Pipeline system and sample carry-out control method

Abstract

To provide a pipeline system and a sample carrying-out control method for achieving free sample carrying-out, and improving a sample carrying-out success rate and carrying-out efficiency.SOLUTION: The pipeline system includes one or more analysis modules 104 for testing samples, at least two sample carrying-out modules 102 including robotic arms for performing sample carrying-out operations, a track 106 connecting the sample carrying-out modules and the analysis modules, and a control device for planning, for a sample to be carried out, a plurality of sample carrying-out paths indicating a plurality of executable sample carrying-out modules, determining a target sample carrying-out module from the plurality of executable sample carrying-out modules according to preset sample carrying-out proportions of the at least two sample carrying-out modules, an experimental state, and the plurality of sample carrying-out paths, and controlling the track to schedule the sample to be carried out to the target sample carrying-out module.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present application relates to the technical field of medical testing, and in particular to a pipeline system and a method for controlling sample delivery. [Background technology]

[0002] In the field of medical testing, pipelines are an efficient and automated detection method that connects sample pretreatment, analytical detection, and post-treatment stages through automated equipment and control systems to automate the detection process, thereby significantly improving detection efficiency.

[0003] Sample delivery refers to sending detected samples or error samples from the pipeline to a sample delivery module via a truck for subsequent storage or processing. As the demand for detection increases, some large-scale pipelines are equipped with multiple sample delivery modules. In the scenario where multiple sample delivery modules are equipped, how to adopt a sample delivery control strategy to ensure sample delivery efficiency and sample delivery success rate is an urgent problem to be solved. Summary of the Invention [Problem to be solved by the invention]

[0004] Based on this, it is necessary to provide a pipeline system and a sample delivery control method that can improve the sample delivery efficiency and the sample delivery success rate in order to address the above-mentioned problems. [Means for solving the problem]

[0005] In a first aspect, the present application provides a pipeline system, the pipeline system comprising: one or more analytical modules for testing the sample; at least two sample delivery modules including a robotic arm for performing a sample delivery process on the sample to be delivered; a track connecting the sample delivery module and the analysis module; and a control device that plans a plurality of sample export routes indicating a plurality of executable sample export modules for the samples to be exported, determines a target sample export module from the plurality of executable sample export modules according to the preset sample export rates of at least two of the sample export modules, the experimental state and the plurality of sample export routes, and controls the truck to schedule the samples to be exported to the target sample export module.

[0006] In one embodiment, the control device determines a scheduling order of the samples to be transported in the multiple executable sample transport modules according to the preset sample transport ratios of at least two of the sample transport modules, the experimental state, and the multiple sample transport paths, and the target sample transport module is the first executable sample transport module determined according to the scheduling order.

[0007] In one embodiment, after the target sample export module is determined, the control device controls the truck to schedule the sample to be exported to the connection point between the truck and the target sample export module, and when the experimental state and load of the target sample export module satisfy a first requirement, controls the truck to schedule the sample to be exported to enter the target sample export module through the connection point.

[0008] In one embodiment, the first requirement includes that the experimental state of the target sample delivery module is experimental and that the load of the target sample delivery module is less than a threshold value.

[0009] In one embodiment, the control device further determines the next executable sample export module as the target sample export module according to the scheduling order when the experimental status and the load of the target sample export module do not satisfy the first requirement, and controls the truck to schedule the sample to be exported to the connection point between the truck and the updated target sample export module.

[0010] In one embodiment, each of the sample delivery modules includes a sample reservoir, and the plurality of sample delivery paths further indicate possible reservoir locations for the sample reservoir of each of the possible sample delivery modules; The control device further determines a target position from the storage position according to the state of the sample storage device after the sample to be transported is scheduled to the target sample export module, if the experimental state of the target sample export module and the state of the sample storage device satisfy a second requirement, and controls the robot arm to store the sample to be transported at the target position of the target sample export module.

[0011] In one embodiment, each of the sample reservoirs can accommodate a plurality of sample holders, and the sample holders include a plurality of set positions for mounting sample tubes, and the set positions correspond to the sample reservoirs, the sample holders, and the set positions; The state of the sample storage device includes an occupied state of the sample storage device, a set state of the sample holder in the sample storage device, and an excess state of the set position of the sample holder.

[0012] In one embodiment, the second requirement includes that the occupation state of the sample storage device is unoccupied, the sample holder is set in the unoccupied sample storage device, and there is an extra set position for the sample holder, and the experimental state of the target sample export module is in experiment.

[0013] In one embodiment, the control device determines a sample storage device that is in the unoccupied state, has the sample holder set, and has an excess set position for the sample holder as a target sample storage device, determines the sample holder with the fewest excess set positions in the target sample storage device as a target sample holder, and determines the target position from the excess set positions of the target sample holder.

[0014] In one embodiment, when there are multiple excess set positions for the target sample holder, the control device further determines the first excess set position in the preset set order as the target position according to a preset set order.

