An unmanned clinical examination shelter

Abstract

The application discloses an unmanned clinical examination shelter. The shelter comprises a shelter cabin body, a sample management and grabbing control device, a multi-consumable storage and automatic discharging control device, a sample pretreatment truss mechanical arm and a multi-station electric cylinder positioning device, a multi-degree-of-freedom mechanical arm and a multifunctional end operation device, a clamping and positioning mechanism of multiple types of detection equipment and an automatic feeding device, a medical waste recovery device and an integrated control platform. The application realizes an unmanned inspection closed loop of sample input and result output in a limited cabin space, and reduces the floor space occupation and manual intervention in the cabin.

Description

Technical Field

[0001] This invention relates to the field of mobile clinical testing equipment technology, and more particularly to an unmanned clinical testing cabin. Background Technology

[0002] Clinical laboratory testing utilizes physical-chemical experimental methods to perform qualitative or quantitative analysis on specimens such as blood, body fluids, secretions, excretions, and tissues to obtain objective data reflecting the body's functional state and changes in indicators. In scenarios such as public health emergencies and field medical rescue, the large number of samples to be tested and the concentrated testing needs place high demands on the rapid deployment, forward deployment, unmanned processing, and environmental adaptability of clinical laboratory equipment. Compared to the large footprint and complex water and electricity pipelines of automated in-hospital liquid-lined testing equipment, and the reliance on repetitive manual operation for portable out-of-hospital testing instruments, multifunctional, miniaturized, and unmanned clinical laboratory modular units offer advantages such as flexible deployment, small footprint, and minimal human exposure.

[0003] Existing clinical testing technology solutions mainly fall into two categories. The first category is mobile integrated testing equipment, which integrates various dry analyzers, refrigerators, printers, and information management equipment into a container or portable case. It can be quickly deployed in the field, but personnel are still required to handle and operate the instruments during operation. It lacks unmanned execution mechanisms, and sample transportation, opening, adding, loading, and disposal all rely on manual labor. The second type is a fixed automated testing line or robotic workstation. It completes sample pretreatment and testing through tracks, pneumatic transmission, multi-joint manipulators, or pipetting workstations. It can reduce human intervention, but it usually occupies continuous linear space. The transfer mechanism, pretreatment mechanism, and testing instruments are configured with fixed interfaces, which makes it difficult to adapt to the densely arranged sample inlets of multiple types of testing instruments in the limited depth space of the container. At the same time, the transfer mechanism, pretreatment mechanism, and testing instruments in this type of solution lack division of labor, coordination, and unified scheduling in the limited space. When the same task can be completed by multiple actuators, there is a lack of stable means to confirm the execution subject. The sample delivery process lacks status detection and branch isolation methods based on in-situ feedback, which can easily lead to technical problems such as increased empty travel, sample delivery misalignment, and single-point failure propagation. Summary of the Invention

[0004] The technical problem to be solved by this invention is to provide an unmanned clinical testing cabin that coordinates sample grabbing, consumable retrieval, pretreatment of liquid preparation, multi-instrument sample delivery, and scheduling of shared actuators within the limited space of the cabin. This reduces the cabin's footprint and idle travel, minimizes sample delivery misalignment, shortens waiting time for shared actuators, and stops the current sample delivery task in case of sample delivery abnormalities without affecting other parallel tasks. Thus, it can complete the continuous automatic processing of multiple clinical samples while reducing manual intervention.

[0005] This application provides an unmanned clinical testing modular unit, including a modular unit body, a sample management and grasping control device, a multi-consumable storage and automatic dispensing control device, a sample pretreatment gantry robotic arm and a multi-station electric cylinder positioning device, a multi-degree-of-freedom robotic arm and a multi-functional end effector, a clamping and positioning mechanism for various types of testing equipment and an automatic feeding device, a medical waste recycling device, and an integrated control platform; the modular unit body is divided into an unmanned testing area and a manual sampling area, and an internal door is provided between the unmanned testing area and the manual sampling area. The sample management and grasping control device, the multi-consumable storage and automatic discharge control device, the sample pretreatment gantry robotic arm and multi-station electric cylinder positioning device, the multi-degree-of-freedom robotic arm and multi-functional end-effector, the clamping and positioning mechanism and automatic feeding device for the multi-type testing equipment, and the medical waste recycling device are all located in the unmanned testing area and are respectively connected to the integrated control platform. The multi-degree-of-freedom robotic arm and multi-functional end effector include a multi-degree-of-freedom robotic arm body and a multi-functional end gripper located at the end of the multi-degree-of-freedom robotic arm body, used for gripping, capping, delivering, and disposing of samples after use. The sample pretreatment truss robotic arm and multi-station electric cylinder positioning device include a four-degree-of-freedom linear-rotational composite truss robotic arm and a three-axis linear reciprocating truss robotic arm. The four-degree-of-freedom linear-rotational composite truss robotic arm is used to grab consumables from the multi-consumable storage and automatic discharge control device, and the three-axis linear reciprocating truss robotic arm is used to perform dropping, liquid preparation and dilution of samples. The clamping and positioning mechanism and automatic feeding device of the multi-type testing equipment include several testing instruments, a clamping and positioning mechanism and an automatic feeding mechanism. The sample inlets of several testing instruments are equipped with photoelectric sensors to monitor whether the sample is delivered in place. The integrated control platform is used to match the execution subject of tasks reachable by multiple actuators, detect the sample delivery status during the sample delivery process, and stop the current sample delivery task when the sample delivery is abnormal, so that the corresponding actuator can return to the safe work position without affecting other parallel tasks, and drive each device to work together to complete the sample grabbing, preprocessing, sample delivery, result collection and disposal after use.

[0006] In one possible implementation, the modular cabin is equipped with an external hatch, an air conditioning unit, a power supply window, and an observation window; The manual sampling area is equipped with a temperature-sensitive consumable storage refrigerator, a simple workbench, a general consumable cabinet, and a power distribution box. The temperature-sensitive consumable storage refrigerator and the simple workbench are connected to the floor of the modular cabin by fixing bolts. The general consumable cabinet is connected to the floor by a vibration damper. The power distribution box is installed on the side of the modular cabin and is electrically connected to the air conditioner outdoor unit and the testing instruments.

[0007] In one possible implementation, the sample management and grasping control device includes a sample tray, a visual camera, a diluent device, a photoelectric sensor, and an automated control unit body. The automated control unit body is a square aluminum alloy box and is connected to the workbench of the unmanned inspection area by fixing bolts. The sample tray has holes adapted to the shape of the collector and is locked to the automated control unit body by a bolt locking mechanism; The visual camera is fixed to the workbench via a vertical bracket and is used for locating and scanning samples for identification. The diluent device is fixed to the workbench by a vertical bracket, and the metal probe of the diluent device is connected to the reagent kit of the sample pretreatment gantry robot arm and the multi-station electric cylinder positioning device via a plastic tubing. The photoelectric sensor is fixed to the side of the sample tray and is used to monitor whether the multifunctional end gripper has grasped the sample in place. The visual camera, the photoelectric sensor, and the automated control unit are all communicatively connected to the integrated control platform.

[0008] In one possible implementation, the multi-consumable storage and automatic dispensing control device includes a consumable tower, an automated control unit base with an integrated stepper motor, and a control handle. The base of the automated control unit is connected to the workbench of the unmanned inspection area by fixing bolts, and the power shaft of the automated control unit base is coaxially connected to the central shaft of the consumable tower. The control handle is connected to the base of the automation control unit and is used to adjust the rotation angle of the consumable tower and switch the automatic mode. The automated control unit base is communicatively connected to the integrated control platform.

[0009] In one possible implementation, the four-degree-of-freedom linear-rotational composite truss manipulator is fixed to the workbench of the unmanned inspection area by fixing bolts, and has one linear degree of freedom driven by a belt and three rotational degrees of freedom driven by a motor. The end of the four-degree-of-freedom linear-rotational composite truss manipulator is provided with two sets of two-finger grippers. The three-axis linear reciprocating gantry robot arm is fixed to the workbench of the unmanned inspection area by fixing bolts and has three linear degrees of freedom. The end of the three-axis linear reciprocating gantry robot arm is equipped with a plastic straw, a rotary electric cylinder gripper and a dripping device composed of three bent steel needles.

[0010] In one possible implementation, the multi-degree-of-freedom robotic arm and multifunctional end effector also include an aluminum alloy base; The aluminum alloy base is fixed to the workbench of the unmanned inspection area by bolts, and the multi-degree-of-freedom robotic arm body is fixed to the aluminum alloy base; The multi-functional end effector includes an electric cylinder, a vision camera, and a pointed gripper, a large side gripper, and a small side gripper located at the end of the electric cylinder. The electric cylinder is fixed to the end of the multi-degree-of-freedom robotic arm via a connecting bracket, and the vision camera is fixed to the electric cylinder by fixing bolts.

[0011] In one possible implementation, the medical waste recycling device includes a stainless steel box and a medical waste recycling bin; The base of the stainless steel box is fixed to the floor of the unmanned inspection area by fixing bolts. The medical waste recycling bin is placed inside the stainless steel box and fixed by Velcro. The medical waste recycling device is linked to the waste disposal action nodes of the multi-degree-of-freedom robotic arm and the multi-functional end-effector.

