

[0022] The concept of "consequence-occupied action" is introduced as a control mechanism. The judgment object is not merely whether the current operation is abnormal, but whether the residual consequences of the current operation have encroached upon the execution conditions of the next operation. For example, liquid hanging from a pipette tip may occupy the conditions for adding a sample to the next well, sample rack movement may occupy the conditions for the next grasping action, and drawer rebound may occupy the robotic arm's transfer space. Furthermore, instead of replanning the entire robot trajectory, the minimum return adjustment path is generated using the reversible return nodes reserved in S1. In this way, the result of the previous displacement trial directly becomes the basis for the return adjustment in the subsequent step.

[0023] like Figure 1 - Figure 2 As shown, the intelligent feedback control method for operating biochemical instruments includes the following steps: S1: After completing the current operation on the target operating part of the biochemical instrument, the robot does not immediately and completely disengage. Instead, it disengages the end effector from the target operating part in segments along a reversible disengagement path. Based on the rebound, follow-up, delayed release, or liquid entanglement states that occur after each segment disengagement, a disengagement consequence receipt is generated. Simultaneously, the reversible return node corresponding to the disengagement consequence receipt is retained. The end effector refers to the device at the very end of the robot's manipulator used to directly contact and manipulate the target object or consumables, such as grippers, suction head adapters, grippers, and pressing heads.

[0024] After completing its current operation on the target area of ​​the biochemical instrument, the robot does not immediately detach the end effector from the target area. Instead, it uses the detachment process of the end effector as a feedback detection process. This process is used to detect delayed anomalies in the target area or the consumables being operated on that are not easily exposed under continuous contact, including flexible seal rebound, lightweight consumable follow-up, delayed release of elastic latches, and liquid entanglement at the suction tip or bottle neck. Specifically, these include: S11, Displacement path segmentation.

[0025] After the robot completes the current operation, the contact termination pose of the end effector at the time of completion is obtained, and a returnable departure path is generated based on the contact termination pose and the preset departure endpoint. A returnable departure path refers to a path in which the robot's end effector can return from any recorded pose on the path to the corresponding release segment position.

[0026] The disengagement path is divided into multiple disengagement segments with increasing pose steps, so that the end effector first leaves the target operating part with a smaller step size, and then continues to disengage with a larger step size, thereby obtaining a higher detection density in the near-contact area where anomalies are most easily exposed.

[0027] Step size for desegmentation , represented as: ; in, To remove the segment number, The displacement step size for the first release segment is 0.3mm to 0.8mm, preferably 0.5mm; or 0.2mm to 1.0mm, preferably 0.5mm. The step size increment between adjacent release segments is based on the fact that abnormal rebound or follow-up of components such as pipette tips, sample racks, reagent bottle caps, and door seals in biochemical instruments usually occurs within the first few millimeters after the end effector releases contact. If the first step size is too large, it will skip the location where the abnormality occurs; if the first step size is too small, it will reduce the operating efficiency.

[0028] Number of segments to be removed , represented as: ; in, Let be the path length from the contact termination pose to the end point of the departure path. Indicates rounding up. The reference average step size for segmentation is set to a range of 1 mm to 3 mm, preferably 2 mm. This is because the space for the robot end effector is typically narrow when operating within biochemical instrument panels, sample compartments, and reagent compartments; a reference average step size of approximately 2 mm can balance anomaly detection accuracy and disembarkation efficiency.

[0029] S12, segmented tentative retreat and pause detection.

[0030] The robot controls the end effector to sequentially enter each release segment, and within each release segment, it performs a tentative backward movement in the direction away from the target operating part. After completing each release segment, the robot pauses the end effector's relocation movement, allowing the delayed response of the target operating part or the operated consumable to be fully exposed.

[0031] Pause time , represented as: ; in, For the first The pause time after each segment is released is completed. The minimum pause time ranges from 80ms to 200ms, with 120ms being the preferred value. The pause coefficient corresponds to the step size, ranging from 60ms / mm to 150ms / mm, with 100ms / mm being preferred. Since the rebound of flexible seals, the movement of lightweight consumables, and the rupture of liquid films are not instantaneous, values ​​below 80ms are prone to missed detections, while values ​​exceeding 200ms significantly impact the cycle time of high-throughput biochemical operations.

[0032] During the pause after each release segment is completed, at least one of the force sensor, displacement sensor or vision system is used to detect whether the target operating part or the operating consumable exhibits rebound displacement, follow-up offset, hysteresis release of force decay curve or liquid traction.

[0033] The rebound displacement can be determined by detecting the positional change of the target operating part relative to the start of the segment release using a displacement sensor or vision system. A rebound displacement is determined to have occurred when the following conditions are met: ; in, For the first The rebound displacement of the target operating part during the release of the segment pause, T x The rebound displacement threshold is set between 0.15mm and 0.5mm, preferably 0.25mm. This threshold is determined based on the normal manufacturing gaps of the biochemical instrument compartment door sealing ring, drawer latch, push-button bottle cap, and consumable bracket. Displacements less than 0.15mm are easily affected by visual positioning errors or mechanical micro-vibrations, while displacements greater than 0.5mm may result in missed detection of semi-locking rebound.

[0034] Follow-up offset can be determined by detecting the offset of the operated consumable relative to the reference position of the target operating part through a vision system or end displacement sensor.

[0035] Follow-up offset is determined to occur when the following conditions are met: ; in, For the first The follow-up offset of consumables operated during the pause of each segment. The offset threshold is set to a value ranging from 0.2 mm to 0.8 mm, preferably 0.4 mm. This is based on the allowable displacement margin of lightweight consumables such as pipette tips, sample holders, reagent strips, and microplates in their normal seated state. When the offset reaches approximately 0.4 mm, it may already affect the next gripping, sample addition, or barcode scanning positioning.

[0036] The hysteresis release of the force decay curve can be determined by detecting changes in the contact force between the end effector and the target operating part using a force sensor. Calculate the... Force decay slope during each release segment pause: ; in, For the first The force decay slope during the release of the segmented pause, For the first The contact force at the start of the phased suspension release, For the first The contact force at the end of the release segment pause.

[0037] The force decay curve is considered to be releasing with hysteresis when the following conditions are met: and ; in, The residual contact force threshold, The force attenuation slope threshold ranges from 0.08N to 0.3N, preferably 0.15N. This threshold is set based on the residual force after the robot end effector normally releases contact with the buttons, doors, reagent bottle caps, and consumable clips of the biochemical instrument; exceeding this range indicates that there is still elastic constraint, adhesion, or clips not being released. The value ranges from 0.1 N / s to 0.6 N / s, preferably 0.3 N / s. This setting is based on the characteristic that the force should decrease rapidly upon normal contact release; if the residual contact force remains high and decreases slowly, it indicates that there is a delayed release at the target operating part.

