Blood collection tube intelligent sorting method and system based on visual guidance and core-xy motion platform, and robot

Abstract

The application discloses a blood collection tube intelligent sorting method and system based on visual guidance and a Core-XY motion platform and a robot, and comprises a rack module, a visual identification module installed on the top of the rack module, a Core-XY motion platform installed on the rack module, a Z-axis lifting mechanism installed on the Core-XY motion platform, a clamping end effector installed at the end of the Z-axis lifting mechanism, a barcode scanning module installed on the side of the clamping end effector or fixed on the rack module, a control system and an upper computer management system in communication connection with the control system. The application can realize automatic identification and grabbing of randomly placed blood collection tubes through visual identification, realizes automatic classification of test items through barcode scanning and the upper computer management system, and has the advantages of high automation, no need of regular feeding and automatic classification according to test items.

Description

Technical Field

[0001] This invention relates to the field of automated medical testing equipment technology, specifically to a method, system, and robot for intelligent sorting of blood collection tubes based on vision guidance and the Core-XY motion platform. Background Technology

[0002] In the field of medical testing, blood collection tubes need to be sorted according to different testing items and transported to the corresponding testing areas for processing after blood collection is completed. Currently, most small medical institutions still mainly rely on manual labor to complete the sorting of blood collection tubes. The basic process includes: manually identifying the color of the blood collection tubes, manually reading the label information, manually scanning the barcode, and manually sorting and placing them.

[0003] With the continuous increase in the daily testing volume in hospitals, traditional manual sorting methods have exposed numerous problems. Specifically, manual sorting suffers from low sorting efficiency, susceptibility to missorting, missed tests, incorrect tests, and mixed samples; healthcare workers face a high risk of occupational exposure due to prolonged contact with blood samples; samples are difficult to standardize and trace; labor costs continue to rise; and sample turnaround time is long. Furthermore, misaligned barcodes can lead to scanning failures, blood collection tubes for different tests are easily mixed, and the priority of emergency samples is difficult to manage effectively. These problems severely restrict the improvement of the overall work efficiency and medical safety level of the laboratory department.

[0004] To address the shortcomings of manual sorting, automated blood collection tube sorting equipment has begun to appear on the market. Currently, some tertiary hospitals have adopted semi-automatic sorting solutions, which typically consist of an automatic labeling machine, a barcode recognition module, a conveyor track, and manual assistance. The typical process is as follows: after a patient orders blood, the system automatically prepares and labels the tubes; after the nurse completes the blood collection, the sample is transported to the laboratory via a track or pneumatic conveyor system, where it is processed by the semi-automatic sorting machine and then manually verified. The intelligent labeling machine automatically selects tubes, prints and applies labels to reduce nurse operations and standardize label placement, thereby improving the success rate of barcode scanning; the pneumatic or track conveyor system enables immediate delivery of samples after blood collection, reducing manual transport steps and shortening transport time; while the semi-automatic sorting machine can automatically scan barcodes, some actions still require manual intervention.

[0005] Existing automated blood collection tube sorting equipment mainly includes two technical approaches: the first is the conveyor belt assembly line sorting system; the second is the industrial robotic arm automated sorting system.

[0006] For conveyor belt assembly line sorting systems, the working logic is that blood collection tubes move sequentially along the conveyor belt, pass through the barcode scanning station, and enter different sorting channels. However, this type of assembly line solution has the following shortcomings: (1) It must be fed in a regular manner, that is, the blood collection tubes must be in the same direction, with fixed spacing and placed in order, otherwise tube jamming, barcode scanning failure and sorting errors are likely to occur. Therefore, manual pre-sorting is still required before automatic sorting, and the degree of automation is limited; (2) The structure is complex, requiring multiple components such as conveying mechanism, arrangement mechanism, guiding mechanism and multi-station mechanism to work together; (3) It occupies a large area, and the linear assembly line layout is not suitable for small laboratories or desktop equipment. Moreover, the mechanical chain is long, maintenance is complex, the failure rate is high, and the manufacturing cost is high, especially unsuitable for primary hospitals.

[0007] For industrial robotic arm-type automatic sorting systems, a three-dimensional robotic arm is used in conjunction with an automatic gripper to grasp and transport blood collection tubes. However, this type of solution has the following shortcomings: (1) Industrial robotic arms are expensive, bulky, and difficult to maintain; (2) The robotic arm requires a large space, making it difficult to deploy on a desktop and install and use in primary hospitals; (3) The control is complex, requiring multi-axis linkage, attitude calculation, and inverse kinematics control, making development and maintenance difficult; (4) The motion inertia is large, resulting in poor stability at high speeds.

[0008] Furthermore, regardless of the technical approach adopted, existing equipment generally suffers from insufficient intelligence. Some devices can only perform simple classification based on the color of blood collection tubes, unable to read barcodes, identify patient information, or integrate with hospital LIS systems, making it difficult to achieve integrated intelligent sorting combining "visual recognition + motion control + information management." While some devices incorporate cameras for dynamic recognition, their sorting mechanical structures still lack a complete visual guidance and information linkage system architecture. Summary of the Invention

[0009] To overcome the shortcomings of existing technologies, one of the objectives of this invention is to provide an intelligent blood collection tube sorting robot based on visual guidance and the Core-XY motion platform. It can automatically identify and grasp randomly placed blood collection tubes through visual recognition, and automatically classify inspection items through barcode scanning and a host computer management system. It has the advantages of high automation, no need for rule-based feeding, and automatic classification according to inspection items.

[0010] The second objective of this invention is to provide an intelligent sorting method for blood collection tubes based on visual guidance and the Core-XY motion platform. This method can automatically identify and grasp randomly placed blood collection tubes through visual recognition, and automatically classify inspection items through barcode scanning and a host computer management system. It has the advantages of high automation, no need for rule-based feeding, and automatic classification based on inspection items.

[0011] The third objective of this invention is to provide an intelligent blood collection tube sorting system based on visual guidance and the Core-XY motion platform. This system can automatically identify and grab randomly placed blood collection tubes through visual recognition, and automatically classify inspection items through barcode scanning and a host computer management system. It has the advantages of high automation, no need for rule-based feeding, and automatic classification based on inspection items.

[0012] To achieve one of the objectives of this invention, the following solution is adopted: The intelligent blood collection tube sorting robot based on vision guidance and the Core-XY motion platform includes: Rack module; A visual recognition module, installed on the top of the rack module, is used to acquire images of randomly placed blood collection tubes in the working area, identify and locate the blood collection tubes, and output the target pixel coordinates of the blood collection tubes. The Core-XY motion platform, mounted on the rack module, is used to realize the motion of the end effector in a two-dimensional plane; The Z-axis lifting mechanism is installed on the Core-XY motion platform and is used to drive the end effector to move up and down in the vertical direction; A clamping end effector is installed at the end of the Z-axis lifting mechanism to clamp the blood collection tube; A barcode scanning module is installed on the side of the clamping end effector or fixed on the frame module, and is used to read the barcode information of the blood collection tube; The control system is electrically connected to the vision recognition module, the Core-XY motion platform, the Z-axis lifting mechanism, the clamping end effector, and the barcode scanning module, respectively. It is used to receive the target pixel coordinates and perform coordinate transformation to obtain physical space coordinates, receive barcode information read by the barcode scanning module, and control the Core-XY motion platform, the Z-axis lifting mechanism, the clamping end effector, and the barcode scanning module to perform corresponding two-dimensional planar motion, lifting motion, clamping action, and barcode scanning action, respectively. The host computer management system is communicatively connected to the control system and is used to receive the barcode information, automatically generate sorting strategies based on the inspection items, and determine the target sorting slot.

