Method for handling containers and coordinated system for handling containers

Abstract

The application discloses a container loading and unloading method and a cooperative system for container loading and unloading. The method comprises the following steps: receiving a container loading and unloading request corresponding to the cooperative system, wherein the cooperative system comprises a mechanical arm, a target analyzer and a container storage block, the container loading and unloading request comprises at least one of a container loading request and a container unloading request, the container loading request is used for loading the container from the container storage block to the target analyzer, and the container unloading request is used for unloading the container from the target analyzer to the container storage block; in response to the container loading and unloading request, judging a communication mode type of the target analyzer; performing a cooperative operation corresponding to the communication mode type, determining a safe operation time interval corresponding to the target analyzer; and controlling the mechanical arm to perform a loading and unloading operation on the target container in the safe operation time interval. The application solves the technical problem that the container is prone to be missed, misplaced or slowly loaded in the related art.

Description

Technical Field

[0001] This invention relates to the field of data processing, and more specifically, to a method for loading and unloading containers and a collaborative system for loading and unloading containers. Background Technology

[0002] In existing technologies, medical testing equipment such as chemiluminescence analyzers and biochemical analyzers exhibit significant stratification: high-end equipment, while equipped with automated sample transport tracks and reagent loading mechanisms, is prohibitively expensive and only widely used in medium to large hospitals; while the mainstream small and medium-sized or low-end analyzers, limited by cost and structural design, generally have extremely low levels of automation, with sample transport and reagent loading entirely reliant on manual operation. Operators must manually place sample tubes one by one into the analyzer's inlet, and after a single batch of tests is completed and the machine is stopped or waits for a specific time sequence to begin, they must manually replace reagent bottles and retrieve the tested samples. This requires continuous monitoring and is extremely labor-intensive. Manual operation is prone to errors due to fatigue and misjudgment, leading to incorrect sample placement or reagent omissions, increasing the risk of testing errors. Furthermore, manual monitoring consumes a significant amount of time, preventing the simultaneous handling of other tasks. It is evident that in related technologies, the loading and unloading of containers is prone to problems such as omissions, incorrect placement, and slow loading.

[0003] There is currently no effective solution to the above problems. Summary of the Invention

[0004] This invention provides a method for loading and unloading containers and a collaborative system for loading and unloading containers, so as to at least solve the technical problems in the related art where there is a tendency for containers to be missed, misplaced, or placed slowly during loading and unloading.

[0005] According to one aspect of the present invention, a container loading and unloading method is provided, comprising: receiving a container loading and unloading request corresponding to a collaborative system, wherein the collaborative system includes a robotic arm, a target analyzer, and a container storage block, and the container loading and unloading request includes at least one of the following: a container loading request and a container unloading request, wherein the container loading request is used to load a container from the container storage block to the target analyzer, and the container unloading request is used to unload a container from the target analyzer back to the container storage block; in response to the container loading and unloading request, determining the communication mode type of the target analyzer; performing a collaborative operation corresponding to the communication mode type, determining a safe operation time interval corresponding to the target analyzer; and controlling the robotic arm to perform loading and unloading operations on the target container during the safe operation time interval.

[0006] Optionally, performing a collaborative operation corresponding to the communication method type to determine the safe operation time interval corresponding to the target analyzer includes: when the communication method type is communication-based, establishing a data interaction link with the target analyzer; and communicating with the target analyzer based on the data interaction link to obtain the safe operation time interval corresponding to the target analyzer.

[0007] Optionally, performing a collaborative operation corresponding to the communication method type to determine the safe operation time interval corresponding to the target analyzer includes: when the communication method type is non-communication, determining the component parameters of the moving parts in the target analyzer, wherein the component parameters include: component position, motion state, motion path and motion timing data; and based on the component parameters, analyzing the motion cycle and regularity characteristics of the target analyzer to determine the safe operation time interval.

[0008] Optionally, determining the component parameters of the moving component includes: if the collaborative system also includes a monitoring device, controlling the monitoring device to activate visual monitoring to monitor the moving component in real time; controlling the monitoring device to capture the position and status of the moving component in real time, and synchronously collecting and recording the motion path and motion timing data of the moving component.

[0009] Optionally, controlling the robotic arm to perform loading and unloading operations on the target container during the safe operation time interval includes: dynamically identifying the target container to obtain target container parameters, wherein the target container parameters include at least one of the following: container barcode, container type, container stored material, and container storage capacity; determining robotic arm operation parameters based on the target container parameters, wherein the robotic arm operation parameters include at least one of the following: gripper opening and closing angle, and gripper clamping force; and controlling the robotic arm to perform loading and unloading operations on the target container during the safe operation time interval based on the robotic arm operation parameters.

[0010] Optionally, after controlling the robotic arm to perform loading and unloading operations on the target container during the safe operation time interval, the method further includes: acquiring operation coordination information when the communication method is communication-type; sending the operation coordination information to the target analyzer; and receiving detection coordination information sent by the target analyzer.

[0011] According to one aspect of the present invention, a collaborative system for loading and unloading containers is provided, comprising: a controller, a robotic arm, a target analyzer, and a container storage block. The controller is configured to receive a container loading / unloading request corresponding to the collaborative system. The collaborative system includes the robotic arm, the target analyzer, and the container storage block. The container loading / unloading request includes at least one of the following: a container loading request and a container unloading request. The container loading request is used to load a container from the container storage block to the target analyzer, and the container unloading request is used to unload a container from the target analyzer back to the container storage block. In response to the container loading / unloading request, the controller determines the communication mode type of the target analyzer; performs a collaborative operation corresponding to the communication mode type; determines a safe operation time interval corresponding to the target analyzer; and controls the robotic arm to perform loading / unloading operations on the target container during the safe operation time interval.

[0012] According to one aspect of the present invention, a container loading and unloading device is provided, comprising: a receiving module for receiving a container loading and unloading request corresponding to a collaborative system, wherein the collaborative system includes a robotic arm, a target analyzer, and a container storage block, and the container loading and unloading request includes at least one of the following: a container loading request and a container unloading request, wherein the container loading request is used to load a container from the container storage block to the target analyzer, and the container unloading request is used to unload a container from the target analyzer back to the container storage block; a detection module for determining the communication mode type of the target analyzer in response to the container loading and unloading request; an execution module for executing a collaborative operation corresponding to the communication mode type and determining a safe operation time interval corresponding to the target analyzer; and a loading and unloading module for controlling the robotic arm to perform loading and unloading operations on the target container during the safe operation time interval.