[0038] Liquid entanglement can be detected by a vision system to determine whether a continuous liquid thread, droplet stretching, or liquid-laden movement occurs between the end effector, suction head, bottle neck, or orifice. Liquid entanglement is identified when the following conditions are met: ; in, For the first The length of liquid traction detected during the release of segmented pauses The threshold value for liquid carry-over length ranges from 0.5 mm to 2 mm, preferably 1 mm. It is set based on the minimum stable length at which visible liquid threads are formed at the tip of the pipette or the mouth of the bottle when biochemical samples, washing solutions, diluents, and reagents are present. If the length is less than 0.5 mm, it is easy to be confused with reflective edges, and if the length is greater than 2 mm, there may be a significant risk of dripping.

[0039] S13, Displacement Consequence Receipt Generation.

[0040] When any of the following states—rebound displacement, follow-up offset, delayed release, or liquid traction—is detected for the first time in a certain release segment, the state type, the corresponding segment identifier, and the current pose of the end effector are recorded as a dislocation consequence receipt.

[0041] The data structure for generating the result of the departure consequence receipt is as follows: ; in, For the first The off-position consequence receipt generated by the release segment. The state type can be springback displacement, follow-up offset, hysteresis release, or liquid traction. This is a segmentation identifier used to indicate the termination of a segment upon the first occurrence of an anomaly. This represents the current pose of the end effector, which is used to generate a reversible return node later.

[0042] In practical applications, only the segment where the above-mentioned state is first detected is used as the location for generating the off-position consequence receipt. The segment where the anomaly first occurs is closest to the anomaly formation point and can reflect the boundary position where the residual consequences of the current operation begin to encroach on the conditions for subsequent operations. Using this position as the basis for subsequent return can reduce unnecessary backtracking distances for the robot. If multiple states are detected simultaneously within the same segment, the primary state type is determined according to the priority of liquid entanglement, follower offset, delayed release, and rebound displacement. Liquid entanglement carries the risk of contamination spread, follower offset directly affects consumable positioning, delayed release may lead to instability in the latching or sealing state, and rebound displacement can usually be eliminated by re-pressing or supplementary release. This allows for prioritizing the handling of states that have the greatest impact on the execution conditions of the next operation.

[0043] S14, Reversible return node marker.

[0044] Once a departure consequence receipt is generated, the current pose of the end effector is marked as the reversible return node corresponding to that departure consequence receipt.

[0045] Reversible return node , represented as: ; The reversible return node is not a globally planned node, but a node that the robot has actually passed through during the disengagement process and maintains a reversible return relationship. When S2 determines the consequences of the action, it can directly use the reversible return node as the starting point to determine the minimum return adjustment path, avoiding the need to replan the entire robot trajectory. When marking the reversible return node, the disengagement direction, end effector posture, contact tool type, and release segment number of the end effector at that node are also recorded, enabling the robot to perform supplementary release, reverse unloading, dehydration, re-pressing, or repositioning along the reverse or local offset direction of the original disengagement path.

[0046] S15. Generation of a receipt for the consequences of leaving the position without any consequences.

[0047] If the robot does not detect any rebound displacement, follow-up offset, delayed release, or liquid traction within all the release segments, it generates a departure consequence receipt indicating no consequence occupancy, and uses the end point of the departure path as the reversible return node.

[0048] No consequences of leaving the position - receipt , represented as: ; in, This is a no-consequence occupancy state type. To indicate that no abnormalities occurred in any of the de-segmented segments, This is the pose at the end of the departure path.

[0049] The corresponding reversible return node at this time , represented as: ; In this case, the robot can enter the preparation stage for subsequent operations. S2 determines that the current operation does not encroach on the execution conditions of the next operation based on the departure consequence receipt without consequences. There is no need to generate actions such as release, reverse unloading, deliquescence, repressing, or repositioning.

[0050] Compared to existing methods where robots directly leave the target operation area after completing the operation and then rely on external vision or status signals to determine whether the operation is complete, this invention transforms the disengagement process itself into an active feedback detection process. It also uses incrementally increasing pose steps to gradually expose delayed anomalies in a segmented manner. This solves the problem of anomalies not appearing under continuous contact. For example, it's impossible to accurately determine whether the sealing ring rebounds when the end effector presses down on the door; liquid adhesion hasn't formed when the suction head hasn't completely detached from the liquid surface; the sample holder's follow-up trend is obscured by the end effector constraint while the robot is still holding it; and delayed release hasn't occurred when the latch is under pressure. This embodiment, through segmented release mechanisms, triggers and records these anomalies during the release process, and directly marks the pose at the first occurrence of the anomaly as a reversible return node, providing a clear basis for subsequent minimum return adjustment paths.

[0051] Therefore, this invention does not simply check whether the current operation is completed, but rather determines whether the residual consequences of the current operation will occupy the execution conditions of the next operation. It is more applicable to hidden problems such as flexible sealing, liquid film entanglement, lightweight consumable follow-up, and elastic buckles in biochemical instruments.

[0052] S2, based on the departure consequence receipt, determines whether the subsequent effects of the current operation occupy the execution conditions of the next operation. The affected subsequent operation is identified as a consequence-occupying action, a corresponding consequence-occupying identifier is generated, and a minimum return adjustment path is determined, starting from the reversible return node, to eliminate the consequence-occupying identifier. S2 is used to determine, based on the departure consequence receipt generated in S1, whether the residual consequences of the current operation have already occupied the execution conditions of the next operation, and generates a consequence-occupying identifier and a minimum return adjustment path upon confirmation of occupancy. This step determines whether the subsequent effects of the current operation have intruded upon the space, distance, contact force, or cleanliness conditions required for the next operation.

[0053] S21. Read the result of the departure and the execution condition parameters for the next operation.

[0054] Obtain the departure consequence receipt generated by S1. The departure consequence receipt includes the state type, segment identifier, current pose of the end effector, and the reversible return node corresponding to the departure consequence receipt. When the departure consequence receipt indicates no consequence occupancy, the robot can directly proceed to the next operation preparation process; when the departure consequence receipt records any of the states of rebound, follow-up, delayed release, or liquid entanglement, it proceeds to the subsequent occupancy judgment process.

[0055] The robot reads the execution condition parameters for the next operation from the preset task schedule table. The task schedule table is a data table that is pre-established before the robot executes the operation process of the biochemical instrument. It records the target operation site, target space area, safe access distance, allowable contact force threshold, allowable residual liquid state, and corresponding subsequent operation number for each operation in the order of operation.

[0056] The task scheduling table fields specifically include: operation number, operation type, target operation location, target space area, safe approach distance, allowable contact force threshold, allowable residual liquid length, target consumable identifier, entry direction, and exit direction. Specifically, the target space area defines the spatial range that the robot's end effector or consumable should enter in the next operation; the safe approach distance defines the minimum allowable interval between the end effector or its carried consumable and the target of the next operation; and the allowable contact force threshold defines the upper limit of the residual force allowed before entering the next operation.