[0013] In some embodiments, when the visual recognition module processes the image of the blood collection tube, it specifically performs the following recognition process: tube cap color recognition, circular contour detection, edge detection, barcode area positioning, target center coordinate calculation, and posture direction recognition.

[0014] In some embodiments, the Core-XY motion platform includes two sets of stepper motors, a GT2 synchronous belt, an aluminum alloy synchronous pulley, a linear guide rail, and a high-precision slider. The GT2 synchronous belt is wound around the aluminum alloy synchronous pulley to form a synchronous belt drive pair. The linear guide rail is fixedly installed on the frame module. The high-precision slider is slidably installed on the linear guide rail and fixedly connected to the GT2 synchronous belt. The output shaft of the stepper motor is drively connected to the aluminum alloy synchronous pulley. The stepper motor is fixedly installed on both sides of the frame module and does not move with the slider. And / or, the rack module is constructed from industrial aluminum profiles.

[0015] In some embodiments, the Z-axis lifting mechanism is a pneumatic lifting push rod, which controls the lifting of the clamping end effector by an air pump; And / or, the clamping end effector is a two-finger gripper structure, with a medical-grade silicone protective layer on the gripper surface, and the two-finger gripper structure is any one of an adjustable gripping width structure, a flexible gripper structure, a vacuum adsorption structure, or an elastic buffer structure.

[0016] In some embodiments, the barcode scanning module is integrated and installed on the side of the clamping end effector, which is also provided with a servo rotation module. The servo rotation module is used to drive the gripper to rotate after the blood collection tube is gripped, so that the barcode area on the surface of the blood collection tube is aligned with the reading window of the barcode scanning module.

[0017] To achieve the second objective of this invention, the following solution is adopted: The intelligent sorting method for blood collection tubes based on vision guidance and the Core-XY motion platform, as described in one of the objectives of this invention, employs an intelligent sorting robot for blood collection tubes based on vision guidance and the Core-XY motion platform to perform intelligent sorting of blood collection tubes, and includes the following steps: S1. Acquire images of blood collection tubes within the working area through a visual recognition module, process the images to identify and locate the blood collection tubes, and obtain the target pixel coordinates of the blood collection tubes; S2. The target pixel coordinates are sent to the control system, and the control system converts the target pixel coordinates into physical space coordinates according to preset calibration parameters to obtain the actual spatial position of the blood collection tube. S3. The control system drives the Core-XY motion platform to move directly above the blood collection tube according to the actual spatial position, and controls the Z-axis lifting mechanism to descend, driving the clamping end effector to clamp the blood collection tube; S4. Control the barcode scanning module to read the barcode information of the blood collection tube, obtain the patient information and test item information corresponding to the blood collection tube, and send the information to the host computer management system; S5. The host computer management system automatically generates a sorting strategy based on the inspection item information and determines the target sorting slot corresponding to the blood collection tube; S6. The control system drives the Core-XY motion platform to move according to the position of the target sorting slot, and moves the blood collection tube to the corresponding target sorting slot to complete automatic sorting.

[0018] In some embodiments, step S1, identifying and locating the blood collection tube specifically includes: identifying the color of the cap of the blood collection tube to distinguish the type of blood collection tube, detecting the circular outline of the blood collection tube to locate the center of the blood collection tube, detecting the edge of the blood collection tube to determine the outline boundary of the blood collection tube, locating the barcode area, and identifying the orientation of the blood collection tube.

[0019] In some embodiments, in step S2, the preset calibration parameters are obtained as follows: multiple marker points with known physical coordinates are placed within the working range of the Core-XY motion platform, the pixel coordinates of each marker point are identified by the visual recognition module, and a mapping relationship from the pixel coordinate system to the physical coordinate system is established using multiple sets of corresponding data of pixel coordinates and physical coordinates.

[0020] In some embodiments, in step S3, when the control system drives the Core-XY motion platform to move, it uses a trapezoidal acceleration / deceleration algorithm or an S-shaped acceleration / deceleration algorithm for speed planning, so that the Core-XY motion platform accelerates smoothly at startup and decelerates smoothly when approaching the target position.

[0021] To achieve the third objective of this invention, the following solution is adopted: A visually guided intelligent blood collection tube sorting system based on the Core-XY motion platform is used to implement the visually guided intelligent blood collection tube sorting method based on the Core-XY motion platform as described in the second objective of this invention, including: The image acquisition and recognition module is used to acquire images of blood collection tubes within the working area, process the images to identify and locate the blood collection tubes, and obtain the target pixel coordinates of the blood collection tubes. The coordinate transformation module is used to convert the target pixel coordinates into physical space coordinates according to preset calibration parameters, so as to obtain the actual spatial position of the blood collection tube. The grasping control module is used to drive the Core-XY motion platform to move directly above the blood collection tube according to the actual spatial position, and control the Z-axis lifting mechanism to descend, driving the clamping end effector to grasp the blood collection tube; The information reading module is used to control the barcode scanning module to read the barcode information of the blood collection tube and obtain the patient information and test item information corresponding to the blood collection tube; The sorting strategy generation module is used to automatically generate a sorting strategy based on the inspection item information and determine the target sorting slot corresponding to the blood collection tube. The classification and transfer control module is used to drive the Core-XY motion platform to move according to the position of the target sorting slot, so as to transfer the blood collection tube to the corresponding target sorting slot and complete the automatic sorting.

[0022] Compared with the prior art, the beneficial effects of the present invention are as follows: 1. This invention achieves random loading and automatic identification and grasping of blood collection tubes, significantly improving the automation level and efficiency of sorting. This invention adopts a technical approach of stationary blood collection tubes and active robotic grasping. Operators only need to randomly place the blood collection tubes within the work area, eliminating the need for manual pre-sorting or regular arrangement. The visual recognition module automatically identifies and locates blood collection tubes at any position and in any posture within the work area, and the control system drives the Core-XY motion platform to actively complete the grasping based on the visual positioning results. Compared to existing conveyor belt assembly line solutions that rely on regular loading methods with uniform direction, fixed spacing, and sequential placement of blood collection tubes, this invention completely eliminates the dependence on manual pre-sorting, solving the problem of frequent downtime caused by tube jamming, blockage, and barcode scanning failures. It truly achieves fully automated sorting with random placement, automatic identification, and active grasping, greatly improving sorting efficiency and reducing the frequency of manual intervention.