[0013] According to one aspect of the present invention, an electronic device is provided, comprising: a processor; a memory for storing processor-executable instructions; wherein the processor is configured to execute the instructions to implement the container loading and unloading method described in any of the preceding claims.

[0014] According to one aspect of the present invention, a computer-readable storage medium is provided, wherein when the instructions in the computer-readable storage medium are executed by a processor of an electronic device, the electronic device is enabled to perform the container loading and unloading method described in any of the preceding claims.

[0015] In this embodiment of the invention, a container loading / unloading request corresponding to a collaborative system is received. The collaborative system includes a robotic arm, a target analyzer, and a container storage block. The container loading / unloading request includes at least one of the following: a container loading request, a container unloading request, whereby the container loading request loads the container from the container storage block to the target analyzer, and the container unloading request unloads the container from the target analyzer back to the container storage block. In response to the container loading / unloading request, the communication mode type of the target analyzer is determined; a collaborative operation corresponding to the communication mode type is executed, and a safe operation time interval corresponding to the target analyzer is determined; the robotic arm is controlled to perform loading / unloading operations on the target container during the safe operation time interval. By adopting a collaborative control method adapted to the target analyzer's communication mode type, receiving the container loading / unloading request, determining the target analyzer's communication mode type, executing the corresponding collaborative operation to determine the safe operation time interval, and controlling the robotic arm to complete the container loading / unloading operation during the interval, the invention achieves the purpose of accurately executing container loading / unloading actions and standardizing the container loading / unloading operation process. This achieves the technical effect of avoiding omissions, errors, or slow placement during container loading / unloading, thereby solving the technical problem in related technologies where omissions, errors, or slow placement are prone to occur during container loading / unloading. Attached Figure Description

[0016] The accompanying drawings, which are included to provide a further understanding of the invention and form part of this application, illustrate exemplary embodiments of the invention and, together with their description, serve to explain the invention and do not constitute an undue limitation thereof. In the drawings:

[0017] Figure 1 This is a flowchart of a container loading and unloading method according to an embodiment of the present invention;

[0018] Figure 2 This is a schematic diagram of multiple analyzers sharing a single collaborative robotic arm, provided by an optional embodiment of the present invention;

[0019] Figure 3 This is a schematic diagram of the overall collaborative architecture of the system provided by an optional embodiment of the present invention;

[0020] Figure 4 This is a flowchart of the dual-mode intelligent collaborative workflow provided by an optional embodiment of the present invention;

[0021] Figure 5 This is a flowchart of a communication-free safety gap analysis provided by an optional embodiment of the present invention;

[0022] Figure 6 This is a schematic diagram of the intelligent electric gripper and container adaptation provided by an optional embodiment of the present invention;

[0023] Figure 7 This is a structural block diagram of a container loading and unloading device according to an embodiment of the present invention. Detailed Implementation

[0024] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present invention.

[0025] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that embodiments of the invention described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "including" and "having," and any variations thereof, are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or apparatus that includes a series of steps or units is not necessarily limited to those explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0026] Example 1

[0027] According to an embodiment of the present invention, an embodiment of a method for loading and unloading a container is provided. It should be noted that the steps shown in the flowchart in the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions. Furthermore, although a logical order is shown in the flowchart, in some cases, the steps shown or described may be executed in a different order than that shown here.

[0028] Figure 1 This is a flowchart of a container loading and unloading method according to an embodiment of the present invention, such as... Figure 1 As shown, the method includes the following steps:

[0029] Step S102: Receive a container loading / unloading request corresponding to the collaborative system. The collaborative system includes a robotic arm, a target analyzer, and a container storage block. The container loading / unloading request includes at least one of the following: a container loading request, a container unloading request. The container loading request is used to load the container from the container storage block to the target analyzer, and the container unloading request is used to unload the container from the target analyzer back to the container storage block.

[0030] Among them, the collaborative system refers to the overall system composed of a robotic arm, a target analyzer, and a container storage block, which is used to complete the collaborative operation of container loading and unloading. For example, a collaborative system for container loading and unloading adapted to small and medium-sized low-end biochemical analyzers can integrate the functions of each hardware module to realize the integrated operation of container loading and unloading, avoiding the disorder of individual operation of each module.

[0031] Among them, robotic arms refer to the execution components in a collaborative system that perform actions such as grasping, transferring, loading and unloading containers. For example, multi-axis collaborative robotic arms can replace manual labor in completing the physical transfer operations of containers and improve the automation level of loading and unloading.

[0032] The target analyzer refers to the testing equipment in the collaborative system that is the object of container loading and unloading operations, such as a chemiluminescence analyzer or a biochemical analyzer. It provides a testing environment for samples / reagents inside the container and is the core target end for container loading and unloading. It should be noted that there can be multiple analyzers, which can be arranged in an enclosed layout around the robotic arm.

[0033] Among them, the container storage area refers to the dedicated area in the collaborative system used to store containers that are to be loaded or unloaded, or that have been unloaded and returned, such as reagent bottle storage racks and sample tube placement tables. It can provide a fixed storage location for containers and avoid the chaos caused by containers being placed randomly.

[0034] Among them, container loading and unloading requests refer to the instructions that trigger the collaborative system to execute container loading and unloading operations, such as the instructions received by the system to load reagent bottles or unload sample tubes. These instructions provide clear guidance for system operations and avoid blind operations without instructions.

[0035] Among them, the container loading request refers to the specific instruction in the container loading and unloading request that the container be moved from the container storage area to the target analyzer. For example, the instruction to load the sample tube to be tested from the storage area to the analyzer can clarify the loading operation direction of the container and provide a basis for the robotic arm to plan the transfer path.

[0036] Among them, the container return request refers to the specific instruction in the container loading and unloading request that the container be moved from the target analyzer back to the container storage area. For example, the instruction to unload the tested sample tube from the analyzer back to the storage area can clarify the unloading direction of the container and avoid the robot arm from transferring the container in the wrong direction.

[0037] Among them, containers refer to instruments such as sample tubes and reagent bottles that carry samples / reagents for loading and unloading operations, such as serum sample tubes and biochemical test reagent bottles, which can serve as carriers for samples / reagents and enable the matching and connection of samples / reagents with analyzers.

[0038] In this step, the collaborative system receives a matching container loading / unloading request, which specifies the type of loading or unloading and clarifies the direction of container transfer between the container storage block and the target analyzer.