[0057] The task scheduling table construction specifically includes: determining the operation sequence in the experimental process: first, according to the detection process of the biochemical instrument, the actions that the robot needs to perform are broken down into multiple operation units in chronological order, such as opening the reagent compartment, grabbing the reagent bottle, unscrewing the bottle cap, drawing the reagent, moving to the sample well, adding the sample, exiting the well, and closing the compartment door. Each operation unit corresponds to a row in the task scheduling table.

[0058] Identify the target operating area for each operation: For each operating unit, label its direct target object, such as reagent compartment door, sample rack, pipette tip, microplate well, reagent bottle opening, waste liquid outlet, drawer latch, etc. This target operating area is used to determine the physical object that the robot end effector should reach or avoid.

[0059] Establish the target space area: Based on the location and size of the target operation part, the shape of the robot end effector, and the required motion space, determine the target space area corresponding to the operation. For example, the target space area for sample addition can be set as the area above the target hole and the area that can be entered inside the hole; the target space area for grasping the sample rack can be set as the area required for the opening and closing of the sample rack handle and grippers; the target space area for closing the drawer can be set as the front edge of the drawer and the motion channel in the pushing direction.

[0060] Setting a safe approach distance: Determine the minimum safe distance between the robot's end effector or its carried consumables and the target space area based on the type of operation. Liquid-related operations typically use a smaller but more stringent safe approach distance to prevent liquid from seeping into the next opening; mechanical operations such as gripping, pushing, pulling, and opening / closing doors use a larger safe approach distance based on the spatial dimensions of the grippers, doors, and drawers.

[0061] Set the permissible contact force threshold: Based on the load-bearing capacity, risk of accidental triggering, and structural stability of the target area for the next operation, set the permissible contact force threshold. The permissible contact force threshold is lower for buttons, flexible seals, and lightweight consumables; the permissible contact force threshold can be appropriately increased for structural components such as doors, drawers, and latches.

[0062] Set the allowable residual liquid length: Set the allowable residual liquid length based on whether the next operation involves crossing well positions, samples, reagent bottle openings, or entering clean areas. For operations with a high risk of contamination, such as adding samples across well positions or moving samples across sample positions, the allowable residual liquid length should be smaller; it can be appropriately relaxed when moving short distances within the same container.

[0063] Record the entry and exit directions: Record the entry and exit directions of the robot when it performs the operation. This is used to determine whether the consequences of the robot's displacement may intrude into the next operation path, and it also facilitates the generation of the minimum return adjustment path in the future.

[0064] Create and store the task scheduling table.

[0065] Write the above fields into the robot controller or host computer scheduling module according to the operation number.

[0066] When the robot executes S2, it reads the execution condition parameters for the next operation based on the current operation number.

[0067] Table 1 Example of Task Scheduling In Table 1 above, if the current operation is 04 (reagent aspiration), and the robot detects liquid entanglement during the departure process, then S2 reads the execution condition parameters for the next operation 05. If the length of the residual liquid exceeds the allowable length of 05, or if the end of the residual liquid invades the target space area of ​​05, then 05 is identified as a consequence occupancy action, and a consequence occupancy identifier of the liquid occupancy type is generated.

[0068] Execution condition parameters for the next operation , represented as: ; in, This is the target spatial region for the next operation. To determine the safe approach distance for the next operation. This is the allowable contact force threshold for the next operation. Allowable residual liquid length for the next operation; target space region It can be determined by the center pose of the next target part, the outer envelope of the operating tool, and the safety margin.

[0069] Safe approach distance The value should be set according to the type of the next operation: when the next operation is liquid aspiration, sample addition, or pipetting, the value range is 1mm to 3mm; when the next operation is grasping a sample rack or consumable box, the preferred value is 2mm to 5mm; when the next operation is transferring the sample into the instrument compartment, the preferred value is 3mm to 8mm. This is because liquid operations are more sensitive to contamination distance, grasping operations are more sensitive to the opening and closing space of the grippers, and transfers within the compartment are more sensitive to collision avoidance space.

[0070] Permissible contact force threshold The load-bearing capacity of the next operational target should be set as follows: 0.05N to 0.2N for a button or flexible seal; 0.1N to 0.5N for a consumable tray or sample rack; and 0.2N to 1.0N for a drawer, door, or snap-fit ​​component. Buttons and seals are prone to false triggering or rebound due to residual force; consumable trays and sample racks are prone to positional displacement due to residual force; and drawers and doors can withstand higher mechanical contact but should still be protected from jamming.

[0071] Permissible residual liquid length The value should be set according to the contamination sensitivity of the next operation: 0 mm to 0.5 mm is used when the next operation is cross-well addition, cross-sample transfer, or reagent bottle removal; 0.5 mm to 1.5 mm is used when the next operation is short-distance movement within the same container. Cross-well or cross-sample operations are more sensitive to droplet carryover, while short-distance movement within the same container allows for a smaller liquid film.

[0072] The task schedule can be pre-built during the experimental workflow orchestration stage. Specifically, based on the layout of the biochemical instrument's operating interface, the location of consumable carriers, the spatial boundaries of the reagent compartment, the coordinates of the sample rack apertures, and the dimensions of the robot's end effector, the target spatial area for each operation is generated. Then, based on the operation type and contamination risk level, a safe access distance, an allowable contact force threshold, and an allowable residual liquid length are configured for each operation. After the task schedule is built, it is stored in the robot controller or the host computer scheduling module. When executing S2, the execution condition parameters for the next operation are read according to the current operation number.

[0073] S22. Comparison of status type and next operation execution conditions.

[0074] The status type and end effector pose at the time of the occurrence of the status recorded in the off-position consequence receipt are compared with the execution condition parameters of the next operation. This comparison is divided into two categories according to the status type: the first category is position occupancy judgment, which is applicable to rebound and follow-up; the second category is residual status occupancy judgment, which is applicable to delayed release and liquid entanglement.

[0075] When the state type is rebound or follow-up, it is determined whether the target operating part or the operated consumable has encroached on the target space area of ​​the next operation, based on the current position of the target operating part or the operated consumable. The current position of the target operating part or the operated consumable can be obtained through vision system, displacement sensor or robot end-effector pose inverse calculation.

[0076] Position occupancy determination is represented as: ; in, The result of the location occupancy judgment. The current location of the target operating part or the consumable being operated.

[0077] when When, it indicates that the current position of the target operating part or the consumable being operated on has encroached upon the target space area of ​​the next operation; when When this occurs, it indicates that the target space region for the next operation has not been invaded.

[0078] To avoid misjudgment due to visual detection errors, the target spatial area can be expanded with a safety margin before making a judgment: ; in, A' n+1 For the expanded target spatial region, ⊕ represents the spatial region expansion operation, M s To provide a safety margin for space.