[0012] In one possible implementation, the integrated control platform includes a data acquisition unit, a process analysis unit, a task scheduling unit, an equipment driving unit, a feedback rollback unit, and a closed-loop collection unit. The data acquisition unit is communicatively connected to the sample management and grasping control device and the clamping and positioning mechanism and automatic feeding device of the multi-type detection equipment, and is used to acquire information on the sample to be inspected, inspection items, process templates, and equipment status. The process analysis unit is connected to the data acquisition unit and is used to analyze and process the inspection item information and the process template information to obtain a set of verified task node information. The task scheduling unit is connected to the process parsing unit and is used to schedule the verified task node information set to obtain executable task queue information. The equipment drive unit is connected to the task scheduling unit, the sample preprocessing gantry robotic arm and multi-station electric cylinder positioning device, the multi-degree-of-freedom robotic arm and multi-functional end-effector, and the clamping and positioning mechanism and automatic feeding device of the multi-type detection equipment. It is used to process the executable task queue information to obtain equipment execution feedback information. The feedback back-off unit is connected to the device driving unit, the vision camera and the photoelectric sensor, and is used to correct the device execution feedback information to obtain corrected execution status information. The closed-loop collection unit is connected to the feedback back-off unit, the clamping and positioning mechanism of the multi-type detection equipment and the automatic feeding device, and the medical waste recycling device, and is used to perform closed-loop processing on the corrected execution status information to obtain the test closed-loop result information.

[0013] In one possible implementation, the scheduling process of the verified task node information set to obtain the executable task queue information is achieved by the task scheduling unit performing the following processing: The verified task node information set is processed to identify reachable execution mechanisms to obtain a multi-execution mechanism reachable task node information set; Using the adaptation calculation model of the test container execution subject, the adaptation calculation is performed on the information set of reachable task nodes of the multiple execution mechanisms and the equipment status information to obtain the set of execution subject adaptation values; The adaptation model for the testing mobile cabin is as follows: ; ; In the formula, Let be the fit value of the implementing entity for the e-th candidate implementing agency. The normalized capability deviation between the e-th candidate executor and the current task node is given. The normalized occupancy waiting time for the e-th candidate executor. Let be the hard constraint gating coefficient for the e-th candidate actuator. For the fit scaling constant, This is the deviation sensitivity coefficient. The deviation shape index, The occupancy suppression coefficient is used; the candidate actuator is one or more of the following: the multi-degree-of-freedom manipulator body, the four-degree-of-freedom linear-rotational composite truss manipulator, and the three-axis linear reciprocating truss manipulator, which are capable of executing the currently reachable task node; The set of reachable task nodes for the multiple execution mechanisms and the set of adaptation values ​​for the execution entities are bound together to obtain the updated set of task node information. The updated task node information set is processed with resource locking and beat arrangement to obtain the executable task queue information.

[0014] In one possible implementation, the step of correcting the feedback information of the device to obtain corrected execution status information is achieved by the feedback back-off unit performing the following processing: The device performs visual correction processing on the feedback information to obtain visually corrected pose information. The visually corrected pose information and the electric cylinder push depth feedback are processed to obtain the sample delivery status detection value. Branch control processing is performed on the sample delivery status detection value to obtain the corrected execution status information.

[0015] Compared with the prior art, the embodiments of the present invention have the following beneficial effects: In this embodiment of the invention, the modular cabin is divided into an unmanned inspection area and a manual sampling area. The unmanned inspection area integrates a sample management and grasping control device, a multi-consumable storage and automatic dispensing control device, a sample pretreatment truss robotic arm and a multi-station electric cylinder positioning device, a multi-degree-of-freedom robotic arm and a multi-functional end effector, a clamping and positioning mechanism for various types of testing equipment and an automatic feeding device, and a medical waste recycling device, all of which are communicatively connected to an integrated control platform. The multi-degree-of-freedom robotic arm is responsible for sample grasping, capping, sample delivery, and post-use disposal; the four-degree-of-freedom linear-rotational composite truss robotic arm is responsible for consumable material retrieval; and the three-axis linear reciprocating truss robotic arm is responsible for pretreatment of drip solution preparation. Each actuator works collaboratively according to its task within the confined cabin space. The integrated control platform matches the execution subjects for the tasks reachable by multiple actuators, detects the sample delivery status during the sample delivery process, and stops the current sample delivery task and allows the corresponding actuator to return to a safe position without affecting other parallel tasks when sample delivery is abnormal. As can be seen, this application completes the unattended inspection closed loop of sample entry and result exit within a limited cabin space, reducing cabin footprint and empty travel, lowering the sample delivery misalignment rate, shortening the waiting time of shared actuators, and limiting single-point failures to the current sample delivery task without spreading to other parallel tasks, thus reducing the number of manual interventions. Attached Figure Description

[0016] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0017] Figure 1 This is a schematic diagram of the overall internal layout structure of an unmanned clinical testing cabin disclosed in an embodiment of the present invention; Figure 2 This is a schematic diagram of the layout structure of the manned sampling area of ​​an unmanned clinical testing mobile cabin disclosed in an embodiment of the present invention; Figure 3 This is a schematic diagram of the layout structure of the unmanned testing area of ​​an unmanned clinical testing cabin disclosed in an embodiment of the present invention; Figure 4 This is a schematic diagram of the external structure of an unmanned clinical testing cabin disclosed in an embodiment of the present invention; Figure 5 This is a schematic diagram of the structure of a sample pretreatment gantry robotic arm and a multi-station electric cylinder positioning device in an unmanned clinical testing cabin disclosed in an embodiment of the present invention. Figure 6This is a schematic diagram of the structure of a multi-degree-of-freedom robotic arm and a multi-functional end effector in an unmanned clinical testing cabin disclosed in an embodiment of the present invention; Figure 7 This is a schematic diagram of the structure of a multi-consumable storage and automatic dispensing control device in an unmanned clinical testing cabin disclosed in an embodiment of the present invention.

[0018] Explanation of reference numerals in the attached figures: 1. Container hull; 11. Unmanned inspection area; 12. Manual sampling area; 13. Internal hatch; 14. External hatch; 15. Air conditioner outdoor unit; 16. Power supply window; 17. Observation window; 121. Temperature-sensitive consumables storage refrigerator; 122. Simple workbench; 123. General consumables cabinet; 2. Sample management and grasping control device; 3. Multi-consumable storage and automatic discharge control device; 31. Consumable tower; 4. Sample pretreatment gantry robot arm and multi-station electric cylinder positioning device; 41. Four-degree-of-freedom linear-rotational composite gantry robot arm; 42. Three-axis linear reciprocating gantry robot arm; 43. Three-position linear electric cylinder box-disc-card composite fixing device; 44. Unit linear electric cylinder test tube fixing device; 45. Reagent kit platform. 5. Multi-degree-of-freedom robotic arm and multi-functional end effector; 51. Aluminum alloy base; 52. Multi-degree-of-freedom robotic arm body; 53. Multi-functional end effector; 6. Clamping and positioning mechanisms and automatic feeding devices for various types of testing equipment; 7. Medical waste recycling equipment; 8. Integrated control platform. Detailed Implementation

[0019] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0020] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," and "counterclockwise," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0021] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, features defined with "first" and "second" may explicitly or implicitly include one or more of the stated features. In the description of this invention, "a plurality of" means two or more, unless otherwise explicitly specified. Furthermore, the terms "installed," "connected," and "linked" should be interpreted broadly; for example, they may refer to a fixed connection, a detachable connection, or an integral connection; they may refer to a mechanical connection or an electrical connection; they may refer to a direct connection or an indirect connection through an intermediate medium; and they may refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0022] In this application, the term "exemplary" is used to mean "used as an example, illustration, or description." Any embodiment described as "exemplary" in this application is not necessarily to be construed as being more preferred or advantageous than other embodiments. The following description is provided to enable any person skilled in the art to make and use this application. Details are set forth in the following description for purposes of explanation. It should be understood that those skilled in the art will recognize that this application can be made without using these specific details. In other instances, well-known structures and processes are not described in detail to avoid obscuring the description of this application with unnecessary detail. Therefore, this application is not intended to be limited to the embodiments shown, but is consistent with the broadest scope of the principles and features disclosed in this application.

[0023] It should be noted that in the embodiments of this application, the processing of the integrated control platform is performed by computer devices. The processing objects of each computer device exist in the form of data or information, such as time, which is essentially time information. It can be understood that if size, quantity, position, etc. are mentioned in subsequent embodiments, they are all corresponding data that exist so that the computer devices can process them. Specific details will not be elaborated here.

[0024] This application provides an unmanned clinical testing cabin, which will be described in detail below.

[0025] Example 1 See Figures 1 to 7 The present invention provides an unmanned clinical testing cabin, comprising a cabin body 1, a sample management and grasping control device 2, a multi-consumable storage and automatic discharging control device 3, a sample pre-processing gantry robotic arm and a multi-station electric cylinder positioning device 4, a multi-degree-of-freedom robotic arm and a multi-functional end-effector 5, a clamping and positioning mechanism for multiple types of testing equipment and an automatic feeding device 6, a medical waste recycling device 7, and an integrated control platform 8. The cabin 1 is divided into an unmanned inspection area 11 and a manual sampling area 12, with an internal hatch 13 between the unmanned inspection area 11 and the manual sampling area 12. It should be noted that the modular container 1 can use a standard CF30 modular container as the carrier. The unmanned inspection area 11 is used to accommodate automatic actuators and inspection instruments to achieve unmanned inspection. The manual sampling area 12 is used for personnel to operate in the sampling and preparation process. The two are separated by an internal door 13 to reduce personnel entry into the unmanned inspection area 11.