[0015] In a second aspect, the present application further provides a sample delivery control method, the sample delivery control method being applied to a pipeline system, the pipeline system comprising: one or more analytical modules for testing the sample; at least two sample delivery modules including a robotic arm for performing a sample delivery process on the sample to be delivered; a track connecting the sample delivery module and the analysis module; The method comprises: planning a plurality of sample delivery paths for the sample to be delivered, the paths indicating a plurality of possible sample delivery modules; determining a target sample delivery module from the plurality of feasible sample delivery modules according to preset sample delivery rates of at least two of the sample delivery modules, the experiment state, and the plurality of sample delivery paths; and controlling the truck to schedule the samples to be delivered to the target sample delivery module. [Effects of the Invention]

[0016] According to the above pipeline system and sample export control method, when a pipeline system is equipped with multiple sample export modules, scheduling is performed based on the planned sample export route while also taking into account the preset sample export ratio, so that dynamic allocation can be performed according to the sample export ratio set by the user, realizing free sample export and taking into account the real-time experimental status of the sample export module, thereby avoiding scheduling samples to be exported to sample export modules that are not currently undergoing an experiment, thereby improving the success rate and efficiency of sample export. [Brief explanation of the drawings]

[0017] [Figure 1] FIG. 1 is a schematic configuration diagram of a pipeline system according to an embodiment. [Figure 2] 1 is a schematic flowchart of a sample removal control method according to an embodiment. [Figure 3] FIG. 2 is a diagram illustrating the internal configuration of a computer device according to an embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0018] In order to clarify the purpose, technical aspects and advantages of the present application, the present application will be described in more detail below with reference to the drawings and examples. It should be understood that the specific examples described in this specification are only for the purpose of interpreting the present application, and are not intended to limit the present application.

[0019] In the field of medical testing, a pre-processing module, a sample analyzer, and a post-processing module can be connected by a track according to needs, and functions such as data integration, process control, automated operation, and data analysis can be realized by a control device, thereby enabling more efficient and automatic processing and analysis of biological samples. The pre-processing module may include a sample input module, a centrifugation module, and a capping module, etc., which respectively realize functions such as sample input, centrifugation, and capping. The sample analyzer may include a biochemistry analyzer, an immunoassay analyzer, etc., according to testing needs, to realize analytical functions for different detection items of samples. The post-processing module may include a sealing module, a sample output module, etc., which realize functions such as sealing and sample output.

[0020] Some large pipelines are equipped with two or more sample delivery modules to store samples transported from the pipeline. As the number of sample delivery modules increases, how to improve the sample delivery efficiency has become an urgent issue to be solved.

[0021] To address this problem, the present application provides a pipeline system including at least two sample delivery modules 102, one or more analysis modules 104, a track 106, and a control device 108, as shown in FIG.

[0022] The analysis module 104 detects the samples. Each sample delivery module 102 includes a robotic arm for performing a sample delivery process on the sample to be delivered. A track 106 connects the sample delivery modules 102 and the analysis module 104. The control device 108 plans multiple sample delivery routes indicating multiple executable sample delivery modules for the sample to be delivered, determines a target sample delivery module from the multiple executable sample delivery modules according to the preset sample delivery rates of the at least two sample delivery modules, the experiment status, and the multiple sample delivery routes, and controls the track to schedule the sample to be delivered to the target sample delivery module.

[0023] It can be appreciated that in some embodiments, the pipeline system may further include a pre-processing module 110 that performs pre-processing on the sample, such as sample loading, centrifugation, and decapping.

[0024] In some embodiments, the sample export function and the sample import function are integrated into a single sample import / export module, and in this embodiment, the pipeline system includes at least two sample import / export modules, one or more analysis modules, a track, and a control device.

[0025] The pipeline system pre-treats the samples using a pre-treatment module, and after pre-treatment is complete, the samples are sent to the analysis module 104, which tests the samples. For samples to be shipped that have completed testing and other samples to be shipped on the pipeline, the controller 108 plans multiple sample export routes, which indicate multiple possible sample export modules.

[0026] The sample delivery path is used to indicate a transport node when a sample is delivered. Typically, a sample delivery module includes multiple sample storage devices, each of which can accommodate a sample holder, and the sample holder includes multiple set positions for mounting sample tubes. Accordingly, the sample delivery path may include a sample delivery module identifier, a sample storage device identifier, and a sample holder identifier to indicate which sample delivery module, which sample storage device of the sample delivery module, and which sample holder of the sample storage device the sample to be delivered can be delivered to.

[0027] In one embodiment, the sample storage device of the sample delivery module may be a drawer, and one sample delivery module may include multiple drawers, with the sample holder in each drawer being a sample cassette, and the sample cassette having multiple sample tube set positions. Accordingly, the sample delivery path may include a sample delivery module identifier-drawer identifier-sample cassette identifier to indicate which sample delivery module, which drawer in the sample delivery module, and which sample cassette in the drawer the sample to be delivered can be delivered to.

[0028] The control device plans a plurality of sample export routes for the samples to be exported, and the sample export modules included in the plurality of sample export routes are executable sample export modules, i.e., an executable sample export module is each sample export module that can be used to perform the sample export process indicated by the sample export route. The control device plans the plurality of sample export routes for the samples to be exported according to a preset route planning strategy.

[0029] In one embodiment, when a sample satisfies the sample export condition, the sample is determined as a sample to be exported, and a sample export route is planned for the sample to be exported. For example, when sample detection is completed, the sample is determined as a sample to be exported, and a sample export route is planned for the sample to be exported. Also, for example, when it is detected that there is an error sample on the track, the sample is determined as a sample to be exported, and a sample export route is planned for the sample to be exported.