[0079] Space safety margin The value is determined based on sensor positioning error and robot repeatability error, ranging from 0.3mm to 1.5mm. When using a high-precision camera and fixed fixture for positioning... The value ranges from 0.3mm to 0.6mm; when using a moving camera or when there is an assembly gap at the consumable location, The value ranges from 0.8mm to 1.5mm. The target space area is used to determine whether the next operation has been encroached upon. If no safety margin is introduced, slight follow-up or rebound may be missed within the error range.

[0080] When the status type is delayed release, the residual force of the end effector or its consumables is used to determine whether the allowable contact force threshold for the next operation has been exceeded. The residual force occupancy determination is expressed as follows: ; in, The result of residual force occupancy assessment. The residual force detected in the segment is to be removed in accordance with the relocation consequence receipt.

[0081] when When the residual force exceeds the allowable contact force threshold for the next operation, directly executing the next operation may result in false triggering, consumable misalignment, or secondary rebound of the latch; when When this occurs, it indicates that the residual force has not occupied the contact conditions for the next operation.

[0082] When the status type is liquid entanglement, the system determines whether the residual liquid length between the end effector, suction head, bottle neck, or orifice exceeds the safe access distance or allowable residual liquid length for the next operation, based on the length of residual liquid between the end effector, suction head, bottle neck, or orifice. Liquid entanglement occupancy determination is represented as follows: ; in, The result of the residual liquid occupation assessment. The length of residual liquid detected in the segment corresponding to the removal consequence receipt is used to determine the extent of the liquid loss. This is the minimum distance between the end of the residual liquid and the target space region of the next operation.

[0083] when When this occurs, it indicates that the residual liquid has already occupied the safe access or clean conditions for the next operation; when When this occurs, it indicates that the residual liquid does not occupy space for the next operation.

[0084] In the above judgments, the rebound and follow-up actions focus on whether the position is occupied, the delayed release focuses on whether the force is occupied, and the liquid traction focuses on whether the liquid distance and liquid length are occupied. This avoids treating different abnormal states uniformly as collision avoidance, and improves the targeting of subsequent adjustment actions.

[0085] S23, Generation of consequence occupancy action and consequence occupancy identifier.

[0086] If any of the judgments regarding position occupancy, residual force occupancy, or residual liquid occupancy is true, then the next operation will be determined as a consequence occupancy action. A consequence occupancy action refers to a subsequent operation that is temporarily unable to be executed because the residual consequences of the current operation have not been resolved.

[0087] Consequence occupancy judgment, indicating: ; in, The consequences occupy the judgment result. Represents a logical OR operation.

[0088] when When =1, the next operation is determined as the consequence-occupying action; when When =0, it is assumed that the residual consequences of the current operation do not occupy the execution conditions of the next operation, and the robot can continue to execute the next operation.

[0089] When a consequence-occupying action is determined to exist, a consequence-occupying identifier is generated. The consequence-occupying identifier is used to record the type of occupied condition and conflict area information, and is used by S3 to suspend the corresponding consequence-occupying action.

[0090] Consequences Occupation Mark , represented as: ; in, For consequences of occupying the sign, The type of occupancy condition can be selected as space occupancy, force occupancy, liquid occupancy, or a combination of occupancy. This is conflict area information, used to record the location range where the current abnormal state overlaps with or is too close to the target spatial region of the next operation. This information is used to record the depth of intrusion, excess residual force, or excess residual liquid.

[0091] Intrusion depth, expressed as: ; in, The intrusion depth corresponding to the space occupied. This is a function for calculating spatial intrusion depth.

[0092] The spatial intrusion depth calculation function is used to calculate the depth at which the current position enters the expanded target space region. In practical applications, when the target space region is a rectangular envelope, cylindrical envelope, or polyhedral envelope, the distance from the current position to the nearest exit boundary can be calculated according to the corresponding geometric boundary. If the current position has not entered the expanded target space region, the intrusion depth is 0. The spatial intrusion depth calculation function is used during the consequence occupancy marker generation process to calculate the degree to which the current position of the target operation part or the operated consumable enters the next operation target space region. Its purpose is not simply to determine whether a collision has occurred, but to further quantify the degree to which the residual consequences of the current operation occupy the conditions for the next operation, providing a basis for determining the adjustment range of the subsequent minimum return adjustment path; specific schemes include: Get the current position: Based on the feedback of the displacement consequences, get the current position of the target operation part or the consumable being operated; the current position can be identified by the vision system, measured by the displacement sensor, or calculated from the robot end pose and contact relationship.

[0093] Obtain the target spatial region for the next operation: Read the target spatial region for the next operation from the task scheduling table. This target spatial region can be a rectangular envelope, a cylindrical envelope, a polyhedral envelope, or a composite region formed by combining multiple basic geometric regions. Expand the target spatial region with a safety margin: Based on sensor positioning errors, robot repetitive positioning errors, and consumable assembly gaps, expand the target spatial region to form an expanded target spatial region. This avoids missing minor intrusions due to detection errors. Determine if the current position is within the expanded target spatial region: If the current position is not within the expanded target spatial region, the spatial intrusion depth is 0, indicating that the current displacement has not resulted in space occupation. If the current position is within the expanded target spatial region, proceed to the next step of calculating the intrusion depth.

[0094] Determine the nearest exit boundary: Based on the geometry of the expanded target space region, determine the shortest exit direction from the current position to the region boundary. When the target space region is a rectangular envelope, calculate the distance from the current position to each of the six faces, and take the minimum value as the exit boundary distance. When the target space region is a cylindrical envelope, calculate the distance from the current position to the cylinder's sidewall, top face, and bottom face, and take the minimum value as the exit boundary distance. When the target space region is a polyhedral envelope, calculate the distance from the current position to each constraint plane, and take the minimum positive distance as the exit boundary distance. When the target space region is a composite region, first determine which basic geometric region the current position falls into, and then calculate the exit boundary distance according to the corresponding geometry type. If it falls into multiple basic geometric regions simultaneously, take the minimum exit boundary distance.

[0095] Output Space Intrusion Depth: The distance from the current position to the nearest exit boundary is defined as the space intrusion depth. The greater the space intrusion depth, the deeper the target operating part or the operating consumable has intruded into the space required for the next operation, and the greater the adjustment range required for subsequent pressing, repositioning, or local avoidance.

[0096] Conflict zone information is generated: While outputting the spatial intrusion depth, the current position, the corresponding extended target spatial region, the most recent exit direction, and the intrusion depth are recorded to form conflict zone information. This conflict zone information is written with a consequence occupancy flag for subsequent determination of the minimum return adjustment path. For example, if the next operation is to grasp the sample holder, and the target spatial region is the gripper opening and closing area, if the previous operation caused the sample holder to move and enter this area, the spatial intrusion depth calculation function will calculate the distance from the current position of the sample holder to the nearest boundary of the gripper opening and closing area. If the intrusion depth is 1.2mm, the subsequent repositioning action must at least cause the sample holder to exit the area by 1.2mm, and the final adjustment distance is determined in conjunction with a safety margin.