[0023] 2. This invention employs the Core-XY motion platform, which simplifies the control system and reduces equipment costs while ensuring high-speed, high-precision two-dimensional planar motion. The Core-XY motion platform enables two-dimensional planar motion of the end effector. Compared to industrial six-axis robotic arms, which only require two-dimensional coordinate control for positioning and grasping blood collection tubes, this invention eliminates the need for complex three-dimensional spatial attitude calculations and inverse kinematics control. The control system is simpler, easier to develop and maintain, and significantly reduces overall manufacturing costs. Furthermore, this invention is designed as a desktop device, drastically reducing the footprint compared to linear pipeline layouts and large robotic arm solutions. It can be flexibly deployed in space-constrained environments such as primary hospitals, community health service centers, small laboratories, and makeshift hospitals, without requiring large-scale modifications to existing workspaces, demonstrating strong versatility and adaptability.

[0024] 3. This invention achieves integrated intelligent sorting combining visual recognition, motion control, and information management, thus improving the level of sorting intelligence. Existing low-cost sorting equipment can only perform simple mechanical classification based on the color of blood collection tubes, unable to read barcodes or identify patient information, resulting in a low level of intelligence. This invention reads the barcode information of blood collection tubes through a barcode scanning module. The control system receives the barcode information and uploads it to the host computer management system, which automatically generates a sorting strategy based on patient information and test items. This invention can not only classify based on the color of blood collection tubes but also achieve complex sorting functions such as classifying emergency samples from regular samples, automatically classifying different test items, and automatically prioritizing samples, realizing an upgrade from mechanical color classification to intelligent sorting.

[0025] 4. This invention reduces the workload and occupational exposure risk for medical staff. By using robots to automatically complete tasks such as test tube identification, sample handling, barcode reading, and sorting and transporting, this invention replaces repetitive operations in traditional manual sorting, significantly reducing the workload of medical staff. Simultaneously, automated sorting reduces the number of times medical staff directly handle blood samples, effectively reducing occupational exposure risk and improving medical safety. Attached Figure Description

[0026] Figure 1 This is a schematic diagram of the intelligent blood collection tube sorting robot based on visual guidance and the Core-XY motion platform in an embodiment of the present invention; Figure 2 This is a front view of the intelligent blood collection tube sorting robot based on visual guidance and the Core-XY motion platform in an embodiment of the present invention. Figure 3 This is a side view of the intelligent blood collection tube sorting robot based on vision guidance and the Core-XY motion platform in an embodiment of the present invention. Figure 4 This is a partial schematic diagram of a blood collection tube intelligent sorting robot based on visual guidance and the Core-XY motion platform in an embodiment of the present invention; Figure 5 This is a circuit connection block diagram of a blood collection tube intelligent sorting robot based on visual guidance and the Core-XY motion platform in an embodiment of the present invention. Figure 6 This is a flowchart illustrating the workflow of the intelligent blood collection tube sorting robot based on visual guidance and the Core-XY motion platform in this embodiment of the invention. Figure 7 This is a block diagram of the electronic control system of the intelligent blood collection tube sorting robot based on vision guidance and the Core-XY motion platform in an embodiment of the present invention; Figure 8This is a prototype image of the intelligent blood collection tube sorting robot based on visual guidance and the Core-XY motion platform in this embodiment of the invention; it shows the visual performance being tested by picking up small balls of different colors. Figure 9 This is a partial view of the motor installation in an embodiment of the present invention; Figure 10 This is a schematic diagram of belt drive in an embodiment of the present invention; Figure 11 This is a partial view of the slider connection in an embodiment of the present invention; Figure 12 This is a partial view of the tensioning wheel in an embodiment of the present invention; Figure 13 This is a schematic diagram of the Z-axis end gripper in an embodiment of the present invention; Figure 14 This is a schematic diagram of the overall Z-axis pneumatic control system in an embodiment of the present invention; Figure 15 This is a diagram showing the actual recognition effect of OpenMV in an embodiment of the present invention; Figure 16 This is a diagram showing the program test results of the intelligent blood collection tube sorting robot based on visual guidance and the Core-XY motion platform in an embodiment of the present invention. Figure 17 This is a schematic diagram of the STM32 main control board in an embodiment of the present invention; Figure 18 This is a schematic diagram of the OpenMV module in an embodiment of the present invention; Figure 19 This is a schematic diagram of the operation panel module in an embodiment of the present invention; Figure 20 This is a schematic diagram of a barcode recognition module in an embodiment of the present invention; Figure 21 This is a flowchart of the intelligent sorting method for blood collection tubes based on visual guidance and the Core-XY motion platform in an embodiment of the present invention; Figure 22 This is a block diagram of a blood collection tube intelligent sorting system based on visual guidance and the Core-XY motion platform in an embodiment of the present invention.

[0027] Reference numerals: 1. Frame module; 2. Vision recognition module; 3. Core-XY motion platform; 4. Z-axis lifting mechanism; 5. Clamping end effector; 6. Barcode scanning module; 7. Stepper motor; 8. GT2 synchronous belt; 9. Aluminum alloy synchronous pulley; 10. Linear guide rail; 11. Slider; 12. Cylinder; 13. Gripper. Detailed Implementation

[0028] The present invention will now be further described in conjunction with the accompanying drawings and specific embodiments. It should be noted that, without conflict, the various embodiments or technical features described below can be arbitrarily combined to form new embodiments.

[0029] Example 1 like Figure 1-20 As shown, this embodiment of the invention provides a blood collection tube intelligent sorting robot based on vision guidance and the Core-XY motion platform 3, including: Rack module 1; The visual recognition module 2 is installed on the top of the rack module 1 and is used to acquire images of randomly placed blood collection tubes in the working area, identify and locate the blood collection tubes, and output the target pixel coordinates of the blood collection tubes. The Core-XY motion platform 3 is mounted on the rack module 1 and is used to realize the motion of the end effector in a two-dimensional plane; Z-axis lifting mechanism 4 is installed on the Core-XY motion platform 3 and is used to drive the end effector to move up and down in the vertical direction; A clamping end effector 5 is installed at the end of the Z-axis lifting mechanism 4 and is used to clamp the blood collection tube; The barcode scanning module 6 is installed on the side of the clamping end effector 5 or fixed on the frame module 1, and is used to read the barcode information of the blood collection tube; The control system is electrically connected to the vision recognition module 2, the Core-XY motion platform 3, the Z-axis lifting mechanism 4, the clamping end effector 5, and the barcode scanning module 6, respectively. It is used to receive the target pixel coordinates and perform coordinate transformation to obtain physical space coordinates, receive the barcode information read by the barcode scanning module 6, and control the Core-XY motion platform 3, the Z-axis lifting mechanism 4, the clamping end effector 5, and the barcode scanning module 6 to perform corresponding two-dimensional planar motion, lifting motion, clamping action, and barcode scanning action, respectively. The host computer management system is communicatively connected to the control system and is used to receive the barcode information, automatically generate sorting strategies based on the inspection items, and determine the target sorting slot.

