Sample processing system, sample scheduling system, and transport track module

Abstract

The application provides a sample processing system, a sample scheduling system and a transmission track module. The transmission track module can realize two-stage track control of a sample tube. The sample tube can be controlled to enter an operation sub-track according to needs to be processed by a sample processing device, and the sample tube can be controlled to enter a next transmission track module according to needs to realize lower-level transmission or direct scheduling of the sample tube to a recovery track for rapid recovery of the sample tube. The structure design is reasonable and the reliability is high, and the needs of efficient and flexible scheduling of samples can be met.

Description

Technical Field

[0001] This application relates to the field of biological sample processing and detection technology, specifically to the field of in vitro diagnostics, and particularly to a sample processing system, a sample scheduling system, and a transmission track module. Background Technology

[0002] Total Laboratory Automation (TLA) systems for in vitro diagnostic (IVD) products integrate previously scattered pretreatment equipment, sample analysis equipment, and even various post-processing devices (such as refrigerators) into a single automated platform via tracks, thereby improving the efficiency and quality of IVD testing. The tracks, serving as the central hub for sample transport and scheduling, are crucial, and their structural design and reliability significantly influence the overall efficiency and reliability of the TLA. Utility Model Content

[0003] In view of the shortcomings of the above-mentioned related technologies, the purpose of this application is to provide a sample processing system, sample scheduling system and transmission track module with better rationality and reliability.

[0004] To achieve the above objectives, this application provides a sample scheduling system, including a control module and a track module. The track module includes at least one transmission track module, which includes a sample delivery track and a recovery track with opposite transmission directions. The sample delivery track includes a main transmission track with a first sample inlet and a first sample outlet at its two ends, and an operation sub-track connected in parallel with the main transmission track. The main transmission track and the operation sub-track have an inlet and an outlet that are connected to each other and are respectively close to the first sample inlet and the first sample outlet. A first track-changing component is provided on the main transmission rail at the entrance. The first track-changing component controls the sample holder that enters the main transmission rail through the first injection end to either enter the operation sub-rail through the entrance or continue to be transmitted on the main transmission rail. The operation subrail is equipped with a processing position. The operation subrail will transfer the sample holder that enters from the inlet to the processing position for processing by the sample processing equipment, and will transfer the sample holder on the processing position to the main transmission rail through the outlet. The transmission track module further includes a first information acquisition component and a second track changing component disposed near the first sample outlet. The main transmission track is provided with a first track changing judgment position near the second track changing component. The first information acquisition component acquires the first sample information on the first track changing judgment position and transmits it to the control module. The first sample information includes at least one of the information carried by the sample holder and the information carried by the sample tube on the sample holder. The control module instructs the second track-changing component to control the sample holder to change track from the main transmission rail to the recovery track for transmission, or to continue transmission on the main transmission rail and enter the next transmission track module via the first sample exit end, based on the first sample information.

[0005] Based on the same inventive concept, this application also provides a transmission track module, which is the transmission track module as described above.

[0006] Based on the same inventive concept, this application also provides a sample processing system, including at least one sample processing device and the sample scheduling system as described above, wherein one sample processing device is adapted to one of the transmission track modules, and the sample processing device is used to process the samples in the sample tube at the processing position.

[0007] The sample processing system, sample scheduling system, and transport track module provided in this application have a sample delivery track and a recovery track with opposite transport directions. The sample delivery track includes a main transport track with a first sample inlet and a first sample outlet at its two ends, and an operation sub-track connected in parallel with the main transport track. The main transport track and the operation sub-track have an inlet and an outlet that are connected and located near the first sample inlet and the first sample outlet, respectively. A first track-changing component is provided at the inlet on the main transport track, and a processing position is provided on the operation sub-track. The transport track module also includes a first information acquisition component and a second track-changing component located near the first sample outlet. The main transport track has a component located near the second track-changing component. The first track-changing judgment position of the component determines whether the sample tube, carried on the sample holder, enters the main transport rail via its first inlet end. The first track-changing component controls whether it enters the operating sub-rail or continues transport on the main transport rail, thus achieving primary track-changing control of the sample tube. When the sample holder, continuing transport on the main transport rail, reaches the first track-changing judgment position, the first information acquisition component acquires its first sample information for secondary track-changing control judgment. The second track-changing component can change the sample holder from the main transport rail to the recovery rail for transport or continue transport on the main transport rail and enter the next transport rail module via the first outlet end, thus achieving secondary track-changing control. Therefore, this transport rail module can achieve two-stage track-changing control of the sample tube. It can control the sample tube to enter the operating sub-rail for sample processing equipment as needed, and can also control the sample tube to enter the next transport rail module for downstream transmission or direct dispatch to the recovery rail for rapid sample tube retrieval. The structural design is reasonable and highly reliable, meeting the needs of efficient and flexible sample scheduling. Attached Figure Description

[0008] Figure 1 This is a schematic diagram of the transmission track module structure provided in Embodiment 2 of this application; Figure 2 This is a schematic diagram of the docking of the transmission track module provided in Embodiment 2 of this application; Figure 3 This is a schematic diagram of the operating subrail structure provided in Embodiment 2 of this application; Figure 4 This is a schematic diagram of the transmission main rail structure provided in Embodiment 2 of this application; Figure 5 This is a schematic diagram of the recovery track structure provided in Embodiment 2 of this application; Figure 6 This is a schematic diagram of the sample processing system structure provided in Embodiment 2 of this application; Figure 7 Schematic diagram of the sample processing system structure provided in Embodiment 1 of this application Figure 1 ; Figure 8 This is a schematic diagram of the sample scheduling method provided in Embodiment 1 of this application; Figure 9-1 A schematic diagram of the turntable structure of the sample loading unit provided in Embodiment 1 of this application. Figure 1 ; Figure 9-2 A schematic diagram of the turntable structure of the sample loading unit provided in Embodiment 1 of this application. Figure 2 ; Figure 9-3 A schematic diagram of the turntable structure of the sample loading unit provided in Embodiment 1 of this application. Figure 3 ; Figure 10 Schematic diagram of the sample processing system structure provided in Embodiment 1 of this application Figure 2 ; Figure 11 This is a schematic diagram of the preprocessing module provided in Embodiment 1 of this application. Detailed Implementation

[0009] The following specific examples illustrate the implementation of this application. Those skilled in the art can easily understand other advantages and effects of this application from the content disclosed in this specification. This application can also be implemented or applied through other different specific embodiments, and various details in this specification can also be modified or changed based on different viewpoints and applications without departing from the spirit of this application.

[0010] It should be noted that the illustrations provided in this embodiment are only schematic representations of the basic concept of this application. Therefore, the drawings only show components relevant to this application and are not drawn according to the actual number, shape, and size of components in implementation. In actual implementation, the form, quantity, and proportion of each component can be arbitrarily changed, and the component layout may also be more complex. The structures, proportions, sizes, etc., shown in the accompanying drawings are only used to complement the content disclosed in the specification for those skilled in the art to understand and read, and are not intended to limit the implementation conditions of this application. Therefore, they have no substantial technical significance. Any modification to the structure, change in the proportional relationship, or adjustment of the size, without affecting the effect and purpose that this application can produce, should still fall within the scope of the technical content disclosed in this application. At the same time, the terms such as "upper," "lower," "left," "right," "middle," and "one" used in this specification are only for clarity of description and are not intended to limit the scope of implementation of this application. Changes or adjustments in their relative relationships, without substantially changing the technical content, should also be considered within the scope of implementation of this application. Example 1

[0011] This embodiment provides a transmission track module, which has a sample delivery track and a recovery track with opposite transmission directions. The sample delivery track includes a main transmission track with a first sample inlet and a first sample outlet at its two ends, and an operation sub-track connected in parallel with the main transmission track. The main transmission track and the operation sub-track have a connected inlet and an outlet, respectively close to the first sample inlet and the first sample outlet. A first track-changing component is provided on the main transmission track at the inlet, and a processing position is provided on the operation sub-track. The transmission track module also includes a first information acquisition component and a second track-changing component located near the first sample outlet. A first information acquisition component is provided on the main transmission track near the second track-changing component. The sample tube, mounted on the sample holder, enters the main transport rail via its first inlet end. The first track-changing component controls whether it enters the operating sub-rail or continues transport on the main transport rail, thus achieving primary track-changing control. When the sample holder continues transport on the main transport rail and reaches the first track-changing judgment position, the first information acquisition component acquires its first sample information for secondary track-changing control. The second track-changing component can change the sample holder from the main transport rail to the recovery track or continue transport on the main transport rail and enter the next transport rail module via the first outlet end, thus achieving secondary track-changing control. Therefore, this transport rail module can achieve two-stage track-changing control of the sample tube. It can control the sample tube to enter the operating sub-rail for sample processing equipment as needed, and can also control the sample tube to enter the next transport rail module for downstream transmission or direct dispatch to the recovery track for rapid sample tube retrieval. The structural design is reasonable and highly reliable, meeting the needs of efficient and flexible sample scheduling.

[0012] This embodiment also provides a sample scheduling system, including a control module and a track module. The track module includes at least one transmission track module, and at least one of these transmission track modules is the aforementioned transmission track module. For example, when the track module includes multiple sequentially connected transmission track modules, at least the first transmission track module in the transmission direction is the aforementioned transmission track module. Subsequent transmission track modules can also be the aforementioned transmission track module, or other transmission track modules with the same overall structure as the aforementioned transmission track module, or other transmission track modules with a different overall architecture than the aforementioned transmission track module, as long as they can achieve normal docking with the aforementioned transmission track module to complete the normal transmission scheduling of the sample tubes. The control module in this embodiment can at least be used to implement the two-stage track-changing control of the aforementioned sample tubes. In this embodiment, one sample holder can only carry one sample tube, thereby further improving the flexibility and efficiency of sample tube transmission scheduling.

[0013] For ease of understanding, the transmission track module and sample scheduling system provided in this embodiment will be described below as an example.

[0014] The sample scheduling system provided in this embodiment includes a control module and a track module. The track module includes at least one transmission track module. See [link to documentation]. Figure 1 As shown, the transmission track module includes a sample delivery track and a recovery track 3 with opposite transmission directions. The sample delivery track includes a main transmission track 2 with a first sample inlet i1 and a first sample outlet o1 at its two ends, and an operation sub-track 1 connected in parallel with the main transmission track 2. The first sample inlet i1 of the main transmission track 2 allows the sample holder to enter the main transmission track 2, and the first sample outlet o1 allows the sample holder to exit the main transmission track 2. The main transmission track 2 and the operation sub-track 1 have a communicating inlet I and outlet O. Both inlet I and outlet O are located between the first sample inlet i1 and the first sample outlet o1, with inlet I closer to the first sample inlet i1 and outlet O closer to the first sample outlet o1. Inlet I allows the sample holder to enter the operation sub-track 1 from the main transmission track 2, and outlet O allows the sample holder to exit the operation sub-track 1.

[0015] See Figure 1 As shown, a first track-changing component 22 is provided on the main transmission rail 2 at the entrance I. The first track-changing component 22 can control whether the sample holder that enters the main transmission rail 2 through the first sample inlet i1 enters the operation sub-rail 1 through the entrance I or continues to be transmitted on the main transmission rail 2. In this embodiment, the specific structure of the first track-changing component 22 is not limited, and any track-changing structure that can achieve the above function is acceptable.