[0097] Residual power exceeds the limit , represented as: ; Excessive residual liquid , represented as: ; when This indicates that the length of the residual liquid exceeds the allowable range, or that the minimum distance between the end of the residual liquid and the target space area for the next operation is insufficient. By recording the occupancy information, the subsequent minimum return adjustment path can select the action amplitude based on the occupancy level, rather than performing a fixed overcompensation action.

[0098] S24. Pre-construction of the action primitive library.

[0099] Before determining the minimum return adjustment path, an action primitive library is pre-built. The action primitive library is used to quickly select local actions that can eliminate the corresponding consequence occupation flag based on the state type in the off-site consequence receipt.

[0100] The action primitive library includes state type, applicable object, trigger condition, action direction, action amplitude, action speed, stop condition, and prohibition condition. Action primitives at least include release action primitives, reverse unloading action primitives, dehydration action primitives, recompression action primitives, and repositioning action primitives.

[0101] Action primitive library , represented as: ; in, For the first Each action primitive The number of action primitives.

[0102] Each action primitive can be represented as: ; in, This refers to the state type corresponding to the action primitive. For the objects to which action primitives apply, The movement mode of the action primitive, The stopping condition for the action primitive. This is a prohibition condition for action primitives.

[0103] The release action unit is applicable to the delayed release state. Its movement mode is to continue short-range unloading or slight lateral release along the displacement direction. The stopping condition is that the residual force decreases below the allowable contact force threshold, and the prohibition condition is that the displacement of the target operation part exceeds the allowable structural gap. The reverse unloading action unit is applicable to the delayed state of elastic snap or flexible seal. Its movement mode is a small-amplitude movement in the reverse direction of the original action direction. The stopping condition is that the force decay curve returns to the normal release trend. The liquid removal action unit is applicable to the liquid traction state. Its movement mode is to break the liquid wire at low speed, scrape the liquid against the wall, or return to the original hole position for a short pause. The stopping condition is that the residual liquid length does not exceed the allowable residual liquid length. The re-pressing action unit is applicable to the springback state. Its movement mode is to return to the vicinity of the reversible return node and perform short-range pressing along the pressing direction. The stopping condition is that the target operation part position exits the conflict area. The repositioning action unit is applicable to the follow-up state. Its movement mode is to push or pull the consumable back to the predetermined seating area. The stopping condition is that the current position of the consumable no longer intrudes into the next operation target space area.

[0104] The pre-construction process of the motion primitive library includes: First, establishing object categories based on the target operation parts of the biochemical instrument, including buttons, doors, drawers, reagent bottle caps, pipette tips, sample racks, microplates, and consumable trays; Second, labeling the possible state types for each object category, including rebound, follow-up, delayed release, and liquid entanglement; Third, configuring the corresponding motion primitives and their stopping conditions according to the object category and state type; Finally, writing the motion primitive library into the robot controller or host computer scheduling module.

[0105] S25, Selection of Action Elements.

[0106] Using the status type in the off-site consequence receipt as an index, select the corresponding action primitive from the action primitive library. Action primitive selection is represented as follows: ; in, For the selected action primitive, Let be the cost function of the action primitive.

[0107] Action primitive cost function , represented as: ; in, This refers to the type of occupied condition that can be eliminated for action primitives. The risk level of the action element can be preset based on whether the action may cause pollution, collision, consumable displacement or instrument mis-triggering, with a value range of 0 to 1.

[0108] , and These are the state type matching weight, the occupation condition matching weight, and the action risk weight, respectively, and δ(·) is the matching difference function.

[0109] State type matching weight The value is 0.5, which is the weight for condition matching. The value is 0.3, representing the action risk weight. The value is 0.2. The action primitive should first be consistent with the state type in the departure consequence receipt, secondly it should be able to eliminate the corresponding occupied condition, and finally the action risk level is considered; therefore, the state type matching has the largest weight, the occupied condition matching has the second largest weight, and the action risk has the smallest weight.

[0110] Matching difference function representation: ; in, and These are the identifiers of the two types to be compared.

[0111] The risk level for low-speed liquid removal and short-range replenishment is set between 0.2 and 0.4; the risk level for re-pressing and repositioning is set between 0.4 and 0.7; and the risk level for actions involving approaching the liquid surface or crossing the sample well is preferably set between 0.7 and 1.0. The closer to the liquid and sample area, the higher the risk of contamination; the closer to the elastic clip and the edge of the consumable, the higher the risk of secondary displacement.

[0112] By using the above-described method for selecting action primitives, the robot can choose different actions when the state type is the same but the conditions of occupation are different. For example, for liquid traction, if the main problem is that the length of residual liquid exceeds the limit, the liquid removal action primitive is selected first; if the main problem is that the residual liquid is close to the target space area of ​​the next hole, the liquid removal action primitive that returns to the original hole position for a short stay is selected first.

[0113] S26. Minimum return adjustment path determined.

[0114] Using the reversible return node corresponding to the off-position consequence receipt as the starting point of path planning, and without changing the global motion trajectory of subsequent operations, the shortest connecting trajectory required to eliminate the conflict from the selected action primitive from the reversible return node is determined as the minimum return adjustment path.

[0115] Minimum return adjustment path , represented as: ; in, As candidate return adjustment paths, This is the set of candidate paths that start from a reversible return node and execute the selected action primitive. Adjust the path length for candidate return paths.

[0116] The candidate path set is determined by the reversible return node, the motion direction and range of motion of the selected action primitive, and the connection point of the global motion trajectory of subsequent operations. Since the reversible return node is the pose that the robot has actually passed through during the robot's departure process in S1, when performing a local return from this node, it is not necessary to replan the entire robot trajectory. It is only necessary to generate the shortest connecting trajectory in the local space that can eliminate the consequence occupancy marker.

[0117] To ensure that the minimum backtracking adjustment path can indeed eliminate conflicts, the candidate backtracking adjustment path must also satisfy the following constraints: ; in, This is a conflict detection function used to determine whether the occupancy condition type recorded in the consequence occupancy identifier still exists after the candidate return adjustment path is executed. When the occupancy condition type is space occupancy, the conflict detection function determines whether the target operation part or the operated consumable still intrudes into the target space area; when the occupancy condition type is force occupancy, it determines whether the residual force still exceeds the allowable contact force threshold; when the occupancy condition type is liquid occupancy, it determines whether the residual liquid length or residual liquid distance still does not meet the safe access conditions for the next operation.