[0030] The intelligent blood collection tube sorting robot based on vision guidance and the Core-XY motion platform 3 in this invention solves the problems of insufficient automation, complex equipment structure, high cost, rule-based feeding, difficult maintenance, and difficulty in adapting to primary healthcare institutions in existing technologies. This intelligent blood collection tube sorting robot based on vision guidance and the Core-XY motion platform 3 in this invention adopts a novel technical approach of stationary blood collection tubes and active robot grasping. It has the advantages of miniaturization, modularity, and intelligence. Unlike traditional conveyor line solutions, it can be embedded into existing laboratory workbenches and deployed as a desktop-level automated device without large-scale modifications.

[0031] Understandably, traditional automated sorting equipment typically relies on conveyor belts to transport blood collection tubes to fixed scanning and sorting stations for classification. Essentially, this is a streamlined process where blood collection tubes move while the stations remain fixed. This invention eliminates the traditional conveyor belt. Blood collection tubes no longer need to move along a fixed track; the operator simply places them randomly within the work area. The system automatically identifies the position, orientation, and category information of the blood collection tubes through the visual recognition module 2, and then the motion platform actively completes the grabbing, scanning, sorting, and transfer. This technical approach breaks through the limitations of traditional assembly lines that require regular loading, better aligning with real-world hospital usage scenarios, and is particularly suitable for the practical needs of grassroots hospitals and small to medium-sized laboratories for random placement and batch processing.

[0032] The intelligent blood collection tube sorting robot based on vision guidance and the Core-XY motion platform 3 in this embodiment of the invention mainly includes a frame module 1, a vision recognition module 2, a Core-XY motion platform 3, a Z-axis lifting mechanism 4, a clamping end effector 5, a barcode scanning module 6, an STM32 main control module, a host computer management system, a sorting slot module, and a power supply and communication module. The frame module 1, as the main support structure of the entire device, is preferably constructed using industrial aluminum profiles. Aluminum profile structures offer advantages such as light weight, high strength, ease of processing, and convenient expansion, meeting the requirements for long-term stable operation of the equipment while facilitating subsequent maintenance, component replacement, and functional expansion.

[0033] In some embodiments, the visual recognition module 2 is installed on the top of the device and is responsible for acquiring images of blood collection tubes within the working area and completing target recognition and localization. This module can be an OpenMV vision module, an industrial CCD camera, a USB industrial camera, or an AI edge vision module. The system achieves blood collection tube recognition through image processing algorithms, specifically including color recognition, circular contour detection, edge detection, barcode area localization, target center coordinate calculation, and posture orientation recognition.

[0034] In some embodiments, the YOLO lightweight target detection algorithm or a deep learning model may also be used to improve the system's recognition stability in scenarios such as low light, partial occlusion, and complex backgrounds. After the vision module completes the recognition, it sends the target pixel coordinates to the STM32 control system, which then performs the conversion between image coordinates and physical coordinates according to preset calibration parameters, thereby obtaining the actual spatial location of the blood collection tube.

[0035] In some embodiments, the Core-XY motion platform 3 is the core motion mechanism used to achieve high-speed two-dimensional planar motion during the blood collection tube grasping process. This structure employs a fixed design with dual stepper motors 7, driving the central slider 11 via a synchronous belt. Compared to traditional gantry structures, its core advantage lies in the fact that the motion motors are fixed to both sides of the frame and do not move with the slider 11. Therefore, the overall system inertia is lower, resulting in higher acceleration, less vibration, and higher positioning accuracy, making it particularly suitable for high-frequency, repetitive grasping scenarios for medical samples. Compared to industrial robotic arm solutions, this invention does not require complex inverse kinematics calculations; it achieves blood collection tube positioning and grasping solely through two-dimensional coordinate control. The control system is simpler, easier to develop, and more stable in operation. Furthermore, compared to traditional six-axis robotic arms, the overall cost of the equipment is significantly reduced, making it more suitable for promotion in primary healthcare institutions.

[0036] In some embodiments, the Core-XY platform uses a GT2 synchronous belt 8, an aluminum alloy synchronous wheel 9, a linear guide rail 10, a high-precision slider 11, and a stepper motor 7 to form a complete motion system.

[0037] In some embodiments, a synchronous belt tensioning mechanism, a limit detection module, an origin reset module, and a vibration damping and buffering structure may be added to further improve the long-term stability of the equipment.

[0038] In some embodiments, the Z-axis lifting mechanism 4 is mounted on the Core-XY motion platform 3 to control the clamping mechanism to complete the up-and-down gripping action. The Z-axis adopts a pneumatic lifting push rod, and the lifting of the Z-axis end clamping mechanism is controlled by an air pump. Compared with traditional mechanisms, the lifting is more stable and can adapt to the stable clamping environment of blood collection tubes. At the same time, the Z-axis end adopts a detachable end clamping mechanism, which can be designed with different clamping modules to adapt to test tube modules of different sizes, and can cope with test tube clamping situations in various scenarios.

[0039] In some embodiments, the clamping end effector 5 is used to grasp the blood collection tube. It employs a two-finger gripper 13 structure, with an anti-slip silicone layer on the surface of the gripper 13 to improve the stability of the blood collection tube and reduce the risk of slippage. Since different hospitals may use different sizes of blood collection tubes, the clamping mechanism can also be designed as an adjustable clamping width structure, a flexible gripper 13 structure, a vacuum adsorption structure, or an elastic buffer structure to adapt to blood collection tubes of different diameters and materials. In some embodiments, the clamping mechanism can also be equipped with a servo motor rotation module, which automatically adjusts the direction after the blood collection tube is grasped, aligning the barcode with the scanner, thereby improving the scanning success rate.

[0040] In some embodiments, the barcode scanning module 6 is used to read the barcode information of the blood collection tube and complete patient information identification. The scanning module can be integrated into the end effector or set up as a fixed scanning station: if an integrated end effector scanning structure is used, the system can complete the scanning immediately after grasping the blood collection tube, improving overall processing efficiency; if a fixed scanning station is used, the weight of the end effector can be reduced, enhancing high-speed motion stability. After scanning, the system automatically obtains information such as patient number, sample number, test item, and sample category, and sends the data to the host computer system.

[0041] In some embodiments, the STM32 main control module is responsible for the motion and logic control of the entire device, specifically including receiving coordinate data from the vision module, performing coordinate transformation, completing path planning, controlling the movement of the stepper motor 7, controlling the Z-axis lifting and lowering, controlling the opening and closing of the gripper 13, receiving barcode scanning information, and executing sorting logic. Simultaneously, this control system can also monitor the device's operating status in real time, promptly alarming and triggering shutdown protection when abnormalities occur.

