Automatic sample conveying method, system and apparatus

Abstract

The present invention relates to automatic test technology, in particular to an automatic sample conveying apparatus, system and method. The method comprises: S101, using a first pretreatment module to perform first pretreatment on a sample module, in order to obtain first sample information of the sample module; S102, using a second pretreatment module to perform second pretreatment on the sample module, in order to write first test information into the sample module; and S103, the sample module continuing to move to a sample output module, and the sample output module classifying and outputting the sample module on the basis of the first test information. The present invention provides a step-by-step sample pretreatment method implemented on the basis of an S-shaped transmission path, so that the sample pretreatment efficiency is effectively ensured while the sample pretreatment precision is improved.

Description

Automatic sample delivery method, system and device

[0001] Priority application

[0002] This application claims priority to Chinese invention patent application [CN202410067629.1] filed on January 17, 2024, entitled “A method and system for controlling automated sample delivery”, which is hereby incorporated by reference in its entirety. Technical Field

[0003] The present invention relates to the field of automated detection technology, and in particular to an automated sample delivery method, system, and device. Background Art

[0004] Medical testing laboratories often face diverse testing needs. For large-volume, diverse testing projects, before entering the actual reaction testing phase, they must first group the test sample tubes. These grouped tubes are then distributed to the actual testing equipment for subsequent testing. However, this grouping process is cumbersome, complex, and inefficient. Therefore, current testing laboratories urgently need automated sample grouping and management.

[0005] However, the existing automated transmission technology still has some defects in the automated transportation during the sampling stage. For example, the existing sampling method needs to rely on a robotic arm to grab and sample. For example, Chinese invention patent application CN105785056A discloses a fully automatic sample analyzer. The fully automatic sample analyzer needs to use a rotating arm to select emergency sample tubes. Among them, the rotating arm occupies a large space, and the single operation volume of the robotic arm for grabbing and loading samples is limited, and the efficiency is low. For another example, CN110514852A discloses a clinical laboratory sample pretreatment system and method with a blood sample quality management function, which uses a robotic arm to clamp different blood sample tubes to different positions, such as placing sample tubes that do not meet the centrifugal treatment in the sample buffer to wait. For another example, patent application CN114152765A also discloses a sample scheduling system and sample scheduling method. Specifically, the scheme uses a grabbing device 200 (equivalent to a robotic arm) to perform sample reversing transportation.

[0006] For another example, CN105929187A discloses a sample transport system, a sample detector, and a sample transport control method and device, wherein the transport track can be selectively connected or closed to the second sample feed track, and can be selectively connected or closed to the cache track or the sample discharge track. When the transport track is connected to the cache track, a first sample placed in the first sample placement area of ​​the first sample feed track is sequentially transported to the sampling position via the first sample feed track, the transport track, and the cache track. When the transport track is connected to the second sample feed track and the sample discharge track, a second sample placed in the second sample placement area of ​​the second sample feed track is sequentially transported to the sampling position via the second sample feed track, the transport track, and the sample discharge track. This achieves automatic loading of the first sample and the second sample through different transport paths, thereby improving the automation level of the system.

[0007] However, this method of selectively docking multiple tracks to form different transmission paths is not only redundant in mechanical system design, but also prone to inaccurate track docking over time due to malfunctions or misoperation, affecting the reliability and accuracy of sample delivery. Furthermore, for large-scale testing laboratories, which often involve a variety of samples for different testing types, this conveyor system, which requires constant track switching, has very low efficiency when used for batch testing of samples.

[0008] Furthermore, accurate identification, classification, and testing of samples is crucial for large-scale sample testing. Problems such as missed or false positives can easily affect the credibility of the results for the entire batch of samples.

[0009] CN113219189A also discloses an automated sample processing system, comprising a sample receiving and registration module, a centrifuge module, a sample packaging module, a nucleic acid extraction module, an automated storage module, and a sample information management server. This system integrates sample preparation, testing, quality control, and storage through an automated assembly line. However, when the sample size is large, false positives or missed detections are very likely to occur.

[0010] CN110967499A discloses a sample analyzer and its sample recovery method. Specifically, a pre-printed barcode is affixed to the sample rack, and a barcode reader is positioned at the entrance of the sample rack conveyor. When the sample rack moves to the barcode reader, the system controls the barcode reader to scan the barcode on the sample rack and upload the scanned sample rack information to the computer software. After the barcode is scanned, the sample rack is transported to the sample loading area by the sample rack conveyor track for loading. However, this batch processing method has limited flexibility and requires manual pre-sorting of samples, making the operation more complicated.

[0011] Therefore, there is an urgent need for a sample transmission system that can efficiently transmit and accurately load samples.

[0012] Summary of the Invention

[0013] The purpose of the present invention is to provide a sample automated transport control method and system to partially solve or alleviate the above-mentioned deficiencies in the prior art and to improve the efficiency and accuracy of sample automated transport. In order to solve the above-mentioned technical problems, the present invention specifically adopts the following technical solutions: In the first aspect of the present invention, it is to provide a sample automated transport method, comprising:

[0014] S100 provides an automated conveying device, comprising: a transmission module, a first preprocessing module, a second preprocessing module, and a sample output module sequentially arranged along a transmission direction of the transmission module, and a central control module communicatively connected to the first and second preprocessing modules; wherein the first preprocessing module comprises: a first turntable capable of driving the sample module to rotate; and the second preprocessing module comprises: a second turntable capable of driving the sample module to rotate;

[0015] S101 uses a first preprocessing module to perform a first preprocessing on the sample module to obtain first sample information of the sample module; wherein S101 includes: S11 when the sample module moves to the first sample inlet side of the first preprocessing module, driving the sample module to revolve to a first preset position via the first turntable; S12 independently collects the first sample information of the sample module and sends the first sample information to a central control module; wherein the central control module generates first detection information corresponding to the first sample information;

[0016] S102 uses a second preprocessing module to perform a second preprocessing on the sample module to write the first detection information into the sample module; and S102 includes: S21 when the sample module continues to move to the second sample inlet side of the second preprocessing module under the drive of the transmission module, the sample module is driven to revolve to a third preset position by the second turntable; S22 independently collects the second sample information of the sample module, and determines whether the first sample information and the second sample information of the sample modules in the same preprocessing sequence match, and if so, writes the first detection information into the sample module; the preprocessing sequence refers to the order in which the sample module passes through the first or second preprocessing module;

[0017] S103: The sample module continues to move to the sample output module, and the sample output module classifies and outputs the sample module according to the first detection information.