[0118] To avoid excessive retracement adjustment, the length of the candidate retracement adjustment path is also limited by the maximum retracement distance: ; in, The maximum return distance is set according to the space size of the current operating area: 2mm to 5mm when the operation occurs above the sample well or microplate; 3mm to 8mm is preferred when the operation occurs at the reagent bottle opening or pipette tip; and 5mm to 15mm is preferred when the operation occurs at the door, drawer, or latch. Excessive return distance near the well and liquid surface can easily cause contamination or droplet detachment. Doors and drawers have larger spaces and require a longer release elastic structure.

[0119] When it is impossible to generate a minimum return adjustment path that meets the conflict elimination conditions within the maximum return distance, the robot does not change the global motion trajectory of subsequent operations. Instead, it keeps the consequence occupation flag in an uneliminated state and pauses the corresponding consequence occupation action in subsequent S3, outputting a manual takeover or safety avoidance prompt.

[0120] The reversible return node recorded in step S1 is used as the starting point for local adjustment, and the consequence occupancy flag clearly indicates which execution condition of the next operation is occupied by the residual consequence of the current operation. Therefore, the robot does not need to overturn the original task scheduling process, nor does it need to re-solve the subsequent global trajectory; it only needs to execute the shortest connecting trajectory that eliminates conflicts near the reversible return node.

[0121] For delays and anomalies in biochemical instrument operations, such as tip loading, sample rack movement, drawer rebound, and delayed release of seals, the robot can determine whether it has encroached on the target space area, safe approach distance, or allowable contact force threshold of the next operation before the next operation actually begins. It then uses action units such as supplementary release, reverse unloading, liquid removal, re-pressing, or repositioning to locally eliminate these delays. This reduces the risks of contamination, collisions, and accidental triggering, while avoiding cycle time delays caused by global replanning, making it particularly suitable for high-throughput, continuous biochemical instrument robot operation scenarios.

[0122] S3, based on the consequence occupation flag, pause the corresponding consequence occupation action, control the robot to perform supplementary release, reverse unloading, dehydration, repressing or repositioning along the minimum return adjustment path, and perform segmented release again until the consequence occupation flag is eliminated and subsequent operations resume.

[0123] In this invention, S3 is used to pause the subsequent operations that are occupied after S2 determines that there is a consequence-occupying action, and control the robot to perform local adjustment along the minimum return adjustment path, and then verify whether the consequence-occupying has been eliminated by segmenting again. This step is not a simple repetition of the original operation, nor is it a replanning of the entire robot's motion trajectory, but rather a closed-loop adjustment around the consequence-occupying marker and the reversible return node.

[0124] S31. Suspend subsequent operations based on the consequences of occupying the marker.

[0125] Once S2 generates a consequence occupancy flag, the robot controller sends a pause command to the robot task scheduler based on the flag to interrupt subsequent operations identified as consequence occupancy actions. The pause command prevents the robot from entering the target space area, safe access distance range, or permissible contact force range for the next operation, thereby preventing the residual consequences of the current operation from being passed on to subsequent processes.

[0126] Pause command , represented as: ; in, The action number is used as a consequence of being suspended. The consequences of S2 are occupied by the identifier. The pause type is determined based on the type of occupancy condition in the consequence occupancy identifier. When the occupancy condition type is space occupancy, the pause type is set to target area pause; when the occupancy condition type is force occupancy, the pause type is set to contact condition pause; when the occupancy condition type is liquid occupancy, the pause type is set to clean condition pause; when the occupancy condition type is combined occupancy, the pause type is set to combined condition pause.

[0127] Upon receiving a pause command, the robot task scheduler switches the paused action from an executable state to a waiting-for-adjustment state, while preserving its original global motion trajectory, target pose, and execution order. This is designed so that subsequent adjustments can be completed directly, without needing to reprogram the entire experimental procedure.

[0128] To prevent the pause process from affecting other unrelated tasks, the pause command only applies to subsequent operations of the action identified as a consequence-occupying action, without changing the queuing order of other non-conflicting operations in the task scheduler. If the robot system allows parallel execution of non-conflicting tasks, the task scheduler can continue executing other operations that do not conflict with the consequence-occupying flag while keeping the consequence-occupying action paused, provided that such operations do not conflict with the consequence-occupying flag due to spatial, force, or fluid conditions.

[0129] S32, Return to the reversible return node and perform local adjustment actions.

[0130] After the consequence occupancy action is paused, the robot controller controls the end effector to return to the reversible return node corresponding to the departure consequence receipt. The reversible return node is the node recorded by S1 during the segment release process and is the starting point for S2 to determine the minimum return adjustment path.

[0131] The process of the robot returning to the reversible return node is represented as follows: ; in, This is the current position when the end effector pauses execution. This is the reversible return node corresponding to the off-position consequence receipt.

[0132] When the robot returns to the reversible return node, it preferentially returns along the original departure path in reverse. If a new obstacle appears locally on the original departure path or the target operation part moves, a local avoidance segment is generated without entering the next operation target space region. The maximum offset of the local avoidance segment is limited to: ; in, This represents the offset of the local avoidance segment relative to the original departure path. To determine the maximum permissible local clearance offset, the value should be determined based on the operating space of the biochemical instrument: 1 mm to 3 mm above microplate wells, sample rack wells, or pipette tip holders; and 3 mm to 8 mm above reagent compartments, sample compartments, or drawers. The space above wells is more sensitive to contamination and accidental contact, so smaller offsets should be limited; the space in compartments or drawers is relatively larger, allowing for greater local clearance.

[0133] After the end effector reaches the reversible return node, it performs a local adjustment action along the minimum return adjustment path determined by S2, matching the state type of the off-position consequence receipt. Local adjustment actions include supplementary release, reverse unloading, dehydration, repressurization, or repositioning.

[0134] Local adjustment action , represented as: ; in, The minimum return adjustment path determined by S2, The action primitive selected for S2, This refers to the status type in the off-site consequence receipt. The adjustment execution function maps the motion direction, motion amplitude, motion speed, and stopping conditions of the selected motion primitive to the motion control commands of the robot's end effector. Specifically, when the state type is delayed release, the adjustment execution function calls a supplementary release or reverse unloading action, causing the end effector to continue short-range unloading along the release contact direction, or to perform a small-range unloading in the reverse direction of the original action direction; when the state type is liquid traction, a dehydration action is called, causing the end effector to perform low-speed pulling of the liquid wire, scraping liquid against the wall, or returning to the original hole position for a brief pause; when the state type is springback, a re-pressing action is called, causing the end effector to return to the target operating position and perform short-range pressing; when the state type is follow-up, a repositioning action is called, causing the end effector to push or pull the operated consumable back to the predetermined seating area.

[0135] Speed ​​of local adjustment movements It is determined to be: ; in, To preset the maximum adjustment speed, This is the distance-velocity coefficient. This represents the return distance of this local adjustment action.