[0042] In some embodiments, the host computer management system is used to realize the information management of medical samples. The system can automatically generate classification strategies based on patient information and test items, and control blood collection tubes to enter the corresponding sorting areas according to different test items; it can also realize sorting record storage, sample information traceability, abnormal log recording, operation permission management, data statistical analysis, and linkage with the hospital's LIS system. Therefore, this invention, while realizing the functions of mechanical automation equipment, also possesses the functions of an intelligent medical sample management system.

[0043] When the system is in operation, the operator only needs to randomly place the blood collection tubes in the work area: the vision module acquires images in real time and identifies the position of the blood collection tubes; the STM32 controls the Core-XY motion platform 3 to move above the target blood collection tube; then the Z-axis descends, and the clamping mechanism picks up the blood collection tube; after clamping, the system automatically completes barcode scanning and patient information reading; the host computer generates a classification strategy based on the test items, and then the system controls the motion platform to move the blood collection tubes to the corresponding sorting slots, finally completing the automatic classification. The entire process requires no manual pre-arrangement, barcode scanning, or classification, realizing truly intelligent automatic sorting of blood collection tubes.

[0044] Furthermore, this invention adopts a modular design concept, with the vision module, motion platform, barcode scanning module, clamping mechanism, and control system all being independent modules that can be quickly replaced and expanded according to the needs of different hospitals. For example, in the laboratory, an industrial AI vision module can be used to improve recognition accuracy, while in primary hospitals, OpenMV can be used to reduce overall costs. For blood collection tubes of special specifications, different clamping mechanisms can be replaced to achieve compatibility. In high-throughput scenarios, multiple sets of gripping units can be added to achieve parallel sorting.

[0045] Furthermore, the present invention can further expand the functions of ultraviolet disinfection module, alcohol spray disinfection structure, voice broadcast module, wireless communication module, cloud database and AI learning algorithm to improve the intelligence of the equipment, reduce the risk of cross-infection, and realize remote monitoring and data management.

[0046] The following is a more detailed description of the intelligent blood collection tube sorting robot based on visual guidance and the Core-XY motion platform 3 according to an embodiment of the present invention.

[0047] In some embodiments, the overall structure is constructed as follows: like Figure 9 and Figure 10 As shown, the overall motion platform is constructed as a Core-XY motion platform 3, employing a lightweight two-dimensional planar motion structure. The platform consists of an industrial aluminum profile frame, linear guide rails 10, GT2 synchronous belts 8, synchronous pulleys, and stepper motors 7. To improve motion rigidity and stability, both the X and Y axes utilize high-precision linear guide rails 10 as guiding mechanisms, ensuring that the motion slider 11 maintains high positioning accuracy and stability even during high-speed operation.

[0048] The platform's transmission system adopts a GT2 synchronous belt and synchronous pulley structure, achieving Core-XY motion control through the linkage of two sets of stepper motors. Compared with the traditional lead screw structure, the synchronous belt structure has advantages such as high movement speed, low noise, and lower cost, making it more suitable for scenarios involving high-frequency repetitive grasping of blood collection tubes.

[0049] like Figure 12As shown, since the synchronous belt may loosen after long-term operation, this embodiment further utilizes a spiral adjustable tension wheel structure. The operator only needs to rotate the adjusting screw to fine-tune the synchronous belt tension, thereby ensuring that the transmission system maintains a stable tension state over a long period. This avoids increased positioning errors or motion vibrations caused by belt loosening, improving the long-term stability and reliability of the entire equipment.

[0050] The overall design dimensions are approximately 740mm in length, 550mm in width, and 300mm in height, ensuring its desktop-level positioning.

[0051] In some embodiments, the end effector (sorting head) is designed as follows: like Figure 14 As shown, to achieve automatic grasping of blood collection tubes, this embodiment employs a pneumatic Z-axis and its end effector structure. The vertical motion unit utilizes a dual-axis, dual-rod cylinder 12 structure, with a cylinder diameter of φ10mm and a stroke of 125mm. This cylinder 12 employs a dual-piston rod guide structure, which effectively improves motion stability during lifting and lowering, avoiding problems such as swaying and deviation that occur in ordinary single-rod structures during movement.

[0052] Since blood collection tubes are usually placed close together, it is necessary to avoid collisions between the tubes during the gripping process. The dual-axis, dual-bar structure in this embodiment ensures that the clamping mechanism moves smoothly up and down within a 125mm stroke range, thereby effectively reducing the risk of collisions and improving gripping stability.

[0053] like Figure 13 As shown, the z-axis end clamping unit can be customized according to the shape of the blood collection tube. Different blood collection tubes can use different clamping unit jaws 13. The jaws 13 adopt a lightweight design and are manufactured as a single piece using 3D printing technology. Compared with traditional metal processing methods, 3D printing can not only reduce processing costs, but also quickly achieve structural optimization and size adjustment, making it more suitable for the prototype development of medical automation equipment.

[0054] Meanwhile, to improve clamping stability, the surface of the gripper 13 is covered with a medical-grade silicone protective layer. This silicone layer significantly increases the coefficient of friction, preventing the blood collection tube from slipping during transport. Simultaneously, the flexible silicone also provides cushioning protection to the surface of the blood collection tube, reducing the risk of rupture due to excessive clamping force.

[0055] The entire end effector adopts a design that combines pneumatic drive and additive manufacturing, which effectively reduces the overall manufacturing cost of the equipment while ensuring functionality, thus balancing system functionality and economy.

[0056] In some embodiments, the automated barcode scanning module is designed as follows: To achieve the leap from physical sorting to information traceability, the physical location of a sample is bound to its unique identification information (barcode). This invention integrates a miniature barcode scanner onto the end effector. This invention not only completes the physical sorting of blood collection tubes but also binds the physical location of the tubes to their identification information, thereby enabling traceable management of medical samples throughout the entire process.

[0057] This invention fixes the barcode scanner to one side of the Z-axis. After grasping the blood collection tube, the system first controls the Z-axis to raise the tube to a preset height. Then, a servo motor drives the gripper 13 to rotate, automatically aligning the barcode area on the surface of the blood collection tube with the scanner's reading window, thus completing the barcode scanning. This structure avoids the requirement for consistent tube orientation in traditional fixed scanning stations, improving the scanning success rate under random placement conditions.

[0058] This module enables the machine to read the ID of the blood collection tube and match it with the test item information obtained by the computer-simulated LIS system through serial communication, thereby enabling more complex and accurate sorting (e.g., by emergency / routine, specific test item combinations, etc.) and ensuring that the process of sample sorting to machine analysis is traceable.

[0059] Furthermore, the system can not only classify samples based on the color of blood collection tubes, but also achieve more complex and intelligent sorting functions such as classifying emergency samples from regular samples, automatically classifying different test items, automatically categorizing samples for specific combinations of tests, and automatically prioritizing samples. Therefore, this invention represents an upgrade from mechanical sorting to information-based intelligent sorting.