[0030] In one embodiment, the path planning strategy must take into account the experimental state of the sample delivery module. Specifically, the control device plans multiple sample delivery paths for the samples to be delivered, depending on the experimental state of the sample delivery module. For example, if the pipeline system includes three sample delivery modules and the control device determines two of the three sample delivery modules whose experimental state is "experiment" as executable sample delivery modules when planning sample delivery paths for the samples to be delivered, the control device plans a sample delivery path for the samples to be delivered that includes the two executable sample delivery modules.

[0031] In one embodiment, the path planning strategy may consider whether the sample information matches the designated stored sample information of the sample delivery module. Specifically, a user may preset the stored sample information of each sample delivery module. For example, sample delivery module 1 may be designated as a storage location for urgent samples, and sample delivery module 2 may be designated as a storage location for regular samples. Alternatively, sample delivery module 1 and sample delivery module 3 may be designated as storage locations for samples of detection item A, and sample delivery module 2 may be designated as a storage location for detection item B. When planning a path for a sample to be delivered, the control device determines the sample information of the sample to be delivered and determines the planned path for the sample to be delivered based on the sample delivery module whose designated stored sample information matches the sample information among all sample delivery modules. For example, if the sample to be delivered is a sample of detection item A, the executable sample delivery modules for this sample include sample delivery module 1 and sample delivery module 3.

[0032] In one embodiment, the path planning strategy may further consider the experimental state of the sample delivery module and the degree of match between the sample type and the designated stored sample type of the sample delivery module, which is a combination of the above two methods. Specifically, the control device first excludes candidate sample delivery modules that are not in the experiment according to the experimental state of the sample delivery module, and then plans multiple sample delivery paths from the candidate sample delivery modules according to the match between the sample information and the designated stored sample information of the sample delivery module to obtain a feasible sample delivery module.

[0033] When a pipeline system is equipped with multiple sample export modules, laboratories can set the sample export ratio as needed. The sample export ratio is used to determine the sample export throughput of each sample export module. Generally, when there are multiple sample export modules, the sample export ratio can be set equally. For example, if there are three sample export modules, the sample export ratio can be set to 1:1:1. By evenly scheduling the samples to be exported on the pipeline to each sample export module according to the sample ratio, the sample export throughput of each sample export module can be made equal.

[0034] Furthermore, the pipeline system allows laboratories to freely set the sample delivery ratio according to their own needs. For example, if a certain type of detection is frequently performed in a laboratory, two sample delivery modules can be set up exclusively to receive delivery samples of this type of detection, and the sample delivery ratio can be set to 1:2:2. In this way, most of the samples of this detection item will be delivered to the second sample delivery module and the third sample delivery module according to the sample delivery ratio.

[0035] In this embodiment, the control device determines a target sample export module from multiple executable sample export modules based on the preset sample export ratio of the sample import / export module, the real-time experimental situation, and multiple sample export routes, and controls the truck to schedule the samples to be exported to the target sample export module.

[0036] In this embodiment, when a pipeline system is equipped with multiple sample export modules, scheduling is performed based on the planned sample export route while also taking into account the preset sample export ratio, allowing dynamic allocation according to the sample export ratio set by the user, realizing free sample export and taking into account the real-time experimental status of the sample export module, thereby avoiding scheduling samples to be exported to sample export modules that are not currently undergoing an experiment, thereby improving the success rate and efficiency of sample export.

[0037] In this embodiment, the control device integrates functions such as pipeline control, truck scheduling, and sample output module control. In some embodiments, multiple controllers may be installed to respectively realize the above control functions. For example, a pipeline controller may be provided to plan multiple sample output routes for samples to be output. A track controller may be provided to determine a target sample output module from multiple feasible sample output modules according to the preset sample output rates of at least two sample output modules, the experimental status, and the multiple sample output routes, and to control the truck to schedule the target sample to the target sample output module. A sample output controller may be provided to perform sample output processing for the target sample in the sample output module. In this way, after the pipeline controller has planned multiple sample output routes, if the pipeline system is subject to human intervention or the experimental status of the analysis module changes, the track controller and sample output controller can timely change the sample output route according to information obtained in real time, thereby improving sample output efficiency.

[0038] In one embodiment, the control device determines a scheduling order for samples to be transported among the multiple executable sample transport modules according to the preset sample transport rates of at least two sample transport modules, the experimental status, and multiple sample transport paths, and the target sample transport module is the first executable sample transport module determined according to the scheduling order. The target sample transport module is a sample transport module for performing sample transport processing on the samples to be transported. In this embodiment, the executable sample transport modules are ranked to determine the scheduling order, and the scheduling order represents priority. A higher ranking in the scheduling order indicates a higher priority for the sample transport module to be the target sample transport module. In this manner, the first sample transport module ranked highest according to the scheduling order is determined as the target sample transport module. The advantage of determining the target sample transport module in this manner is that if the target sample transport module does not satisfy the sample transport processing conditions, the next highest ranked sample transport module according to the scheduling order can be quickly determined as the target sample transport module, thereby improving the success rate of the sample transport processing. For example, a situation in which the sample delivery condition is not met may include the experimental state of the target sample delivery module being shut down or suspended, or the load of the target sample delivery module being greater than a threshold.

[0039] The method determines executable sample delivery modules according to a plurality of sample delivery paths, and further ranks the executable sample delivery modules. Factors that influence the ranking of the scheduling order of the executable sample delivery modules include a preset sample delivery rate and an experiment status.