[0136] Preset maximum adjustment speed The value ranges from 5 mm / s to 30 mm / s, preferably 10 mm / s; distance velocity coefficient The range of values ​​is to Preferred The liquid traction, lightweight consumable follow-up, and elastic seal rebound of biochemical instruments are sensitive to speed. Excessive speed can easily cause droplets to fall off, consumables to shift again, or seals to rebound; too low a speed will affect the high-throughput operation cycle time.

[0137] The stopping conditions for local adjustment actions are determined by the selected action element. For supplementary release or reverse unloading, the stopping condition is that the residual force does not exceed the allowable contact force threshold for the next operation; for dehydration, the stopping condition is that the length of the residual liquid does not exceed the allowable length of the residual liquid for the next operation, and the minimum distance between the end of the residual liquid and the target space area for the next operation is not less than the safe approach distance; for repressing or repositioning, the stopping condition is that the current position of the target operation part or the consumable being operated no longer intrudes into the target space area for the next operation.

[0138] S33. Execute the segment release again and generate a new departure consequence receipt.

[0139] After completing the minimum return adjustment path, the robot does not directly resume subsequent operations. Instead, it controls the end effector to perform a trial retreat and state detection along the returnable departure path in the segmented release method in S1, in order to verify whether the local adjustment has truly eliminated the consequence occupancy.

[0140] The process of re-segmenting the release includes: dividing the displacement path into multiple release segments with increasing pose steps; controlling the end effector to perform a tentative backward movement in the direction away from the target operating part within each release segment; pausing after each release segment is completed; and using at least one of a force sensor, displacement sensor, or vision system to detect whether the target operating part or the operated consumable exhibits rebound displacement, follow-up offset, delayed release of force attenuation curve, or liquid entanglement.

[0141] New Displacement Consequence Receipt , represented as: ; in, For the new state type, For the new segmentation identifier, The current pose of the end effector when the state is detected again.

[0142] If no rebound displacement, follow-up offset, delayed release, or liquid entanglement is detected during the subsequent segmented release process, a new departure consequence receipt indicating no consequence occupancy is generated. This new departure consequence receipt is used to subsequently determine whether the consequence occupancy indicator can be eliminated.

[0143] To ensure that the results of the second detection are comparable to those of S1, the same pose step size increment rule, pause time setting, and state detection threshold are used for the second segmented release as for S1. If the position of the target operation part changes after local adjustment, a returnable departure path with the same rules is regenerated starting from the updated reversible return node, without changing the global motion trajectory of the next operation.

[0144] S34. Compare the new departure consequence receipt with the consequence occupancy identifier.

[0145] The new departure consequence receipt is compared with the consequence occupancy indicator to determine whether the rebound, follow-up, delayed release or liquid entanglement state that caused the consequence occupancy has disappeared.

[0146] Consequence Elimination Judgment Result , represented as: ; Here, `match(·)` is the occupancy matching function, used to determine whether the new departure consequence receipt still corresponds to the occupancy condition type and conflict area information in the consequence occupancy identifier. If the consequence occupancy identifier corresponds to space occupancy, the occupancy matching function determines whether the new state type is still rebound or follow-up, and whether the target operation part or the operated consumable still intrudes into the conflict area; if the consequence occupancy identifier corresponds to stress occupancy, it determines whether the new state type is still delayed release, and whether the residual force still exceeds the allowable contact force threshold; if the consequence occupancy identifier corresponds to liquid occupancy, it determines whether the new state type is still liquid entanglement, and whether the residual liquid length or residual liquid distance still does not meet the execution condition parameters for the next operation.

[0147] when When this occurs, it indicates that the new departure consequence receipt no longer contains a status type or conflict area that matches the consequence occupancy identifier, and the status that caused the consequence occupancy has disappeared; when At this time, it indicates that the new departure consequence receipt still matches the consequence occupation identifier, and the consequence occupation has not been eliminated.

[0148] To avoid frequent deletion and restoration of the marker due to sensor jitter, a stability confirmation condition can be set for the deletion judgment: ; in, To stabilize and eliminate the judgment result, To continuously satisfy the elimination judgment's detection count, H m ᵢ n The minimum number of confirmations is set according to the state type: 2 for rebound and follow-up; 2 to 3 for delayed release; and 3 for liquid entanglement. Liquid entanglement is greatly affected by light, reflection, and liquid surface fluctuations, requiring a higher number of confirmations; rebound and follow-up usually exhibit stable position changes, so fewer confirmations are needed.

[0149] S35. Remove the consequences of occupying the marker and restore subsequent operations.

[0150] When it is determined that the state that caused the consequence occupation has disappeared, the robot controller removes the consequence occupation flag and sends a recovery command to the robot task scheduler to release the pause on the consequence occupation action, so that subsequent operations can continue to be executed according to the original task schedule.

[0151] recovery command , represented as: ; in, To restore the command, To restore the status indicator.

[0152] Recovery status indicator This indicates that the consequence occupancy flag has been removed. After receiving the resumption command, the robot task scheduler switches the paused consequence occupancy action from the waiting adjustment state back to the executable state and continues execution along the previously preserved global motion trajectory.

[0153] Before resuming subsequent operations, the robot checks whether the end effector is located within the permissible connection zone of the global motion trajectory for the subsequent operation. If the end effector is already within the permissible connection zone, execution resumes directly; if the end effector is not within the permissible connection zone, it enters the permissible connection zone along the shortest safe connection segment before resuming subsequent operations. This shortest safe connection segment does not change the global motion trajectory of the subsequent operation itself; it is only used to connect the current local adjustment end pose to the starting region of the subsequent operation.

[0154] S36. If not eliminated, update the reversible return node and repeat the adjustment.

[0155] If the new departure consequence receipt still matches the consequence occupancy identifier, then update the reversible return node according to the new departure consequence receipt, and repeat step S3 after redetermining the minimum return adjustment path.

[0156] A reversible return node update is represented as: ; in, The updated reversible return node replaces the original reversible return node and serves as the starting point for the next round of minimum return adjustment path. Since the new displacement consequence receipt is generated during the segmented release process after this round of local adjustment, its corresponding pose is closer to the actual occurrence location of the current residual consequence. Therefore, using it to update the reversible return node can reduce the length of the next round of adjustment path and improve the targeting of adjustment.

[0157] To prevent infinite adjustment cycles, a maximum number of adjustments can be set: ; in, This represents the number of adjustments that have been performed so far. The maximum number of adjustments is set according to the operational risk level: 3 times for ordinary door / drawer / sample rack movements; 2 times for operations involving liquid transfer, cross-well addition, or sample contamination; and 1 to 2 times for operations involving reagent bottle openings, waste outlets, or high-risk contamination areas. Excessive adjustments may increase the risk of contamination, collisions, or consumable disturbance, especially for liquid-related operations, which should not be repeatedly attempted.