[0018] In some embodiments, S11 includes: collecting a first photoelectric signal from the first injection side; determining whether the sample module has moved to the first injection side based on the first photoelectric signal, and if so, controlling the first turntable to drive the sample module to revolve to a first preset position.

[0019] In some embodiments, S12 includes: collecting a second photoelectric signal at the first preset position; judging whether the sample module has moved to the first preset position through the second photoelectric signal, and if so, collecting first sample information of the sample module, the first sample information including: a first photo of at least one label of the sample module, wherein the label is associated with one or more of the following information: barcode information, sample type, sample object, sample collection time, and sample detection time; sending the first preprocessing sequence of the sample module and the first sample information to the central control module.

[0020] In some embodiments, S21 includes: collecting a fourth photoelectric signal from the second injection side of the second preprocessing module; judging by the fourth photoelectric signal whether the sample module has moved to the second injection side, and if so, controlling the second turntable to drive the sample module to revolve to a third preset position.

[0021] In some embodiments, S22 further includes the steps of:

[0022] Collect a fifth photoelectric signal at the third preset position; determine whether the sample module has moved to the third preset position through the fifth photoelectric signal, and if so, collect second sample information of the sample module, and the second sample information includes: at least one second photo of the label; send the second preprocessing sequence and the second sample information of the sample module to the central control module; determine whether the first sample information and the second sample information of the sample modules in the same preprocessing sequence match through the central control module, and if so, send the first detection information to the second preprocessing module; the second preprocessing module writes the first detection information into the chip unit of the sample module.

[0023] In some embodiments, at least two clamping positions are provided on the first turntable, and the clamping positions can clamp a sample module; accordingly, S101 also includes: collecting a third photoelectric signal from the first sample output side of the first preprocessing module; when the sample module is detected at the first sample output side by the third photoelectric signal, determining whether the time difference between the third photoelectric signal and the first photoelectric signal belongs to the first set time; if not, sending a corresponding prompt signal to the central control module.

[0024] In some embodiments, the first sample information is associated with a first preprocessing order, and the second sample information is associated with a second preprocessing order; accordingly, when the first sample information and the second sample information of sample modules in the same preprocessing order do not match, the method further includes:

[0025] Determining whether there is historical first sample information matching the current second sample information in the central control module;

[0026] If so, the corresponding first detection information is written into the chip unit of the sample module; and the missed detection object information of the second preprocessing module is sent to the central control module or the sample output module, wherein the missed detection object is the sample module with the value x, x+1, ..., x+n-1 in the first preprocessing sequence, and x is the value II of the second preprocessing sequence of the current sample module, and n is the difference between the value I and the value II of the first preprocessing sequence associated with the first detection information written in the current step; accordingly, in S103, the sample output module transmits the missed detection object to the area to be detected;

[0027] If not, the central control module generates second detection information according to the second sample information, and the second pre-processing module writes the second detection information into the chip unit of the sample module.

[0028] In some embodiments, the first detection information includes one or more of the following: detection items, detection priorities, and detection conditions.

[0029] The present invention also provides an automated sample conveying system, comprising: an automated conveying device, the automated conveying device comprising: a transmission module, a first preprocessing module, a second preprocessing module, and a sample output module sequentially arranged along a transmission direction of the transmission module, and a central control module communicatively connected to the first and second preprocessing modules; wherein the first preprocessing module comprises: a first turntable capable of driving the sample module to rotate; the second preprocessing module comprises: a second turntable capable of driving the sample module to rotate;

[0030] The first preprocessing system is configured to perform a first preprocessing on the sample module using the first preprocessing module to obtain first sample information of the sample module; wherein the first preprocessing system includes:

[0031] a first control subsystem configured to drive the sample module to orbit to a first preset position via the first turntable when the sample module moves to the first sample inlet side of the first pretreatment module;

[0032] A second control subsystem is configured to independently collect first sample information from the sample module and send the first sample information to a central control module; wherein the central control module generates first detection information corresponding to the first sample information;

[0033] A second preprocessing system is configured to perform a second preprocessing on the sample module using a second preprocessing module to write the first detection information into the sample module; and the second preprocessing system includes:

[0034] a third control subsystem configured to drive the sample module to orbit to a third preset position via the second turntable when the sample module continues to move to the second sample inlet side of the second pretreatment module under the drive of the transmission module;

[0035] a fourth control subsystem configured to independently collect second sample information from the sample module, determine whether the first sample information and the second sample information of sample modules in the same preprocessing order match, and if so, write the first detection information into the sample module; the preprocessing order refers to the order in which the sample module passes through the first or second preprocessing module;

[0036] The classification and output system is configured to enable the sample module to continue to move to a sample output module, and the sample output module classifies and outputs the sample module according to the first detection information.

[0037] In some embodiments, the first control subsystem is further configured to collect a first photoelectric signal from the first injection side; determine whether the sample module has moved to the first injection side through the first photoelectric signal, and if so, control the first turntable to drive the sample module to revolve to a first preset position.

[0038] The present invention also provides an automatic sample transport device, comprising:

[0039] A transmission module, the transmission module comprising: a first transmission position arranged along a first transmission direction, at least two second transmission positions arranged along a second transmission direction, and a third transmission position arranged along a third transmission direction, wherein two ends of the at least two second transmission positions intersect with the first and third transmission positions respectively; a first transmission guide is provided at the junction of the at least two second transmission positions and the first or third transmission position, and a turning guide edge is provided on the first transmission guide; under the non-unidirectional transmission of multiple transmission positions, the turning guide edge can guide the sample module to automatically turn between the multiple transmission positions, so that the multiple relatively independent transmission positions cooperate with the first transmission guide to form an S-shaped transmission path capable of automatically turning;

[0040] The S-shaped transmission path is provided with a first pre-processing module and a second pre-processing module in sequence, and the plurality of sample modules can move forward in sequence under the guidance and drive of the transmission module, and complete multiple step-by-step pre-processing of the sample modules; wherein,

[0041] The first preprocessing module includes: a first data acquisition unit, which is arranged toward a first preset position and is used to collect first sample information of the sample module and send the first sample information to a central control module of the device, and the central control module generates corresponding first detection information according to the first sample information;

[0042] The second preprocessing module includes: a second data acquisition unit, which is arranged toward a third preset position to collect second sample information of the sample module; and a data processing unit, which is used to determine whether the first sample information and the second sample information of the sample modules in the same preprocessing order match, and if so, write the first detection information obtained from the central control module into the chip unit of the sample module, wherein the preprocessing order refers to the order in which the sample modules pass through the first or second preprocessing module.