[0016] See Figure 1As shown, the operation subrail 1 has a processing position X. The operation subrail 1 can transfer the sample holders entering from the inlet I to the processing position X for processing by the sample processing equipment, and transfer the sample holders on the processing position X to the main transmission rail 2 through the outlet O. In some examples, the operation subrail 1 has only one processing position X, and one processing position X can only carry one sample holder. The sample holders on the operation subrail 1 are sequentially transferred to the processing position for processing by the sample processing equipment. In other examples, the operation subrail 1 can also have two or more processing positions X. The sample tubes on the sample holders on the two or more processing positions X can be processed alternately by the sample processing equipment. In this case, the sample processing equipment can have only one processing module for the sample in the sample tube, or it can have two or more sample processing modules working alternately. In other application scenarios, the sample tubes on the sample holders on the two or more processing positions X can be processed in parallel by the sample processing equipment. In this case, the sample processing equipment needs to have two or more processing modules for the sample in the sample tube, and at least two of the processing modules can work in parallel. It should be understood that the sample processing equipment in this embodiment includes equipment for various processing of samples, such as, but not limited to, an analyzer for analyzing and detecting samples, a quality control device for detecting sample quality (e.g., serum quality of serum samples), a mixing device for mixing samples, a capping / opening device for capping / opening sample tubes carrying samples, and equipment for preparing sample slides. The samples in this embodiment may include, but are not limited to, at least one of blood, urine, bone marrow, cerebrospinal fluid, pleural effusion, ascites, pericardial fluid, joint fluid, hydrocele, bile, tissue, and feces, preferably blood, urine, or cerebrospinal fluid samples.

[0017] See Figure 1As shown, the transmission track module also includes a first information acquisition component 23 and a second track-changing component 26 located near the first sample outlet o1. The main transmission track 2 has a first track-changing judgment position located near the second track-changing component 26. The first information acquisition component 23 acquires the first sample information at the first track-changing judgment position and transmits it to the control module. The acquired first sample information includes at least one of the information carried by the sample holder and the information carried by the sample tube on the sample holder. In this embodiment, the implementation of the first information acquisition component 23 is not limited; for example, it can be, but is not limited to, a barcode scanner (QR code or barcode) and / or a card reader (e.g., but not limited to, an RFID card reader, NFC card reader, etc.). In this embodiment, the first track-changing judgment position can be located near the second track-changing component 26, or the distance between the first track-changing component 26 and the second track-changing component 26 can be at least the distance of a sample holder. The second track-changing component 26 can, according to instructions (control commands), change the sample holder from the main transmission track 2 to the recovery track 3 for transmission, and allow the sample holder to continue to be transmitted on the main transmission track 2 and output the current main transmission track 2 via the first sample outlet o1. In this embodiment, the specific structure of the second track-changing component 26 is not limited; any track-changing structure that can achieve the above functions is acceptable. It should also be understood that the specific structures of the first track-changing component 22 and the second track-changing component 26 in this embodiment can be identical, thereby simplifying system material specifications and reducing costs. Of course, depending on the requirements, the first track-changing component 22 and the second track-changing component 26 can also be configured with different structures. The first sample information in this embodiment includes at least the judgment information used to determine whether the sample tube should continue to be transmitted downwards via the transmission track 2 or change track to the recovery track 3 for recovery transmission. In some application scenarios, this judgment information can be carried on the sample holder, or on the sample tube, or partially on the sample tube and partially on the sample holder, or fully on both the sample tube and the sample holder. This judgment information may include, but is not limited to, at least one of the following: unique identification information of the sample tube (which can be mapped to unique identification information of the sample holder), detection item information, and detection status information. In some examples, the first information acquisition component 23 can be set below, directly below, above, or directly above the first track-changing judgment position, or adjacent to it.

[0018] The control module can acquire the first sample information collected by the first information acquisition component 23, and determine whether the corresponding sample tube needs to continue to be transmitted downwards or be recycled based on the first sample information. Based on the judgment and decontrol instruction, the second track changing component 26 controls the sample holder to change track from the main transmission track 2 to the recycling track 3 for transmission or to continue to be transmitted on the main transmission track 2 and enter the next transmission track module through the first sample outlet o1.

[0019] In this embodiment, the control module can also determine whether the sample tube, carrying the sample tube, should enter the operation sub-rail 1 for transmission to the corresponding sample processing device for processing, or continue to be transmitted downwards on the main transmission rail 2, before entering the main transmission rail 2 from the first sample inlet i1 or before reaching the first track-changing component 22, and control the first track-changing component 22 accordingly. The control module's determination can be based on at least one of the following: the user's test application, sample information, control commands sent by other systems, the function / status of each sample processing device, and the current sample tube transmission status on the track module.

[0020] In this embodiment, the control module can be a centralized architecture, where the sample scheduling system has only one controller; alternatively, the control module can be a distributed architecture, where the sample scheduling system can include at least two controllers, each located in a different position, and the controllers can communicate or not communicate with each other as needed. This embodiment does not limit the specific form of the controller; it can be a computer host, processor, FPGA module, or any other form capable of implementing the aforementioned communication and control functions.

[0021] In one embodiment, see Figure 1 As shown, the transmission track module also includes a first sensor P11, which is mounted on the operation sub-track 1 and close to the entrance I. The first sensor P11 detects the passage of the sample holder on the operation sub-track 1 and generates first detection information. Based on the first detection information, the control module can perform at least one of the following judgment controls: The control module determines whether the sample holder has successfully entered the operation sub-rail 1 based on the first detection information and whether the first track-changing component 22 controls the sample holder to enter the operation sub-rail 1 from the entrance I. For example, when the first track-changing component 22 controls the sample holder to enter the transmission sub-rail 1 from the entrance I, assuming that under normal circumstances, it would pass the position of the first sensor P11 and be detected by the first sensor P11 after a time interval T1, if the control module confirms based on the first detection information that the sample holder has not been detected to have passed the first sensor P11 after a time interval T1, then it can be determined that the sample holder has not successfully entered the operation sub-rail 1. Conversely, if it has not, it can be determined that the sample holder has successfully entered the operation sub-rail 1. This allows for timely monitoring of the sample holder's track-changing status and timely intervention or alarm in case of abnormalities, improving the reliability of sample scheduling control. It should be understood that the specific value of T1 can be flexibly set according to the distance between the entrance I and the first sensor P11, the transmission speed of the operation sub-rail 1, etc.

[0022] When the control module determines that there are sample seats at the detection position of the first sensor P11 for a continuous time period t1 (i.e., a sample seat is continuously detected within the time period t1), it determines that the current sample seats on the operation sub-track 1 are saturated and performs the first saturation control. That is, in this embodiment, the number of sample seats cached on the operation sub-track 1 (mapped to the number of samples) can be intelligently controlled, so that the number of samples cached on the operation sub-track 1 is moderate. This ensures that the sample processing equipment has enough samples to process without reducing the processing speed of the sample processing equipment, while also leaving enough spare scheduling space for the track channel to minimize the occurrence of "traffic jams". At the same time, it keeps each equipment unit of the sample processing system in the best working state as much as possible, which can improve the flexibility, emergency handling capability and service life of the entire system, and is more conducive to environmental protection and energy saving.

[0023] In this embodiment, the control module can immediately intervene to perform current limiting control on the sample holders transferred into the main transmission rail 2 and / or the operation subrail 1 when the currently buffered samples in the operation subrail 1 become saturated. This ensures that the sample processing equipment has enough samples to process without reducing its processing speed. In some application examples, the control module's first saturation control includes, but is not limited to, at least one of the following: Before the number of sample seats between the first sensor P11 and the processing position X is less than the preset M1, new sample seats are prohibited from entering the main transmission rail 2 and / or the operation sub-rail 1. The specific value of M1 can be flexibly set according to the maximum number of sample seats N1 that can be accommodated between the first sensor P11 and the processing position X. For example, it can be set to N1-M1=1, 2, 3 or 4, etc.

[0024] A new sample seat is allowed to be input into the main transmission rail 2 and / or the operation sub-rail 1 only when processing bit X releases a sample seat to outlet O.

[0025] In one embodiment, see Figure 1As shown, the transmission track module also includes a first braking unit 21 and a second sensor P22. A waiting position is located on the main transmission track 2 between the inlet I and the outlet O, near the outlet O. The first braking unit 21 and the second sensor P22 are positioned at the waiting position. The first braking unit 21 blocks the sample holder at the waiting position, and the second sensor P22 sends second detection information (the presence of a sample holder at the waiting position) to the control module. Based on the second detection information, the control module controls the first braking unit 21 to release or block the sample holder at the waiting position according to whether there is a sample holder that needs to be released at the processing position X. For example, in some application examples, when the control module obtains that the sample tube at the processing position X has been processed and needs to be released, or does not need to be processed and needs to be released, or meets other release conditions (such as high priority yielding), it controls the first braking unit 21 to first block the sample holder at the waiting position, and then release it after there is no sample holder that needs to be released at the processing position X. Preferably, in some examples, the transmission track module further includes a third sensor P23, which is located between and near the exit O and the first track change judgment position. The control module, based on the second detection information, controls the first braking unit 21 to release or block the sample seat at the waiting position according to whether there is a sample seat to be released at the processing position X. This may include: when the control module determines that there is no sample seat to be released at the processing position X based on the second detection information, controlling the first braking unit 21 to immediately release the sample seat at the waiting position; when the control module determines that there is a sample seat to be released at the processing position X, controlling the first braking unit 21 to continue blocking the sample seat at the waiting position; and when the control module determines that the sample seat at the processing position X has passed the third sensor P23 and there is no sample seat to be released at the processing position X based on the third detection information sent by the third sensor P23, controlling the first braking unit 21 to release the sample seat at the waiting position. In this way, it can be ensured that the sample holders that need to be released on the processing position X are released first. Most of the sample holders on the processing position X are sample holders that need to be recycled or transferred to the next node after being processed by the sample processing equipment. In general, most of the sample holders on the processing position X enter the main transmission track earlier than the sample holders on the waiting position. This can ensure that samples enter, process and recycle as early as possible, and also ensure that sample tubes that need to be recycled are released and recycled first, thereby improving and ensuring the smoothness and reliability of the transmission track.

[0026] In one embodiment, see Figure 1 As shown, the transmission track module also includes a fourth sensor P21, which is located on the main transmission track 2 between inlet I and outlet O, and close to inlet I. The fourth sensor P21 detects the passage of the sample holder on the main transmission track 2 and generates fourth detection information. The control module can perform at least one of the following judgment controls based on the fourth detection information: The control module determines whether the sample carrier has successfully entered the main transmission rail 2 after passing through the first track-changing component 22, based on the fourth detection information and whether the first track-changing component 22 controls the sample carrier to continue uploading on the main transmission rail 2. For example, if the first track-changing component 22 controls the sample carrier to continue transmitting on the main transmission rail 2, assuming that under normal circumstances, after time T2, the sample carrier will pass the position of the fourth sensor P21 and be detected by the fourth sensor P21, and the control module confirms based on the fourth detection information that the sample carrier has not been detected passing the fourth sensor P21 after time T2, then it can be determined that the sample carrier has not successfully entered the main transmission rail 2 or has not been transmitting normally on the main transmission rail 2; conversely, it can be determined that the sample carrier has successfully entered the main transmission rail 2 or is transmitting normally on the main transmission rail 2. This allows for timely monitoring of the sample carrier's track-changing status and timely intervention or alarm in case of abnormalities, improving the reliability of sample scheduling control. It should be understood that the specific value of T2 can be flexibly set according to the distance between the inlet I and the fourth sensor P21, the transmission speed of the main transmission rail 2, etc.