[0040] It can be understood that during the operation of the actual pipeline system, the status of the sample delivery module changes dynamically. For multiple planned sample delivery paths, the control device further determines the target sample delivery module according to the real-time experimental status of the sample delivery module.

[0041] In one embodiment, if the experimental state of one or more executable sample delivery modules is not in experiment, the executable sample delivery module is determined as the lowest ranked executable sample delivery module.

[0042] In one embodiment, the highest ranked executable sample export module is determined according to a preset sample export ratio. For example, if the executable sample export modules are 1:1:1, three executable sample export modules can be ranked first as executable sample export modules that perform sample export processing with priority in three consecutive schedulings.

[0043] For example, there are two executable sample modules A and B, and the executable sample module ratio is 1:1. If the previously determined scheduling order is A, B, and sample export module A performed sample export processing for the previous export target sample, the current scheduling order can be determined as B, A according to the preset sample export ratio. In this way, according to the scheduling order, executable sample export module B can be determined as the target sample export module for the current export target sample.

[0044] In this embodiment, the priority of the executable sample delivery modules is determined based on a preset sample delivery rate, the experimental status, and multiple sample delivery paths to form a scheduling order, and the target sample delivery module is determined according to the scheduling order. In this way, the executable sample delivery module with the highest priority can be determined as the target sample delivery module by comprehensively considering multiple factors. This method takes into account the load on the sample delivery modules and the experimental status of each executable sample delivery module, thereby improving sample delivery efficiency and sample delivery success rate.

[0045] In one embodiment, after the target sample export module is determined, the truck is controlled to schedule the sample to be exported to the connection point between the truck and the target sample export module, and when the experimental state and load of the target sample export module meet a first requirement, the truck is controlled to schedule the sample to be exported through the connection point and enter the target sample export module.

[0046] Specifically, the connection point between the truck and the target sample export module refers to the point where the target sample export module meets the pipeline track. After the target sample export module is determined, the control device controls the truck to schedule the sample to be exported to the connection point between the truck and the target sample export module. At this connection point, the control device obtains the experimental status and load of the target sample export module in real time, and controls the truck to schedule the sample to be exported through the connection point and enter the target sample export module only if the experimental status and load of the target sample export module meet a first requirement. This prevents the sample from being processed in a timely manner after being scheduled to the target sample export module because the experimental status and load of the target sample export module do not meet the requirements.

[0047] The first requirement may include that the experimental state of the target sample delivery module is in experiment and that the load of the target sample delivery module is less than a threshold value.

[0048] In one embodiment, the load of the target sample export module can be represented by the number of samples to be exported temporarily stored on the inner rail track of the target sample export module or the number of samples to be exported temporarily stored in the sample temporary storage device of the target sample export module. The sample temporary storage device may be a section of a pipeline track or a device for temporarily storing samples to be exported that is built into the target sample export module. In this embodiment, when the truck schedules the samples to be exported to the connection point between the target sample export module and the truck, it further determines whether the experimental status and load of the target sample export module satisfy a first requirement before scheduling the samples to be exported to the inner rail or sample temporary storage device of the target sample export module. Only if the experimental status and load of the target sample export module satisfy the first requirement, is the truck controlled to schedule the samples to be exported through the connection point and enter the target sample export module. In this way, the processing capacity of the target sample export module can be predicted in advance based on the experimental status and load of the target sample export module, thereby improving the success rate of sample export.

[0049] In another embodiment, the control device further determines the next executable sample export module as the target sample export module according to the scheduling order when the experimental status and load of the target sample export module do not satisfy the first requirement, and controls the truck to schedule the sample to be exported so that it passes through the connection point and is then transported to the connection point between the truck and the updated target sample export module.

[0050] For example, if the scheduling order of executable sample export modules A and B for the sample to be exported is A, B, and executable sample export module A is determined as the target sample export module, and when the sample to be exported is scheduled to the connection point between the truck and executable sample export module A, if the experimental state and load of executable sample export module A do not satisfy the first requirement, executable sample export module B is determined as the target sample export module according to the scheduling order, and the truck is controlled to schedule the sample to be exported to the connection point between the truck and executable sample export module B.

[0051] It can be understood that even after the sample to be transported has been scheduled to the connection point between the updated target sample export module and the truck, the truck cannot be controlled to schedule the sample to be transported through the connection point and into the updated target sample export module unless it is determined that the experimental status and load of the updated target sample export module meet the first requirement.

[0052] If a sample to be discharged cannot enter any sample discharge module and undergo sample discharge processing according to the scheduling order, the sample discharge path can be reassigned and the sample discharge control processing can be performed again for that sample.

[0053] In this embodiment, when a truck schedules samples to be transported to the connection point between the target sample export module and the truck, if the target sample export module does not meet the sample export processing conditions, the next ranked sample export module can be quickly determined as the target sample export module according to the scheduling order, thereby improving the success rate of the sample export processing.

[0054] In one embodiment, each sample delivery module includes a sample reservoir, and the plurality of sample delivery paths further indicate possible reservoir locations for the sample reservoirs of the possible sample delivery modules.

[0055] The control device further determines a target position from the storage positions according to the state of the sample storage device after the sample to be transported is scheduled to the target sample transport module, if the experimental state of the target sample transport module and the state of the sample storage device satisfy the second requirement, and controls the robot arm to store the sample to be transported at the target position of the target sample transport module.