[0043] The present invention also provides an automated sample transport device, comprising: a transport module for transporting a sample module, the transport module comprising: a first transport position arranged along a first transport direction, at least two sections of second transport positions arranged along a second transport direction, and a third transport position arranged along a third transport direction, wherein two ends of the at least two sections of second transport positions intersect with the first transport position and the third transport position, respectively;

[0044] A first transport guide is provided at a location where the at least two second transport positions are connected to the first transport position and the third transport position, respectively. The first transport guide includes: a first guide plate and a second guide plate, wherein a first guiding direction of the first guide plate and a second guiding direction of the second guide plate intersect with each other; and the second guide plate is provided along a transverse direction of the first transport position or the third transport position, respectively, so that the second guiding direction also intersects with the first transport direction or the third transport direction.

[0045] In which, when the first end of at least one second guide plate is set toward the first end of the second transfer position, the corresponding second guide plate can limit the movement of the sample module on the first transfer position or the third transfer position where the second guide plate is currently located, and guide the sample module to turn and move to the second transfer position docking with the current second guide plate; the first end of at least one other second guide plate is set toward the second end of the second transfer position, and the corresponding second guide plate can guide the sample module located on the second transfer position to turn and move to the first transfer position or the third transfer position where the second guide plate is currently located, and with the cooperation of the corresponding first guide plate, the sample module continues to move along the first transfer position or the third transfer position; in which, the direction in which the first end of the second transfer position points to the second end of the second transfer position is the moving direction in which the second transfer position drives the sample module to move.

[0046] Beneficial technical effects: The present invention adopts a multi-segment independent transmission position intersecting arrangement to cooperate with the transmission guide to form an automatically steering S-shaped transmission path. And a plurality of independent processing modules such as a first pre-processing module, a second pre-processing module, a sample output module, and a sample injection module are distributed on the S-shaped transmission path. Among them, the use of distributed independent processing modules can, on the one hand, use a step-by-step process to perform multiple decompositions of the pre-processing tasks (such as decomposing it into multiple independent tasks such as primary identification, generating detection information, completing information writing during secondary identification, and outputting classified information according to the written information). At the same time, the processing module adopts a rotary processing mode that is compatible with the S-shaped transmission path to accurately pre-process a single sample module through multi-signal acquisition.

[0047] Furthermore, the coordinated collaboration of multiple independent processing modules along the S-shaped transmission path can increase the automated transmission device's sample throughput per unit time, preventing the impact of multiple signal acquisition and independent processing on batch testing efficiency. This means the automated transmission device of the present invention is suitable for batch sample testing in large laboratories. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following is a brief introduction to the drawings required for the embodiments or the description of the prior art. In all drawings, similar elements or parts are generally identified by similar reference numerals. In the drawings, the various elements or parts are not necessarily drawn according to the actual scale. Obviously, the drawings described below are some embodiments of the present invention. For those of ordinary skill in the art, other drawings can also be obtained based on these drawings without inventive work.

[0049] FIG1a is a schematic structural diagram of a transmission module of an automated sample transport device according to an exemplary embodiment of the present invention;

[0050] FIG1b is a schematic structural diagram of a first guide member in an exemplary embodiment of the present invention;

[0051] FIG1c is a schematic structural diagram of a first guide member in another exemplary embodiment of the present invention;

[0052] FIG2 is a schematic diagram of the overall structure of a transmission module of an automated sample transport device in an exemplary embodiment of the present invention;

[0053] FIG3 is a schematic structural diagram of a first pre-processing module in an exemplary embodiment of the present invention;

[0054] FIG4 is a schematic diagram of a partial structure of a first pre-processing module in an exemplary embodiment of the present invention;

[0055] FIG5 is a schematic structural diagram of a sample output module in an exemplary embodiment of the present invention;

[0056] FIG6 is a schematic structural diagram of a sample injection module in an exemplary embodiment of the present invention;

[0057] FIG7 is a schematic flow chart of an automated conveying method according to an exemplary embodiment of the present invention;

[0058] FIG8 is a schematic diagram of the module structure of an automated conveying method in an exemplary embodiment of the present invention.

[0059] Figure numerals: 11 is the first transmission position, 12 is the second transmission position, 121 is the first end of the second transmission position, 122 is the second end of the second transmission position, 13 is the first transmission guide, 131 is the turning guide edge, 132 is the guide plate, 133 is the guide plate fixing member, M1 is the first guide section, M2 is the second guide section, M3 is the third guide section; 1321 is the first guide plate, 1322 is the second guide plate, 1322a is the first sub-plate, 1322b is the second sub-plate; N1 is the first side, N2 is the second side; 14 is the first input section, 15 is the first output section, 16 is the third transmission position; 20 is the first A preprocessing module, 21 is the first turntable, 211 is the turntable rotating plate, 212 is the turntable base, 213 is the rotating area, 22 is the first signal detection unit, 23 is the second signal detection unit, 24 is the third signal detection unit, 25 is the first data acquisition unit, 30 is the second preprocessing module, 31 is the second turntable, 32 is the fourth signal detection unit, 33 is the fifth signal detection unit, 34 is the sixth signal detection unit; 40 is the sample output module, 41 is the third turntable, 42 is the fourth transmission position, 44 is the second transmission guide, 441 is the first arc guide position, 442 is the second arc guide position, and 443 is the third arc guide position. DETAILED DESCRIPTION

[0060] To make the purpose, technical solutions, and advantages of the embodiments of the present invention more clear, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0061] Herein, the use of suffixes such as "module", "component" or "unit" to indicate elements is only for the purpose of facilitating the description of the present invention and has no specific meaning in itself. Therefore, "module", "component" or "unit" can be used interchangeably. Herein, the orientation or positional relationship indicated by the terms "upper", "lower", "inside", "outside", "front", "back", "one end", "the other end", etc. is based on the orientation or positional relationship shown in the accompanying drawings and is only for the convenience of describing the present invention and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first" and "second" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance.