[0060] In some embodiments, the overall electronic control design includes the following details: The system is controlled by an STM32F103RCT6 microcontroller based on the ARM Cortex-M3 core. It boasts abundant I / O ports, powerful timer functions, up to five serial ports, and a mature development ecosystem. The STM32's main responsibilities include: parsing and executing instructions from the host computer; receiving target coordinate data from the OpenMV vision module via serial port; performing Core-XY kinematics calculations and trajectory planning; generating control signals to control the motor movement via the stepper motor driver; monitoring the status of sensors such as limit switches to achieve system zeroing and safety protection; and controlling the movement of the end effector (gripper 13).

[0061] The visual recognition module is the OpenMV4H7 camera module. It is a Python programmable vision platform that integrates an image sensor and a powerful microcontroller (STM32H7). It is responsible for all image processing tasks, including image acquisition, distortion correction, color segmentation, and target localization, and finally only outputs the most critical coordinate information to the STM32, greatly reducing the computational burden on the main controller.

[0062] The entire system is powered by a 220VAC to 12VDC switching power supply. The 12V DC power directly supplies the stepper motor driver and air pump, which require higher power. Then, it is converted to 5V and 3.3V by a high-efficiency DC-DC step-down module, providing stable and clean power to the STM32 main control board, OpenMV module, and various sensors, respectively. This achieves separation of high-voltage and low-voltage power, improving the system's safety and anti-interference capabilities.

[0063] Specifically, such as Figure 15 As shown, the visual processing is implemented on OpenMV, and the steps are as follows: 1. Image Acquisition and Preprocessing: First, to address the issue of unstable light sources, a supplementary light was installed around the camera to ensure uniform and consistent illumination in any environment. The acquired images undergo lens distortion correction to reduce distortion caused by the lens.

[0064] 2. Color Space Conversion and Thresholding Segmentation: To more stably identify caps of different colors, the image is converted from the RGB color space to the LAB color space. The LAB space separates luminance and chrominance, making color recognition more robust to changes in illumination. Then, a precise LAB threshold is set for each color to be identified (e.g., red, purple, green caps), and the image is segmented to generate a binary image containing only the target color.

[0065] 3. Target Finding and Filtering: On the binarized image, the OpenMV built-in find blobs() function is used to find connected color blobs. To eliminate noise and interference from non-target objects, multiple filtering is performed on the found color blobs: first, area filtering to remove color blobs that are too small or too large; second, roundness filtering, because the cap is nearly circular from a top-down view, which can filter out irregularly shaped interference.

[0066] 4. Coordinate Output and Calibration: After filtering, the remaining coordinates are the valid targets. The system extracts the center pixel coordinates (cx, cy). However, these are only image coordinates and need to be converted to the physical coordinates (X, Y, in mm) of the machine's motion platform. This step is completed through calibration. The method used in this invention is as follows: multiple marker points with known physical coordinates are placed within the machine's working range. Then, the camera identifies their pixel coordinates. Using these paired data points, a linear transformation or a more complex affine transformation model is fitted using the least squares method, thereby establishing a precise mapping relationship from the pixel coordinate system to the world coordinate system.

[0067] Specifically, motion control is implemented using STM32 and includes the following: Core-XY Kinematics Solution: The Core-XY kinematic model is very simple. The motion quantities of motors A and B... Displacement of the end effector in the X and Y directions The relationship between them is: The STM32 calculates the required ΔX and ΔY based on the target's physical coordinates, and then uses inverse kinematics to calculate the number of steps the two motors need to rotate.

[0068] Trajectory planning and speed control: Direct start-stop can cause significant shocks and vibrations, even leading to motor step loss. To address this issue, a trapezoidal acceleration / deceleration algorithm (preferably an S-curve) is planned to be incorporated into the control algorithm. The motor will smoothly accelerate at the start of movement and smoothly decelerate as it approaches the target, resulting in a silky smooth motion that improves both speed and stability.

[0069] Zeroing and Coordinate System Establishment: Upon each power-up, the system first executes an automatic zeroing procedure. The Core-XY platform moves in the negative X and Y directions respectively until it triggers the two mechanical limit switches installed at the zero point. Once triggered, the STM32 sets the current position as the coordinate origin (0, 0), thus establishing the device coordinate system.

[0070] Specifically, such as Figure 16 As shown, the host computer design is based on Python to simulate a blood collection tube management system, including the following: Hospitals typically use a barcode scanner (CODE39 or CODE128) to scan a 10-digit code and then query the associated details in an information management system. This invention simulates a blood collection tube management system using Python, enabling collaborative operation between devices through serial communication. It mainly includes the following core modules: Hardware Configuration and Communication Setup: Configure dual serial ports on the STM32 microcontroller, one connecting to the barcode scanner and the other to the host computer. A USB-to-TTL module establishes the physical connection between the STM32 and the computer, ensuring consistent baud rates. The STM32 acts as an intermediate processor, handling data forwarding and command responses.

[0071] Communication Protocol Design: The system adopts a custom text protocol format, including frame header identifiers, command types, data fields, and CRC checksums. The protocol design supports bidirectional communication: it can both receive scanned data and respond to queries and control commands from the host computer. Each command is verified to ensure reliable transmission.

[0072] Host computer data processing: The Python host computer implements serial communication through the pyserial library, which includes three core functions: 1. Data reception and parsing: Real-time monitoring of serial port data, parsing according to the protocol and storing it in the SQLite database; 2. Status management: Maintaining complete information of blood collection tubes (barcode, type, status, time, etc.); 3. Device control: Sending query and setting instructions to the STM32.

[0073] Specifically, the hardware design includes the following: like Figure 17-20 As shown, the hardware mainly includes: an STM32 main controller, OpenMV vision recognition, a stepper motor 7 driver, a TB6612 DC motor driver, a barcode recognition module, a switching power supply, and a voltage regulator module. In addition, to store important data, an external EEPROM memory was added to prevent data loss after power failure. To facilitate operator monitoring and operation, this invention includes an operation panel module integrating two user buttons, one rotary encoder, and one OLED display.

[0074] The intelligent blood collection tube sorting robot based on vision guidance and the Core-XY motion platform 3 provided in this embodiment of the invention has the following advantages: 1. Compared to traditional conveyor belt assembly line solutions, this invention eliminates the traditional conveyor structure. Existing assembly line equipment generally uses conveyor belts, guide rails, diversion mechanisms, and fixed barcode scanning stations to achieve automatic transport of blood collection tubes. This type of solution requires blood collection tubes to be arranged in a regular pattern; otherwise, tube jamming, blockage, barcode scanning failure, and missorting can easily occur. Therefore, manual pre-processing is still required before automatic sorting. In contrast, this invention adopts a vision-guided active grasping method. Blood collection tubes do not need to be arranged in a regular pattern. The system can directly identify randomly placed blood collection tubes and complete automatic grasping, truly achieving random feeding, automatic identification, and active grasping.