[0027] When the control module determines, based on the fourth detection information, that a sample holder exists at the detection position of the fourth sensor P21 for a continuous time period t2 (i.e., the fourth sensor P21 continuously detects a sample holder for time period t2), it determines that the current sample holder on the transmission main rail 2 is saturated and performs a second saturation control. This ensures that the sample processing equipment has enough samples to process, and maintains the smoothness and reliability of the transmission main rail. In some application examples, the control module's second saturation control includes, but is not limited to, at least one of the following: Before the number of sample seats between the fourth sensor P21 and the first braking unit 21 is less than a preset M2, new sample seats are prohibited from entering the main transmission rail 2. The specific value of M2 can be flexibly set according to the maximum number of sample seats N2 that can be accommodated between the fourth sensor P11 and the entrance I. For example, it can be set to N2-M2=1, 2, 3 or 4, etc.

[0028] The control allows a new sample holder to be input into the main transport rail 2 only when the first braking unit 21 releases a sample holder; The first braking unit 21 is controlled to release at least one sample seat first, for example, releasing at least one sample seat first over the sample seat on the processing position X, such as the number of sample seats in the priority direction 1, 2, 3, 4, 5 or 6, and the specific number of sample seats released first is determined by facilitating the transmission of the main transmission rail as much as possible.

[0029] In one embodiment, the transport track module includes a fifth sensor P25, which is positioned on the main transport track 2 between the first sample inlet i1 and the inlet I. The fifth sensor detects the sample holder's movement on the main transport track 2 and generates fifth detection information. The control module uses this fifth detection information, combined with the sample holder's entry into the main transport track 2 from the pre-processing module, to determine whether the sample holder has entered the main transport track 2 normally. This allows for monitoring and judgment of whether the sample holder has entered the main transport track 2 normally from the source—the first sample inlet i1—thus further improving reliability. Of course, if the sample holder is detected not to have entered the main transport track 2 normally, relevant interventions and / or alarms can be implemented.

[0030] In one embodiment, the transmission track module further includes a sixth sensor P24, which is located at the first track change judgment position. The sixth sensor P24 detects whether a sample seat exists at the first track change judgment position and generates sixth detection information. The control module controls the first information acquisition component 23 to start to acquire the first sample information at the first track change judgment position based on the sixth detection information. For example, the control module only controls the first information acquisition component 23 to start to acquire the first sample information when it confirms that a sample seat exists at the first track change judgment position based on the sixth detection information. On the one hand, this can save energy and extend the service life of the first information acquisition component 23. On the other hand, when the first information acquisition component 23 is implemented using a card reader with signal interference such as RFID or NFC, it can avoid interference (such as magnetic interference) that may be caused by the first information acquisition component 23 being constantly open, thereby further improving the reliability and stability of the system.

[0031] In one embodiment, see Figure 1As shown, the transmission track module also includes a second information acquisition component 13. An information reporting position is located on the operation sub-track 1 between the entry point I and the processing position X, and adjacent to the processing position X. The second information acquisition component 13 is positioned at the information reporting position. The second information acquisition component 13 acquires the second sample information from the information reporting position. The second sample information includes at least one of the information carried by the sample holder and the information carried by the sample tube on the sample holder. The control module sends the second sample information to the corresponding sample processing device. In this embodiment, the distance between the information reporting position and the processing position X can be less than the width of one sample holder, or greater than the width of at least one sample holder. The second sample information in this embodiment includes at least test item information for notifying the sample processing device which test items need to be performed on the sample. This test item information can be carried on the sample holder, or on the sample tube, or simultaneously on both the sample tube and the sample holder, or partly on the sample holder and partly on the sample tube. Thus, based on the second sample information carried on the sample holder and / or the sample tube (similar to local sample information), the sample processing device can be controlled to perform which tests on the sample, avoiding test errors and improving system reliability.

[0032] In one embodiment, see Figure 1 As shown, the transmission track module also includes a second braking unit 11, which is located at the processing position X. The second braking unit 11 is used to block the sample holder at the processing position X for processing by the sample processing equipment, and to release the sample holder at the processing position X after the sample processing equipment has finished processing. This allows the sample holder to be "paused" at the processing position X, so that the sample processing equipment can process the sample tube on the sample holder at its own pace, thereby improving the reliability and ease of detection and control.

[0033] In one embodiment, see Figure 1 As shown, the transmission track module also includes a seventh sensor P13, which is located at processing position X. The seventh sensor P13 is used to detect whether there is a sample holder on processing position X to generate seventh detection information. The control module controls the corresponding sample processing device to start processing the sample on processing position X according to the seventh detection information. That is, the sample processing device operates according to the instructions of the control module and does not need to inspect in real time whether there is a sample tube that needs to be processed, thereby reducing the energy consumption of the sample processing device, extending its service life, and simplifying the control of the sample processing device.

[0034] In one embodiment, see Figure 1As shown, the two ends of the recovery track 3 are the second sample inlet i2 and the second sample outlet o2, respectively. The second sample inlet i2 and the first sample outlet o1 are located on the same side, and the second sample outlet o2 and the first sample inlet i1 are located on the same side. It should also be understood that in this embodiment, the main transport track 2 and the recovery track 3 can be arranged in parallel or non-parallel configurations, and can be flexibly arranged according to specific application scenarios without limitation.

[0035] In one embodiment, see Figure 1 As shown, the transfer track module also includes an eighth sensor P32, which is located on the recovery track 3 between and close to the second sample outlet o2 and the second track-changing assembly 26. The eighth sensor P32 detects the passage of the sample holder on the recovery track 3 and generates eighth detection information. The control module performs at least one of the following judgments and controls based on the eighth detection information: The control module determines whether the sample holder has successfully entered the recovery track 3 based on the eighth detection information and whether the second track-changing component 26 controls the sample holder to move from the main transmission track 2 to the recovery track 3. For example, when the second track-changing component 26 controls the transfer from the main transmission track 2 to the recovery track 3, assuming that under normal circumstances, after time T3, the sample holder will pass the position of the eighth sensor P32 and be detected by the eighth sensor P32, if the control module confirms based on the eighth detection information that the sample holder has not been detected passing the eighth sensor P32 after time T3, it can be determined that the sample holder has not successfully entered the recovery track 3 or has not been transferred normally on the recovery track 3; conversely, it can be determined that the sample holder has successfully entered the recovery track 3 or is being transferred normally on the recovery track 3. This allows for timely monitoring of the sample holder's track-changing status and timely intervention or alarm in case of abnormalities, improving the reliability of sample scheduling control. It should be understood that the specific value of T3 can be flexibly set according to the distance between the second track-changing component 26 and the eighth sensor P32, the transmission speed of the recovery track 3, etc.

[0036] When the control module determines, based on the eighth detection information, that a sample holder is present at the detection position of the eighth sensor for a continuous duration of t3 (i.e., a sample holder is continuously detected within t3), it determines that the current sample holder on the recovery track 3 is saturated and performs a third saturation control to ensure the smooth operation of track transmission as much as possible. In some application examples, the control module's third saturation control includes, but is not limited to, at least one of the following: In the eighth sensor P32 and Figure 1Before the number of sample holders between the ninth sensor P31 is less than the preset M3, the second track-changing assembly 26 is instructed to control the sample holders to continue to be transmitted on the main transmission rail 2 and enter the next transmission track module via the first sample exit end o1, so as to alleviate the transmission pressure on the recovery track 3. The specific value of M3 can be flexibly set according to the maximum number of sample holders N3 that can be accommodated between the eighth sensor P32 and the ninth sensor P31, for example, it can be set to N3-M3=1, 2, 3 or 4, etc.

[0037] The pre-processing module is instructed to prioritize receiving sample holders from the recovery track 3, that is, to prioritize receiving sample holders returned from the recovery track 3, in order to alleviate the congestion in the recovery passage 3 as soon as possible.

[0038] In one embodiment, see Figure 1 As shown, the transmission track module also includes a ninth sensor P31, which is located on the recovery track 3 near the second sample outlet o2. The ninth sensor P31 detects the sample holder passing on the recovery track 3 and generates ninth detection information. The control module controls the preprocessing module to receive the sample holder from the recovery track 3 based on the ninth detection information. That is, when the control module detects a sample holder at the detection position of the ninth sensor P31 based on the ninth detection information, it can instruct the preprocessing module to prepare to receive the sample holder from the recovery track 3, so that the preprocessing module can accurately and timely receive the sample holder at the recovery track 3.

[0039] In one embodiment, see Figure 1As shown, the transmission track module also includes a third information acquisition component 33. A second track change judgment position is provided on the recovery track 3 between the second track change component 26 and the second sample inlet i2. The third information acquisition component 33 collects the third sample information of the sample holder at the second track change judgment position. The third sample information includes at least one of the information carried by the sample holder and the information carried by the sample tube on the sample holder. The sample holder at the second track change judgment position is a sample holder that enters through the second sample inlet i2 and comes from the next track module. According to the third sample information and the processing result of the sample on the sample holder by the sample processing device corresponding to the next track module, the control module controls the second track change component 26 to change the track of the sample holder on the recovery track 3 to the transmission main track 2 for transmission and re-enter the next transmission track module through the first sample outlet o1, or to continue to keep the sample holder on the recovery track 3 for transmission. The third sample information includes at least a unique identification information that can identify the sample tube. After receiving the third sample information, if the control module determines that the sample tube needs to be returned for reprocessing (e.g., re-detection) based on the processing result of the sample processing equipment in the sample tube, it controls the second track-changing component 26 to change the sample holder on the recovery track 3 to the main transmission track 2 for transmission and re-enter the next transmission track module through the first sample outlet o1. In other words, the sample tube can be turned around and re-detected halfway before it is returned to the preprocessing module (which can be understood as interception halfway), which can improve detection efficiency. If, after receiving the third sample information, the control module determines that the sample tube does not need to be returned for reprocessing based on the processing result of the sample processing equipment in the sample tube, it controls the second track-changing component 26 to keep the sample holder on the recovery track 3 for sample tube retrieval. In some application examples, after receiving the third sample information, the control module determines that the sample tube needs to be returned for reprocessing (e.g., re-testing) based on the processing results of the sample in the sample tube by the sample processing equipment. In this case, the control module can also control the second track-changing component 26 to continue to keep the sample holder on the retrieval track 3 for transmission to transport the sample tube to the pre-processing module. The pre-processing module then reschedules the sample tube to the main transmission track 2 to start the transmission from the beginning to the corresponding sample processing equipment for retesting. The sample processing equipment can be the equipment that previously processed the sample in the sample tube, or it can be other sample processing equipment (preferably the equipment that is closer and / or has a smaller load).