[0062] In this document, unless otherwise expressly specified or limited, the terms "installed", "provided with", "connected", etc. should be understood in a broad sense. For example, "connected" can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection, a direct connection, an indirect connection through an intermediate medium, or a communication between the two components. For those skilled in the art, the specific meanings of the above terms in the present invention can be understood according to the specific circumstances. "And / or" in this document includes any and all combinations of one or more of the listed items. "Multiple" in this document means two or more, that is, it includes two, three, four, five, etc.

[0063] It should be noted that, in this document, the terms "comprises," "includes," or any other variations thereof are intended to encompass non-exclusive inclusion, such that a process, method, article, or device comprising a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article, or device. In the absence of further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of additional identical elements in the process, method, article, or device comprising the element. As used in this specification, the term "approximately" typically means + / -5% of the stated value, more typically + / -4% of the stated value, more typically + / -3% of the stated value, more typically + / -2% of the stated value, even more typically + / -1% of the stated value, and even more typically + / -0.5% of the stated value.

[0064] In this specification, some embodiments may be disclosed in a format of being within a certain range. It should be understood that such description of "being within a certain range" is only for convenience and brevity and should not be interpreted as a rigid limitation on the disclosed range. Therefore, the description of a range should be considered to have specifically disclosed all possible sub-ranges and independent numerical values ​​within this range. For example, the range The description of should be considered to have specifically disclosed subranges such as from 1 to 3, from 1 to 4, from 1 to 5, from 2 to 4, from 2 to 6, from 3 to 6 etc., as well as individual numbers within this range, for example, 1, 2, 3, 4, 5, and 6. The above rules apply regardless of the breadth of the range.

[0065] As used herein, the intersection of two directions / edges means that the two directions or edges intersect at at least one point. For example, when the first guiding direction and the second guiding direction are straight lines, the two straight lines may be perpendicular or approximately perpendicular to each other. Alternatively, specifically, when the first guiding direction and the second guiding direction are both arcs, the intersection of the first guiding direction and the second guiding direction may mean that the two directions can be connected to form a continuous arc.

[0066] As used herein, "connected" may refer to two objects being adjacent to or intersecting each other. For example, a first transmission position and a second transmission position being connected may refer to the first and second transmission positions being intersecting each other, and specifically, the first side N1 of the first transmission position being adjacent to the first end or the second end of the second transmission position, so that the sample module can move between the two transmission positions.

[0067] In this paper, a single S-shaped transmission path is composed of multiple independent transmission positions. This can not only expand the sample capacity in a limited space (such as increasing the transmission length), but also reduce the difficulty of transmission control under long-distance transmission (that is, better working stability). When multiple independent transmission positions are in a state of synchronous motion, the S-shaped transmission path can stably and continuously complete the transmission of the sample module (also referred to as sample). Among them, "synchronous motion" means that all multiple transmission positions are in the start-up state, and the transmission speed of each transmission position can be the same or different.

[0068] Large-scale testing laboratories often involve testing large quantities of samples. Because different samples require different testing items, testing conditions, and urgency, accurate identification and grouping of large quantities of samples are required before testing to facilitate preparation for the actual testing process. To improve the efficiency and accuracy of identifying and grouping large quantities of samples, this paper proposes a step-by-step sample testing solution based on an S-shaped track design.

[0069] Specifically, the present invention uses independent multi-stage transmission positions (or, transmission belts) in conjunction with a turntable design to provide an S-shaped transmission path with a small footprint and a high sample capacity. On the other hand, the sample pre-processing tasks are split, and a distributed multi-turntable design is used to perform relatively independent processing of tasks such as sample identification, verification, detection information acquisition, and grouping. In other words, the present invention can utilize a step-by-step processing mode in conjunction with an S-shaped transmission path to increase the sample processing volume of the transmission device / system per unit time (i.e., improve the sample processing capacity); and the step-by-step processing method can also improve the accuracy of sample processing.

[0070] Furthermore, the S-shaped transmission path can be connected to the fourth transmission position to form a loopable S-shaped transmission path that connects end to end. This end-to-end S-shaped transmission path can achieve fault tolerance for multiple pre-processing scenarios (such as missed detection and false detection). For example, samples that are falsely detected or missed can be automatically sent back to the transmission module through the fourth transmission position for re-inspection, reducing the need for manual intervention.

[0071] Example 1

[0072] As shown in FIG1a , this embodiment provides an automated sample transport device, comprising:

[0073] (1) A transmission module, the transmission module comprising: a first transmission position 11 arranged along a first transmission direction, at least two second transmission positions 12 arranged along a second transmission direction, and a third transmission position arranged along a third transmission direction, wherein two ends of the at least two second transmission positions are respectively connected to the first and second transmission positions (such as adjacent to or intersecting); a first transmission guide 13 is provided at the connection between the two second transmission positions and the first or third transmission position, and a turning guide edge 131 is provided on the first transmission guide; under the distorted rotation of the multiple transmission positions, the turning guide edge can guide the sample module to realize automatic turning between the multiple transmission positions, wherein the multiple relatively independent transmission positions cooperate with the transmission guide to form an S-shaped transmission path (or a serpentine transmission path) capable of automatic turning;

[0074] The first, second, and third transmission positions are multiple relatively independent transmission positions (e.g., conveyor belts). When the sample automated transport device is in operation, the multiple transmission positions in the S-shaped transmission path move synchronously, so that the multiple sample modules (e.g., test tubes to be tested) arranged sequentially thereon can advance sequentially under the guidance and drive of the transmission module, automatically completing multiple steps of pre-processing of the sample modules, and finally entering the subsequent detection area, such as the detection module connected to the end of the transmission module.

[0075] In this embodiment, the second transmission bit intersects with the first transmission bit and the third transmission bit respectively, and “intersecting” preferably means that the two transmission bits are perpendicular or approximately perpendicular to each other.