[0056] That is, after the sample to be transported is scheduled to the target sample transport module, the experimental state of the target sample transport module and the state of the sample storage device are detected, and only when the experimental state of the target sample transport module and the state of the sample storage device satisfy the second requirement, the target position is determined from the possible storage positions according to the state of the sample storage device. After the target position is determined, the robot arm is controlled to store the sample to be transported at the target position of the target sample transport module.

[0057] In this embodiment, when determining the target storage position of a sample in a sample storage device, the state of the sample storage device and the experimental state of the target sample export module are taken into consideration, and if both satisfy the second requirement, a storage position is assigned to the sample according to the state of the sample storage device.This makes it possible to determine a set position where the sample to be exported can be placed from the multiple sample storage devices of the target sample export module, thereby improving the success rate of sample export.

[0058] In one embodiment, each sample storage device can accommodate multiple sample holders, and the sample holders include multiple set positions for loading sample tubes, and the storable positions correspond to the sample storage device, sample holders, and set positions.

[0059] Accordingly, the state of the sample reservoir includes an occupied state of the sample reservoir, a set state of the sample holder in the sample reservoir, and an excess state of the set position of the sample holder.

[0060] The occupancy state of a sample reservoir includes two states: occupied and unoccupied. When a sample reservoir is in the occupied state, a sample cannot be loaded into the sample reservoir. In one embodiment, the sample reservoir is a drawer, and the drawer has two states: pulled out and closed. When a drawer is in the pulled out state, a sample cannot be loaded into the drawer. When a drawer is in the closed state, the drawer is locked and, if there is a storage device in the drawer, a sample can be loaded into the drawer. The pulled out state corresponds to the occupied state, and the closed state corresponds to the unoccupied state.

[0061] The set state of the sample holder in the sample storage device is used to indicate whether or not a sample holder is set in the sample storage device. The set state of the sample holder in the sample storage device includes two states: a state in which a sample holder is set in the sample storage device, and a state in which a sample holder is not set. Only when a sample holder is set in the sample storage device, does a set position exist in this sample storage device.

[0062] If a sample holder is set in the sample storage device, the excess set position status of the sample holder is further detected. The excess set position status of the sample holder includes two states: a state where there is an excess set position and a state where there is no excess set position. If there is an excess set position in the set position of the sample holder, it indicates that this sample holder can be used to place a sample to be transported.

[0063] Based on this, the second requirement includes that the occupancy state of the sample storage device is unoccupied, a sample holder is set in the unoccupied sample storage device, and there is an excess set position for the sample holder, and the experimental state of the target sample export module is in experiment.

[0064] After the sample to be transported is scheduled to the target sample export module, if the occupancy state of the sample storage device is unoccupied, a sample holder is set in the unoccupied sample storage device, there is an extra set position for the sample holder, and the experimental state of the target sample export module is in experiment, a target position is determined from the storage positions depending on the state of the sample storage device, and the robot arm is controlled to store the sample to be transported at the target position of the target sample export module.

[0065] That is, when determining a target storage position in the sample storage device for the sample to be transported, it is necessary to take into consideration the state requirements of the sample storage device in addition to the experimental state requirements of the sample transport module.

[0066] Specifically, the experimental state requirement of the target sample delivery module includes that the experimental state of the target sample delivery module must be in experiment, and is used to determine whether the target sample delivery module can perform the sample delivery process.

[0067] The sample storage device requirements include that the target sample delivery module has an unoccupied sample storage device, that the unoccupied sample storage device has a sample holder set in it, and that there is an excess set position for the sample holder. The sample storage device requirements are used to determine whether the target sample delivery module has a position where a sample to be delivered can be placed.

[0068] For example, the target sample delivery module includes three drawers each capable of accommodating six sample holders, each sample holder having a set position for placing a sample tube of a sample to be delivered.

[0069] When determining the target storage position, the experimental status requirements of the target sample discharge module require that the experimental status of the target sample discharge module be in an experiment. Considering the requirements of the sample storage device, if the target sample discharge module is in an experiment and one of the three drawers of the target sample discharge module is occupied, the two unoccupied drawers are checked to see if a sample holder is set therein. If a sample holder is set in each of the two drawers, the system checks whether there are any spare set positions for the sample holders in the two drawers. If there are, the target sample discharge module has a set position where the sample to be discharged can be placed. In this case, the target position can be determined from the available storage positions indicated by the sample discharge path depending on the status of the sample storage device.

[0070] Specifically, the control device determines a sample storage device that is unoccupied, has a sample holder set in it, and has an excess set position for the sample holder as the target sample storage device, determines the sample holder with the fewest excess set positions in the target sample storage device as the target sample holder, and determines the target position from the excess set positions of the target sample holder.

[0071] In this embodiment, the target sample storage device is determined first. In one embodiment, if the sample storage device is a drawer in the target sample delivery module, the target drawer in the target sample delivery module needs to be determined first accordingly.

[0072] The target sample storage device is a sample storage device that is unoccupied, has a sample holder set therein, and has an extra set position for the sample holder. For example, the target sample storage device is a drawer in the sample output module that is closed, has a sample cassette set therein, and has an extra set position for the sample cassette.