[0040] In one embodiment, see Figure 1As shown, the transmission track module also includes a tenth sensor P33 located at the second track change judgment position. This sensor detects whether a sample seat exists at the second track change judgment position and generates tenth detection information. The control module controls the third information acquisition component to activate based on the tenth detection information to acquire the third sample information at the second track change judgment position. For example, the control module only activates the third information acquisition component 23 to acquire the third sample information when it confirms the presence of a sample seat at the second track change judgment position based on the tenth detection information. This not only saves energy and extends the service life of the third information acquisition component 33, but also avoids interference (such as magnetic interference) that might occur if the third information acquisition component 33 is always on when it is implemented using a reader with signal interference, such as RFID or NFC. This further improves the reliability and stability of the system.

[0041] It should be understood that the third information acquisition component 33, the second information acquisition component 13, and the first information acquisition component 23 in this embodiment may be implemented in the same way or in different ways. This embodiment does not limit them.

[0042] In some embodiments, the sample scheduling system further includes a preprocessing module, which is configured with at least a sample storage unit and a sample transfer unit. The sample storage unit stores sample tubes, and the sample transfer unit transfers sample tubes between the main transport rail 2 and the sample storage unit, and between the recovery rail 3 and the sample storage unit. In some examples, the sample transfer unit includes a transfer robot and a sample loading unit. The transfer robot is configured to transfer sample tubes between the sample storage unit and the sample loading unit, and the sample loading unit is configured to receive sample holders from the recovery rail 3 and guide the sample holders onto the main transport rail 2 of the sample delivery rail. The sample holders are cyclically transferred only between the sample delivery rail, the recovery rail 3, and the sample loading unit. That is, no rails are required in the preprocessing module, and the sample holders are cyclically transferred only between the sample delivery rail, the recovery rail 3, and the sample loading unit. In other examples, the sample storage unit includes a robot and a preprocessing rail module. The preprocessing rail module is disposed on the preprocessing module and docks with the sample delivery rail and the recovery rail 3, respectively. The robot can be configured to transfer samples between the sample storage unit and the preprocessing rail module.

[0043] In some embodiments, the track module includes only one transfer track module, which corresponds to one sample processing device. In other embodiments, the track module includes at least two transfer track modules, such as two, three, four, or five or more transfer track modules, and the sample delivery track and the recovery track 3 of adjacent transfer track modules are sequentially connected in the transfer direction (see [link to relevant documentation]). Figure 2(The connection method shown in the example) One track module corresponds to one sample processing device; and it should be understood that among multiple sample processing devices, each sample processing device may be of a different type, or some sample processing devices may be of the same type and some may be different, or all sample processing devices may be of the same type. The specific configuration can be flexibly configured according to application requirements.

[0044] It should be understood that in some embodiments, the types of the first to tenth sensors may all be the same (e.g., all may be one of a through-beam optical coupler sensor, an image sensor, etc.), or some sensors may be of the same type while others are different, or they may be configured to be different. Furthermore, in some embodiments, the sample scheduling system includes the first to tenth sensors, while in other embodiments, the specific sensors included in the sample scheduling system can be flexibly configured according to specific application requirements, and it is not required that it must include all of the first to tenth sensors.

[0045] It should be understood that in some embodiments, the types of the first braking unit and the second braking unit may be the same or different. Furthermore, in some embodiments, the sample scheduling system includes the first braking unit and the second braking unit, or only one of the first braking unit and the second braking unit; the specific configuration can be flexibly tailored to application requirements.

[0046] It should be understood that in some embodiments, the types of the first information acquisition component to the third information acquisition component may all be the same or different. Furthermore, in some embodiments, the sample scheduling system includes the first information acquisition component to the third information acquisition component, or only includes one or two of the first information acquisition component to the third information acquisition component.

[0047] It should also be understood that in some embodiments, the sample scheduling system may include at least one of the above-mentioned sensors, at least one of the braking units, and at least one of the information acquisition components; or it may include only a portion of the above-mentioned sensors, braking units, and information acquisition components, which can be flexibly configured according to application requirements.

[0048] It is evident that the sample scheduling system provided in this embodiment has a wide range of applicable scenarios and high flexibility.

[0049] This embodiment also provides a sample processing system, including at least one sample processing device and the sample scheduling system described above. One sample processing device is adapted to a transmission track module. The sample processing device is used to process the samples in the sample tube at processing position X.

[0050] To facilitate understanding, this embodiment provides an example, which combines a specific transmission track module structure example and a specific application scenario for illustration.

[0051] In this example, as Figure 1 As shown, the operating subrail 1 is located near the sample processing equipment. Operating subrail 1 has a processing position X (such as a suction position, which is located on the rotation trajectory of the sample processing equipment probe). Figure 3 As shown, the operating subrail 1 comprises a first motor assembly 10a, a second braking unit 11, a tube-holding assembly 12, a second information acquisition assembly 13, a first driven wheel assembly 14, an operating subrail profile 15, and a track belt laid on the operating subrail profile 15. The first information acquisition assembly 13 can be hidden beneath the track belt; the first motor assembly 10a can drive the track belt to rotate via the first driven wheel assembly 14; the second braking unit 11 can block and release the sample tube; the tube-holding assembly 12 can hold the sample tube, fixing it at the processing position X for easy processing of the sample by the sample processing equipment, and can also release the sample tube to allow it to continue its downward transmission from the processing position X.

[0052] like Figure 1 As shown, the main transport rail 2 is located between the operating sub-rail 1 and the recovery rail 3. Figure 4 As shown, the main transmission rail 2 comprises a second motor assembly 20aa, a first braking unit 21, a first track-changing assembly 22, a first information acquisition assembly 23, a second driven wheel assembly 24, a main transmission rail profile 25, a second track-changing assembly 26 (such as a C-shaped turntable assembly), and a track belt laid on the main transmission rail profile 25. The second motor assembly 20aa can drive the track belt to rotate via the second driven wheel assembly 24. The first braking unit 21 can block and release the sample tube, and the first track-changing assembly 22 and the second track-changing assembly 26 can control the track change of the sample tube.

[0053] like Figure 1 As shown, the recovery track 3 is located on the outermost side and is adjacent to the main transport track 2. Figure 5 As shown, the recycling track 3 comprises a third motor assembly 30a, a third information acquisition assembly 33, a third driven wheel assembly 32, and a recycling track profile 31, with a track belt laid on the recycling track profile. The third motor assembly 30a can drive the track belt to rotate via the third driven wheel assembly 32.

[0054] See an example of a sample processing system for automated pipeline systems. Figure 2 and Figure 6 As shown, two sample processing devices are cascaded. The end of the main transmission rail 2 in sample processing device A is connected to the beginning of the main transmission rail 2 in sample processing device B, and the end of the recovery rail 3 in sample processing device A is connected to the beginning of the recovery rail 3 in sample processing device B, thereby realizing the cascading of sample processing devices and sample transmission. Figure 6The following is an example of the scheduling / use of the sample processing system: The first inlet i1 of the main transport rail 2 and the second outlet o2 of the recovery rail 3 in sample processing device A are connected to the pretreatment module or the main water line rail. The sample tubes to be processed, carried in sample holders on the pretreatment module or the main water line rail, enter from the first inlet i1 of the main transport rail 2 of sample processing device A. The target sample holder carrying the sample tubes to be processed passes through the fifth sensor P25. The detection information from the fifth sensor P25 confirms whether a sample holder has entered the main transport rail 2, wherein: If the control module determines that the target sample holder does not need to enter the sample processing device A for detection, it controls the first track-changing component 22 to remain inactive. The target sample holder passes the fourth sensor P21 and reaches the position of the first braking unit 21 on the main transmission rail 2, which is also the position of the second sensor P22. When the second sensor P22 detects that there is a sample holder here, the control module will simultaneously determine whether there are other sample holders flowing out of the outlet O of the operation subrail 1 (e.g., whether the processing position X at the operation subrail 1 has completed sampling through feedback from the sample processing device; if sampling is completed and the sample holder at the processing position X needs to be released, then it is necessary to wait for the sample holder at the processing position X at the operation subrail 1 to be released and then pass through the third sensor P23 for detection before releasing the sample holder at the position detected by the second sensor P22). If there are no other sample holders flowing out of the outlet O of the operation subrail 1, the first braking unit 21 on the main transmission rail 2 will start and release the target sample holder in a straight line on the main transmission rail 2, passing through the third sensor P23, and reaching the position of the sixth sensor P24 on the main transmission rail 2, which is also the position of the first information acquisition component 23 on the main transmission rail 2. The third sensor P23 has two functions: first, it detects whether the sample holder has been successfully released by the first braking unit 21 (for example, after the sample holder is released at the second sensor P22, it will pass through the third sensor P23 within 1 second; a signal change at the third sensor P23 within 1 second indicates successful release); second, if multiple sample holders are piled up at the sixth sensor P24, the third sensor P23 identifies the sixth sensor P24 position as full (for example, if the third sensor P23 is consistently blocked, it means that the area from the sixth sensor P24 to the third sensor P23 position is full of sample holders, indicating a full position), and the first braking unit 21 on the main transmission rail 2 will no longer release samples. The sixth sensor P24 detects whether there is a sample holder at the first information acquisition component 23. If so, the control module controls the first information acquisition component 23 to read the sample information of the sample holder (for example, the read information includes sample holder information, the sample tube information bound to the sample holder, and after reading the information, it understands the flow direction of the sample holder, whether the test is completed, and whether it needs to enter the sample processing device B for testing).

[0055] If the control module determines that the target sample holder needs to enter the sample processing device A for testing, the first track-changing component 22 is activated, transporting the target sample holder to the operation sub-rail 1 in the sample processing device A. After passing through the eighth sensor P11, when it reaches the first information acquisition component 13 on the operation sub-rail 1, the sample information (such as sample holder information, sample tube information corresponding to the sample holder, and sending it to the sample processing device A to specify the specific test item) is read and registered. After registration, the second braking unit 11 on the operation sub-rail 1 is activated, and the target sample holder moves to the processing position X of the sample processing device A, reaching the seventh sensor P13, which is also the tube holding position of the tube holding component 12 on the operation sub-rail 1. The eighth sensor P11 has two functions: first, it detects whether the sample holder has successfully changed track from the main transport rail 2 to the operating sub-rail 1 (if the eighth sensor P11 shows a signal change within 1 second after the track change, it indicates successful release; if the eighth sensor P11 shows no signal change, it means no sample holder has passed, indicating a track change failure); second, if multiple sample holders accumulate at processing position X, the eighth sensor P11 identifies that processing position X is full (if the eighth sensor P11 is always blocked, it means that processing position X is full at the eighth sensor P11 position, which is a full position), and can control the operating sub-rail 1 to no longer accept sample holders. After the sample processing equipment finishes sampling, the sample holder enters the main transport rail 2 through the exit O of the operating sub-rail 1, passes the third sensor P23, and reaches the position of the sixth sensor P24 on the main transport rail 2, which is also the position of the first information acquisition component 23 on the main transport rail 2. The sixth sensor P24 detects that a sample holder has arrived, and the first information acquisition component 23 reads the sample information from the sample holder.

[0056] When a sample holder is located at the sixth sensor P24, if the control module determines that the sample holder does not need to enter the sample processing device B, the second track-changing component 26 changes the sample holder from the main transport rail 2 to the recovery rail 3 for recovery. If it is determined that the sample holder needs to enter the sample processing device B, the second track-changing component 26 releases the sample holder to enter the corresponding main transport rail 2 of the sample processing device B. After entering, the operation process is the same as that of the sample holder entering the main transport rail 2 of the sample processing device A.