[0039] Through this step, the system can obtain clear work instructions, defining the core work direction for subsequent loading and unloading processes and avoiding blindly executing operations without instructions. At the same time, by distinguishing between loading and unloading request types, the system avoids the problem of incorrect transfer direction of the robotic arm from the source of instructions, laying the instruction foundation for reducing misplacement and omission. In addition, clear requests also allow the system to respond only to matching work instructions, avoiding invalid operations and saving system operating resources.

[0040] Step S104: In response to a container loading / unloading request, determine the communication mode type of the target analyzer;

[0041] Among them, the communication method type refers to the category of communication-related capabilities of the target analyzer. It is mainly divided into communication type with wired / wireless communication capabilities and non-communication type without any communication capabilities, such as the communication type of high-end chemiluminescence analyzers and the non-communication type of small and medium-sized low-end analyzers. It can clarify the communication compatibility attributes of the target analyzer and provide a basis for judgment for subsequent execution of dedicated collaborative operations.

[0042] In this step, the collaborative system responds to the received container loading and unloading requests, detects the communication capabilities of the target analyzer, and ultimately determines its communication method type.

[0043] This step enables the system to trigger communication capability detection based on actual job requests, making the detection action more targeted and eliminating the need for continuous detection of the analyzer, thus effectively saving system computing resources. At the same time, it accurately determines the communication mode type of the analyzer, providing a clear direction for subsequent collaborative operations that match the analyzer's capabilities, avoiding subsequent process failures due to mismatch between operations and the analyzer's communication capabilities, and ensuring the continuity of the loading and unloading process.

[0044] Step S106: Perform the collaborative operation corresponding to the communication method type and determine the safe operation time interval corresponding to the target analyzer;

[0045] Among them, collaborative operation refers to dedicated collaborative operations that match the communication method of the target analyzer and are carried out to determine the safe operation time interval. For example, operations that establish a data interaction link with the analyzer in communication mode, and operations that perform visual monitoring of the moving parts of the analyzer in non-communication mode. It can perform adaptive operations as needed to avoid failure to determine the safe operation time interval due to incompatibility between the operation and the analyzer's capabilities.

[0046] Among them, the safe operation time gap refers to the future time period during which the target analyzer can safely perform container loading and unloading operations by the robotic arm. That is, the gap period when the moving parts of the analyzer are stationary and there is no risk of interference. For example, the 5-second window before the analyzer reagent compartment rotating disk is stationary can clearly define the safe operation period of the robotic arm and avoid interference and collision between the operation and the moving parts of the analyzer from the time dimension.

[0047] In this step, the collaborative system performs a corresponding dedicated collaborative operation based on the determined communication method type of the target analyzer, and calculates and determines the corresponding safe operation time interval for the target analyzer through this operation.

[0048] Through this step, the system performs dedicated collaborative operations based on the analyzer's communication method, ensuring that the determination of safe operation time intervals better matches the actual equipment status of the analyzer, significantly improving the accuracy of interval determination. Simultaneously, it pre-determines future safe operation periods, allowing sufficient time for the robotic arm to plan its grasping, transferring, and loading / unloading trajectories, avoiding operational errors caused by hasty robotic arm movement planning, and improving the continuity of the loading / unloading process. Furthermore, by determining safe intervals through standardized collaborative operations, it avoids the subjectivity of manual judgment of safe operation time, providing an objective basis for subsequent precise operations.

[0049] Step S108: Control the robotic arm to perform loading and unloading operations on the target container during safe operation time intervals.

[0050] The target container refers to the specific container specified in the container loading and unloading request that the robotic arm needs to perform loading and unloading operations. For example, a specific reagent bottle to be loaded into the analyzer in the loading request, or a specific sample tube to be unloaded in the unloading request. This can clearly identify the precise object of the robotic arm's operation and avoid misplacement or omission caused by misoperation of non-target containers.

[0051] Among them, loading and unloading operations refer to the specific physical actions performed by the robotic arm on the target container according to the type of container loading and unloading request. For example, the loading action of moving the target reagent bottle from the container storage block to the reagent position of the target analyzer, and the unloading action of moving the target sample tube from the sample inlet of the target analyzer back to the container storage block. This can clarify the core operation actions of the robotic arm and make the actions accurately correspond to the request type.

[0052] In this step, the collaborative system controls the robotic arm to perform loading or unloading operations on the designated target container that match the request type within the determined safe operation time interval, based on the established safe operation time interval.

[0053] This step strictly limits the robotic arm's operation to safe operating time intervals, completely avoiding interference and collisions between the robotic arm and the moving parts of the analyzer from a temporal perspective. This ensures the integrity of the target container, prevents equipment damage, and avoids misplacement of containers due to collisions. By controlling the robotic arm to precisely operate on the target container, the unique work object is clearly identified, directly preventing the robotic arm from accidentally grabbing or operating non-target containers, significantly reducing the probability of missed or misplaced containers. The robotic arm automates loading and unloading operations, completely replacing manual loading and unloading methods, avoiding the problems of missed or misplaced containers caused by human factors such as fatigue, lack of concentration, and judgment errors, improving the accuracy and stability of container loading and unloading operations. In addition, the robotic arm performs standardized operations within fixed safe intervals, making loading and unloading actions more standardized, further reducing the risk of misplacement or missed containers caused by operational errors.

[0054] Through the above steps, a container loading / unloading request corresponding to the collaborative system is received. The collaborative system includes a robotic arm, a target analyzer, and a container storage block. The container loading / unloading request includes at least one of the following: a container loading request, a container unloading request, whereby the container loading request loads the container from the container storage block to the target analyzer, and the container unloading request unloads the container from the target analyzer back to the container storage block. In response to the container loading / unloading request, the communication mode type of the target analyzer is determined; a collaborative operation corresponding to the communication mode type is executed, and a safe operation time interval corresponding to the target analyzer is determined; the robotic arm is controlled to perform loading / unloading operations on the target container during the safe operation time interval. By adopting a collaborative control method adapted to the target analyzer's communication mode type, receiving container loading / unloading requests, determining the target analyzer's communication mode type, executing corresponding collaborative operations to determine the safe operation time interval, and controlling the robotic arm to complete the container loading / unloading operation within the interval, the goal of accurately executing container loading / unloading actions and standardizing the container loading / unloading operation process is achieved. This avoids the technical effect of missing or misplacing containers during loading / unloading, thus solving the technical problem of missing, misplacing, or slow placement during container loading / unloading in related technologies.