[0073] In some embodiments, there may be multiple target sample storage devices that meet the requirements. For example, two of the three drawers in the target sample output module are closed, have sample cassettes set in them, and have extra set positions for sample cassettes. Furthermore, the highest-ranked target sample storage device may be determined as the final target sample storage device according to a pre-set order of the target sample storage devices that meet the requirements. The pre-set order may be the order of drawer identifiers or the order of distance from the robot arm.

[0074] For example, the drawer corresponding to the highest ranked drawer identifier may be determined as the target sample storage device according to the order of the drawer identifiers. For example, if drawers 2 and 3 in the target sample discharge module are both closed, have sample cassettes set therein, and have an extra set position for the sample cassette, drawer 2 may be determined as the target sample storage device.

[0075] After the target sample storage device is determined, the sample holder in the target sample storage device with the smallest number of surplus set positions is determined as the target sample holder, so that the samples to be transferred can be concentrated in the target sample holder as quickly as possible, and the target sample holder can be filled as quickly as possible. This is because, in terms of laboratory operating practices, filled sample holders are usually transported to other locations (such as an offline refrigerator or other pipeline system).

[0076] For example, if one of the three drawers in the target sample discharge module is occupied and the two unoccupied drawers are drawer 1 and drawer 3, the system determines whether a sample holder is set in each of drawers 1 and 3. If a sample holder is set in each of the two drawers and both have spare set positions, it determines drawer 1 as the target sample storage device according to a preset order.

[0077] If one of the three drawers in the target sample export module is in an occupied state, and the two unoccupied drawers are drawer 1 and drawer 3, respectively, and drawer 3 has no surplus set positions, but drawer 1 has surplus set positions, then drawer 1 is designated as the target sample storage device.

[0078] After determining drawer 1 as the target sample storage device, if it is detected that there are six sample cassettes in drawer 1 and that the fifth sample cassette among the six sample cassettes has the fewest number of excess set positions, the fifth sample cassette in drawer 1 is determined as the target sample holder.

[0079] In another embodiment, the control device further determines, when there are multiple excess set positions for the target sample holder, the first excess set position in the preset set order as the target position according to a preset set order.

[0080] The preset loading sequence is the sequence in which the robot arm loads sample tubes containing samples to be removed into each loading position on the sample holder. The loading sequence is generally preset according to the shape of the sample holder and the distribution of loading positions. For example, if the sample holder is square and contains N rows and M columns of loading positions, the robot arm will typically load each column starting from the first row, and after the first row is full, load each column starting from the second row, and repeat this process until the sample holder is full.

[0081] For example, if the fifth sample cassette in drawer 1 is determined as the target sample holder, and there are multiple surplus set positions in the target sample holder, and the sample tube of the sample to be removed was set at the set position in the second row, third column according to the set order last time, then the set position in the second row, fourth column will be the target position this time according to the set order.

[0082] In this way, when samples are unloaded, the samples to be unloaded can be set in the correct order at the set positions of the target sample holders, allowing the sample holders to be used efficiently and ensuring utilization rate.

[0083] According to the pipeline system of the present application, when the pipeline system is equipped with multiple sample export modules, scheduling is performed based on the planned sample export route while also taking into account the preset sample export ratio, allowing dynamic allocation according to the sample export ratio set by the user, thereby realizing free sample export and taking into account the real-time experimental status of the sample export module, thereby avoiding scheduling samples to be exported to sample export modules that are not currently undergoing an experiment, thereby improving the success rate and efficiency of sample export.

[0084] Furthermore, after the target sample export module is determined, the truck is controlled to schedule the sample to be exported to the connection point between the truck and the target sample export module, and when the experimental state and load of the target sample export module satisfy the first requirement, the truck is controlled to schedule the sample to be exported to enter the target sample export module through the connection point.

[0085] Furthermore, after the sample to be transported is scheduled to the target sample transport module, if the experimental state of the target sample transport module and the state of the sample storage device satisfy the second requirement, a target position is determined from the storage positions depending on the state of the sample storage device, and the robot arm is controlled to store the sample to be transported at the target position of the target sample transport module.

[0086] In this way, at each stage of the scheduling process, the pipeline system can take into account the real-time experimental status of the target sample delivery module and the influencing factors corresponding to the next delivery stage, and can predict in advance the impact of the real-time experimental status and influencing factors on the current sample delivery. When the real-time experimental status and influencing factors affect the current sample delivery, the sample delivery path can be adjusted in a timely manner, thereby improving the sample delivery success rate and sample delivery efficiency.

[0087] In one embodiment, there is provided a sample unloading control method that is applied to the pipeline system shown in Fig. 1. As shown in Fig. 2, this sample unloading control method includes the following steps 202 to 206.

[0088] In step 202, a plurality of sample delivery paths are planned for the samples to be delivered, where the plurality of sample delivery paths indicate a plurality of possible sample delivery modules.

[0089] In step 204, a target sample delivery module is determined from a plurality of feasible sample delivery modules according to the preset sample delivery rates of the at least two sample delivery modules, the experimental state, and a plurality of sample delivery paths.

[0090] In step 206, the truck is controlled to schedule samples to be delivered to the target sample delivery module.

[0091] According to the above sample export control method, when a pipeline system is equipped with multiple sample export modules, scheduling is performed based on the planned sample export route while also taking into account the preset sample export ratio, so that dynamic allocation can be performed according to the sample export ratio set by the user, realizing free sample export and taking into account the real-time experimental status of the sample export module, thereby avoiding scheduling samples to be exported to sample export modules that are not currently undergoing an experiment, thereby improving the success rate and efficiency of sample export.