[0026] The sample management and grasping control device 2 is located in the unmanned inspection area 11 and is connected to the workbench of the unmanned inspection area 11 by fixing bolts. The sample management and grasping control device 2 is connected to the integrated control platform 8 for storing, positioning, scanning and identifying, and monitoring the grasping position of samples. The multi-consumable storage and automatic discharge control device 3 is located in the unmanned inspection area 11 and is connected to the workbench of the unmanned inspection area 11 by fixing bolts. The multi-consumable storage and automatic discharge control device 3 is connected to the integrated control platform 8 for storing and discharging inspection consumables and diluents. The sample pretreatment gantry robotic arm and multi-station electric cylinder positioning device 4 are located in the unmanned inspection area 11 and are connected to the workbench of the unmanned inspection area 11 by fixing bolts. The sample pretreatment gantry robotic arm and multi-station electric cylinder positioning device 4 are connected to the integrated control platform 8 for grabbing consumables from the multi-consumable storage and automatic discharge control device 3 and performing drop, liquid preparation and dilution treatment on the samples. A multi-degree-of-freedom robotic arm and a multi-functional end effector 5 are installed in the unmanned inspection area 11. The multi-degree-of-freedom robotic arm and the multi-functional end effector 5 are connected to the integrated control platform 8 for gripping, capping, feeding and disposing of samples. The clamping and positioning mechanism and automatic feeding device 6 of the multi-type testing equipment are located in the unmanned inspection area 11. The clamping and positioning mechanism and automatic feeding device 6 of the multi-type testing equipment are connected to the integrated control platform 8. It includes several testing instruments, clamping and positioning mechanism and automatic feeding mechanism, used to test samples and transmit test result information back to the integrated control platform 8. The medical waste recycling device 7 is located in the unmanned inspection area 11. The medical waste recycling device 7 is linked with the waste disposal action nodes of the multi-degree-of-freedom robotic arm and the multi-functional end-operation device 5, and is also connected to the integrated control platform 8 for sealed recycling of used samples and consumables. The integrated control platform 8 is connected to the sample management and grasping control device 2, the multi-consumable storage and automatic discharge control device 3, the sample pre-processing gantry robotic arm and multi-station electric cylinder positioning device 4, the multi-degree-of-freedom robotic arm and multi-functional end effector 5, the clamping and positioning mechanism of multi-type testing equipment and automatic feeding device 6, and the medical waste recycling device 7. It is used to match the execution subject of the multi-actuator reachable tasks, detect the sample delivery status during the sample delivery process, and stop the current sample delivery task when the sample delivery is abnormal, so that the corresponding execution mechanism returns to the safe station without affecting other parallel tasks. It drives the above devices to work together to complete the sample grasping, pre-processing, sample delivery, result collection, and post-use disposal.

[0027] It should be noted that the multi-degree-of-freedom robotic arm body 52 of the multi-degree-of-freedom robotic arm and multi-functional end effector 5 has a six-degree-of-freedom configuration; the four-degree-of-freedom linear-rotational composite truss robotic arm 41 of the sample pre-processing truss robotic arm and the multi-station electric cylinder positioning device 4 is responsible for consumable material picking, and the three-axis linear reciprocating truss robotic arm 42 is responsible for liquid droplet preparation pre-processing. The two and the multi-degree-of-freedom robotic arm body 52 work together in the unmanned inspection area 11 according to the division of labor of sample grasping, consumable material picking and pre-processing, avoiding the increase in stroke and waiting caused by a single actuator undertaking all the actions.

[0028] As can be seen, by implementing the unmanned clinical testing cabin described in the embodiments of the present invention, the unmanned testing devices are integrated and connected within the limited space of the cabin and driven by the integrated control platform 8, enabling sample grabbing, consumable material retrieval, pretreatment, sample delivery and disposal after use to be completed continuously under unattended conditions, reducing the space occupied in the cabin and human intervention.

[0029] The integrated control platform 8 includes a data acquisition unit, a process analysis unit, a task scheduling unit, an equipment driving unit, a feedback and backoff unit, and a closed-loop collection unit; The data acquisition unit is communicatively connected to the sample management and grasping control device 2 and the clamping and positioning mechanism and automatic feeding device 6 of the multi-type testing equipment, and is used to acquire information on the sample to be inspected, inspection items, process templates and equipment status. It should be noted that the sample information to be tested is obtained by the visual camera of the sample management and grasping control device 2 to locate and scan the sample, including sample location information and sample label information; the equipment status information includes the capability parameters of each actuator, travel reachability indicator, fixture adaptation indicator and occupancy waiting time, as well as the inlet position signal of each testing instrument.

[0030] The process analysis unit is connected to the data acquisition unit and is used to analyze and process the inspection item information and process template information to obtain the set of task node information after verification. The task scheduling unit is connected to the process analysis unit and is used to schedule and process the verified task node information set to obtain executable task queue information. The equipment drive unit is connected to the task scheduling unit, the sample pre-processing gantry robotic arm and multi-station electric cylinder positioning device 4, the multi-degree-of-freedom robotic arm and multi-functional end-effector 5, and the clamping and positioning mechanism and automatic feeding device 6 of various types of testing equipment. It is used to process the executable task queue information and obtain equipment execution feedback information. The feedback back-off unit is connected to the device drive unit, vision camera and photoelectric sensor, and is used to correct the device execution feedback information to obtain the corrected execution status information. The closed-loop collection unit is connected to the feedback back-off unit, the clamping and positioning mechanism of multi-type detection equipment, the automatic feeding device 6, and the medical waste recycling device 7. It is used to perform closed-loop processing on the calibrated execution status information to obtain the test closed-loop result information.

[0031] It should be noted that the verified task node information set includes several task node information. Each task node information includes a node identifier, a preceding node identifier, a device capability identifier, positioning tolerance requirements, fixture adaptation requirements, resource usage identifier, and action parameters. The executable task queue information includes several task node information arranged in a clockwise order, as well as their execution entity identifier and execution sequence.

[0032] As can be seen, by implementing the unmanned clinical testing cabin described in the embodiments of the present invention, the six units of the integrated control platform 8 uniformly map the testing process, equipment capacity, execution mechanism occupancy and in-situ feedback into executable task queue information and testing closed-loop result information, so that the actions of each device are associated according to a unified task identifier, reducing manual scheduling and intervention.

[0033] In some embodiments, the modular cabin 1 is provided with an external door 14, an air conditioning unit 15, a power supply window 16, and an observation window 17; the manual sampling area 12 is provided with a temperature-sensitive consumable storage refrigerator 121, a simple workbench 122, a universal consumable cabinet 123, and a power distribution box; the temperature-sensitive consumable storage refrigerator 121 and the simple workbench 122 are connected to the floor of the modular cabin 1 by fixing bolts, the universal consumable cabinet 123 is connected to the floor by a vibration damper, and the power distribution box is installed on the side of the modular cabin 1 and electrically connected to the air conditioning unit 15 and the testing instruments; It should be noted that the observation windows 17 are located on both sides of the container body 1 and are equipped with baffles with linkage damping mechanisms for protection during transportation; the display screen of the integrated control platform 8 is embedded in the container body 1 and adopts a double-sided screen to meet the simultaneous operation and viewing inside and outside the container; the general consumable cabinet 123 is connected to the floor through a vibration damper to reduce the impact on the consumables inside the cabinet under transportation vibration conditions.

[0034] As can be seen, by integrating environmental protection, power supply and distribution and protective structures on the cabin body 1 and arranging temperature-sensitive consumables, general consumables and operating facilities in the manual sampling area 12, the unmanned testing area 11 has the environmental and energy support required for continuous operation under the condition of reducing personnel entry.

[0035] In other embodiments, the sample management and grasping control device 2 includes a sample tray, a visual camera, a diluent device, a photoelectric sensor, and an automated control unit body. The automated control unit body is a square aluminum alloy box with a switch button on the side and is connected to the workbench of the unmanned inspection area 11 by fixing bolts, and is centrally powered by a central power supply. The sample tray has holes adapted to the shape of the collector, is made of resin or PC plastic, and is locked to the automated control unit body by bolts around its perimeter. The visual camera is fixed to the workbench by a vertical bracket, and the supplementary light is fixed to the vertical bracket by bolts. The photoelectric sensor is fixed to the side of the sample tray by screws. The visual camera, photoelectric sensor, and automated control unit body are respectively connected to the integrated control platform 8 for communication. The diluent device is fixed to the workbench by a double-rod vertical bracket. The metal probe of the diluent device is adjusted to extend into the diluent tube by a limit pin with a position limiting function, and is connected to the reagent kit of the sample pretreatment gantry robot arm and the multi-station electric cylinder positioning device 4 by a plastic tube. The limit pin is used to adjust the position of the metal probe extending into the diluent tube.