[0055] As an optional embodiment, performing a collaborative operation corresponding to the communication method type to determine the safe operation time interval corresponding to the target analyzer includes: when the communication method type is communication, establishing a data interaction link with the target analyzer; and communicating with the target analyzer based on the data interaction link to obtain the safe operation time interval corresponding to the target analyzer.

[0056] Among them, the communication type refers to the type of target analyzer that has the ability to communicate data with the collaborative system, and can support direct data interaction between the system and the analyzer.

[0057] Among them, the data interaction link refers to the two-way data transmission channel between the collaborative system and the target analyzer, which can ensure stable and timely information transmission.

[0058] Among them, communication interaction refers to the two-way information transmission through the data interaction link, which can directly obtain the analyzer's accurate time data.

[0059] In this embodiment, for a target analyzer with a communication method, the collaborative system first responds to the container loading / unloading request, activates the communication module, and establishes a stable and reliable data interaction link with the target analyzer. This link can be wired (such as Ethernet port, CAN bus) or wireless (such as Bluetooth, LoRa) to ensure data transmission without delay or loss. After the link is established, the collaborative system engages in bidirectional communication with the target analyzer through this data interaction link, actively sending a safety gap acquisition request to the analyzer, informing it that a container loading / unloading operation needs to be performed and requesting the time gap available for safe operation in the future. After receiving the request, the target analyzer calculates and returns the accurate safety operation time gap based on its current operating status and detection progress. After receiving this gap data, the collaborative system completes the determination of the safety operation time gap, preparing for subsequent robotic arm operations.

[0060] This method leverages the target analyzer's built-in communication capabilities, eliminating the need for additional monitoring equipment to collect data and analyze patterns. By directly communicating with the analyzer via a data exchange link, safe operation time gaps can be accurately obtained. This significantly improves the efficiency of acquiring safe gaps and ensures the accuracy and reliability of the gap data, providing a solid time basis for subsequent loading and unloading operations by the robotic arm. For example, if the target analyzer is a high-end chemiluminescence analyzer with communication capabilities, after the collaborative system establishes a connection with the analyzer via a wired communication link, it can directly obtain the next 5-second time gap (e.g., 10:05:00-10:05:05) before the reagent compartment's rotating disk comes to a standstill. The robotic arm can then plan its trajectory in advance and accurately load the reagent bottle within this gap, avoiding collisions with the rotating reagent compartment, saving system analysis and calculation time, and improving the overall efficiency of the loading and unloading process.

[0061] As an optional embodiment, performing collaborative operations corresponding to the communication method type and determining the safe operation time interval corresponding to the target analyzer includes: when the communication method type is non-communication, determining the component parameters of the moving parts in the target analyzer, wherein the component parameters include: component position, motion state, motion path and motion timing data; and based on the component parameters, analyzing the motion cycle and regular characteristics of the target analyzer to determine the safe operation time interval.

[0062] Among them, the non-communication type refers to the type of target analyzer that does not have the ability to communicate with the collaborative system, covering more low-end and small-to-medium-sized analyzers and improving system adaptability.

[0063] Moving parts, which refer to components of the target analyzer that undergo mechanical movement, such as sample push rods and reagent turntables, are sources of interference risk that need to be avoided.

[0064] Among them, component parameters refer to the set of data describing the operating state of moving components, which are the basic data for analyzing motion laws.

[0065] Among them, component position refers to the current spatial orientation of the moving component, which can be used to determine whether it is in a dangerous loading and unloading area.

[0066] Among them, motion state refers to the working state in which moving parts are stationary or in motion, which can distinguish between safe and dangerous periods.

[0067] Among them, the motion path refers to the spatial trajectory of the moving parts, which can clarify the range of movement of the parts and avoid interference.

[0068] Among them, motion timing data refers to the motion data of moving parts at different times, which can reflect the temporal pattern of the motion.

[0069] Among them, the motion cycle refers to the time it takes for a moving part to complete one complete regular movement, which can predict the next static period.

[0070] Among them, regularity refers to the repetitive motion characteristics of moving parts, which can accurately locate safety gaps.

[0071] In this embodiment, for a target analyzer with a non-communication communication method, since it cannot interact with the collaborative system and therefore cannot directly provide safe operation time gaps, the collaborative system first initiates a dedicated collaborative operation process. It comprehensively and in real-time acquires the component parameters of all moving parts in the target analyzer through various acquisition methods. Specifically, this includes the real-time position of the moving parts (e.g., whether the sample pusher is at the inlet or the detection position), the current motion state (e.g., stationary, pushing, rotating), the complete motion path (e.g., the trajectory of the reagent needle moving arm from the reagent position to the reaction cup), and the corresponding motion timing data (e.g., the start time, stop time, duration, and interval of each action). After acquiring sufficient component parameters, the collaborative system summarizes and analyzes this multi-dimensional data, extracting the motion cycle of the moving parts (e.g., the cycle of the sample pusher pushing for 2 seconds and remaining stationary for 4 seconds) and regular characteristics (e.g., the reagent chamber rotating disk rotates once every 10 seconds with a 2-second stationary gap in between). Based on these patterns, it accurately predicts the time gaps available for safe operation of the robotic arm in the future, thus determining the safe operation time gaps.

[0072] This method eliminates the need to rely on the target analyzer's communication function. By simply collecting and analyzing the multi-dimensional parameters of its moving parts, the operating patterns of the moving parts can be accurately grasped, thereby determining the safe operating time interval. This effectively solves the problem that non-communication low-end analyzers cannot directly provide safe intervals, greatly expanding the applicability of the collaborative system and enabling the system to adapt to various small and medium-sized / low-end analyzers without communication capabilities. For example, if the target analyzer is a low-end biochemical analyzer without communication capabilities, its sample push rod has a cycle of pushing for 2 seconds and remaining stationary for 4 seconds. The collaborative system collects the component position (inlet / detector position), movement state (pushing / stationary), movement path (straight line trajectory from inlet to detector position), and movement timing data of the push rod (push starts at 10:00:00, stationary at 10:00:02, restarts at 10:00:06). The analysis shows that its movement cycle is 6 seconds and the stationary period is 4 seconds. The next safe operation time interval is then determined to be 10:00:08-10:00:12. The robotic arm can complete the loading and unloading of sample tubes within this interval, which avoids interference with the moving push rod and realizes automated loading and unloading of non-communication analyzers, improving the versatility and practicality of the system.