[0092] In one embodiment, the step of determining a target sample export module from a plurality of executable sample export modules according to the preset sample export rates of at least two sample export modules, the experimental state, and the plurality of sample export routes includes a step of determining a scheduling order of samples to be exported in the plurality of executable sample export modules according to the preset sample export rates of at least two sample export modules, the experimental state, and the plurality of sample export routes, wherein the target sample export module is the first executable sample export module determined according to the scheduling order.

[0093] In another embodiment, the sample export control method further includes, after the target sample export module is determined, controlling a truck to schedule the sample to be exported to a connection point between the truck and the target sample export module, and when the experimental state and load of the target sample export module satisfy a first requirement, controlling the truck to schedule the sample to be exported to enter the target sample export module through the connection point.

[0094] The first requirement includes that the experimental state of the target sample delivery module is in experiment and that the load of the target sample delivery module is less than a threshold value.

[0095] In another embodiment, the sample export control method further includes a step of determining the next executable sample export module as the target sample export module according to the scheduling order when the experimental status and load of the target sample export module do not satisfy the first requirement, and controlling the truck to schedule the sample to be exported to the connection point between the truck and the updated target sample export module.

[0096] In another embodiment, each sample delivery module includes a sample reservoir, and the plurality of sample delivery paths further indicate possible reservoir locations for the sample reservoir of each possible sample delivery module; The sample export control method further includes a step of determining a target position from possible storage positions according to the state of the sample storage device after the sample to be exported is scheduled to the target sample export module, if the experimental state of the target sample export module and the state of the sample storage device satisfy the second requirement, and controlling the robot arm to store the sample to be exported at the target position of the target sample export module.

[0097] In another embodiment, each sample reservoir can accommodate a plurality of sample holders, the sample holders including a plurality of loading positions for loading sample tubes, the loading positions corresponding to the sample reservoirs, the sample holders, and the loading positions; The state of the sample storage device includes an occupied state of the sample storage device, a set state of the sample holder in the sample storage device, and an excess state of the set position of the sample holder.

[0098] In another embodiment, the second requirement includes that the occupancy state of the sample storage device is unoccupied, a sample holder is set in the unoccupied sample storage device, and there are excess set positions for the sample holder, and the experimental state of the target sample export module is in experiment.

[0099] In another embodiment, the step of determining a target position from available storage positions depending on the state of the sample storage device includes the steps of determining a sample storage device that is unoccupied, has a sample holder placed thereon, and has an excess set position for the sample holder as the target sample storage device, determining the sample holder with the fewest excess set positions in the target sample storage device as the target sample holder, and determining a target position from the excess set positions of the target sample holder.

[0100] In another embodiment, the sample ejection control method further includes a step of determining, when there are multiple excess set positions for the target sample holder, the first excess set position in the preset set order as the target position according to a preset set order.

[0101] The above-mentioned sample discharge control method is realized by the control device of Figure 1, and the implementation method for solving the problems provided by the sample discharge control method is similar to the implementation method described in the above-mentioned pipeline system, so it can be understood that the specific limitations in the embodiment of the above-mentioned sample discharge control method are described in detail in the limitations related to the above-mentioned pipeline system, and the details will not be repeated here.

[0102] Although the steps in the flowcharts of the above-described embodiments are shown sequentially as indicated by the arrows, it should be understood that these steps are not necessarily performed sequentially in the order indicated by the arrows. Unless otherwise specified in this specification, there is no strict order restriction on the execution of these steps, and these steps may be performed in other orders. Furthermore, at least some of the steps in the flowcharts of the above-described embodiments may include multiple sub-steps or multiple stages, and these sub-steps or stages do not necessarily have to be performed at the same time but may be performed at different times. The order in which these sub-steps or stages are performed does not necessarily have to be sequential, and they may be performed alternately or alternatively with other steps or at least some of the sub-steps or stages of other steps.

[0103] In one embodiment, a computer device is provided, which may be the control device shown in FIG. 1 and whose internal configuration may be as shown in FIG. 3. The computer device includes a processor, memory, a communication interface, a display screen, and an input device, all connected via a system bus. The processor of the computer device is used to provide calculation and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operating system and the computer program stored in the non-volatile storage medium to operate. The communication interface of the computer device is used for wired or wireless communication with an external terminal, and the wireless communication may be achieved by Wi-Fi, a mobile cellular network, NFC (near field communication), or other technologies. When the computer program is executed by the processor, a sample delivery control method is realized. The display screen of the computer device may be a liquid crystal display or an electronic ink display, and the input device of the computer device may be a touch layer covering the display screen, or may be keys, a trackball, or a touchpad provided on the housing of the computer device, or may be an external keyboard, touchpad, or mouse.

[0104] The configuration shown in FIG. 3 is merely a block diagram illustrating a portion of a configuration according to an embodiment of the present application, and does not limit the computer device to which the embodiment of the present application is applied. Those skilled in the art will understand that a specific computer device may have more or fewer components than those shown, or may combine some components, or may have a different set of components.