[0036] It should be noted that the collector includes a urine sampling tube, a blood gas sampling needle, and a vacuum blood collection tube; the sample tray is used to store sample containers for blood routine, biochemistry, coagulation, blood gas, urine, and immunology tests; the vision camera is used to count and locate the sample position on the sample tray in real time and scan the sample label for identification, feeding back the sample position information and sample label information to the integrated control platform 8; the photoelectric sensor is used to monitor whether the multi-functional end gripper 53 has grasped the sample in place and feeds back the placement signal to the integrated control platform 8 in a closed loop; the automated control unit outputs the control signal of the multi-functional end gripper 53 and the sample sampling information.

[0037] As can be seen, by implementing the unmanned clinical testing cabin described in the embodiments of the present invention, the sample positioning and barcode recognition by the visual camera and the grasping position monitoring by the photoelectric sensor enable the sample grasping action to obtain a position reference before execution and obtain position confirmation after execution, thereby reducing sample grasping misalignment.

[0038] In some other embodiments, the multi-consumable storage and automatic dispensing control device 3 includes a consumable tower 31, an automated control unit base with an integrated stepper motor, and a control handle; the automated control unit base is made of aluminum alloy and is fixed to the workbench of the unmanned inspection area 11 by fixing bolts, and its power shaft is coaxially connected to the central axis of the consumable tower 31 to transmit power; the consumable tower 31 is made of aluminum alloy and has a groove structure on its cross-section adapted to the shape of reagent kits and reagent cards for biochemical analysis, blood gas analysis, coagulation analysis, blood cell analysis, and immunoassay tests, and the groove structure is arranged in multiple layers along the axial direction; the control handle includes left and right rotation buttons, an automatic button, and a power on / off button; the automated control unit base is communicatively connected to the integrated control platform 8; It should be noted that the control handle is used to adjust the rotation angle of the consumable tower 31 by rotating the left and right buttons during the manual consumable placement stage to facilitate consumable placement, and switches to automatic mode after the consumable placement is completed to wait for instructions from the integrated control platform 8.

[0039] As can be seen, by implementing the unmanned clinical testing cabin described in the embodiments of the present invention, through the coaxial power transmission between the automated control unit base and the consumable tower 31 and the multi-layer groove structure, the cabin space can be expanded to store multiple types of testing consumables and dispense them according to instructions, thereby reducing the space occupied by consumable storage.

[0040] In some other embodiments, the sample pretreatment gantry robot arm and multi-station electric cylinder positioning device 4 includes a four-degree-of-freedom linear-rotational composite gantry robot arm 41 and a three-axis linear reciprocating gantry robot arm 42. The four-degree-of-freedom linear-rotational composite gantry robot arm 41 is fixed to the workbench of the unmanned inspection area 11 by fixing bolts. Its first degree of freedom is the up-and-down linear motion driven by a belt, and the other three degrees of freedom are the rotational motion driven by a motor. The end is provided with two sets of two-finger grippers made of aluminum alloy, which are used to grab consumables from the multi-consumable storage and automatic discharge control device 3. The three-axis linear reciprocating gantry robot arm 42 is fixed to the workbench by fixing bolts. Its three degrees of freedom are all linear motions. The end is provided with a plastic straw, a rotary electric cylinder gripper and a dripping device composed of three bent steel needles, which are used to drip and dilute the liquids in the coagulation reagent tray and the biochemical reagent tray, as well as to prepare and dilute the liquids in the blood routine test kit. It should be noted that the linear degree of freedom of the four-degree-of-freedom linear-rotational composite truss robotic arm 41 is used for lifting and picking up materials, and the rotational degree of freedom is used to adjust the posture of consumables between the consumable tower 31 and the pre-processing station; the plastic suction tube and dripping device of the three-axis linear reciprocating truss robotic arm 42 are used for liquid suction and dripping, and the rotary electric cylinder gripper is used to cooperate in completing the liquid dispensing action.

[0041] As can be seen, by implementing the unmanned clinical testing cabin described in the embodiments of the present invention, the four-degree-of-freedom linear-rotational composite truss robotic arm 41 is responsible for consumable material picking, and the three-axis linear reciprocating truss robotic arm 42 is responsible for liquid preparation and dispensing pretreatment, so that consumable material picking and pretreatment can be carried out in parallel, shortening the waiting time of the pretreatment stage.

[0042] In some other embodiments, the sample pretreatment gantry robotic arm and multi-station electric cylinder positioning device 4 further includes a three-position linear electric cylinder box-disc-card composite fixing device 43, a unit linear electric cylinder test tube fixing device 44, and a reagent kit platform 45; the three-position linear electric cylinder box-disc-card composite fixing device 43 consists of a single electric cylinder and multiple vertical grippers, the vertical grippers being sequentially fixed along the movement axis of the electric cylinder, used to fix the biochemical reagent disk and the immunoassay card according to the gripping task; the unit linear electric cylinder test tube fixing device 44 fixes the sample tube via the two-finger gripper of the electric cylinder; the reagent kit platform 45 is used to place reagent kits and plastic needles for immunoassay and routine blood tests; It should be noted that the three-position linear electric cylinder box-disc-card composite fixing device 43 uses an electric cylinder to drive the vertical gripper to fix different types of reagent disks and immunoassay cards, so that the consumables in the pretreatment and sample delivery process remain in a stable position.

[0043] As can be seen, the unmanned clinical testing cabin described in the embodiments of the present invention uses a multi-station electric cylinder positioning device to position and fix the sample tubes, reagent trays and immunoassay cards respectively, so that the pretreatment actions are performed on a stable positioning reference, reducing the misalignment of liquid dripping and solution preparation.

[0044] In some other embodiments, the multi-degree-of-freedom robotic arm and multi-functional end effector 5 includes an aluminum alloy base 51, a multi-degree-of-freedom robotic arm body 52, and a multi-functional end effector 53; the aluminum alloy base 51 is fixed to the workbench of the unmanned inspection area 11 by bolts, and the multi-degree-of-freedom robotic arm body 52 is fixed to the aluminum alloy base 51; the multi-functional end effector 53 includes an electric cylinder, a vision camera, and a tip gripper, a large side gripper, and a small side gripper located at the end of the electric cylinder; the electric cylinder is fixed to the end of the multi-degree-of-freedom robotic arm body 52 by a connecting bracket, and the vision camera is fixed to the electric cylinder by fixing bolts; It should be noted that the pointed gripper is used to rotate and screw on the test tube caps, the large side gripper is used to grasp the reagent tray for biochemical testing, and the small side gripper is used to grasp the reagent kits and reagent cards for blood cell testing. The multi-degree-of-freedom robotic arm body 52, with its six-degree-of-freedom configuration and large working space, uses the corresponding and adapted multi-functional end effector 53 to complete actions such as sampling, consumable grasping, capping, sample delivery, and disposal after use.

[0045] As can be seen, the unmanned clinical testing cabin described in the embodiments of the present invention uses a multi-degree-of-freedom robotic arm body 52 equipped with three types of mechanical grippers of a multi-functional end effector 53 to cover multiple types of grasping actions for sample testing with a single actuator, thereby reducing the number of dedicated actuators and the floor space occupied inside the cabin.

[0046] In some other embodiments, the clamping and positioning mechanism and automatic feeding device 6 for multi-type testing equipment includes multiple testing instruments, a clamping and positioning mechanism, and an automatic feeding mechanism; the multiple testing instruments include a biochemical analyzer, a coagulation analyzer, a blood gas analyzer, a blood cell analyzer, an immunoassay analyzer, and a urine analyzer; the clamping and positioning mechanism includes an aluminum alloy frame and clamping bolts, each of the testing instruments is placed on the aluminum alloy frame and clamped and locked by the clamping bolts, and the aluminum alloy frame is fixed to the workbench by bolts; the automatic feeding mechanism includes a mark point, a linear electric cylinder, and a single-chip microcomputer control unit; each testing instrument's sample inlet is equipped with a photoelectric sensor; the sample inlet mechanisms of the biochemical analyzer and the coagulation analyzer are mark points, and the blood cell analyzer... The sample introduction mechanism of the cell analyzer and the immunoassay analyzer is a linear electric cylinder, while the sample introduction mechanism of the urine analyzer is a mark point and a linear electric cylinder. The end effector of the linear electric cylinder corresponding to the immunoassay analyzer has a mechanical groove adapted to the shape of the immunoassay test card. Each testing instrument is connected to the integrated control platform 8 via a single-chip microcomputer control unit. The clamping and positioning mechanism and automatic feeding device 6 for multiple types of testing equipment also include a plastic waste liquid tank and a cleaning liquid tank. The plastic waste liquid tank and the cleaning liquid tank are fixed in the aluminum alloy box by an interference fit and fixed to the workbench by fixing bolts. The liquid pipeline of the urine analyzer is connected to the plastic waste liquid tank and the cleaning liquid tank. The photoelectric sensor, the linear electric cylinder and the single-chip microcomputer control unit are respectively connected to the integrated control platform 8 for communication. It should be noted that the mark point is used to determine whether the multi-degree-of-freedom robotic arm body 52 is in position, the linear electric cylinder is used to push the sample tube or immunoassay card to the corresponding testing position of the testing instrument, and the photoelectric sensor is used to monitor whether the sample is delivered in place and feed back the in-place signal to the integrated control platform 8. During the pushing process, the linear electric cylinder's stroke position sensor collects the actual pushing stroke, which is then transmitted back to the integrated control platform 8 via the microcontroller control unit, forming a feedback of the electric cylinder's pushing depth. The microcontroller control unit can be a flying mouse microcontroller, which enables the integrated control platform 8 to automatically control the testing instrument's start-up and other operations without requiring manual touch control of the testing instrument.