[0076] As shown in FIG1a , in some embodiments, the first transfer guide 13 (also referred to as the first guide) includes: a guide plate 132, and a guide plate fixing member 133 (for example, a mounting post) for mounting the guide plate. The guide plate 132 is mounted above the transfer position, and the side of the guide plate facing the second transfer position 12 is sequentially formed with a first guide segment M1 (preferably an arcuate edge), a second guide segment M2, and a third guide segment M3. The first guide segment is used to guide the sample module on the second transfer position 12 that is moving toward the current first transfer position 11 (or third transfer position) to the first transfer position 11 (or third transfer position); the second guide segment is used to guide the sample module to move on the first transfer position 11 (or third transfer position), and the third guide segment is used to guide the sample module on the first transfer position 11 to move to the second transfer position 12 (i.e., away from the current first transfer position 11). The first, second, and third guide segments together form a turning guide edge.

[0077] The second guide segment may be parallel or approximately parallel to the first transmission direction of the first transmission position (or the third transmission position), and the third guide segment intersects with the first transmission direction to restrict the sample module from continuing to move along the first transmission direction.

[0078] Therefore, the first guiding section and the third guiding section can connect the second transmission direction with the first transmission direction or the third transmission direction to achieve automatic steering of discontinuously set transmission positions (eg, corresponding transmission position angles of approximately 90°).

[0079] In some embodiments, the guide plate and the guide plate fixing member are detachably connected to facilitate flexible adjustment of the length of the transmission path.

[0080] For example, in some embodiments, the guide plate fixing member is a bolt, and a first mounting hole is correspondingly provided on the guide plate, and a second mounting hole is correspondingly provided on the transmission device. When the bolt passes through the first mounting hole and is aligned with the second mounting hole, and rotates along the first direction, the guide plate can be installed on the transmission device; correspondingly, when the bolt rotates along the second direction opposite thereto, the guide plate can be removed.

[0081] For another example, in some embodiments, the guide plate fixture can also be designed to be liftable (e.g., retractable). In this case, when the guide plate needs to be activated, the guide plate fixture supports the guide plate at a first height, at which point the guide plate can contact the sample module to guide its turning movement. When the guiding function of the guide plate needs to be canceled (e.g., to reduce the transmission path length of the transmission device), the guide plate fixture supports the guide plate to move to a second height (e.g., the second height is higher than the first height) so that the sample module and the fixture cannot contact each other.

[0082] For example, in some embodiments, the lifting fixture may be an automatic lifting device such as a lifting column or a belt lift. Alternatively, in other embodiments, the lifting fixture may be manually operated by an engineer, such as by threading the fixture and the transmission device together, where the guide plate is fixed to different heights as the threads are screwed into the fixture to different depths.

[0083] (2) a first pre-processing module 20 disposed on the S-shaped transmission path, and (3) a sample module; wherein the first pre-processing module performs a first pre-processing (i.e., identifying a sample) on the sample module using a rotary detection mode, comprising:

[0084] A first turntable 21 is provided on at least one corresponding transmission position, and at least one clamping position is relatively provided on the first turntable, wherein the clamping position can clamp the base of the sample module so that the first turntable can drive the sample module to revolve along the first turntable through the clamping position; and a first signal detection unit 22, a second signal detection unit 23 and a first data acquisition unit 25 are provided along the circumferential direction of the first turntable; wherein the first signal detection unit 22 is provided on the sample inlet side of the first preprocessing module to detect whether the sample module has moved to the first turntable; the second signal detection unit 23 is provided toward the first preset position to detect whether the sample module has moved to the first preset position;

[0085] The first data collection unit 25 is disposed toward a first preset position, and is configured to collect first sample information of the sample module when the sample module moves to the first preset position, and send the first sample information to a central control module of the device.

[0086] In some embodiments, as shown in Figure 1b, the first guide member 13 includes a first guide plate 1321 and a second guide plate 1322. The first guiding direction F1 of the first guide plate 1321 intersects the second guiding direction F2 of the second guide plate 1322. Furthermore, the second guiding direction F2 of the second guide plate 1322 intersects the shared transmission direction F3 of the shared transmission position (preferably a straight line). The shared transmission position refers to the first transmission position 11 or the third transmission position 16, and the guiding direction may refer to the movement path provided by the guiding edge of the guide plate.

[0087] For example, in some embodiments, the second guide plate 1322 is disposed along the transverse direction F3 of the shared transmission position (or, in other words, the width direction of the shared transmission position). Specifically, the first end of the second guide plate 1322 is disposed toward the second transmission position 12, and the second end of the second guide plate 1322 may intersect with the first guide plate 1321.

[0088] As shown in Figure 1b, in this embodiment, when the first end of at least one of the second guide plates 1322 (for ease of distinction and understanding, plate I is used to describe the second guide plate below) is set toward the first end 121 of the second transmission position, the corresponding plate I can limit the movement of the sample module in the shared transmission direction F4 where the current plate I is located, and guide the sample module to move to the second transmission position 12 toward which plate I is facing.

[0089] The first end of at least one additional second guide plate 1322 (hereinafter referred to as "plate II" for ease of distinction) is positioned toward the second end 122 of the second transfer station. This corresponding plate II guides the sample module located in the second transfer station 12, redirecting it to the shared transfer station where the current plate II resides. Furthermore, guided by the first guide plate 1321 that mates with the current plate II, the sample module continues to advance along the shared transfer station where the current plate II resides. Subsequently, when the sample module continues to advance and encounters the next first guide plate 13, the above process is repeated to move it to the next second transfer station 12.

[0090] For example, in some embodiments, the first and second guide plates may be connected to each other, or the second end of the second guide plate may be disposed adjacent to the first guide plate, so that the sample module can smoothly turn with the cooperation of the two guide plates.

[0091] Preferably, in this embodiment, the transmission directions of the first transmission bit, the second transmission bit and the third transmission bit are all straight lines or approximately straight lines.

[0092] In some embodiments, to ensure smooth steering of the sample modules on the discontinuously arranged conveyor belts, the first end of the second guide plate 1322 (specifically, one end of the guiding edge of the second guide plate 1322) extends beyond the first side of the shared transfer station. For example, at least a portion of a projection formed by vertically projecting the first end of the second guide plate 1322 onto a horizontal plane is located outside the first side of the shared transfer station, and the inner edge of the projection (corresponding to the guiding edge of the second guide plate) is adjacent to the side of the second transfer station 12.