[0073] As an optional embodiment, determining the component parameters of the moving component includes: if the collaborative system also includes a monitoring device, controlling the monitoring device to activate visual monitoring to monitor the moving component in real time; controlling the monitoring device to capture the position and status of the moving component in real time, and synchronously collecting and recording the motion path and motion timing data of the moving component.

[0074] Among them, monitoring equipment refers to devices used for visual acquisition in a collaborative system, such as smart cameras, which are the hardware foundation for communication-free monitoring.

[0075] Visual monitoring refers to non-contact monitoring of moving parts through image acquisition, which eliminates the need to modify the analyzer and reduces adaptation costs.

[0076] In this embodiment, when the collaborative system determines that the target analyzer is non-communicative and requires the collection of component parameters of its moving parts, if the collaborative system is also equipped with monitoring equipment (such as a smart camera built into the end of a robotic arm or a fixed vision camera next to the loading and unloading area), the collaborative system first sends a start command to the monitoring equipment to control the monitoring equipment to activate the visual monitoring function, adjust the monitoring angle and acquisition frequency, and ensure that all moving parts of the target analyzer can be fully covered, especially high-risk moving parts around the loading and unloading area (such as the sample needle moving arm and the reagent chamber rotating disk). After the monitoring equipment is started, it performs real-time and uninterrupted monitoring of the moving parts according to a preset acquisition frequency (such as millisecond level). On the one hand, it captures the instantaneous component position and current motion state of the moving parts in real time, accurately records the spatial orientation and working state of the moving parts at each moment, and on the other hand, it simultaneously collects and records the complete motion path of the moving parts, tracks its entire spatial trajectory from start to stop, and simultaneously records the corresponding motion timing data, retaining the start time, stop time, duration, interval, and other information of each action one by one. Finally, all the collected data are summarized to form complete component parameters of the moving parts for subsequent analysis by the collaborative system.

[0077] This method employs a non-contact visual monitoring mode, enabling comprehensive and real-time acquisition of moving component parameters without any structural modifications to the target analyzer. This reduces the adaptation costs between the system and the analyzer, avoids potential equipment damage and decreased detection accuracy associated with analyzer modifications, and ensures the accuracy and completeness of the acquired component parameters. This provides reliable data support for subsequent analysis of the operating cycle and regular characteristics of moving components. For example, the monitoring equipment in the collaborative system uses a smart camera built into the end effector of the robotic arm. Once visual monitoring is activated, it can capture real-time images of the reagent needle moving arm of the target analyzer, accurately capturing its position (directly above the reagent bottle) and movement state (descending / absorbing / ascending) during liquid aspiration. It records the complete path from the reagent position to the reaction cup, and retains the timing data of each aspiration action (e.g., descent begins at 10:01:00, aspiration begins at 10:01:01, aspiration completes at 10:01:02, and arrival above the reaction cup at 10:01:05). This data comprehensively reflects the operating pattern of the reagent needle moving arm, providing strong support for determining safe clearances.

[0078] As an optional embodiment, controlling the robotic arm to perform loading and unloading operations on the target container during safe operation time intervals includes: dynamically identifying the target container to obtain target container parameters, wherein the target container parameters include at least one of the following: container barcode, container type, container stored material, and container storage capacity; determining robotic arm operation parameters based on the target container parameters, wherein the robotic arm operation parameters include at least one of the following: gripper opening and closing angle, and gripper clamping force; and controlling the robotic arm to perform loading and unloading operations on the target container during safe operation time intervals based on the robotic arm operation parameters.

[0079] Among them, the target container parameters refer to the set of attribute data of the container, which is the basis for the robotic arm to adjust its actions.

[0080] Among them, the container barcode refers to the unique identification barcode of the container, which can distinguish the container and avoid misplacing or mishandling it.

[0081] Among them, container type refers to the type of container, such as sample tubes and reagent bottles, which can be matched with the corresponding operation method.

[0082] Among them, the container storage substance refers to the samples, reagents and other materials inside the container, which can guide the adjustment of clamping parameters.

[0083] Among them, container storage capacity refers to the capacity of materials inside the container, which can be adapted to containers with different fullness to adjust different clamping forces.

[0084] Among them, the robotic arm operation parameters refer to the action parameters of the robotic arm's gripping action, which enable the operation to adapt to the characteristics of the container.

[0085] The gripper opening angle refers to the size of the gripper on the robotic arm, which can match the thickness of the container and provide a more secure grip.

[0086] Among them, the gripping force refers to the degree of clamping of the robotic arm, which can prevent the container from falling or breaking.

[0087] In this embodiment, after determining the safe operation time interval, the collaborative system does not directly control the robotic arm to perform loading and unloading operations. Instead, it dynamically identifies the target container by using monitoring devices (such as smart cameras) to capture and identify the target container in real time, comprehensively collecting various attribute information of the target container to form target container parameters. These parameters include the container barcode (used to uniquely identify the container and distinguish different samples / reagents), container type (to determine whether it is a sample tube or a reagent bottle, and to clarify the loading and unloading method), the contents stored in the container (to determine whether it is a serum sample or a biochemical reagent, and to determine whether special clamping is required), and the container's storage capacity (to understand the fullness of the material inside the container, such as full, half-full, etc.). (Filled or empty bottle); After obtaining the target container parameters, the collaborative system combines these parameters to accurately calculate and determine the operating parameters of the robotic arm. It adjusts the gripping angle according to the container type and thickness (e.g., smaller angle for thin sample tubes, larger angle for thick reagent bottles), and adjusts the gripping force according to the stored material and capacity (e.g., increased force for full sample tubes to prevent them from falling, decreased force for empty reagent bottles to avoid breakage). Once the robotic arm operating parameters are determined, the collaborative system waits for a safe operating time interval. During this interval, it controls the robotic arm to perform precise loading and unloading operations on the target container according to the preset path and determined operating parameters, ensuring a smooth and safe operation.

[0088] This method adaptively adjusts the robotic arm's movements based on container characteristics, resulting in more stable and safer gripping, preventing container damage. It also accurately identifies container attributes, reducing the risk of missed or incorrect placement and improving loading and unloading precision. For example, if the target container is a full serum sample tube (container barcode 001, container type: sample tube, stored substance: serum, storage capacity: 3ml), the collaborative system dynamically identifies these parameters and adjusts the robotic arm's gripping angle to 10mm (adapting to the sample tube's thickness) and the gripping force to 5N (ensuring stable gripping without crushing the sample tube). Within a safe operating time interval (e.g., 10:05:00-10:05:05), the robotic arm precisely grasps the sample tube and transfers it to the target analyzer's inlet for loading. This effectively avoids slippage due to improper gripping angles, sample tube breakage due to excessive force, and incorrect placement due to failure to recognize the container barcode.