[0158] When the maximum allowed number of adjustments is reached and the consequence occupancy flag is still not cleared, the robot stops repeated adjustments, maintains the consequence occupancy action paused, and outputs a manual takeover prompt or executes a safety avoidance action. The safety avoidance action moves the end effector to a safe waiting position away from the target space area, liquid path, and instrument opening.

[0159] By establishing a closed loop through pause, partial reversal adjustment, re-segmentation release, and removal of occupancy markers, the robot not only performs compensatory actions but also confirms through re-deposition detection that the residual consequences of the current operation no longer preclude the execution conditions for the next operation before resuming subsequent operations. This avoids the problem of compensatory actions being performed but the consequences still existing. For example, after a single liquid removal, short liquid strands may remain on the pipette tip; after the sample rack is pushed back, it may move again due to elastic limits; after the drawer is pressed back, there may still be slight rebound; and after the seal is unloaded in the reverse direction, residual force may still remain. This implementation method, through a re-comparison of the new deposition consequence receipt and the consequence occupancy marker, enables the robot to complete closed-loop confirmation before resuming subsequent operations, thereby reducing the risks of cross-contamination, incorrect sample addition at well positions, failed consumable grabbing, collisions within the instrument compartment, and accidental triggering.

[0160] Furthermore, this implementation method always focuses on local adjustments around the reversible return node and the minimum return adjustment path, without changing the global motion trajectory of subsequent operations. This ensures the targeted nature of the adjustment actions and reduces the overall process downtime, making it suitable for continuous operation scenarios of high-throughput biochemical instruments.

[0161] This invention encompasses any substitutions, modifications, equivalent methods, and solutions made within the spirit and scope of this invention. To provide the public with a thorough understanding of this invention, specific details are described in detail in the following preferred embodiments; however, those skilled in the art will fully understand the invention even without these details. Furthermore, to avoid unnecessary misunderstanding of the essence of this invention, well-known methods, processes, procedures, components, and circuits are not described in detail.

[0162] The above description is only a preferred embodiment of the present invention. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the principle of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. A robotic intelligent feedback control method for operating biochemical instruments, characterized in that, Includes the following steps: S1. After the robot completes the current operation on the target operation part of the biochemical instrument, it disconnects the interaction between the end effector and the target operation part in segments along the reversible dislocation path, and generates a dislocation consequence receipt based on the rebound, follow-up, delayed release or liquid traction state that occurs after each segment is disconnected, while retaining the reversible return node corresponding to the dislocation consequence receipt. S2, based on the departure consequence receipt, determine whether the subsequent impact of the current operation occupies the execution conditions of the next operation, determine the affected subsequent operation as the consequence occupation action, generate the corresponding consequence occupation identifier, and determine the minimum return adjustment path to eliminate the consequence occupation identifier starting from the reversible return node. S3, based on the consequence occupation flag, pause the corresponding consequence occupation action, control the robot to perform supplementary release, reverse unloading, dehydration, repressing or repositioning along the minimum return adjustment path, and perform segmented release again until the consequence occupation flag is eliminated and subsequent operations resume.

2. The intelligent feedback control method for operating biochemical instruments according to claim 1, characterized in that, The disengagement path is divided into multiple release segments with increasing pose steps. The end effector is controlled to perform a tentative backward movement in each release segment along the direction away from the target operating part. After each release segment is completed, the movement is paused. The displacement sensor is used to detect whether the target operating part or the operated consumable exhibits rebound displacement, follow-up offset, delayed release of force attenuation curve, or liquid traction.

3. The intelligent feedback control method for operating biochemical instruments according to claim 2, characterized in that, In S1: when any of the states of rebound displacement, follow-up offset, delayed release or liquid traction is detected for the first time in a certain release segment, the state type, the corresponding segment identifier and the current pose of the end effector are recorded as the departure consequence receipt, and the current pose of the end effector is marked as the reversible return node corresponding to the departure consequence receipt.

4. The intelligent feedback control method for operating biochemical instruments according to claim 3, characterized in that, S1 further includes: if the state is not detected in all the release segments, then generate a departure consequence receipt indicating no consequence occupancy, and use the end point of the departure path as the reversible return node.

5. The intelligent feedback control method for operating biochemical instruments according to claim 1, characterized in that, S2 obtains the departure consequence receipt and reads the execution condition parameters of the next operation from the preset task scheduling table. The execution condition parameters include at least the target space area of ​​the next operation, the safe approach distance, or the allowable contact force threshold.

6. The intelligent feedback control method for operating biochemical instruments according to claim 5, characterized in that, The state type and the pose of the end effector when the state occurred, recorded in the departure consequence receipt, are used for comparison with the execution condition parameters of the next operation: When the state type is rebound or follow-up, determine whether the current position of the target operation part or the operation consumable has invaded the target space area of ​​the next operation; When the state type is delayed release or liquid entanglement, determine whether the residual force / residual liquid of the end effector or its carried consumables exceeds the safe approach distance or allowable contact force threshold. If any judgment result is yes, then the next operation is determined as a consequence occupancy action, and a consequence occupancy identifier containing the occupancy condition type and conflict area information is generated.

7. The intelligent feedback control method for operating biochemical instruments according to claim 6, characterized in that, The reversible return node corresponding to the departure consequence receipt is used as the starting point of the path planning. According to the state type in the departure consequence receipt, the corresponding action primitives such as release, reverse unloading, dehydration, repressing, or repositioning are selected from the pre-built action primitive library. Without changing the global motion trajectory of subsequent operations, the shortest connection trajectory required to eliminate the conflict from the selected action primitive from the reversible return node is determined as the minimum return adjustment path.

8. The intelligent feedback control method for operating biochemical instruments according to claim 1, characterized in that, Based on the consequence occupation identifier, a pause command is sent to the robot task scheduler to interrupt the subsequent operation that was determined to be a consequence occupation action; The end effector is controlled to return to the reversible return node corresponding to the displacement consequence receipt, and performs a release, reverse unloading, dehydration, repressurization or repositioning action that matches the state type of the displacement consequence receipt along the minimum return adjustment path.

9. The intelligent feedback control method for operating biochemical instruments according to claim 8, characterized in that, After the minimum return adjustment path is completed, the end effector is controlled to perform a trial retreat and status detection again along the returnable departure path in the segmented release method described in step S1, and a new departure consequence receipt is generated.

10. The intelligent feedback control method for operating biochemical instruments according to claim 9, characterized in that, The new dislocation consequence receipt is compared with the consequence occupancy identifier to determine whether the rebound, follow-up, delayed release, or liquid entanglement state that caused the consequence occupancy has disappeared: If so, then remove the consequence occupancy flag and unsuspend the subsequent operations to resume execution; Otherwise, update the reversible return node based on the new off-position consequence receipt, and repeat this step after redetermining the minimum return adjustment path until the consequence occupancy flag is eliminated.

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