[0047] As can be seen, by implementing the unmanned clinical testing cabin described in the embodiments of the present invention, the robotic arm determines the position of the marker point, the linear electric cylinder pushes and feeds the sample, and the photoelectric sensor monitors the sample delivery position. This ensures that the sample delivery action is confirmed to be in place before the testing is started, reducing sample delivery misalignment and empty testing.

[0048] In some other embodiments, the medical waste recycling device 7 includes a stainless steel box and a medical waste recycling bin; the base of the stainless steel box is fixed to the floor of the unmanned inspection area 11 by fixing bolts, the medical waste recycling bin is placed inside the stainless steel box and fixed by Velcro, and the medical waste recycling device 7 is linked with the waste disposal action node of the multi-degree-of-freedom robotic arm and the multi-functional end-effector 5. It should be noted that the medical waste recycling bin is made of yellow plastic and is compatible with the shape of the stainless steel box. Velcro is used to secure the medical waste recycling bin for quick and easy assembly and disassembly.

[0049] As can be seen, by implementing the unmanned clinical testing cabin described in the embodiments of the present invention, the disposal of used samples and consumables is set as the end node of the testing task and linked with the medical waste recycling device 7, so that waste can be recycled in a closed manner under unattended conditions, reducing human contact.

[0050] In some other embodiments, the working method of the sample pretreatment gantry robotic arm and multi-station electric cylinder positioning device 4 working together with the multi-degree-of-freedom robotic arm and multi-functional end effector 5 to complete the pretreatment of biochemical test samples is as follows: the multi-degree-of-freedom robotic arm body 52 places the sample tube for biochemical testing on the unit linear electric cylinder test tube fixing device 44 and fixes it; after receiving the instruction from the integrated control platform 8, the four-degree-of-freedom linear rotation composite gantry robotic arm 41 grabs the biochemical reagent tray from the multi-consumable storage and automatic discharge control device 3 to the reagent tray station of the three-position linear electric cylinder box-disc-card composite fixing device 43; the electric cylinder of the three-position linear electric cylinder box-disc-card composite fixing device 43 drives the vertical gripper to fix the biochemical reagent tray; the plastic pipette of the three-axis linear reciprocating gantry robotic arm 42 sucks the sample liquid in the sample tube and drips it into the biochemical reagent tray, completing the pretreatment of biochemical test samples. It should be noted that in the above working method, the movements of the multi-degree-of-freedom robotic arm body 52, the four-degree-of-freedom linear rotary composite truss robotic arm 41 and the three-axis linear reciprocating truss robotic arm 42 are driven sequentially by the integrated control platform 8 according to the task nodes. During the pretreatment process, the sample tube and biochemical reagent tray are positioned and fixed by the unit linear electric cylinder test tube fixing device 44 and the three-position linear electric cylinder box-disc-card composite fixing device 43, respectively.

[0051] As can be seen, by implementing the unmanned clinical testing cabin described in the embodiments of the present invention, the multi-degree-of-freedom robotic arm body 52, the four-degree-of-freedom linear-rotational composite truss robotic arm 41 and the three-axis linear reciprocating truss robotic arm 42 work together, and the multi-station electric cylinder positions and fixes the sample tube and reagent tray, so that sample grasping, consumable material retrieval and liquid preparation are completed sequentially on a stable positioning reference, reducing the misalignment of pretreatment liquid dripping.

[0052] In some other embodiments, the clamping and positioning mechanism and automatic feeding device 6 of the multi-type detection equipment complete the sample delivery and automatic testing in the following ways: For biochemical analyzers and coagulation analyzers, the multi-degree-of-freedom robotic arm body 52 delivers the reagent tray to the corresponding sample inlet after confirming the position according to the mark point; for blood cell analyzers and immunoassay analyzers, a linear electric cylinder pushes the reagent kit or immunoassay card to the testing position, and the mechanical groove at the end of the linear electric cylinder corresponding to the immunoassay analyzer is adapted to the shape of the immunoassay card; for urine analyzers, the position is confirmed by the mark point and the urine sampling tube is pushed to the testing position by the linear electric cylinder, and the waste liquid generated by the test is connected to the plastic waste liquid bucket and the cleaning liquid bucket through the liquid pipeline; after the photoelectric sensor at the sample inlet of each testing instrument monitors the sample delivery position, the integrated control platform 8 controls the corresponding testing instrument to start the test through the single-chip microcomputer control unit, and after the test is completed, the sample that has been tested is taken out in reverse according to the above process. It should be noted that in the above working method, the integrated control platform 8 controls the start and removal of each inspection instrument through the single-chip microcomputer control unit, without the need for manual touch control of the inspection instrument screen or buttons.

[0053] As can be seen, by implementing the unmanned clinical testing cabin described in the embodiments of the present invention, different types of testing instruments are respectively confirmed by mark point positioning and pushed by linear electric cylinders, and the sample delivery is uniformly confirmed by photoelectric sensors. This allows multiple types of testing instruments to be densely arranged in the same unmanned testing area and automatically sampled and tested, reducing sample delivery misalignment and empty testing.

[0054] In some other embodiments, the step of parsing the inspection item information and the process template information to obtain the verified task node information set is achieved by the process parsing unit performing the following steps: The inspection item information and the process template information are processed by flowchart parsing to obtain an initial task node information set; It should be noted that the initial task node information set includes several task node information, each of which includes a node identifier, a preceding node identifier, a device capability identifier, and action parameters. The above flowchart parsing process can be processed using directed acyclic graph parsing, script parsing, or state machine parsing. Specifically, this embodiment of the invention does not limit the specific methods used.

[0055] Perform a pre-node integrity check on the initial task node information set to obtain the completed task node information set; It should be noted that the preceding node integrity detection process is used to compare the preceding node identifier of each task node with the necessary preceding steps in the process template information. When a missing necessary preceding step is detected, a preceding node is inserted before the corresponding task node and the corresponding execution mechanism is bound. For example, when the sample addition node is found to be missing the cap opening preceding step, a cap opening node is inserted and the multi-degree-of-freedom robotic arm body 52 is bound. The above preceding node integrity detection process can be performed using directed acyclic graph dependency traversal, preceding constraint rule matching, or workflow template comparison. Specifically, this embodiment of the invention does not limit the specific methods used.

[0056] The completed task node information set is subjected to equipment project capability detection processing to obtain the verified task node information set. It should be noted that the equipment capability detection processing is used to compare the equipment capability identifier of each task node with the project capability of the testing instrument. When a mismatch in equipment capability is detected, the task node is reassigned to a testing instrument with the corresponding project capability. When no testing instrument can be reassigned, the process reverts to the standard workflow template for that detection project and obtains the verified task node information set. The above equipment capability detection processing can be performed using capability tag matching, equipment capability mapping table retrieval, or constraint satisfaction matching. Specifically, this embodiment of the invention does not limit the specific methods used.

[0057] In an exemplary application scenario, in an inspection process programmed by an operator, the sample dispensing node is directly connected to the sample delivery node, while the cap opening node is missing. Furthermore, an immunoassay task node is mistakenly bound to an instrument that does not support the required test. The process analysis unit performs flowchart analysis on the test item information and process template information to obtain an initial task node information set. Then, it sequentially executes the pre-node integrity check and equipment capability check: when the pre-node integrity check detects a missing necessary pre-process (cap opening), it inserts a cap opening node before the corresponding sample dispensing node and binds it to the multi-degree-of-freedom robotic arm body 52, obtaining a complete task node information set; when the equipment capability check detects a mismatch in equipment capability, it rebinds the immunoassay task node to an immunoassay analyzer with the capability for that immunoassay test; when no rebinding instrument is available, it reverts to the standard process template for that test; after successful verification, the verified task node information set is obtained and output to the task scheduling unit for scheduling.

[0058] As can be seen, by implementing the unmanned clinical testing cabin described in the embodiments of the present invention, the missing procedures can be supplemented and the equipment capability mismatch can be corrected before execution through the integrity detection of the preceding nodes and the capability detection of the equipment items, so as to avoid the execution interruption caused by missing procedures or capability mismatch.

[0059] In some other embodiments, the step of scheduling the verified task node information set to obtain executable task queue information is achieved by the task scheduling unit performing the following steps: The verified task node information set is processed to identify reachable execution mechanisms to obtain a multi-execution mechanism reachable task node information set; It should be noted that the multi-actuator reachable task node information set refers to the set of task node information that can be completed by two or more actuators after verification; the actuators include a multi-degree-of-freedom robotic arm body 52, a four-degree-of-freedom linear-rotation composite truss robotic arm 41, and a three-axis linear reciprocating truss robotic arm 42; for example, the consumable grasping task node can be completed by the multi-degree-of-freedom robotic arm body 52 or the four-degree-of-freedom linear-rotation composite truss robotic arm 41.