[0057] When a sample holder is present at the sixth sensor P24 of sample processing device B, the second track-changing assembly 26 rotates to release the sample holder from the main transport rail 2 of sample processing device B to the recovery rail 3 of sample processing device B. The sample holder passes the eighth sensor P32 on sample processing device B and reaches the tenth sensor P33 on sample processing device A. The eighth sensor P32 on sample processing device B is used to detect whether the sample holder has successfully changed tracks and to detect full position. The tenth sensor P33 on sample processing device A detects whether there is a sample holder above the third information acquisition assembly 33 and reads the sample information of the arrived sample holder. If the control module determines that the sample holder does not need to re-enter sample processing device B based on this sample information, the second track-changing assembly 26 on sample processing device A rotates to release the sample holder directly, and the sample holder flows back to the main flow line through the recovery rail 3. If the sample holder needs to re-enter sample processing device B, the second track-changing assembly 26 on sample processing device A rotates to change the sample holder from the recovery rail 3 back to the main transport rail 2 of sample processing device A and release it onto the main transport rail 2 of sample processing device B. The subsequent procedures are the same as those for the sample holder to enter the sample processing device B.

[0058] The sample processing system in this example allows for horizontal cascading of sample processing devices, effectively reducing the floor space required. Furthermore, it eliminates the need for rack-type interfaces and redundant track modules during connection, lowering the cost of cascading sample processing devices. The track-transfer of samples is a single-tube transfer, improving sample transfer efficiency. Example 2

[0059] This embodiment provides a sample processing system. This system can employ the transmission track module and / or sample scheduling system shown in Embodiment 1, or a transmission track module and / or sample scheduling system different from Embodiment 1. The sample processing system can be a pipeline system (e.g., TLA or cascaded system) including a pre-processing module and two or more sample processing devices, or a standalone system including a pre-processing module and one sample processing device. The pre-processing module of this system does not require a track, simplifying its structure, reducing hardware redundancy, and lowering costs. The sample holder only circulates between the sample loading unit of the pre-processing module and the track on the sample processing device side. To a certain extent, this can be considered as the sample holder not entering the main body of the pre-processing module; most of the travel is on the track of the sample processing device, shortening the sample holder's travel distance and improving efficiency. Furthermore, compared to related technologies, there is no idle track within the pre-processing module, avoiding energy waste and promoting environmental protection and energy conservation. For ease of understanding, the sample processing system is described below with examples.

[0060] See Figure 1As shown, the sample processing system provided in this embodiment includes a control module (not shown in the figure), a preprocessing module 100, a track module, and at least one sample processing device 300, wherein: The preprocessing module 100 is equipped with a sample storage unit 101, a transfer robot (not shown in the figure), and a sample loading unit 102. The sample storage unit 101 is configured to store sample tubes, including at least the sample tube to be processed. The transfer robot is configured to transfer the sample tubes between the sample storage unit 101 and the sample loading unit 102. In this embodiment, the sample tube to be processed stores a sample to be tested, which may include, but is not limited to, at least one of blood, urine, bone marrow, cerebrospinal fluid, pleural effusion, ascites, pericardial fluid, joint fluid, hydrocele, bile, tissue, and feces, preferably blood, urine, or cerebrospinal fluid samples.

[0061] The track module includes at least one transmission track module 200, which is adapted to a sample processing device 300. The transmission track module 200 includes a sample delivery track 230 and a retrieval track 240 with opposite transmission directions that form a transmission loop. The sample delivery track 230 is used, but is not limited to, transporting sample tubes from the pre-processing module to the corresponding sample processing device 300 for processing. The retrieval track 240 is used, but is not limited to, transporting the sample tubes processed by the sample processing device 300 to the pre-processing module 100 for retrieval and / or retesting scheduling. In this embodiment, the transmission loop formed by the sample delivery track 230 and the retrieval track 240 can be achieved through at least one of the following methods: Track changing method 1: A track changing component is set between the sample delivery track 230 and the recovery track 240. The sample holder 10 on the sample delivery track 230 is changed to the recovery track 240 by the track changing component, and / or the sample holder 10 on the recovery track 24 (e.g., a sample holder carrying a sample tube that needs to be retested) is changed to the sample delivery track 230. Track changing method two: At least one connecting track is set between the sample delivery track 230 and the recovery track 240. The sample holder on the sample delivery track 230 can be transferred to the connecting track (such as the first connecting track) and then transferred to the recovery track 240 through the connecting track. And / or, the sample holder on the recovery track 240 (such as the sample holder carrying the sample tube that needs to be retested) can be transferred to the connecting track (such as the second connecting track) and then transferred to the sample delivery track 230 through the connecting track.

[0062] Of course, the track module includes two or more transmission track modules 200. The way in which the sample delivery track 230 and the recovery track 240 of each transmission track module 200 form a transmission loop can be the same or different, and this embodiment does not impose any restrictions on it. It should also be understood that the above-mentioned method one and method two can be used in combination flexibly.

[0063] In this embodiment, the sample processing system includes multiple sample holders 10, which can be carried on the sample delivery track 230 and / or the retrieval track 240. Each sample holder 10 can only carry one sample tube, and the sample tube is carried on the sample holder 10 and transported on the sample delivery track 230 and the retrieval track 240.

[0064] In this embodiment, the control module is configured to control multiple sample holders 10 to circulate only between the sample delivery track 230, the retrieval track 240, and the sample loading unit 102. In other words, to a certain extent, it can be considered that the sample holders 10 do not enter the main body of the preprocessing module 100, and the majority of their travel is on the sample delivery track 230 and / or the retrieval track 240. Specifically, the control module can control the transfer robot, the sample loading unit 102, and the transfer track module 200 to perform the following actions: Figure 2 The following steps are shown; in other words, this embodiment is also based on Figure 1 The sample processing system shown provides a sample scheduling method, including... Figure 2 The following steps are shown: S201: The sample delivery track 230 is controlled to transfer the target sample holder carrying the sample tube to be processed to the processing position of the sample processing device 300 for the sample processing device 300 to process the sample in the sample tube; in some application examples, the sample processing device 300 may be at least one of sample analysis device, sample capping device, sample mixing device, smear device, and sample capping device, and the corresponding sample processing includes, but is not limited to, at least one of sample aspiration, capping, mixing, smearing, and capping; S202: Control the target sample holder to change track from the sample delivery track 230 to the retrieval track 240 and then transfer it to the sample loading unit 102 via the retrieval track 240; the target sample holder in this step may include at least one of the sample holder after the sample in the sample tube it carries has been processed by the sample processing device 300 and the sample holder that does not need to be processed by the sample processing device 300; the method by which the target sample holder changes track from the sample delivery track 230 to the retrieval track 240 in this step may be, but is not limited to, the above-described example method; S203: Control the sample loading unit 102 to receive the target sample holder to the preset sample loading position 1021; in this embodiment, the sample loading position 1021 is located within the range of the movement stroke of the sample loading unit 102; and the sample loading position 1021 is preferably set on the side of the preprocessing module 100 close to the transmission module 200, so as to minimize the transfer stroke of the sample holder 10 between the transmission module 200 and the sample loading position 1021 and improve the transfer efficiency. S204: Control the transfer robot to transfer sample tubes from the target sample holder to the sample storage unit 101, and to transfer sample tubes to be processed from the sample storage unit 101 to the target sample holder; that is, in this step, for the sample tubes carried on the target sample holder at the sample loading position 1021 (the sample tubes may include, but are not limited to, sample tubes processed by the sample processing device 300), the transfer robot moves the sample tubes from the target sample holder to the sample storage unit 101 (i.e., completes the cleaning of the target sample holder), and then, when there are sample tubes to be processed on the sample storage unit 101, the transfer robot can also transfer the sample tubes to be processed to the target sample holder at the sample loading position 1021 (i.e., completes the sample loading); in this step, when the transfer robot completes the cleaning operation of the sample tubes on the target sample holder at the sample loading position 1021, if there are no sample tubes to be processed on the sample storage unit 101 or no sample tubes to be transferred to the target sample holder, the transfer robot may not perform the sample loading action; S205: The sample loading unit 102 transfers the target sample holder to the sample delivery track 230. As described above, the target sample holder in this step can hold the sample tube to be processed, or it can be an empty sample holder.

[0065] As can be seen from the above steps, the sample holder 10 in this embodiment can only circulate between the sample delivery track 230, the recovery track 240, and the sample loading unit 102 during operation. Compared with related technologies, this shortens the transmission journey of the sample holder 10 and improves scheduling efficiency. Furthermore, the preprocessing module 10 does not require a track module; sample docking and transfer with the transmission track module can be achieved through the transfer robot and the sample loading unit 102. Therefore, the sample loading unit 102 and the transfer robot do not need to be activated when sample tube transfer and loading are not required. Compared to related technologies where the track within the preprocessing module 100 needs to be synchronized with the track on the sample processing equipment side at all times, this design offers more flexible control and lower energy consumption. Moreover, the preprocessing module 100 does not require simultaneous configuration of a track and a robot, resulting in lower hardware redundancy, a simpler structure, and lower cost.

[0066] In this embodiment, when the sample processing system is initially installed or powered on, an empty sample holder needs to be loaded onto the transmission track module. The loading method may include, but is not limited to, at least one of the following: Loading method 1: Manually place the empty sample holder 10 directly onto the sample delivery track 230 and / or the recovery track 240; Loading method 2: Manually place the empty sample holder 10 into the sample loading unit 102, and then the control module controls the sample loading unit 102 to transfer the empty sample holder 10 to the sample delivery track 230 and / or the recovery track 240. Loading method three: a combination of loading method one and loading method two, that is: a portion of the sample holder 10 is placed on the sample delivery track 230 and / or the recovery track 240 through loading method one, and a portion of the sample holder 10 is loaded onto the sample delivery track 230 and / or the recovery track 240 through loading method two.

[0067] In some application examples of this embodiment, during the initial installation or initial power-on of the sample processing system, non-empty sample holders can be loaded one by one into the transmission track module. For example: The sample loading unit 102 receives empty sample holders 10 to the sample loading position 1021. The empty sample holders 10 include those manually placed into the sample loading unit 102. The transfer robot moves the sample tube to be processed from the sample storage unit 101 to the empty sample holder 10, so that the empty sample holder 10 is switched to the target sample holder carrying the sample tube to be processed. The sample loading unit 102 transfers the target sample holder to the sample delivery track 230, realizing the transfer of the sample tube to be processed and the initial loading of the sample holder.

[0068] In some examples of this embodiment, after loading the sample holder 10 using any of the loading methods one to three, the following is an example of transferring the sample tube to be processed in the preprocessing module 100: The sample loading unit 102 receives an empty sample holder 10 to the sample loading position 1021. The empty sample holder 10 includes an empty sample holder 10 located on the sample delivery track 230 and / or the retrieval track 240 and transmitted to the sample loading unit 102 via the retrieval track 240. The transfer robot moves the sample tube to be processed from the sample storage unit 101 to the empty sample holder 10, so that the empty sample holder 10 is switched to the target sample holder carrying the sample tube to be processed. The sample loading unit 102 transfers the target sample holder to the sample delivery track 230.