[0093] The first side N1 of the shared transmission bit refers to a side of the shared transmission bit adjacent to the second transmission bit 12 . Correspondingly, the second side N2 of the shared transmission bit may be adjacent to the guide edge of the first guide plate 1321 .

[0094] In some embodiments, the second guide plate 1322 may be an integrally formed guide plate, as shown in FIG. 1 b .

[0095] Alternatively, in other embodiments, as shown in Figure 1c, the second guide plate 1322 may include: a first sub-plate 1322a arranged above the shared transmission position, and a second sub-plate 1322b arranged on the side of the second transmission position 12, and the ends of the first sub-plate 1322a and the second sub-plate 1322b are arranged adjacent to each other to guide the sample module to smoothly turn between the shared transmission position and the second transmission position 12.

[0096] In this embodiment, the non-contiguous arrangement of multiple transmission positions, combined with multiple first guides, allows for flexible adjustment of the transmission length to meet varying transmission requirements. For example, when a relatively small number of sample modules are to be pre-processed, the number of first guides can be reduced, and some second transmission positions can be disabled, thereby rapidly reducing the transmission length and saving power.

[0097] For another example, refer to Figure 1b, in which (a) and (b) respectively show the state in which the transmission device is operating normally and one of the second transmission positions (such as the second transmission position shown by the dotted line) has a fault. At this time, if one of the second transmission positions stops due to a fault, the corresponding first guide member A and the first guide member B are directly removed, which can ensure that the remaining multiple transmission positions form a normal transmission path again. At this time, the engineer can test the second transmission position with a fault separately without affecting the normal operation of the remaining transmission positions. In the embodiment shown in Figure 1b, the first guide member A refers to the first guide member located at the first end 121 of the faulty second transmission position; the second guide member B refers to the first guide member located behind the first guide member A along the shared transmission direction.

[0098] The direction from the first end 121 of the second transmission bit to the second end 122 of the second transmission bit is the movement direction of the second transmission bit, that is, the movement direction of the sample module. The shared transmission direction refers to the movement direction of the shared transmission bit, that is, the movement direction of the sample module on the shared transmission bit.

[0099] In some embodiments, the guiding edge (or guiding direction) may be a straight line or a curved line.

[0100] In some embodiments, the signal detection unit may be a photoelectric detection unit, that is, a photoelectric signal is used to determine whether the sample module has moved into place.

[0101] In some embodiments, the data acquisition unit may be a camera unit, configured to capture at least one photo of the sample module, wherein the photo may include barcode information of the sample module.

[0102] In some embodiments, as shown in FIG3 , the first preprocessing module further includes a first control unit capable of controlling the rotation of the first turntable. The first control unit can communicate with various signal detection units and data acquisition units in the first preprocessing module to ensure smooth sample loading and unloading of the sample module in the first preprocessing module.

[0103] For example, in some embodiments, when the first signal detection unit 22 detects that the sample moves to the corresponding clamping position, it can send a first rotation signal to the first control unit, and the first control unit controls the first turntable to rotate along the first rotation direction to the first preset position (for example, the first turntable rotates approximately 90° along the current position) in response to the first rotation signal; when it is detected that the first turntable rotates to the first preset position, the first data acquisition unit 25 is used to collect sample information of the sample (for example, collect the one-dimensional barcode information preset on the sample).

[0104] For example, when the sample module is located at the first preset position, the control unit will only drive the sample module to rotate in response to the start signal when the data acquisition unit completes the acquisition of the first sample information and sends a corresponding start signal to the control unit to avoid failure of the first preprocessing.

[0105] For another example, the first pre-processing module may pre-set the rotation speed of the turntable and the processing time, and the control unit may control the turntable to rotate according to the pre-set time.

[0106] The first control unit may also communicate data with the central control module of the device.

[0107] It is worth noting that, in this embodiment, the rotation directions of the transmission positions may be discontinuous. For example, the transmission directions of the first transmission position and the second transmission position are at right angles or approximately at right angles.

[0108] In contrast, in the prior art, if sample turning is involved, a curved conveyor belt is usually required (i.e., the conveyor belt must be continuous in direction). However, the present application proposes a technical solution that completely eliminates the reliance on curved conveyor belts, directly utilizes multiple transfer stations to connect in space, and directly connects adjacent transfer stations using a first turning guide (in other words, the direction of the transfer stations in the present application is no longer restricted to continuous arrangement).

[0109] For a solution with a continuous transmission direction, at least three sections of conveyor belts must be installed at each turning point, and curved conveyor belts can only transmit samples along a limited path (i.e., a curved conveyor belt can only drive the sample around a single location). Therefore, if too many turning points are set, the number of conveyor belts will increase dramatically, which will increase application costs and control difficulties, thereby reducing the operational stability of the transportation system.

[0110] However, in the discontinuous steering scheme in the present application, one transmission position (such as the first transmission position, the third transmission position) can play a role of synchronous driving at multiple steering points. Therefore, the use of limited transmission positions can not only extend the transmission path in a limited space, but also the design of fewer transmission belts can improve operational stability and reduce application costs.

[0111] In some embodiments, guardrails are provided on both sides of the transfer position (such as the second transfer position) to facilitate stable transportation of batch samples.

[0112] In some embodiments, the sample module includes a circular sample base for holding a sample (e.g., a test tube). The first transport guide 13 has an arcuate line segment (i.e., a turning guide edge 131) formed at an edge facing the second transport position, facing the circular base, thereby guiding the sample module to smoothly achieve turning motion.

[0113] In some embodiments, the clamping position is used to clamp a sample module, and when the first turntable is in the initial state, one of the clamping positions is set toward the injection direction of the transfer position; wherein, when the first signal detection unit detects that the sample module has moved to the corresponding clamping position, the first turntable will drive the current sample module to revolve along the first rotation direction to the first preset position, and when the second signal detection unit detects that the sample module revolves to the first preset position, the first data acquisition unit will collect the first sample information of the sample module (for example, a sample barcode photo, or detailed sample barcode information obtained based on the barcode photo), and send the first sample information to the central control module, and the central control module will generate corresponding first detection information based on the first sample information.