[0075] 2. This invention is the first to apply the Core-XY lightweight motion platform to the field of intelligent sorting of blood collection tubes. Compared with industrial robotic arm solutions, this invention features a lighter structure, lower moment of inertia, simpler control, and significantly reduced manufacturing costs. Furthermore, compared to ordinary gantry platforms, the Core-XY structure offers higher motion efficiency and greater positioning stability, making it particularly suitable for high-frequency, repetitive grasping scenarios involving medical samples.

[0076] 3. This invention achieves an integrated design of vision, motion control, and information linkage. Existing ordinary color sorting equipment can typically only perform simple sorting based on test tube color, and cannot acquire patient information, read test items, achieve information traceability, or link with the hospital's LIS system. This invention, however, links with the information system through barcode recognition, and uses vision modules such as OpenMV to achieve automatic reading of patient information, automatic identification of test items, automatic generation of sorting strategies, automatic recording of sample data, and automatic traceability of the sorting process. Therefore, this invention not only belongs to mechanical equipment but also to a medical information intelligent system.

[0077] 4. This invention adopts a miniaturized desktop design concept. By eliminating the long-distance transport structure, the overall size of the device is significantly reduced, enabling deployment in space-constrained settings such as primary hospitals, community health service centers, small laboratories, and health checkup centers. Compared to large-scale TLA (Transportation-Locking) automated systems, this invention offers greater deployment flexibility, lower construction costs, and is widely applicable to small and medium-sized hospitals, small laboratories, and temporary laboratories, such as makeshift hospitals, for sample testing needs. It requires no large-scale modification of existing workspaces and can be put into use immediately upon opening the package, adapting to the actual needs of medical institutions of different sizes. Furthermore, this invention employs a modular structure design, with each functional module independently designed and assembled. Configuration and component replacement can be flexibly adjusted according to user needs, facilitating daily maintenance and repair, and allowing for future functional expansion, further reducing upgrade and modification costs and extending the device's lifespan.

[0078] 5. This invention also possesses strong scalability and modular compatibility. The system supports free combination of various vision modules, clamping structures, scanning schemes, and control platforms, thus enabling rapid customization and upgrades to meet the needs of different hospitals. Simultaneously, this invention significantly reduces the labor intensity and occupational exposure risks for medical staff. The system can replace manual labor in tasks such as test tube identification, sample handling, barcode verification, and sorting and transporting, reducing the number of times medical staff directly contact blood samples and improving medical safety.

[0079] Example 2 like Figure 21 As shown, this embodiment of the invention also provides a method for intelligent sorting of blood collection tubes based on visual guidance and the Core-XY motion platform 3. The method employs an intelligent blood collection tube sorting robot based on visual guidance and the Core-XY motion platform 3 as described in Embodiment 1, and includes the following steps: S1. The visual recognition module 2 acquires images of blood collection tubes within the working area, processes the images to identify and locate the blood collection tubes, and obtains the target pixel coordinates of the blood collection tubes. S2. The target pixel coordinates are sent to the control system, and the control system converts the target pixel coordinates into physical space coordinates according to preset calibration parameters to obtain the actual spatial position of the blood collection tube. S3. The control system drives the Core-XY motion platform 3 to move directly above the blood collection tube according to the actual spatial position, and controls the Z-axis lifting mechanism 4 to descend, driving the clamping end effector 5 to clamp the blood collection tube. S4. Control the barcode scanning module 6 to read the barcode information of the blood collection tube, obtain the patient information and test item information corresponding to the blood collection tube, and send the information to the host computer management system; S5. The host computer management system automatically generates a sorting strategy based on the inspection item information and determines the target sorting slot corresponding to the blood collection tube; S6. The control system drives the Core-XY motion platform 3 to move according to the position of the target sorting slot, and transfers the blood collection tube to the corresponding target sorting slot to complete automatic sorting.

[0080] Further, in step S1, identifying and locating the blood collection tube specifically includes: identifying the color of the cap of the blood collection tube to distinguish the type of blood collection tube, detecting the circular outline of the blood collection tube to locate the center of the blood collection tube, detecting the edge of the blood collection tube to determine the outline boundary of the blood collection tube, locating the barcode area, and identifying the orientation of the blood collection tube.

[0081] Further, in step S2, the preset calibration parameters are obtained in the following way: multiple marker points with known physical coordinates are placed within the working range of the Core-XY motion platform 3, the pixel coordinates of each marker point are identified by the visual recognition module 2, and a mapping relationship from the pixel coordinate system to the physical coordinate system is established using multiple sets of corresponding data of pixel coordinates and physical coordinates.

[0082] Furthermore, in step S3, when the control system drives the Core-XY motion platform 3 to move, it uses a trapezoidal acceleration / deceleration algorithm or an S-shaped acceleration / deceleration algorithm for speed planning, so that the Core-XY motion platform 3 accelerates smoothly at startup and decelerates smoothly when approaching the target position.

[0083] Example 3 like Figure 22 As shown, this embodiment of the invention also provides a blood collection tube intelligent sorting system based on visual guidance and the Core-XY motion platform 3, used to implement the intelligent blood collection tube sorting method based on visual guidance and the Core-XY motion platform 3 as described in Embodiment 2, including: The image acquisition and recognition module is used to acquire images of blood collection tubes within the working area, process the images to identify and locate the blood collection tubes, and obtain the target pixel coordinates of the blood collection tubes. The coordinate transformation module is used to convert the target pixel coordinates into physical space coordinates according to preset calibration parameters, so as to obtain the actual spatial position of the blood collection tube. The grasping control module is used to drive the Core-XY motion platform 3 to move directly above the blood collection tube according to the actual spatial position, and control the Z-axis lifting mechanism 4 to descend, driving the clamping end effector 5 to grasp the blood collection tube; The information reading module is used to control the barcode scanning module 6 to read the barcode information of the blood collection tube and obtain the patient information and test item information corresponding to the blood collection tube; The sorting strategy generation module is used to automatically generate a sorting strategy based on the inspection item information and determine the target sorting slot corresponding to the blood collection tube. The classification and transfer control module is used to drive the Core-XY motion platform 3 to move according to the position of the target sorting slot, so as to transfer the blood collection tube to the corresponding target sorting slot and complete the automatic sorting.

[0084] The above is a detailed description of the preferred embodiments of the present invention. However, the present invention is not limited to the embodiments described. Those skilled in the art can make various equivalent modifications or substitutions without departing from the spirit of the present invention. All such equivalent modifications or substitutions are included within the scope defined by the claims of this application.