[0089] As an optional embodiment, after the robotic arm performs loading and unloading operations on the target container during the safe operation time interval, the method further includes: acquiring operation coordination information when the communication method is communication-type; sending the operation coordination information to the target analyzer; and receiving detection coordination information sent by the target analyzer.

[0090] Among them, the operation coordination information refers to the operation result information of the robotic arm to complete the loading and unloading, which can inform the analyzer that the loading and unloading has been completed.

[0091] Among them, detection collaboration information refers to the detection-related information fed back by the target analyzer, which enables process integration.

[0092] In this embodiment, only scenarios with a communication method are addressed. After the collaborative system controls the robotic arm to complete the loading and unloading operation of the target container within the safe operation time interval, the robotic arm will send a completion signal to the collaborative system. Upon receiving this signal, the collaborative system immediately collects relevant information about this loading and unloading operation and integrates it to form operation collaboration information. This information specifically includes the type of loading and unloading operation (loading or unloading), the barcode and type of the target container, the loading and unloading completion time, and the specific workstation where the container is placed (such as a reagent position or sample position on the analyzer). Subsequently, the collaborative system sends the integrated operation collaboration information to the target analyzer through the previously established data interaction link. The system notifies the analyzer that the container loading and unloading operation has been successfully completed, allowing the analyzer to verify the container information and initiate subsequent processes. After receiving the operation coordination information, the target analyzer verifies the information (such as checking whether the container barcode matches the item to be tested and whether the workstation is correct). Once the verification is successful, it generates testing coordination information, which includes the testing task start command, the estimated testing completion time, and the analyzer's current working status (such as ready or testing). The testing coordination information is then fed back to the coordination system through the data interaction link. After receiving the information, the coordination system confirms that the loading and unloading operation and the testing process are seamlessly integrated, and then controls the robotic arm to reset, waiting for the next loading and unloading request.

[0093] This approach achieves a closed-loop business information system between the system and the analyzer, seamlessly connecting loading / unloading operations with the testing process, avoiding information gaps, and improving the automation and continuity of the overall testing process. For example, if the current request is to load a container, after the robotic arm completes the reagent bottle loading, the collaborative system sends the operation collaboration information (loading operation, reagent bottle barcode 002, loading completion time 10:06:00, placed in reagent slot 3 of the analyzer) to the analyzer. After the analyzer verifies the information, it sends the testing collaboration information back to the collaborative system (reagent testing task started, expected completion time 10:16:00, current status: testing in progress). Upon receiving this information, the collaborative system confirms the process is seamless, and the robotic arm resets to standby. No manual intervention is required to verify the information or start the testing, saving labor costs and avoiding problems such as testing delays and container misplacement caused by information gaps, thus improving the efficiency and accuracy of the overall process.

[0094] Based on the above embodiments and optional embodiments, an optional implementation method is provided, which is described in detail below.

[0095] In related technologies, different problems exist for different scenarios. For example, in scenarios with communication, existing robotic arms can only obtain basic working status and cannot accurately obtain future safe intervals. Furthermore, they lack post-loading and unloading business collaboration information exchange, affecting the continuity of the testing process. In scenarios without communication, robotic arms cannot visually observe and analyze the operating patterns of the analyzer's moving parts, and cannot autonomously determine safe operating windows, relying on manual intervention. Manual operation is prone to sample misplacement and reagent omissions due to fatigue and misjudgment, increasing the risk of testing errors. Moreover, manual monitoring consumes a significant amount of time, preventing the simultaneous handling of other tasks. Existing robotic arms require modification of the analyzer for compatibility, resulting in high costs and difficulty in widespread adoption. Based on this, the reasons for the above technical problems have been identified: existing robotic arm systems have significant compatibility defects. On the one hand, general-purpose conventional robotic arms generally cannot be adapted to the analyzer's built-in automation module through fixed communication methods, and cannot cover analyzers without open communication capabilities or protocols. On the other hand, most general-purpose robotic arms only have simple grasping functions, lacking intelligent observation and analysis capabilities, and cannot autonomously identify the analyzer's movement patterns to obtain safe operating windows.

[0096] In view of this, an optional embodiment of the present invention provides an intelligent collaborative system for analyzers based on a multi-axis collaborative robotic arm. Automated collaborative settings are implemented for both communication-enabled and communication-free functional scenarios. It encompasses a communication-based intelligent collaborative scheme: the multi-axis collaborative robotic arm interacts with the analyzer via wired or wireless communication to obtain future safe interval times, completing sample / reagent loading / unloading and subsequent business collaborative information exchange, avoiding mechanical interference and collisions; a communication-free intelligent collaborative scheme: the multi-axis collaborative robotic arm observes the operating patterns of the moving parts of the analyzer's loading / unloading area through an intelligent camera, intelligently analyzes and determines the safe interval time, and uses this interval to complete the sample / reagent loading / unloading operation; a dual-mode adaptive switching mechanism: the intelligent control unit automatically detects the analyzer's communication capabilities and switches between communication-enabled and communication-free collaborative modes without manual intervention; a collaborative working mechanism between the intelligent camera and the electric gripper: the intelligent camera identifies container information and the status of moving parts, and the intelligent electric gripper adaptively adjusts parameters to complete the gripping, ensuring loading / unloading accuracy and safety; and an external adaptation scheme that does not require analyzer modification: by deploying the robotic arm and intelligent components externally, it is compatible with different models of small and medium-sized / low-end analyzers, reducing adaptation costs.

[0097] Figure 2 This is a schematic diagram of multiple analyzers sharing a single collaborative robotic arm, provided by an optional embodiment of the present invention. Figure 3 This is a schematic diagram of the overall collaborative architecture of the system provided by an optional embodiment of the present invention. Figure 4 This is a flowchart of the dual-mode intelligent collaborative workflow provided by an optional embodiment of the present invention. Figure 5 This is a flowchart of a communication-free safety gap analysis provided by an optional embodiment of the present invention. Figure 6This is a schematic diagram of the intelligent electric gripper and container adaptation provided by an optional embodiment of the present invention, as shown below. Figure 2-6 As shown, it will be introduced below:

[0098] The intelligent collaborative system for analyzers based on a multi-axis collaborative robotic arm provided in an optional embodiment of the present invention includes a multi-axis collaborative robotic arm (with a built-in intelligent camera at the end; the end is an intelligent electric gripper), an intelligent control unit (integrating a communication adapter module and a vision analysis module), a communication module (supporting wired / wireless communication), a small / medium-sized / low-end analyzer, a sample / reagent storage area (capable of dynamic identification and feature reading of samples / reagents, including barcodes, types, serum, and transport volume), a data interaction link, and a visual monitoring area (covering the analyzer loading / unloading area and moving parts).