[0114] For example, in some embodiments, the first preprocessing module is only responsible for the preliminary collection of information, and the central control module generates corresponding first detection information based on the collected information (such as photos), and the first detection information may include one or more of the following: sample detection items, detection time, detection batch, detection conditions, etc.

[0115] In some embodiments, a plurality of clamping positions may be evenly arranged on the first turntable along the circumferential direction.

[0116] In some embodiments, the multiple clamping positions on the first turntable include: a first clamping position and a second clamping position, and the first clamping position and the second clamping position are located in the same diametrical direction (or in other words, located on the same straight line) of the first turntable. For example, when the first clamping position moves to the second preset position to discharge a sample, the second clamping position can clamp the next sample module for processing. That is, the multiple clamping positions can sequentially drive the sample modules to complete the first pre-processing, thereby improving the efficiency of rotation detection.

[0117] The following is an exemplary description of the workflow of the first preprocessing module:

[0118] When the turntable is in the initial state I, one of the clamping positions (for example, the first clamping position) is set toward the sample injection direction to serve as the sample inlet, while the other clamping position (for example, the second clamping position) can be set toward the sample discharge direction and can subsequently serve as the sample limiting port.

[0119] The first signal detection unit 22 is disposed toward the sample inlet to detect whether the sample is clamped in place, and when the sample is detected to be in place, the first turntable 21 is activated to drive the sample to rotate;

[0120] The first turntable first drives the sample to rotate to the first preset position, and the second signal detection unit 23 and the first data acquisition unit 25 are both set toward the first preset position; wherein, when the second signal detection unit 23 detects that the sample has rotated into place, it notifies the first data acquisition unit to collect the one-dimensional barcode information of the sample and send it to the central control module;

[0121] After the collection is completed, the turntable drives the sample to rotate to the second preset position (ie, the sample rotates about 180° along the initial position), and a third signal detection unit 24 is also provided at the second preset position to detect whether the sample has completed preprocessing within the set time.

[0122] The sample rotation time on the first turntable is typically pre-set, for example, 4 seconds. If the sample is received at the first clamping position but the third signal detection unit 24 fails to detect the sample after 4 seconds, an alarm signal may be sent to the central control module to remind the user to check whether the turntable is functioning properly.

[0123] In some embodiments, as shown in Figure 4, the first turntable 21 includes: a turntable rotating plate 211, and a turntable base 212; wherein, the turntable rotating plate is provided with a corresponding clamping position (such as an arc-shaped opening) for driving the sample to revolve around the center of the turntable, and a rotating area 213 is provided on the turntable base, and when the rotating plate rotates the corresponding sample module to a preset first preset position, the rotating area 213 can also drive the sample module to rotate on it, so that the first data acquisition unit can obtain a complete and clear one-dimensional barcode image.

[0124] It is understandable that for large-scale sample delivery scenarios, once a sample is missed or misdetected, it will affect the data reliability of the entire batch of samples. In this embodiment, multiple photoelectric signal detection is combined with a dual rotation scheme (i.e., controlling the sample module to revolve and rotate) to perform independent one-dimensional barcode detection on a single sample module, which can effectively improve the accuracy of sample identification. At the same time, the arrangement of multiple detection units and acquisition units around the turntable can also simplify the structural design of the preprocessing module to a certain extent and control the overall footprint of the device.

[0125] In some embodiments, the first preprocessing module further includes: a third signal detection unit arranged on the first sample outlet side of the first turntable, the third signal detection unit being used to detect whether the sample module revolves from the sample injection side to the sample outlet side (i.e., moves to the second preset position) within a first set time; wherein, when the sample module is not detected within the first set time, a corresponding prompt signal is sent to the central control module.

[0126] As shown in FIG2 , in some embodiments, a second preprocessing module 30 is provided after the first preprocessing module along the transmission direction of the S-shaped transmission path and is communicatively connected to the central control module, and a chip unit is provided on the base of the sample module; wherein the second preprocessing module includes:

[0127] A second turntable 31 is provided above at least one transfer position, and is provided with at least one clamping position; and a fourth signal detection unit 32, a fifth signal detection unit 33, and a second data acquisition unit are provided along the circumferential direction of the transfer position; the fourth signal detection unit 32 is provided on the sample inlet side of the second preprocessing module to detect whether the sample module has moved to the second turntable; the fifth signal detection unit is provided toward the third preset position of the second preprocessing module to detect whether the sample module has moved to the third preset position; the second data acquisition unit is provided toward the third preset position to collect second sample information of the sample module;

[0128] and a data processing unit, the data processing unit being configured to determine whether first sample information and second sample information of sample modules in the same preprocessing sequence match, and if so, to write the first detection information into the chip unit, wherein the preprocessing sequence refers to the order in which the sample modules pass through the first or second preprocessing module.

[0129] For example, in some embodiments, the second preprocessing module further includes a second control unit that can control the rotation of the second turntable. The second control unit can perform multi-party communication with the various signal detection units and data acquisition units in the second preprocessing module to ensure smooth sample loading and unloading of the sample module in the second preprocessing module.

[0130] For example, in some embodiments, the first preprocessing module or the central control module will also record the first preprocessing order of the sample passing through the first preprocessing module; the second preprocessing module or the central control module will also record the second preprocessing order of the sample passing through the second preprocessing module.

[0131] If the first and second sample information of a sample module in the same processing order are different, it indicates that the sample module may have missed detection or false detection. If the first and second pre-processing orders of the sample are the same, but the first and second sample information are different, the first detection information can be directly written to the chip unit.

[0132] Alternatively, in some other embodiments, the data processing unit is only used to receive corresponding instruction signals from the central control module and write the first detection information to the sample module. For example, when the first data acquisition unit sends the first preprocessing sequence and the first sample information to the central control module, and the central control module is able to generate corresponding first detection information based on the first sample information; the second data acquisition unit also sends the second preprocessing sequence and the second sample information to the central control module; when the central control module verifies that the first sample information and the second sample information of the sample module in the same preprocessing sequence match, it sends the generated first detection information to the second preprocessing module to be written into the chip unit of the sample.

[0133] It can be understood that the second preprocessing module in this embodiment may include the same or similar functional units as the first preprocessing module.