[0060] Using the adaptation calculation model of the test container execution subject, the adaptation calculation is performed on the information set of reachable task nodes of the multiple execution mechanisms and the equipment status information to obtain the set of execution subject adaptation values; The adaptation model for the testing mobile cabin is as follows: ; ; In the formula, Let be the fit value of the implementing entity for the e-th candidate implementing agency. The normalized capability deviation between the e-th candidate executor and the current task node is given. The normalized occupancy waiting time for the e-th candidate executor. Let be the hard constraint gating coefficient for the e-th candidate actuator. For the fit scaling constant, This is the deviation sensitivity coefficient. The deviation shape index, The occupancy suppression coefficient is used to define the candidate execution mechanism, which is one or more of the following: the multi-degree-of-freedom robotic arm body 52, the four-degree-of-freedom linear-rotational composite truss robotic arm 41, and the three-axis linear reciprocating truss robotic arm 42, capable of executing the currently reachable task node. The execution subject adaptation value set includes several execution subject adaptation values.

[0061] It should be noted that the candidate execution mechanism refers to the execution mechanism that has the possibility of execution for the currently achievable task node, including one or more of the multi-degree-of-freedom robotic arm body 52, the four-degree-of-freedom linear-rotation composite truss robotic arm 41, and the three-axis linear reciprocating truss robotic arm 42 that can execute the task node; the e-th candidate execution mechanism is the e-th among the above candidate execution mechanisms. The normalized capability deviation is obtained by normalizing the positioning tolerance requirement and fixture adaptation requirement of the task node information with the capability parameters of the candidate execution mechanism; the normalized occupancy waiting amount is obtained by normalizing the occupancy waiting amount of the candidate execution mechanism in the equipment status information; the hard constraint gating coefficient is determined by the travel reachability identifier and fixture adaptation identifier of the candidate execution mechanism, and is 0 when the travel is unreachable or the fixture is not compatible. The value range of the scaling constant and coefficient is: The value range is [1, 10], with 1 being the preferred value; The value range is [1, 10], with a preferred value of 5; The value range is [1,4], with 2 being the preferred value; The value range is [0.5, 5], with a preferred value of 1. The model for calculating the adaptability of the test module's execution body uses a rational power saturation term to saturate and decay the capability deviation, an exponential term to suppress occupancy waiting, and a gating coefficient to reject travel and fixture hard constraints, thus obtaining the execution body adaptability value. This allows the solution to quantify the adaptability of each candidate execution body based on capability deviation, occupancy waiting, and hard constraints when multiple execution bodies can reach the same task, serving the goal of reducing empty travel within the module and execution body mismatch. Compared to existing technologies that only allocate execution bodies according to fixed priority or weighted sum, which may still select unreachable execution bodies when capability or travel is not met, this model sets the adaptability value to zero and excludes them when hard constraints are not met.

[0062] The set of reachable task nodes for the multiple execution mechanisms and the set of adaptation values ​​for the execution entities are bound together to obtain the updated set of task node information. It should be noted that the execution subject binding process refers to: for each task node information in the multi-executioner reachable task node information set, taking the largest of the candidate execution agency adaptation values ​​in the execution subject adaptation value set corresponding to the task node, writing the identifier of the candidate execution agency into the execution subject identifier of the task node information, and merging it with the remaining task node information in the verified task node information set that is completed by only a single execution agency to obtain the updated task node information set; the updated task node information set includes several task node information, and each task node information includes a node identifier, a preceding node identifier, a device capability identifier, an execution subject identifier, and action parameters.

[0063] The updated task node information set is processed with resource locks and clock speed arrangement to obtain executable task queue information; It should be noted that the resource lock and the clock cycle arrangement process are used to arrange task nodes bound to the same actuator serially according to the time clock cycle, and to arrange detection task nodes bound to different inspection instruments in parallel, so as to obtain the executable task queue information.

[0064] In an exemplary application scenario, the operator arranges the testing process according to the venous blood, arterial blood gas, and urine tests of a sample to be tested. Each task node is respectively bound to the visual camera of the sample management and grasping control device 2, the multi-degree-of-freedom robotic arm body 52, the four-degree-of-freedom linear-rotary composite truss robotic arm 41, the three-axis linear reciprocating truss robotic arm 42, as well as a biochemical analyzer, a blood cell analyzer, a blood gas analyzer, a coagulation analyzer, a urine analyzer, and an immunoassay analyzer. Parameters such as aspiration volume and target workstation are set in the action parameters. The data acquisition unit acquires the corresponding sample information, test item information, process template information, and equipment status information. After the parsing unit obtains the verified task node information set, the task scheduling unit sequentially executes the reachable actuator identification process, the adaptability calculation process, the execution subject binding process, and the resource lock and cycle time arrangement process: when it is identified that multiple sample loading and sample delivery task nodes occupy the same multi-degree-of-freedom robotic arm body 52, the task nodes of the shared actuator are arranged serially according to the time cycle time, and the detection task nodes that have been delivered to the machine and bound to different testing instruments are arranged in parallel to obtain the executable task queue information, so that the multi-degree-of-freedom robotic arm body 52 can be reused among multiple samples and each testing instrument can be tested in parallel, shortening the waiting time of the shared actuator and increasing the overall throughput.

[0065] As can be seen, by implementing the unmanned clinical testing cabin described in the embodiments of the present invention, the actions of the shared execution mechanism can be serially reused and the detection of different testing instruments can be carried out in parallel through the calculation of the adaptability of the execution subject, the binding of the execution subject and the resource lock and the rhythm arrangement, thereby shortening the waiting time of the shared execution mechanism and increasing the throughput of the entire cabin.

[0066] In some other embodiments, the step of processing the executable task queue information to obtain device execution feedback information is achieved by the device driver unit performing the following steps: The executable task queue information is processed to instantiate instructions to obtain a device execution instruction set; It should be noted that the device execution instruction set includes several device execution instructions, each of which contains an actuator identifier, an action type, and action parameters. The instruction instantiation process refers to converting the task node information in the executable task queue information into a scalable device execution instruction based on the execution entity identifier and action parameters. For example, in a biochemical sample pretreatment scenario, the task node "grab a sample tube and place it on the unit linear electric cylinder test tube fixing device 44" can be instantiated as a device execution instruction issued to the multi-degree-of-freedom robotic arm body 52, with an action type of grasping and transporting, and action parameters including the sample tray hole coordinates and the target pose of the test tube fixing device; the instruction "from consumable tower 31" can be instantiated as a device execution instruction issued to the multi-degree-of-freedom robotic arm body 52. The task node “grab the biochemical reagent tray to the three-dimensional linear electric cylinder box-disc-card composite fixing device 43” is instantiated as an equipment execution command issued to the four-degree-of-freedom linear rotary composite truss robot arm 41. Its action type is consumable picking and placing, and the action parameters include the consumable tower layer number and the reagent tray station coordinates. The task node “absorb sample liquid and drip it into the biochemical reagent tray” can be instantiated as an equipment execution command issued to the three-axis linear reciprocating truss robot arm 42. Its action type is aspiration and dripping, and the action parameters include the aspiration volume, the number of drips, and the dripping position.

[0067] The device executes the instruction set and receives completion receipts from each device to activate subsequent nodes, thereby obtaining device execution feedback information. It should be noted that the device execution feedback information includes the execution status and completion receipt of each device execution command; when the completion receipt of a task node is received, the subsequent task node with that task node as the preceding node is activated. For example, taking the pre-processing of biochemical test samples as an example: the device drive unit first sends a grasping and transporting command to the multi-degree-of-freedom robotic arm body 52. ​​After receiving the completion receipt that the sample tube has been fixed in the unit linear electric cylinder test tube fixing device 44, the subsequent consumable picking and placing node is activated and a grasping biochemical reagent tray command is sent to the four-degree-of-freedom linear rotary composite truss robotic arm 41; after receiving the completion receipt that the reagent tray has been fixed in the three-position linear electric cylinder box-disc-card composite fixing device 43, the subsequent aspiration and dripping node is activated and an aspiration and dripping command is sent to the three-axis linear reciprocating truss robotic arm 42; if the previous completion receipt has not been received, the subsequent node is not activated to avoid accidentally triggering the dripping action when the sample tube or reagent tray is not in place.

[0068] As can be seen, by implementing the unmanned clinical testing cabin described in the embodiments of the present invention, each device is made to act sequentially according to the task queue and trigger subsequent nodes with the receipt through instruction instantiation and completion receipt driving, so as to avoid subsequent actions being mistakenly triggered when the preceding actions are not completed.

[0069] In some other embodiments, the step of correcting the feedback information of the device to obtain corrected execution status information is achieved by the feedback rollback unit performing the following steps: The device performs visual correction processing on the feedback information to obtain visually corrected pose information. It should be noted that the visual correction process is performed by the visual camera at the end of the robotic arm and the visual camera in the sample area in three stages: recognition before grasping, correction during operation, and verification after operation, to correct the end pose of the multi-degree-of-freedom robotic arm body 52 and obtain the visually corrected pose information. The above visual correction process can be performed by edge recognition, template matching, or mark point recognition. Specifically, the embodiments of the present invention do not limit the specific methods.