[0099] After the system is officially started, it first tests and judges the communication capability of the target analyzer. If the analyzer is determined to be a communication type, a stable communication connection is established with the analyzer. Then, the corresponding safe operation time interval of the analyzer is accurately obtained through communication interaction. Subsequently, the intelligent electric gripper performs container gripping and loading / unloading operations. The gripper is equipped with an intelligent control unit, has an adjustable opening and closing angle range, and is equipped with a force sensor (or other force sensing solution) and anti-slip gripping surface. When adapting, the opening and closing angle is adjusted according to the container type. The opening and closing angle is adjusted to be smaller for sample tubes and larger for reagent bottles. After the loading and unloading operation is completed, the system and the analyzer carry out business collaboration information exchange. After the entire process is completed, the "place and go" operation effect can be achieved. If the analyzer is determined to be non-communication type, the intelligent camera is activated to start monitoring, entering the motion component trajectory acquisition stage. The position and status of the analyzer's moving components are captured in real time, and the motion path and time sequence data of the moving components are recorded simultaneously. After data acquisition, the operation pattern is modeled, and the full amount of data collected is analyzed to extract the motion cycle and regular characteristics of the moving components. Then, the safety gap identification stage is entered. Based on the modeling and analysis results, the operable safe time gap of the analyzer is accurately determined. After obtaining the safety gap, the intelligent electric gripper is used to adapt the opening and closing angle according to the container type to perform container gripping and loading / unloading operations. After the operation is completed, the "place and go" operation effect can be achieved.

[0100] It should be noted that the communication methods in the system provided by the optional embodiments of the present invention are replaceable: wired communication can be enhanced with the CAN bus protocol, and wireless communication can be enhanced with the LoRa protocol to adapt to different laboratory environments; the vision analysis module can be replaced with a deep learning model based on machine vision to improve the accuracy of safety gap recognition under complex motion patterns; the smart camera can be replaced with a LiDAR and vision fusion solution to enhance the ability to monitor moving parts in low light and occluded scenarios; and the smart electric gripper can be replaced with a pneumatic gripper (with a pressure sensor) to adapt to scenarios with higher requirements for force control.

[0101] The above optional implementation methods can achieve at least the following beneficial effects:

[0102] (1) It covers both scenarios with and without communication, without the need to modify small and medium-sized / low-end analyzers. The robotic arm can safely and autonomously complete the loading and unloading of samples / reagents, reducing the waiting time for manual duty by more than 90%, truly realizing the ability to put and go immediately, and greatly reducing the workload of manual labor.

[0103] (2) In the communication scenario, the accuracy of business information collaborative interaction reaches 100%, avoiding manual input errors and improving the continuity of the detection process by 50%; in the non-communication scenario, the accuracy of safety gap identification is ≥99%, the risk of operation collision is reduced to below 0.1%, and it is compatible with low-end analyzers without communication function.

[0104] (3) Automatic switching between dual modes, no manual configuration required, the number of analyzers managed per person increased from 1-2 to 3-4, and the overall inspection efficiency increased by more than 40%;

[0105] (4) The deployment cost is only 1 / 3 of that of high-end automated systems, and there is no need to modify existing equipment, making it easy to popularize in small and medium-sized laboratories;

[0106] (5) The operation process is fully automated and recorded, which facilitates quality traceability and meets inspection and compliance requirements.

[0107] It should be noted that, for the sake of simplicity, the foregoing method embodiments are all described as a series of actions. However, those skilled in the art should understand that the present invention is not limited to the described order of actions, because according to the present invention, some steps can be performed in other orders or simultaneously. Furthermore, those skilled in the art should also understand that the embodiments described in the specification are preferred embodiments, and the actions and modules involved are not necessarily essential to the present invention.

[0108] Through the above description of the embodiments, those skilled in the art can clearly understand that the methods according to the above embodiments can be implemented by means of software plus necessary general-purpose hardware platforms. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk) and includes several instructions to cause a terminal device (which may be a mobile phone, computer, server, or network device, etc.) to execute the methods of the various embodiments of the present invention.

[0109] Example 2

[0110] According to an embodiment of the present invention, a collaborative system for loading and unloading containers is also provided for implementing the above-described container loading and unloading method, comprising: a controller, a robotic arm, a target analyzer, and a container storage block, which are described below:

[0111] The controller receives container loading / unloading requests corresponding to the collaborative system, which includes a robotic arm, a target analyzer, and a container storage block. The container loading / unloading requests include at least one of the following: a container loading request, a container unloading request, wherein the container loading request is used to load a container from the container storage block to the target analyzer, and the container unloading request is used to unload a container from the target analyzer back to the container storage block. In response to the container loading / unloading request, the controller determines the communication mode type of the target analyzer; executes a collaborative operation corresponding to the communication mode type, determines a safe operation time interval corresponding to the target analyzer, and controls the robotic arm to perform loading / unloading operations on the target container during the safe operation time interval.

[0112] Example 3

[0113] According to embodiments of the present invention, an apparatus for implementing the above-described container loading and unloading method is also provided. Figure 7 This is a structural block diagram of a container loading and unloading device according to an embodiment of the present invention, such as... Figure 7 As shown, the device includes: a receiving module 702, a detection module 704, an execution module 706, and a loading / unloading module 708. The device will be described in detail below.

[0114] A receiving module 702 is used to receive container loading / unloading requests corresponding to the collaborative system. The collaborative system includes a robotic arm, a target analyzer, and a container storage block. The container loading / unloading request includes at least one of the following: a container loading request, a container unloading request, wherein the container loading request is used to load a container from the container storage block to the target analyzer, and the container unloading request is used to unload a container from the target analyzer back to the container storage block. A detection module 704 is connected to the receiving module 702 and is used to determine the communication mode type of the target analyzer in response to the container loading / unloading request. An execution module 706 is connected to the detection module 704 and is used to execute a collaborative operation corresponding to the communication mode type and determine a safe operation time interval corresponding to the target analyzer. A loading / unloading module 708 is connected to the execution module 706 and is used to control the robotic arm to perform loading / unloading operations on the target container during the safe operation time interval.