[0105] Those skilled in the art will understand that all or part of the steps in the methods described above can be achieved by instructing associated hardware using a computer program, which can be stored in a non-volatile computer-readable storage medium and, when executed, can include the steps of the methods described above. References to memory, databases, or other media used in the embodiments provided herein may include at least one of non-volatile and volatile memory. Non-volatile memory may include read-only memory (ROM), magnetic tape, flexible disks, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetoresistive random access memory (MRAM), ferroelectric random access memory (PCM), phase change memory (PCM), graphene memory, etc. Volatile memory may include random access memory (RAM), external cache memory, etc. For example, and without limitation, the RAM may be in various forms, such as, for example, static random access memory (SRAM) or dynamic random access memory (DRAM). The database in each embodiment provided herein may include at least one of a relational database and a non-relational database. The non-relational database may include, but is not limited to, a distributed database based on blockchain. The processor in each embodiment provided herein may be, but is not limited to, a general-purpose processor, a central processing unit, a graphics processor, a digital signal processor, a programmable logic unit, a data processing logic unit based on quantum computing, etc.

[0106] The components of the above-described embodiments can be combined in any manner, and for the sake of brevity, not all possible combinations of the components in the above-described embodiments are described. However, as long as there is no contradiction in the combination of these components, all should be considered to be within the scope described in this specification.

[0107] The above examples only represent some embodiments of the present application, and although the descriptions are more specific and detailed, they cannot be understood as limiting the scope of the claims of the present application. It should be noted that those skilled in the art can make some modifications and improvements without departing from the concept of the present application, and all of them belong to the scope of protection of the present application. Therefore, the scope of protection of the present application should be based on the attached claims.

Claims

1. 1. A pipeline system comprising: one or more analytical modules for testing the sample; At least two sample delivery modules each including a robotic arm for performing a sample delivery process on a sample to be delivered; a track connecting the sample delivery module and the analysis module; a control device that plans a plurality of sample delivery routes indicating a plurality of possible sample delivery modules for the samples to be delivered, determines a target sample delivery module from the plurality of possible sample delivery modules according to preset sample delivery rates of at least two of the sample delivery modules, an experiment state, and the plurality of sample delivery routes, and controls the truck to schedule the samples to be delivered to the target sample delivery module; A pipeline system comprising:

2. 2. The pipeline system of claim 1, wherein the control device determines a scheduling order of the samples to be transported among the plurality of executable sample transport modules according to the preset sample transport ratios of at least two of the sample transport modules, the experimental state, and the plurality of sample transport paths, and the target sample transport module is the first executable sample transport module determined according to the scheduling order.

3. 2. The pipeline system of claim 1, wherein, after the target sample export module is determined, the control device controls the truck to schedule the sample to be exported to a connection point between the truck and the target sample export module, and when the experimental state and load of the target sample export module satisfy a first requirement, the control device controls the truck to schedule the sample to be exported to enter the target sample export module through the connection point.

4. 4. The pipeline system of claim 3, wherein the first requirement includes that the experimental state of the target sample output module is in an experiment and that the load of the target sample output module is less than a threshold value.

5. 4. The pipeline system of claim 3, wherein the control device further determines the next executable sample export module as the target sample export module according to the scheduling order when the experimental status and the load of the target sample export module do not satisfy the first requirement, and controls the truck to schedule the sample to be exported to the connection point between the truck and the updated target sample export module.

6. each sample delivery module includes a sample storage device, and the plurality of sample delivery paths further indicate possible storage locations of the sample storage device of each of the executable sample delivery modules; The pipeline system described in any one of claims 1 to 5, characterized in that after the sample to be transported is scheduled to the target sample export module, if the experimental state of the target sample export module and the state of the sample storage device satisfy a second requirement, the control device determines a target position from the storage positions depending on the state of the sample storage device, and controls the robot arm to store the sample to be transported at the target position of the target sample export module.

7. Each of the sample storage devices can accommodate a plurality of sample holders, and the sample holders include a plurality of set positions for mounting sample tubes, and the set positions correspond to the sample storage devices, the sample holders, and the set positions; The pipeline system of claim 6, wherein the state of the sample storage device includes an occupancy state of the sample storage device, a set state of the sample holder in the sample storage device, and a surplus state of the set position of the sample holder.

8. 8. The pipeline system of claim 7, wherein the second requirement includes that the occupancy state of the sample storage device is unoccupied, the sample holder is set in the unoccupied sample storage device, and there is an extra set position for the sample holder, and the experimental state of the target sample export module is in an experiment.

9. The pipeline system described in claim 8, characterized in that the control device determines a sample storage device that is in the unoccupied state, has the sample holder set, and has an excess set position for the sample holder as a target sample storage device, determines a sample holder in the target sample storage device that has the fewest excess set positions as a target sample holder, and determines the target position from the excess set positions of the target sample holder.

10. The pipeline system of claim 9, wherein the control device further determines, when there are multiple excess set positions for the target sample holder, the first excess set position in the preset set order as the target position according to a preset set order.

11. one or more analytical modules for testing the sample; At least two sample delivery modules each including a robotic arm for performing a sample delivery process on a sample to be delivered; A sample delivery control method applied to a pipeline system including a track connecting the sample delivery module and the analysis module, comprising: planning a plurality of sample delivery paths for the sample to be delivered, the paths indicating a plurality of possible sample delivery modules; determining a target sample delivery module from the plurality of feasible sample delivery modules according to preset sample delivery rates of at least two of the sample delivery modules, an experiment state, and the plurality of sample delivery paths; controlling the truck to schedule the samples to be delivered to the target sample delivery module; A sample carrying-out control method comprising:

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