[0070] The visually corrected pose information and the electric cylinder push depth feedback are processed to obtain the sample delivery status detection value. It should be noted that the electric cylinder push depth feedback refers to the actual push depth information collected by the stroke position sensor of the linear electric cylinder in the automatic feeding mechanism and transmitted back to the integrated control platform 8 via the single-chip microcomputer control unit during the process of pushing the sample tube or immunoassay card to the corresponding testing position of the testing instrument; the expected depth is the preset stroke depth required to push the sample tube or immunoassay card to the testing position. The above sample delivery status detection processing can be processed using the sample delivery status detection calculation model of the testing cabin, or it can be processed using normalized deviation weighted fusion, multi-threshold hierarchical decision, or Mahalanobis distance anomaly detection. Specifically, the embodiments of the present invention are not limited.

[0071] The calculation model for detecting the sample delivery status of the inspection container is as follows: ; ; ; ; In the formula, The normalized visual pose deviation is obtained by normalizing the visually corrected pose information and the target pose of the mark point. The normalized push depth deviation is obtained by normalizing the comparison between the electric cylinder push depth feedback and the expected depth. The visual pose deviation saturation residual, To push the depth deviation saturation residual to the electric cylinder, The sample delivery status detection value is... , These are the pose deviation attenuation coefficient and the shape index, respectively. , These are the push depth deviation saturation coefficient and the shape index, respectively; It should be noted that when the sample delivery action is performed by the multi-degree-of-freedom robotic arm body 52 directly delivering the sample to the inlet based on the mark point without involving linear electric cylinder pushing, the... If the value is set to 0, the sample delivery status detection value is determined by the visual pose deviation saturation residual. The range of values ​​for the coefficient is: The value range is [1, 10], with 3 being the preferred value; The value range is [1,4], with 2 being the preferred value; The value range is [1, 10], with 3 being the preferred value; The value range is [1,4], with a preferred value of 2. The sample delivery status detection calculation model of the inspection container constructs saturated residuals for visual pose deviation and electric cylinder pushing depth deviation respectively, and then performs Euclidean synthesis to obtain a single sample delivery status detection value, which serves as the input for branch control. This allows the scheme to perform status detection by combining pose and pushing deviations during sample delivery, serving the goal of reducing sample delivery misalignment and missed detection due to jamming. Compared with the existing technology that only judges by summing single-path deviations, the problem of missed detection of small deviations due to the mutual cancellation of positive and negative deviations is solved by the model first squaring to eliminate the positive and negative cancellations and then taking the square root to restore the scalar of the same order of magnitude, so that any increase in either of the two deviations is reflected in the sample delivery status detection value.

[0072] Branch control processing is performed on the sample delivery status detection value to obtain the corrected execution status information; It should be noted that the branch control process is as follows: It is determined whether the sample delivery status detection value is less than a first threshold, and a first judgment result is obtained; when the first judgment result is yes and the photoelectric sensor's presence signal is in place, sample delivery continues and the corrected execution status information is obtained; when the first judgment result is no, it is determined whether the sample delivery status detection value is greater than a second threshold, and a second judgment result is obtained; when the second judgment result is no, the multi-degree-of-freedom robotic arm body 52 is re-aligned and returns to S52; when the second judgment result is yes, the current branch is stopped and the multi-degree-of-freedom robotic arm body 52 is returned to a safe working position, a fault is reported, and the corrected execution status information is obtained, without affecting other parallel branches; the first threshold value ranges from [0.1, 0.3], with a preferred value of 0.2; the second threshold value ranges from [0.5, 0.8], with a preferred value of 0.6.

[0073] In an exemplary application scenario, the device drive unit instantiates and issues instructions to the executable task queue information: first, it issues an instruction to the multi-degree-of-freedom robotic arm body 52 to grasp the sample tube and transfer it to the unit linear electric cylinder test tube fixing device 44; after receiving the completion receipt, it activates the subsequent sample addition node and issues an instruction to the three-axis linear reciprocating gantry robotic arm 42 to aspirate the preset amount of sample liquid and drip it into the biochemical reagent tray; then, it issues an instruction to the multi-degree-of-freedom robotic arm body 52 to send the biochemical reagent tray to the sample inlet of the biochemical analyzer according to the mark point; after the photoelectric sensor monitors that the sample has been delivered, the single-chip microcomputer control unit issues a detection instruction containing the sample number to the biochemical analyzer and starts the inspection, obtaining the device execution feedback information. If, during the sample delivery process, the sample delivery status detection value obtained by the feedback retraction unit after sample delivery status detection processing is greater than the second threshold, or the on-site signal of the photoelectric sensor is not in place, then branch control processing is executed: the current branch is stopped, the multi-degree-of-freedom robotic arm body 52 is retracted to the safe work position and the fault is reported, and the corrected execution status information is obtained, without affecting other parallel branches.

[0074] As can be seen, by implementing the unmanned clinical testing cabin described in the embodiments of the present invention, sample delivery status detection and branch control can be used to continue sample delivery when the sample delivery deviation is small, realign when the deviation is centered, and stop and revert to the current branch when the deviation is large, thus limiting the sample delivery abnormality to the corresponding branch without affecting other parallel branches.

[0075] In some other embodiments, the step of performing closed-loop processing on the corrected execution state information to obtain the verification closed-loop result information is achieved by the closed-loop collection unit performing the following steps: The corrected execution status information and detection result information are bound to sample numbers to obtain the bound detection result information; It should be noted that the test result information is transmitted back by the microcontroller control unit after each testing instrument completes the test, including the test item identifier, the test index name, and the test index value; the corrected execution status information carries the sample label information corresponding to the current sample; the sample number binding process is used to establish a one-to-one correspondence between the test result information and the corresponding sample number according to the sample label information, to obtain the bound test result information; the bound test result information includes the sample number, test item identifier, test index name, and test index value.

[0076] The bound test results are processed to generate an electronic inspection report. It should be noted that the report generation process refers to filling the sample number, test item identifier, test indicator name, and test indicator value from the bound test result information into the corresponding fields according to a preset test report template, and overlaying the test completion time information to generate the electronic test report information; the electronic test report information includes the report number, sample number, test item list, test indicator result list, and test completion time. The above report generation process can be performed using structured field mapping filling, extensible markup language template rendering, or portable document format typesetting generation; specifically, this embodiment of the invention does not limit the specific methods used.

[0077] Dispose of the completed samples and consumables as waste and obtain a disposal completion receipt. It should be noted that the waste disposal process involves the multi-degree-of-freedom robotic arm 52 placing the used samples and consumables into the medical waste recycling device 7. The medical waste recycling device 7 or the integrated control platform 8 generates the waste disposal completion receipt information after confirming the completion of the waste disposal action. The waste disposal completion receipt information includes the sample number, the waste disposal object identifier, and the waste disposal completion time.

[0078] The electronic inspection report information and the waste disposal completion receipt information are collected and processed to obtain the inspection closed-loop result information; It should be noted that the collection process refers to pairing and encapsulating the electronic inspection report information corresponding to the same sample number with the disposal completion receipt information to obtain the inspection closed-loop result information; the inspection closed-loop result information includes the electronic inspection report information and the disposal completion receipt information, which is used to characterize that the sample has completed the entire closed-loop process of "test result collection - post-use disposal".

[0079] As can be seen, by implementing the unmanned clinical testing cabin described in the embodiments of the present invention, the test results are collected into electronic test report information according to the sample number through sample number binding, report generation, post-use disposal and closed-loop collection, and test results are formed into closed-loop test result information after disposal, realizing the whole process of sample entry and result exit closed loop.

[0080] Example 2 This invention discloses a computer-readable storage medium storing a computer program for electronic data interchange, wherein the computer program causes a computer to perform steps in the processing performed by the integrated control platform 8 in Embodiment 1.

[0081] Example 3 This invention discloses a computer program product, which includes a non-transitory computer-readable storage medium storing a computer program, and the computer program is operable to cause a computer to perform the steps in the processing performed by the integrated control platform 8 in Embodiment 1.

[0082] The device embodiments described above are merely illustrative. The modules described as separate components may or may not be physically separate, and the components shown as modules may or may not be physical modules; that is, they may be located in one place or distributed across multiple network modules. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs. Those skilled in the art can understand and implement this without any creative effort.

[0083] It should be noted that all calculation expressions or mathematical functions in the embodiments of the present invention have undergone dimensionless processing of the variables involved before calculation.

[0084] It should be noted that in all the calculation expressions or mathematical functions in the embodiments of the present invention, the values ​​of the input independent variables all meet the reasonable requirements of the input value range of the calculation expression or mathematical function, and can ensure that the calculation expression or mathematical function can be calculated smoothly without violating physical laws or mathematical rules.

[0085] Through the detailed description of the above embodiments, those skilled in the art can clearly understand that each implementation method can be implemented by means of software plus necessary general-purpose hardware platforms, and of course, it can also be implemented by hardware. Based on this understanding, the above technical solutions, in essence or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, including read-only memory (ROM), random access memory (RAM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), once programmable read-only memory (OTPROM), electronically erasable rewritable read-only memory (EEPROM), read-only optical disc (CD-ROM) or other optical disc storage, disk storage, magnetic tape storage, or any other computer-readable medium that can be used to carry or store data.