[0115] It should be noted that the receiving module 702, the detection module 704, the execution module 706 and the loading and unloading module 708 mentioned above correspond to steps S102 to S108 in the loading and unloading method of the container. The multiple modules and the corresponding steps implement the same instances and application scenarios, but are not limited to the content disclosed in the above embodiment 1.

[0116] Example 4

[0117] According to another aspect of the present invention, an electronic device is also provided, comprising: a processor; and a memory for storing processor-executable instructions, wherein the processor is configured to execute the instructions to implement the container loading and unloading method of any of the above embodiments.

[0118] Example 5

[0119] According to another aspect of the present invention, a computer-readable storage medium is also provided, which, when the instructions in the computer-readable storage medium are executed by a processor of an electronic device, enables the electronic device to perform the container loading and unloading method of any of the above embodiments.

[0120] The sequence numbers of the above embodiments of the present invention are for descriptive purposes only and do not represent the superiority or inferiority of the embodiments.

[0121] In the above embodiments of the present invention, the descriptions of each embodiment have different focuses. For parts not described in detail in a certain embodiment, please refer to the relevant descriptions of other embodiments.

[0122] In the several embodiments provided in this application, it should be understood that the disclosed technical content can be implemented in other ways. The device embodiments described above are merely illustrative; for example, the division of units can be a logical functional division, and in actual implementation, there may be other division methods. For instance, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the displayed or discussed mutual coupling, direct coupling, or communication connection may be through some interfaces; the indirect coupling or communication connection between units or modules may be electrical or other forms.

[0123] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0124] Furthermore, the functional units in the various embodiments of the present invention can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0125] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, read-only memory (ROM), random access memory (RAM), portable hard drives, magnetic disks, or optical disks.

[0126] The above description is only a preferred embodiment of the present invention. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the principle of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. A method for loading and unloading a container, characterized in that, include: Receive a container loading / unloading request corresponding to a collaborative system, wherein the collaborative system includes a robotic arm, a target analyzer, and a container storage block, and the container loading / unloading request includes at least one of the following: a container loading request and a container unloading request, wherein the container loading request is used to load a container from the container storage block to the target analyzer, and the container unloading request is used to unload a container from the target analyzer back to the container storage block; In response to the container loading / unloading request, determine the communication mode type of the target analyzer; Perform a collaborative operation corresponding to the communication method type to obtain a safe operation time gap corresponding to the target analyzer; The robotic arm is controlled to perform loading and unloading operations on the target container during the safe operation time interval.

2. The method according to claim 1, characterized in that, Performing collaborative operations corresponding to the communication method type, and determining the safe operation time interval corresponding to the target analyzer, including: When the communication method is communication-type, a data interaction link is established with the target analyzer; The system communicates with the target analyzer via the data interaction link to obtain the safe operation time gap corresponding to the target analyzer.

3. The method according to claim 1, characterized in that, Performing collaborative operations corresponding to the communication method type, and determining the safe operation time interval corresponding to the target analyzer, including: When the communication method is non-communication, the component parameters of the moving parts in the target analyzer are determined, wherein the component parameters include: component position, motion state, motion path and motion timing data; Based on the component parameters, the motion cycle and regularity characteristics of the target analyzer are analyzed to determine the safe operation time interval.

4. The method according to claim 3, characterized in that, Determine the component parameters of the moving parts, including: If the collaborative system also includes a monitoring device, the monitoring device is controlled to activate visual monitoring to monitor the moving parts in real time. The monitoring device is controlled to capture the position and status of the moving parts in real time, and to collect and record the motion path and motion timing data of the moving parts synchronously.

5. The method according to claim 1, characterized in that, Controlling the robotic arm to perform loading and unloading operations on the target container during the safe operation time interval includes: The target container is dynamically identified to obtain target container parameters, wherein the target container parameters include at least one of the following: container barcode, container type, container stored substance, and container storage capacity; Based on the target container parameters, the robotic arm operation parameters are determined, wherein the robotic arm operation parameters include at least one of the following: gripper opening and closing angle, gripper clamping force; Based on the robotic arm's operating parameters, the robotic arm is controlled to perform loading and unloading operations on the target container during the safe operating time interval.

6. The method according to any one of claims 1 to 5, characterized in that, After the robotic arm performs loading and unloading operations on the target container during the safe operation time interval, the system further includes: When the communication method type is communication-based, obtain operation coordination information; Send the operation coordination information to the target analyzer; Receive detection coordination information sent by the target analyzer.

7. A collaborative system for loading and unloading containers, characterized in that, include: Controller, robotic arm, target analyzer, and container storage block, The controller is used to receive container loading and unloading requests corresponding to the collaborative system, wherein the collaborative system includes a robotic arm, a target analyzer, and a container storage block, and the container loading and unloading request includes at least one of the following: a container loading request and a container unloading request, wherein the container loading request is used to load a container from the container storage block to the target analyzer, and the container unloading request is used to unload a container from the target analyzer back to the container storage block; In response to the container loading / unloading request, determine the communication mode type of the target analyzer; Perform a collaborative operation corresponding to the communication method type to determine a safe operation time interval corresponding to the target analyzer; The robotic arm is controlled to perform loading and unloading operations on the target container during the safe operation time interval.

8. A container loading and unloading device, characterized in that, include: A receiving module is used to receive container loading and unloading requests corresponding to the collaborative system, wherein the collaborative system includes a robotic arm, a target analyzer, and a container storage block, and the container loading and unloading request includes at least one of the following: a container loading request and a container unloading request, wherein the container loading request is used to load a container from the container storage block to the target analyzer, and the container unloading request is used to unload a container from the target analyzer back to the container storage block; The detection module is used to determine the communication mode type of the target analyzer in response to the container loading / unloading request. The execution module is used to perform collaborative operations corresponding to the communication method type and determine the safe operation time interval corresponding to the target analyzer; The loading and unloading module is used to control the robotic arm to perform loading and unloading operations on the target container during the safe operation time interval.

9. An electronic device, characterized in that, include: processor; Memory used to store the processor's executable instructions; The processor is configured to execute the instructions to implement the loading and unloading method of the container as described in any one of claims 1 to 6.

10. A computer-readable storage medium, characterized in that, When the instructions in the computer-readable storage medium are executed by the processor of the electronic device, the electronic device is able to perform the loading and unloading method of the container as described in any one of claims 1 to 6.

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