Claims

1. A blood collection tube intelligent sorting robot based on vision guidance and the Core-XY motion platform, characterized in that, include: Rack module; A visual recognition module, installed on the top of the rack module, is used to acquire images of randomly placed blood collection tubes in the working area, identify and locate the blood collection tubes, and output the target pixel coordinates of the blood collection tubes. The Core-XY motion platform, mounted on the rack module, is used to realize the motion of the end effector in a two-dimensional plane; The Z-axis lifting mechanism is installed on the Core-XY motion platform and is used to drive the end effector to move up and down in the vertical direction; A clamping end effector is installed at the end of the Z-axis lifting mechanism to clamp the blood collection tube; A barcode scanning module is installed on the side of the clamping end effector or fixed on the frame module, and is used to read the barcode information of the blood collection tube; The control system is electrically connected to the vision recognition module, the Core-XY motion platform, the Z-axis lifting mechanism, the clamping end effector, and the barcode scanning module, respectively. It is used to receive the target pixel coordinates and perform coordinate transformation to obtain physical space coordinates, receive barcode information read by the barcode scanning module, and control the Core-XY motion platform, the Z-axis lifting mechanism, the clamping end effector, and the barcode scanning module to perform corresponding two-dimensional planar motion, lifting motion, clamping action, and barcode scanning action, respectively. The host computer management system is communicatively connected to the control system and is used to receive the barcode information, automatically generate sorting strategies based on the inspection items, and determine the target sorting slot.

2. The intelligent blood collection tube sorting robot based on vision guidance and the Core-XY motion platform according to claim 1, characterized in that, When the visual recognition module processes the image of the blood collection tube, it specifically performs the following recognition process: tube cap color recognition, circular contour detection, edge detection, barcode area positioning, target center coordinate calculation, and posture direction recognition.

3. The intelligent blood collection tube sorting robot based on vision guidance and the Core-XY motion platform according to claim 1, characterized in that, The Core-XY motion platform includes two sets of stepper motors, a GT2 synchronous belt, an aluminum alloy synchronous pulley, a linear guide rail, and a high-precision slider. The GT2 synchronous belt is wound around the aluminum alloy synchronous pulley to form a synchronous belt drive pair. The linear guide rail is fixedly installed on the frame module. The high-precision slider is slidably installed on the linear guide rail and fixedly connected to the GT2 synchronous belt. The output shaft of the stepper motor is drivenly connected to the aluminum alloy synchronous pulley. The stepper motor is fixedly installed on both sides of the frame module and does not move with the slider. And / or, the rack module is constructed from industrial aluminum profiles.

4. The intelligent blood collection tube sorting robot based on vision guidance and the Core-XY motion platform according to claim 1, characterized in that, The Z-axis lifting mechanism is a pneumatic lifting push rod, which controls the lifting of the clamping end effector through an air pump; And / or, the clamping end effector is a two-finger gripper structure, with a medical-grade silicone protective layer on the gripper surface, and the two-finger gripper structure is any one of an adjustable gripping width structure, a flexible gripper structure, a vacuum adsorption structure, or an elastic buffer structure.

5. The intelligent blood collection tube sorting robot based on vision guidance and the Core-XY motion platform according to claim 1, characterized in that, The barcode scanning module is integrated and installed on the side of the clamping end effector. The clamping end effector is also equipped with a servo motor rotation module, which is used to drive the gripper to rotate after the blood collection tube is gripped, so that the barcode area on the surface of the blood collection tube is aligned with the reading window of the barcode scanning module.

6. A method for intelligent sorting of blood collection tubes based on vision guidance and a Core-XY motion platform, wherein the intelligent sorting robot for blood collection tubes based on vision guidance and a Core-XY motion platform as described in any one of claims 1 to 5 is used for intelligent sorting of blood collection tubes, characterized in that, Includes the following steps: S1. Acquire images of blood collection tubes within the working area through a visual recognition module, process the images to identify and locate the blood collection tubes, and obtain the target pixel coordinates of the blood collection tubes; S2. The target pixel coordinates are sent to the control system, and the control system converts the target pixel coordinates into physical space coordinates according to preset calibration parameters to obtain the actual spatial position of the blood collection tube. S3. The control system drives the Core-XY motion platform to move directly above the blood collection tube according to the actual spatial position, and controls the Z-axis lifting mechanism to descend, driving the clamping end effector to clamp the blood collection tube; S4. Control the barcode scanning module to read the barcode information of the blood collection tube, obtain the patient information and test item information corresponding to the blood collection tube, and send the information to the host computer management system; S5. The host computer management system automatically generates a sorting strategy based on the inspection item information and determines the target sorting slot corresponding to the blood collection tube; S6. The control system drives the Core-XY motion platform to move according to the position of the target sorting slot, and moves the blood collection tube to the corresponding target sorting slot to complete automatic sorting.

7. The intelligent sorting method for blood collection tubes based on vision guidance and the Core-XY motion platform according to claim 6, characterized in that, In step S1, identifying and locating the blood collection tube specifically includes: identifying the color of the cap of the blood collection tube to distinguish the type of blood collection tube, detecting the circular outline of the blood collection tube to locate the center of the blood collection tube, detecting the edge of the blood collection tube to determine the outline boundary of the blood collection tube, locating the barcode area, and identifying the orientation of the blood collection tube.

8. The intelligent sorting method for blood collection tubes based on visual guidance and the Core-XY motion platform according to claim 6, characterized in that, In step S2, the preset calibration parameters are obtained as follows: multiple marker points with known physical coordinates are placed within the working range of the Core-XY motion platform, the pixel coordinates of each marker point are identified by the visual recognition module, and a mapping relationship from the pixel coordinate system to the physical coordinate system is established using multiple sets of corresponding data of pixel coordinates and physical coordinates.

9. The intelligent sorting method for blood collection tubes based on visual guidance and the Core-XY motion platform according to claim 6, characterized in that, In step S3, when the control system drives the Core-XY motion platform to move, it uses a trapezoidal acceleration / deceleration algorithm or an S-shaped acceleration / deceleration algorithm for speed planning, so that the Core-XY motion platform can smoothly accelerate at startup and smoothly decelerate when approaching the target position.

10. A blood collection tube intelligent sorting system based on vision guidance and a Core-XY motion platform, used to implement the intelligent blood collection tube sorting method based on vision guidance and a Core-XY motion platform as described in any one of claims 6 to 9, characterized in that, include: The image acquisition and recognition module is used to acquire images of blood collection tubes within the working area, process the images to identify and locate the blood collection tubes, and obtain the target pixel coordinates of the blood collection tubes. The coordinate transformation module is used to convert the target pixel coordinates into physical space coordinates according to preset calibration parameters, so as to obtain the actual spatial position of the blood collection tube. The grasping control module is used to drive the Core-XY motion platform to move directly above the blood collection tube according to the actual spatial position, and control the Z-axis lifting mechanism to descend, driving the clamping end effector to grasp the blood collection tube; The information reading module is used to control the barcode scanning module to read the barcode information of the blood collection tube and obtain the patient information and test item information corresponding to the blood collection tube; The sorting strategy generation module is used to automatically generate a sorting strategy based on the inspection item information and determine the target sorting slot corresponding to the blood collection tube. The classification and transfer control module is used to drive the Core-XY motion platform to move according to the position of the target sorting slot, so as to transfer the blood collection tube to the corresponding target sorting slot and complete the automatic sorting.

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