[0086] Finally, it should be noted that the unmanned clinical testing cabin disclosed in the embodiments of the present invention is only a preferred embodiment of the present invention and is only used to illustrate the technical solutions of the present invention, not to limit it. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. An unmanned clinical testing mobile unit, characterized in that, It includes a modular cabin body, a sample management and grasping control device, a multi-consumable storage and automatic discharging control device, a sample pre-processing gantry robotic arm and a multi-station electric cylinder positioning device, a multi-degree-of-freedom robotic arm and a multi-functional end-effector, a clamping and positioning mechanism for various types of testing equipment and an automatic feeding device, a medical waste recycling device, and an integrated control platform. The cabin is divided into an unmanned inspection area and a manual sampling area, with an internal door connecting the unmanned inspection area and the manual sampling area. The sample management and grasping control device, the multi-consumable storage and automatic discharge control device, the sample pretreatment gantry robotic arm and multi-station electric cylinder positioning device, the multi-degree-of-freedom robotic arm and multi-functional end-effector, the clamping and positioning mechanism and automatic feeding device for the multi-type testing equipment, and the medical waste recycling device are all located in the unmanned testing area and are respectively connected to the integrated control platform. The multi-degree-of-freedom robotic arm and multi-functional end effector include a multi-degree-of-freedom robotic arm body and a multi-functional end gripper located at the end of the multi-degree-of-freedom robotic arm body, used for gripping, capping, delivering, and disposing of samples after use. The sample pretreatment truss robotic arm and multi-station electric cylinder positioning device include a four-degree-of-freedom linear-rotational composite truss robotic arm and a three-axis linear reciprocating truss robotic arm. The four-degree-of-freedom linear-rotational composite truss robotic arm is used to grab consumables from the multi-consumable storage and automatic discharge control device, and the three-axis linear reciprocating truss robotic arm is used to perform dropping, liquid preparation and dilution of samples. The clamping and positioning mechanism and automatic feeding device of the multi-type testing equipment include several testing instruments, a clamping and positioning mechanism and an automatic feeding mechanism. The sample inlets of several testing instruments are equipped with photoelectric sensors to monitor whether the sample is delivered in place. The integrated control platform is used to match the execution subject of tasks reachable by multiple actuators, detect the sample delivery status during the sample delivery process, and stop the current sample delivery task when the sample delivery is abnormal, so that the corresponding actuator can return to the safe work position without affecting other parallel tasks, and drive each device to work together to complete the sample grabbing, preprocessing, sample delivery, result collection and disposal after use.

2. The unmanned clinical testing cabin according to claim 1, characterized in that, The modular cabin is equipped with an external hatch, an air conditioning unit, a power supply window, and an observation window. The manual sampling area is equipped with a temperature-sensitive consumable storage refrigerator, a simple workbench, a general consumable cabinet, and a power distribution box. The temperature-sensitive consumable storage refrigerator and the simple workbench are connected to the floor of the modular cabin by fixing bolts. The general consumable cabinet is connected to the floor by a vibration damper. The power distribution box is installed on the side of the modular cabin and is electrically connected to the air conditioner outdoor unit and the testing instruments.

3. The unmanned clinical testing modular unit according to claim 1, characterized in that, The sample management and grasping control device includes a sample tray, a visual camera, a diluent device, a photoelectric sensor, and an automated control unit. The automated control unit body is a square aluminum alloy box and is connected to the workbench of the unmanned inspection area by fixing bolts. The sample tray has holes adapted to the shape of the collector and is locked to the automated control unit body by a bolt locking mechanism; The visual camera is fixed to the workbench via a vertical bracket and is used for locating and scanning samples for identification. The diluent device is fixed to the workbench by a vertical bracket, and the metal probe of the diluent device is connected to the reagent kit of the sample pretreatment gantry robot arm and the multi-station electric cylinder positioning device via a plastic tubing. The photoelectric sensor is fixed to the side of the sample tray and is used to monitor whether the multifunctional end gripper has grasped the sample in place. The visual camera, the photoelectric sensor, and the automated control unit are all communicatively connected to the integrated control platform.

4. The unmanned clinical testing modular unit according to claim 1, characterized in that, The multi-consumable storage and automatic discharging control device includes a consumable tower, an automated control unit base with an integrated stepper motor, and a control handle. The base of the automated control unit is connected to the workbench of the unmanned inspection area by fixing bolts, and the power shaft of the automated control unit base is coaxially connected to the central shaft of the consumable tower. The control handle is connected to the base of the automation control unit and is used to adjust the rotation angle of the consumable tower and switch the automatic mode. The automated control unit base is communicatively connected to the integrated control platform.

5. The unmanned clinical testing modular unit according to claim 1, characterized in that, The four-degree-of-freedom linear-rotational composite truss manipulator is fixed to the workbench of the unmanned inspection area by fixing bolts. It has one linear degree of freedom driven by a belt and three rotational degrees of freedom driven by a motor. The end of the four-degree-of-freedom linear-rotational composite truss manipulator is provided with two sets of two-finger grippers. The three-axis linear reciprocating gantry robot arm is fixed to the workbench of the unmanned inspection area by fixing bolts and has three linear degrees of freedom. The end of the three-axis linear reciprocating gantry robot arm is equipped with a plastic straw, a rotary electric cylinder gripper and a dripping device composed of three bent steel needles.

6. The unmanned clinical testing modular unit according to claim 1, characterized in that, The multi-degree-of-freedom robotic arm and multi-functional end effector also include an aluminum alloy base; The aluminum alloy base is fixed to the workbench of the unmanned inspection area by bolts, and the multi-degree-of-freedom robotic arm body is fixed to the aluminum alloy base; The multi-functional end effector includes an electric cylinder, a vision camera, and a pointed gripper, a large side gripper, and a small side gripper located at the end of the electric cylinder. The electric cylinder is fixed to the end of the multi-degree-of-freedom robotic arm via a connecting bracket, and the vision camera is fixed to the electric cylinder by fixing bolts.

7. The unmanned clinical testing modular unit according to claim 1, characterized in that, The medical waste recycling device includes a stainless steel box and a medical waste recycling bin; The base of the stainless steel box is fixed to the floor of the unmanned inspection area by fixing bolts. The medical waste recycling bin is placed inside the stainless steel box and fixed by Velcro. The medical waste recycling device is linked to the waste disposal action nodes of the multi-degree-of-freedom robotic arm and the multi-functional end-effector.

8. The unmanned clinical testing modular unit according to claim 1, characterized in that, The integrated control platform includes a data acquisition unit, a process analysis unit, a task scheduling unit, an equipment driving unit, a feedback rollback unit, and a closed-loop collection unit. The data acquisition unit is communicatively connected to the sample management and grasping control device and the clamping and positioning mechanism and automatic feeding device of the multi-type detection equipment, and is used to acquire information on the sample to be inspected, inspection items, process templates, and equipment status. The process analysis unit is connected to the data acquisition unit and is used to analyze and process the inspection item information and the process template information to obtain a set of verified task node information. The task scheduling unit is connected to the process parsing unit and is used to schedule the verified task node information set to obtain executable task queue information. The equipment drive unit is connected to the task scheduling unit, the sample preprocessing gantry robotic arm and multi-station electric cylinder positioning device, the multi-degree-of-freedom robotic arm and multi-functional end-effector, and the clamping and positioning mechanism and automatic feeding device of the multi-type detection equipment. It is used to process the executable task queue information to obtain equipment execution feedback information. The feedback back-off unit is connected to the device driving unit, the vision camera and the photoelectric sensor, and is used to correct the device execution feedback information to obtain corrected execution status information. The closed-loop collection unit is connected to the feedback back-off unit, the clamping and positioning mechanism of the multi-type detection equipment and the automatic feeding device, and the medical waste recycling device, and is used to perform closed-loop processing on the corrected execution status information to obtain the test closed-loop result information.

9. The unmanned clinical testing modular unit according to claim 8, characterized in that, The step of scheduling the verified task node information set to obtain the executable task queue information is achieved by the task scheduling unit performing the following processing: The verified task node information set is processed to identify reachable execution mechanisms to obtain a multi-execution mechanism reachable task node information set; Using the adaptation calculation model of the test container execution subject, the adaptation calculation is performed on the information set of reachable task nodes of the multiple execution mechanisms and the equipment status information to obtain the set of execution subject adaptation values; The adaptation model for the testing mobile cabin is as follows: ； ； In the formula, Let be the fit value of the implementing entity for the e-th candidate implementing agency. The normalized capability deviation between the e-th candidate executor and the current task node is given. The normalized occupancy waiting time for the e-th candidate executor. Let be the hard constraint gating coefficient for the e-th candidate actuator. For the fit scaling constant, This is the deviation sensitivity coefficient. The deviation shape index, The occupancy suppression coefficient is used; the candidate actuator is one or more of the following: the multi-degree-of-freedom manipulator body, the four-degree-of-freedom linear-rotational composite truss manipulator, and the three-axis linear reciprocating truss manipulator, which are capable of executing the currently reachable task node; The set of reachable task nodes for the multiple execution mechanisms and the set of adaptation values ​​for the execution entities are bound together to obtain the updated set of task node information. The updated task node information set is processed with resource locking and beat arrangement to obtain the executable task queue information.

10. The unmanned clinical testing modular unit according to claim 8, characterized in that, The step of correcting the feedback information of the device to obtain the corrected execution status information is obtained by the feedback rollback unit performing the following processing: The device performs visual correction processing on the feedback information to obtain visually corrected pose information. The visually corrected pose information and the electric cylinder push depth feedback are processed to obtain the sample delivery status detection value. Branch control processing is performed on the sample delivery status detection value to obtain the corrected execution status information.

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