[0069] In some examples of this embodiment, after the sample tubes to be processed in the preprocessing module 100 are transferred to the corresponding sample processing device 300 for processing, when a sample in a certain sample tube needs to be retested, the scheduling process for the sample tube that needs to be retested is as follows: The target sample holder, which carries the sample tube that needs to be retested, is controlled to change from the sample delivery track 230 to the recovery track 240 and then transferred to the sample loading unit 102 via the recovery track 240. The control sample loading unit 102 receives the target sample holder and moves it to the preset sample loading position 1021; The sample loading unit 102 directly transfers the received target sample holder to the sample delivery track. That is, in some examples of this embodiment, after the sample loading unit 102 receives the target sample holder to the preset sample loading position 1021, when the sample tube on the target sample holder meets the set conditions, it directly transfers the target sample holder to the sample delivery track 230. The preset conditions include retest conditions, and of course, other set conditions may also be included, such as samples that need to be tested multiple times for other reasons (such as quality control requirements, calibration requirements, etc.). The specific conditions can be flexibly set according to the application requirements.

[0070] In some embodiments, the sample loading unit 102 includes a turntable having at least one receiving position and a control turntable drive mechanism; the drive mechanism is configured to drive the turntable to rotate such that the receiving position aligns with the outlet of the recovery track 240 to receive the sample holder 10 from the recovery track 240, drive the turntable to rotate such that the sample holder 10 located in the receiving position moves with the turntable to the sample loading position 1021, and drive the turntable to rotate such that the sample holder 10 located in the receiving position moves from the sample loading position 1021 to the entrance of the sample delivery track 230 so that the sample holder 10 enters the sample delivery track 230. For example: see one example. Figure 9-1 The sample loading unit 10 includes a turntable 1022, which has a receiving bit 1023 formed by a notch. Figure 9-1 The turntable 1022 shown is C-shaped. The drive mechanism rotates the turntable 1022, causing the receiving position 1023 to align sequentially between the recovery track 240, the sample loading position 1021, and the sample delivery track 230. See another example. Figure 9-2 As shown, it is compared to Figure 9-1 The main difference of the turntable 1022 shown is that it has two receiving bits 1023, which can work alternately. Correspondingly, the sample loading bit 1021 can also be set to one or two as needed; see another example. Figure 9-3 As shown, its phase is compared to Figure 9-1 The main difference of the turntable 1022 shown is that it has three receiving positions 1023. These three receiving positions 1023 can work alternately to further improve efficiency. The corresponding sample loading positions 1021 can also be set to one, two, or three, etc., as needed. Therefore, in this embodiment, the number of receiving positions 1023 and the corresponding number of sample loading positions 1021 on the turntable 1022 can be flexibly set according to specific requirements. It should also be understood that the shape of the turntable 1022 in this embodiment is not limited to a circle; it can also be a square, triangle, or other regular or irregular shape, and no limitation is imposed here. In some embodiments, the sample loading unit 102 can also be implemented using a sample holder gripping robot. This robot can grip the sample holder output from the recovery track 240 and move it to the sample loading position 1021, and it can also grip the sample holder from the sample loading position 1021 and move it to the sample delivery track 230. Furthermore, in some application examples, the sample holder gripping robot and the aforementioned transfer robot can reuse the same robot, thereby further simplifying the structure of the pre-processing module and reducing costs. Of course, the sample holder gripping robot and the transfer robot can also be different, and they can work in parallel to improve efficiency and flexibility.

[0071] In related technologies, the pretreatment module includes a capping unit to open sample tubes that need to be capped. The process involves a robotic arm transferring the sample tube from the sample storage unit of the pretreatment module to the corresponding capping position in the capping unit. The robotic arm in the capping unit opens the sample tube, and then another robotic arm transfers the opened sample tube to a sample holder on a track within the pretreatment module. The sample holder then carries the sample tube to the sample analysis equipment. This pretreatment module requires two sets of sample transfer robotic arms and two sets of sequential transfer control processes to complete the capping and transfer of the sample tube to the sample holder. This results in high cost, complex control, and low efficiency, impacting the system's sample processing throughput. Furthermore, sample spillage and contamination are prone to occur during the transfer of the opened sample tube from the capping position to the sample holder, reducing system reliability.

[0072] To address the aforementioned issues, in one embodiment of this invention, the preprocessing module further includes a cap-opening robot and a tube-holding unit whose clamping stroke can cover the sample loading position 1021. After the transfer robot transfers the sample tube to be processed from the sample storage unit 101 to the target sample holder located at the sample loading position 1021, and before the sample loading unit 102 transfers the target sample holder to the sample delivery track 230, the control module also controls the tube-holding unit to clamp the sample tube to be processed on the target sample holder to prevent it from moving upwards, and controls the cap-opening robot to clamp the cap of the sample tube to be processed to open the cap. After the cap-opening robot completes the opening, the control module controls the sample loading unit 102 to transfer the target sample holder to the sample delivery track 230. In this embodiment, the sample tube opening position is located at the sample loading position 1021, and the sample loading position 1021 and the opening position are the same physical location. After the sample tube is opened at the opening position, it can be directly transferred to the sample delivery track by relying on the sample holder. Compared with related technologies, it is not necessary to transfer the sample tube between the opening position and the loading position, which can improve sample processing efficiency and avoid sample spillage and contamination that are prone to occur during the transfer of the opened sample tube from the opening position to the loading position in related technologies, thereby improving the reliability of the system. In some application examples, the opening robot and the transfer robot are the same robot. In this way, it is not necessary to set up two sets of sample transfer robots and two sets of transfer control processes to complete the transfer of the sample tube opening stroke and loading stroke respectively, which can simplify the system architecture and control and reduce costs.

[0073] In some embodiments, the tube-holding unit can hold the sample tube on the sample holder 10 on the sample loading position 1021 tightly, and the cap-opening robot can hold the tube cap and pull it away from the sample holder and / or rotate it spirally away from the sample holder to unscrew the tube cap. Of course, in other embodiments, the tube-holding mechanism can also rotate the sample tube while holding it tightly to cooperate with the cap-opening robot to open the cap.

[0074] It should be understood that, in this embodiment, the sample tubes carried by the sample holder on the sample loading position 1021 are not required to be sample tubes that need to be opened. For example, in some application scenarios, the sample tubes from the sample storage unit 101 are without caps, or the user directly places the capless sample tubes onto the sample holder on the sample loading position 1021. In this case, the cap-opening robot does not perform the cap-opening operation on such sample tubes.

[0075] In one embodiment, the pretreatment module 100 further includes at least one of a capping unit, a centrifugation unit, a mixing unit, and a refrigeration unit, wherein: After the transfer robot grabs the sample tube processed by the sample processing device 300 from the target sample holder on the sample loading position 1021, it can first transfer it to the capping processing position in the preprocessing module 100. The capping unit performs the capping operation on the sample tube, and the transfer robot transfers the capped sample tube to the sample storage unit 101.

[0076] The transfer robot moves the sample tubes to be centrifuged from the sample storage unit 101 to the centrifugation unit; the centrifugation unit performs centrifugation on the sample tubes to be centrifuged, and the transfer robot moves the centrifuged sample tubes to the empty sample holder on the sample loading position 1021.

[0077] The transfer robot arm transfers the sample tubes to be mixed (usually the sample tubes to be processed by the sample processing equipment) to the mixing unit for mixing. The transfer robot transfers the sample tubes to be refrigerated (which may include sample tubes to be processed by the sample processing equipment and / or sample tubes after being processed by the sample processing equipment) to the refrigeration unit for refrigeration. The sample tubes to be refrigerated may include sample tubes containing at least one of quality control samples and calibration samples. In some embodiments, the sample storage unit 101 may include at least one of a sample injection unit and a buffer unit. The sample injection unit may include an ordered sample injection / extraction unit, or a combination of an ordered sample injection / extraction unit and a disordered sample injection unit. The buffer unit may be used to buffer at least one of processed sample tubes, quality control sample tubes, calibration sample tubes, and erroneous sample tubes. The buffer unit may be a physical unit independent of the ordered sample injection / extraction unit, or it may be a part of the ordered sample injection / extraction unit.

[0078] In some embodiments, the transfer robot included in the pretreatment module 100 may be a single robot (i.e., the pretreatment module 100 has only one robot), and the stroke of this single robot fully covers the stroke of the pretreatment module 100; for example, when the pretreatment module 100 includes a centrifugation unit, a mixing unit, a capping unit, a capping unit, and a refrigeration unit, the stroke of this single robot can cover these units. Achieving the above stroke coverage with a single robot is more cost-effective than achieving the above stroke coverage with multiple robots, and it eliminates the need for coordinated control between multiple robots, making control simpler and more reliable.

[0079] To facilitate understanding, a specific application structure and scenario will be used as an example for illustration below. See [link / reference] Figures 4 to 5 The sample processing system shown includes: Sample holder 10: The carrier device for regular sample tubes 20 and emergency sample tubes 21. It can be moved within each module of the system to realize the transfer of the physical position of the sample tubes and cooperate with each module to complete the business functions.

[0080] Sample tube tray 30: The carrier for regular sample tubes 20 and emergency sample tubes 21, the main component for interaction with the operator, and the means to introduce and remove samples from the tubes.

[0081] The pretreatment module 100 is used to complete the sample injection and effluent. It includes functional units such as the sample injection and effluent unit 110 (one implementation of the sample storage unit), centrifugation unit 120, cap opening and loading unit 130 (one implementation of the sample loading unit 102), and transfer robot 140, as well as the frame unit 150 that carries these functional units. It realizes interaction with the operator (sample placement and sampling), completes one or more processing actions of the sample (optionally including but not limited to quality control products and calibration) such as centrifugation, information identification, and cap opening, and transfers the sample into and out of the analyzer 300 (an example sample processing device).

[0082] Analyzer: Used to collect samples, test them, and output test results. Figure 4 The two analyzers 301 and 302 shown can be of the same type or different types. This embodiment supports a single analyzer and multiple analyzers of the same or different types connected together; only the form of two analyzers connected together is shown here.

[0083] Transfer track module 200: Connects the pretreatment module 100 and the analyzer, transporting the pretreated, loaded conventional sample tubes 20 and emergency sample tubes 21 from the sample holder 10 to the analyzer's aspiration point for sampling and testing, and then returning the sampled samples to the pretreatment module 100. One transfer track module 200 corresponds to one analyzer, and the transfer track module consists of a sample delivery track and a return track. See also Figure 4 As shown, the analyzer 301 has a transmission main rail including a transmission main rail 231 and an operation sub-rail 233, and the recovery rail is shown as reference numeral 232; the analyzer 302 has a transmission main rail including a transmission main rail 241 and an operation sub-rail 243, and the recovery rail is shown as reference numeral 242.

[0084] Figure 4 and Figure 5 The working process of the sample processing system shown is illustrated below: The operator manually places the regular sample tube 20 and / or the emergency sample tube 21 into the pre-processing module 100. Specifically, the operator places the regular sample tube 20 and / or the emergency sample tube 21 into the sample tube tray 30 in the sample injection and discharge unit 110. In this embodiment, the sample tube tray 30 is tentatively divided into five areas: regular sample injection area, emergency sample injection area, sample discharge area, error sample area, and sample temporary storage area.

[0085] The vision system 141 mounted on the transfer robot 140 begins to identify relevant information about the sample tube tray 30 and the regular sample tubes 20 and / or emergency sample tubes 21 on it, such as the number of the sample tube tray 30, the position of the regular sample tubes 20 and / or emergency sample tubes 21, the presence or absence of tube caps, and the color of the tube caps.

[0086] The transfer robot 140, based on the recognition results of the vision system 141, grasps the regular sample tube 20 or the emergency sample tube 21 and places it into the adapter 121 of the centrifuge unit 120 (in this example, the centrifuge unit 120 is loaded with 4 adapters at a time). During the process, the barcode information of the sample tubes can be scanned. When the sample tubes in the 4 adapters 121 meet the conditions for starting centrifugation (the 4 adapters 121 are fully loaded or reach the preset time, and there is a balancing operation during the process), the transfer robot 140 puts the 4 adapters 121 into the centrifuge 122 in sequence, and at the same time removes the 4 adapters 121 from the centrifuge 122 to start sample centrifugation. After centrifugation, the transfer robot 140 takes out the 4 adapters 121 from the centrifuge 122 in sequence and puts them into the adapter tray 123, and at the same time puts 4 new adapters 121 into the centrifuge 122 (if any).

[0087] The transfer robot 140 picks up the centrifuged sample tubes and places them onto the sample holder 10 in the sample loading position DL1 of the capping and loading unit 130 to complete the capping action of the sample tubes. In this example, the capping and loading unit 130 consists of a tube holding assembly 131 and a turntable assembly 132, which can assist the transfer robot 140 in opening the sample tubes and transport the sample holder 10 between the pretreatment module 100 and the transfer track module 200. In this example, the sample tube capping position, sample tube loading position and sample tube unloading position are all located at the sample loading position DL1, that is, they are all located in the same physical position, which can simplify the system scheduling and structure.

[0088] The transfer robot 140 puts the sample cap into the waste cap channel set on the pretreatment module 100. At the same time, the cap opening and loading unit 130 transports the sample holder 10 to the main transfer rail 231 of the transfer track module 200.

[0089] According to the system scheduling rules, the transfer track module 200 transports the sample tube (carried on the sample holder 10) to the processing position (sampling point in this example) of the analyzer 301 and / or the analyzer 302 for sampling and testing. After sampling is completed, the recovery track 232 of the transfer track module 200 transports the sample tube back to the sample loading position DL1 of the pre-processing module 100 and the loading unit 130.

[0090] The transfer robot 140 picks up the sample tubes and places them into the sample tube tray 30 in the sample storage area for temporary storage, waiting for the analyzer 301 and / or analyzer 302 to output the test results.

[0091] For sample tubes that have already received test results and require retesting, the transfer robot 140 picks them up and places them on the sample holder 10 at the sample loading position DL1. The above process is repeated to transfer them to the corresponding analyzer for retesting, and then they are transferred back to the sample pretreatment module for recycling via the recovery track 232. For sample tubes that have already received test results and do not require retesting, the transfer robot 140 picks up the sample tubes and places them on the sample tube tray 30 in the sample dispensing area. The operator then manually removes the sample tubes that have already received test results, completing the sample dispensing process.

[0092] As can be seen, in the above process, the sample holder 10 only circulates between the opening and loading unit 130, the sample delivery track, and the recovery track, which can shorten the transmission distance of the sample holder and improve efficiency. Moreover, compared with related technologies, there is no idle track in the pretreatment module, which can avoid energy waste and is more conducive to environmental protection and energy conservation. Furthermore, the pretreatment module 100 only needs to be equipped with a single transfer robot 140 to realize the up-and-down movement and centrifugation control of the sample tube, which has a simple structure and high utilization rate, and can reduce the hardware redundancy problem existing in the pretreatment module of related technologies.

[0093] In some application scenarios, when the regular sample tube 20 or emergency sample tube 21 does not require centrifugation and opening (i.e., centrifugation and opening are also completed offline), the above-mentioned centrifugation and opening actions can be skipped, and the transfer robot 140 can directly pick up the sample tube and place it into the sample holder 10 of the sample loading position DL1. However, during the transfer of the sample tube, it is necessary to scan the barcode information of the sample tube. Unopened sample tubes are not allowed to enter the transfer track module 200. Therefore, in principle, it is not allowed to inject sample tubes that are centrifuged but not opened. If this function is necessary, the sample tubes can be directly inserted into the sample discharge area or error sample area after centrifugation.

[0094] This embodiment also provides a sample scheduling process and a sample saturation control method for a sample processing system. Here, the sample tube tray area of ​​the sample injection / discharge unit 110 is tentatively set as five sample zones: a regular injection zone, an emergency injection zone, a sample discharge zone, a sample temporary storage zone, and an error sample zone. All sample tube trays 30 are numbered. The regular injection zone, sample discharge zone, sample temporary storage zone, and error sample zone use the same type, starting from N001, while the emergency injection zone starts from E001. For ease of explanation, this scheme tentatively designates the sample tube tray 30 of the regular injection zone as N001, the sample discharge zone as N002, the sample temporary storage zone as N003, the error sample zone as N004, and the emergency injection zone as E001. Simultaneously, the well positions of each sample tube tray 30 are numbered 1 to m, tentatively 1 to 50 in this scheme. Number all adapters 121 (the adapter tray 123 and adapter 121 have the same position number), tentatively set at 8 adapters 121, numbered A1~A8; at the same time, number the hole positions of each adapter 121 from 1 to m, tentatively set at 1~14 in this scheme. Number the cover opening position, sample loading position, and sample unloading position as DL1.

[0095] When injecting samples, priority is given to processing sample tubes from the emergency sample injection area, followed by those from the regular sample injection area. Other optimized samples are processed according to the well number of the sample tube tray 30 from smallest to largest; that is, E001.1>……>E001.50>N001.1>……>N001.50. When transferring sample tubes to the sample loading position DL1, i.e., when the sample tubes are online, priority is given to processing sample tubes that need to be retested in the sample storage area (sample tubes that do not need to be retested in the sample storage area are transferred to the sample discharge area when the transfer robot 140 is idle), then processing sample tubes that have completed centrifugation, and finally processing sample tubes from the sample injection area. However, the priority principle for emergency sample tubes is retained, i.e., retested sample tube N003.1> emergency sample tube A1.E.1 that has completed centrifugation> emergency sample tube E001.1 in the sample injection area (if this sample tube does not need centrifugation)> regular sample tube A2.N.1 that has completed centrifugation> regular sample tube N001.1 in the sample injection area (if this sample tube does not need centrifugation). When a sample tube needs to be transferred from the sample loading position DL1 to the sample input / output unit 110, i.e., when the sample tube is offline, the offline sample tube is processed first, followed by the online sample tube, which has the highest priority. In summary, the priority order of sample scheduling in the preprocessing module 100 is: DL1 > N003.1 > A1.E.1 > E001.1 > A2.N.1 > N001.1. The stop positions of the connection between the transmission track module 200 and the analyzer 301 are numbered R31~R35, and the stop positions of the connection between the transmission track module 200 and the analyzer 302 are numbered R41~R43. The priority for processing sample tubes at each intersection of the transmission track module 200 is set as follows: For R31 and R32, R31 track changes are processed first, followed by R32 straight-through; for R33 and R34, R33 straight-through / track change is processed first, followed by R34 track change / straight-through; for R41 and R42, R41 track changes are processed first, followed by R42 straight-through; consistently, the priority principle for emergency sample tubes is maintained, that is, emergency sample tubes are processed first at each intersection. An example control process is as follows: After the sample tubes that have completed preprocessing register their information at the sample loading position DL1, the flow direction of the sample tubes is determined: For sample tubes that need to be sampled and tested in analyzer 301, the tubes are redirected to operation sub-track 233. If they are not emergency samples, they are redirected directly to operation sub-track 233 to queue for sampling and testing, i.e., they are queued after stop position R31. If they are emergency samples, all non-emergency samples on operation sub-track 233 are released (sample tubes currently being sampled need to complete sampling), completing the emergency overtaking. Sample tubes that need to be sampled and tested in analyzer 302 proceed straight to the main transmission track 231. At stop position R33, it is determined whether the sample tube is an emergency sample. If it is not an emergency sample, it is redirected directly to operation sub-track 243 to queue for sampling and testing, i.e., it is queued after stop position R41. If it is an emergency sample, all non-emergency samples on operation sub-track 243 are released (sample tubes currently being sampled need to complete sampling), completing the emergency overtaking. The sample tubes enter the operation sub-rail 233 for sampling and testing. After completing the sampling and testing at the stop position R31, the tubes change tracks and enter the main transmission rail 231.

[0096] When the sample tube that has completed the sampling test reaches the stop position R33, the flow direction of the sample tube is determined: the sample tube that needs to enter the analyzer 302 for sampling test goes straight into the main transmission rail 241, and after completing the sampling test at the stop position R41 according to the aforementioned scheduling process, it changes track to return to the main transmission rail 241, and then changes track at the stop position R43 to enter the recovery rail 242, and reaches the stop position R35; the sample tube that has completed all tests changes track / goes straight into the recovery rail 232 to queue up and wait to return to the sample loading position DL1 of the preprocessing module 100.

[0097] The number of sample tubes entering the transmission track module 200 is controlled. It is assumed that the number of sample holders 10 that can be buffered by operation sub-tracks 233 and 243 are both N (e.g., 5, 6, 7, 8, 9, or 10 each). When the buffering capacity of operation sub-tracks 233 and 243 reaches its limit, regular sample tubes 20 are scheduled in a "one-out, one-in" manner, while emergency sample tubes 21 are not restricted and can enter the transmission track module 200 for overtaking sampling and testing. When multiple emergency sample tubes 21 are queuing to enter, to ensure unobstructed transport channels, emergency sample tubes 21 that are sampled and tested by analyzer 301 but cannot enter operation sub-track 233 need to queue in a loop between the main transmission track 231 and the recovery track 232. Correspondingly, emergency sample tubes 21 that are sampled and tested by analyzer 302 but cannot enter operation sub-track 243 need to queue in a loop between the main transmission track 241 and the recovery track 242. When the number of sample tubes in the transfer track module 200 is saturated, the transfer robot 140 begins to scan and register the sample tube information of the sample inlet / outlet unit 110 and the centrifugation unit 120, in coordination with the "one-in, one-out" scheduling control of the transfer track module 200. Of course, emergency sample tubes will be processed first.

[0098] The sample processing system provided in this embodiment possesses all the necessary pre- and post-processing functions and sampling and testing capabilities required by small and medium-sized hospitals, achieving functional integration, minimizing floor space, and optimizing costs. Only one robotic arm is used to handle sample tube loading, unloading, and capping operations, enabling the transfer of sample tubes between the sample inlet / outlet area, centrifugation area, and sample tube loading / unloading position. This reduces manufacturing and usage costs and simplifies control, avoiding dynamic interference between multiple robotic arms. Using a single-tube sample holder for sample delivery and transfer allows for more flexible sample tube scheduling, enabling functions such as emergency overtaking, upgrading routine samples to emergency samples, and tracking the location of a specific sample. A saturation control mechanism supplies samples to the analyzer, ensuring sufficient samples for sampling and testing without reducing the analyzer's testing speed, while minimizing the number of samples entering the analyzer's transport track, leaving sufficient space in the main channel to avoid congestion. Simultaneously, it prevents the pre-processing execution units from becoming overloaded, improving the overall system's emergency response capability and lifespan. Furthermore, by connecting multiple analyzers of different types, it can meet diverse testing needs.

[0099] This embodiment also provides a computer program that can be executed by a control module to implement the functions and / or methods of the control module shown in at least one of the above embodiments.

[0100] This embodiment also provides a computer storage medium that stores the above-mentioned computer program, and the computer program can be called and executed by the control module.

[0101] Those skilled in the art will understand that all or some of the steps, systems, or apparatuses disclosed above, and their functional modules / units, can be implemented as software, firmware, hardware, or suitable combinations thereof. In hardware embodiments, the division between functional modules / units mentioned in the above description does not necessarily correspond to the division of physical components. Computer-readable media can include computer storage media (or non-transitory media) and communication media (or temporary media). As is known to those skilled in the art, the term computer storage media includes volatile and non-volatile, removable and non-removable media implemented in any method or technology for storing information (such as computer-readable instructions, data structures, program modules, or other data). Computer storage media includes, but is not limited to, RAM, ROM, EEPROM, flash memory or other memory technologies, CD-ROM, digital versatile disc (DVD) or other optical disc storage, magnetic cartridges, magnetic tape, disk storage or other magnetic storage devices, or any other medium that can be used to store desired information and is accessible to a computer. Furthermore, it is known to those skilled in the art that communication media typically contain computer-readable instructions, data structures, program modules, or other data in modulated data signals such as carrier waves or other transmission mechanisms, and can include any information delivery medium.

[0102] The embodiments described above are merely preferred embodiments for the purpose of fully illustrating this application, and the scope of protection of this application is not limited thereto. Equivalent substitutions or modifications made by those skilled in the art based on this application are all within the scope of protection of this application. The scope of protection of this application is determined by the claims.

Claims

1. A sample scheduling system, characterized in that, It includes a control module and a track module. The track module includes at least one transmission track module, which includes a sample delivery track and a recovery track with opposite transmission directions. The sample delivery track includes a main transmission track with a first sample inlet and a first sample outlet at its two ends, and an operation sub-track connected in parallel with the main transmission track. The main transmission track and the operation sub-track have an inlet and an outlet that are connected to each other and are respectively close to the first sample inlet and the first sample outlet. A first track-changing component is provided on the main transmission rail at the entrance. The first track-changing component controls the sample holder that enters the main transmission rail through the first injection end to either enter the operation sub-rail through the entrance or continue to be transmitted on the main transmission rail. The operation subrail is equipped with a processing position. The operation subrail will transfer the sample holder that enters from the inlet to the processing position for processing by the sample processing equipment, and will transfer the sample holder on the processing position to the main transmission rail through the outlet. The transmission track module further includes a first information acquisition component and a second track changing component disposed near the first sample outlet. The main transmission track is provided with a first track changing judgment position near the second track changing component. The first information acquisition component acquires the first sample information on the first track changing judgment position and transmits it to the control module. The first sample information includes at least one of the information carried by the sample holder and the information carried by the sample tube on the sample holder. The control module instructs the second track-changing component to control the sample holder to change track from the main transmission rail to the recovery track for transmission, or to continue transmission on the main transmission rail and enter the next transmission track module via the first sample exit end, based on the first sample information.

2. The sample scheduling system as described in claim 1, characterized in that, The transmission track module also includes at least one of the following: A first sensor is disposed on the operating subrail and near the entrance; the first sensor detects the passage of the sample seat on the operating subrail and generates first detection information; the control module determines whether the sample seat has successfully entered the operating subrail based on the first detection information and whether the first track-changing component controls the sample seat to enter the operating subrail from the entrance, and / or, if it is determined based on the first detection information that there is a sample seat at the detection position of the first sensor for a continuous time period t1, it determines that the current sample seat of the operating subrail is saturated and performs first saturation control; A first braking unit and a second sensor are provided. A waiting position is located on the main transmission rail between the inlet and the outlet, and near the outlet. The first braking unit and the second sensor are located at the waiting position. The first braking unit blocks the sample holder at the waiting position, and the second sensor sends second detection information about the presence of a sample holder at the waiting position to the control module. Based on the second detection information, the control module controls the first braking unit to release or block the sample holder at the waiting position according to whether there is a sample holder that needs to be released at the processing position. A fourth sensor is positioned on the main transmission rail between the inlet and the outlet, and close to the inlet. The fourth sensor detects the passage of a sample carrier on the main transmission rail and generates fourth detection information. The control module, based on the fourth detection information and whether the first track-changing component controls the sample carrier to continue uploading on the main transmission rail, determines whether the sample carrier has normally entered the main transmission rail after passing through the first track-changing component. And / or, based on the fourth detection information, if it is determined that a sample carrier exists at the detection position of the fourth sensor for a continuous time period t2, it determines that the current sample carrier on the main transmission rail is saturated and performs a second saturation control. The fifth sensor is located on the main transport rail between the first sample inlet and the inlet. The fifth sensor detects the sample holder passing on the main transport rail and generates fifth detection information. The control module determines whether the sample holder has entered the main transport rail normally based on the fifth detection information and the sample holder's entry into the main transport rail from the preprocessing module. A sixth sensor is located at the first track change judgment position; the sixth sensor detects whether there is a sample seat at the first track change judgment position and generates sixth detection information; the control module controls the first information acquisition component to be turned on according to the sixth detection information to obtain the first sample information at the first track change judgment position.

3. The sample scheduling system as described in claim 2, characterized in that, The control module performs the first saturation control by: prohibiting new sample seats from entering the main transmission rail and / or the operation subrail before the number of sample seats between the first sensor and the processing position is less than a preset M1; or, allowing a new sample seat to be input into the main transmission rail and / or the operation subrail only when the processing position releases a sample seat to the outlet. And / or, the transmission track module further includes a third sensor, the third sensor being located between the exit and the first track change judgment position and close to the exit; the control module, based on the second detection information, controls the first braking unit to release or block the sample seat on the waiting position according to whether there is a sample seat to be released on the processing position, including: when the control module determines that there is no sample seat to be released on the processing position based on the second detection information, it controls the first braking unit to immediately release the sample seat on the waiting position; when it determines that there is a sample seat to be released on the processing position, it controls the first braking unit to continue blocking the sample seat on the waiting position; and when it determines, based on the third detection information sent by the third sensor, that the sample seat on the processing position has passed the third sensor and there is no sample seat to be released on the processing position X, it controls the first braking unit to release the sample seat on the waiting position; And / or, the control module performs second saturation control by: prohibiting new sample seats from entering the main transmission rail before the number of sample seats between the fourth sensor and the first braking unit is less than a preset M2; or, allowing a new sample seat to be input into the main transmission rail only when the first braking unit releases a sample seat; or, controlling the first braking unit to release at least one sample seat preferentially.

4. The sample scheduling system as described in any one of claims 1-3, characterized in that, The transmission track module also includes at least one of the following: The second information acquisition component is located on the operation subrail between the entry point and the processing position, and adjacent to the processing position, with an information reporting position. The second information acquisition component is positioned at the information reporting position. The second information acquisition component acquires second sample information from the information reporting position. The second sample information includes at least one of the information carried by the sample holder and the information carried by the sample tube on the sample holder. The control module sends the second sample information to the corresponding sample processing device. A second braking unit is disposed at the processing position; the second braking unit is used to block the sample holder at the processing position for processing by the sample processing device, and to release the sample holder at the processing position after the sample processing device has finished processing. A tube-holding assembly is disposed at the processing position; the tube-holding assembly is used to hold and release the sample tube on the sample holder at the processing position. A seventh sensor is located at the processing position; the seventh sensor is used to detect whether there is a sample holder at the processing position to generate seventh detection information, and the control module controls the corresponding sample processing device to start processing the sample at the processing position according to the seventh detection information.

5. The sample scheduling system as described in any one of claims 1-3, characterized in that, The two ends of the recovery track are a second sample inlet and a second sample outlet, respectively. The second sample inlet and the first sample outlet are located on the same side, and the second sample outlet and the first sample inlet are located on the same side. The transfer track module also includes at least one of the following: An eighth sensor is disposed on the recovery track between the second sample outlet and the second track-changing component, and close to the second track-changing component. The eighth sensor detects the sample holder passing on the recovery track and generates eighth detection information. The control module determines whether the sample holder has successfully entered the recovery track based on the eighth detection information and whether the second track-changing component controls the sample holder to enter the recovery track from the main transmission track. And / or, if the eighth detection information determines that there is a sample holder at the detection position of the eighth sensor for a continuous time period t3, the control module determines that the current sample holder of the recovery track is saturated and performs a third saturation control. A ninth sensor is positioned on the recovery track near the second sample outlet. The ninth sensor detects the sample holder's movement on the recovery track and generates ninth detection information. The control module controls the preprocessing module to receive the sample holder from the recovery track based on the ninth detection information. The third information acquisition component includes a second track change judgment position located on the recovery track between the second track change component and the second sample inlet. The third information acquisition component collects third sample information from the sample holder at the second track change judgment position. The third sample information includes at least one of the information carried by the sample holder and the information carried by the sample tube on the sample holder. The sample holder at the second track change judgment position is a sample holder that entered through the second sample inlet and came from the next track module. The control module controls the second track change component to change the sample holder on the recovery track to the main transmission track for transmission and re-enter the next transmission track module through the first sample outlet, or to continue to keep the sample holder on the recovery track for transmission, based on the third sample information and the processing result of the sample on the sample holder by the sample processing device corresponding to the next track module.

6. The sample scheduling system as described in claim 5, characterized in that, The control module performs the third saturation control as follows: before the number of sample holders between the eighth sensor and the ninth sensor is less than a preset M3, instructing the second track-changing component to control the sample holders to continue to be transmitted on the main transmission rail and enter the next transmission track module via the first sample outlet, and / or instructing the pre-processing module to preferentially receive sample holders from the recovery track. And / or, The transmission track module also includes a tenth sensor located at the second track change judgment position, used to detect whether there is a sample seat at the second track change judgment position to generate tenth detection information. The control module controls the third information acquisition component to be turned on according to the tenth detection information to obtain the third sample information at the second track change judgment position.

7. The sample scheduling system according to any one of claims 1-3, characterized in that, It also includes a preprocessing module, which is configured with a sample storage unit and a sample transfer unit; the sample storage unit is used to store sample tubes, and the sample transfer unit is used to transfer sample tubes between the main transport rail and the sample storage unit, and between the recovery rail and the sample storage unit; And / or, the track module includes at least two transmission track modules, and the sample delivery track and the recovery track of adjacent transmission track modules are sequentially connected in the transmission direction; And / or, one of the sample holders can only hold one sample tube.

8. The sample scheduling system as described in claim 7, characterized in that, The sample transfer unit includes a transfer robot and a sample loading unit. The transfer robot is configured to transfer sample tubes between the sample storage unit and the sample loading unit. The sample loading unit is configured to receive sample holders from the recovery track and guide the sample holders onto the main transfer rail of the sample delivery track. The sample holders are cyclically transferred only between the sample delivery track, the recovery track, and the sample loading unit.

9. A transmission track module, characterized in that, The transmission track module is the transmission track module as described in any one of claims 1-8.

10. A sample processing system, characterized in that, It includes at least one sample processing device and a sample scheduling system as described in any one of claims 1-8, wherein one sample processing device is adapted to one of the transmission track modules, and the sample processing device is used to process the samples in the sample tube at the processing position.

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