[0134] For example, in some embodiments, the second preprocessing module further includes a sixth signal detection unit 34 disposed toward a fourth preset position (i.e., the second sample outlet side of the second preprocessing module). The sixth signal detection unit is configured to detect whether the sample module has moved to the fourth preset position (i.e., the second sample outlet side of the second preprocessing module) within a second preset time. If not, a corresponding alarm signal may be sent to the central control module to prompt a user to check the operating status of the second preprocessing module.

[0135] In some embodiments, the sample information may be a collected sample photo (such as a barcode photo).

[0136] In some embodiments, the method of performing preprocessing using the first and second preprocessing modules includes the steps of:

[0137] Step 1) When a sample enters the first preprocessing module, a one-dimensional barcode of the sample is captured by an imaging unit to obtain first sample information I. For example, the first sample information I includes one or more of the following information: the sample collection object, the sample type, or the sample test item, etc.;

[0138] Step 2) Sending the first sample information I to the central control module, which generates sample detection information based on the first sample information; for example, the sample detection information may include one or more of the following information: information about reagents to be configured for the sample, or detection items to be performed on the sample, etc.;

[0139] Step 3) The sample is further transported to the second pre-processing module, and the one-dimensional barcode of the sample is again captured by the camera unit to obtain the second sample information II;

[0140] Step 4) determining whether the first sample information I matches the second sample information II, and if so, writing the sample detection information into a data storage unit (such as a chip unit) in the base of the sample;

[0141] If not, an alarm signal is sent to the central control module.

[0142] For example, RFID can be used to write sample detection information into a chip on the base.

[0143] Preferably, in some embodiments, the clamping position is configured to clamp a sample module.

[0144] In this embodiment, a step-by-step data processing approach is employed to sequentially read, verify, and write data for individual samples, improving the accuracy and reliability of batch sample processing. The use of dual preprocessing modules to sequentially read, verify, and write information for individual sample models improves the reliability of the sample preprocessing process and allows for sufficient sample preparation time for actual testing operations.

[0145] Alternatively, in some embodiments, when the second preprocessing module detects a sample module that was missed during the first preprocessing process, the second sample information is sent to the central control module, and the central control module can also generate second detection information accordingly. The second preprocessing module can also write the second detection information into the sample module.

[0146] As shown in FIG5 , in some embodiments, the present invention further comprises: a sample discharging module disposed at the end of the S-shaped transmission path, the sample discharging module comprising: a third turntable 41 , the third turntable being provided with a clamping position for clamping a sample module;

[0147] and a fourth transfer position 42 connected to the third turntable; the third turntable 41 is arranged in the area intersecting between the fourth transfer position 42 and the second transfer position located at the end of the S-shaped transfer path (for example, in some embodiments, in order to control the overall volume of the automated transfer device, the rotation center of the third turntable is arranged in the inner space surrounded by the transfer position), and a second transfer guide 44 is arranged above the transfer position, the second transfer guide including: a first arc-shaped guide position (also referred to as a guide position) 441 arranged corresponding to the first input section 14 at the end of the S-shaped transfer path, a second arc-shaped guide position 442 arranged corresponding to the first output section 15, and a third arc-shaped guide position 443 arranged corresponding to the fourth transfer position 42;

[0148] Among them, when the third turntable 41 is located at the first sample output position, the first arc-shaped guide position is connected to the clamping position to guide the sample module into the clamping position, and when the third turntable rotates along the first sample output direction to the second sample output position, the second arc-shaped guide position is connected to the clamping position, and the sample module continues to move to the detection module, that is, it can leave through the first output section 15; when the third turntable rotates along the second sample output direction to the third sample output position, the third arc-shaped guide position is connected to the clamping position, and the sample module moves to the fourth transfer position 42 to wait for detection.

[0149] In some embodiments, the sample output module includes a third control unit that can be in communication with the central control module to control the rotation of the third turntable according to control instructions from the central control module to transfer the sample modules to different sample output positions, thereby classifying and outputting the sample modules.

[0150] For another example, in some embodiments, the third control unit can also be connected to the chip unit of the sample in communication, and confirm the detection plan of the sample based on the first detection information stored in the chip unit; for example, the detection plan of the sample includes: detection items, detection time or detection priority, etc. If the detection time of the current sample is the current time, the sample can be output to the first output section 15 to execute the detection plan; otherwise, the sample can be output to the fourth transmission position for subsequent detection. In this embodiment, the sample output module can be used at the end position of the transmission module to group and transmit the samples.

[0151] In some embodiments, the third turntable is preferably provided with only one third clamping position.

[0152] In some embodiments, the sample output module further includes: at least one signal detection unit, and the at least one signal detection unit is distributed along the circumferential direction of the third turntable to detect whether the sample module moves to the corresponding sample output position.

[0153] For example, in some embodiments, corresponding signal detection units are respectively arranged at the first, second, and third arc-shaped guiding positions.

[0154] In this embodiment, a multi-stage, automatically steering, S-shaped transport path is combined with a turntable-style preprocessing module. This simplifies the mechanical transmission and detection structure design of the automated conveyor, reducing the space occupied by the automated conveyor. Furthermore, the multi-turntable, step-by-step design breaks down and independently processes sample preprocessing tasks from the perspective of abstract tasks and transport space, improving both the accuracy of sample preprocessing and the efficiency of distributed processing.

[0155] It is also worth mentioning that the present invention independently decomposes the sample preprocessing tasks (for example, one-dimensional code recognition, one-dimensional code verification, detection information writing, sample output based on the detection information, etc.), and on the one hand, carries out step-by-step design in processing thinking; on the other hand, it also realizes the spatial distributed arrangement of multiple rotating turntables based on the independent processing design of the tasks to improve the overall sample preprocessing rate of the device.

[0156] In other words, the present invention decomposes abstract tasks and distributes them in physical space, so that it can accurately identify or write signals at a single location through a "slow processing" method (i.e., using a multi-signal acquisition and verification method); and, through rotation detection and the distribution and coordination of multiple "slow processing" methods on an S-shaped transmission path, it can effectively improve the overall sample processing capacity of the device.

[0157] As shown in FIG6 , in some embodiments, the sample introduction module 50 is further included, and the sample introduction module includes a fourth turntable, and the fourth turntable is also provided with at least one clamping position, and a third transmission guide designed around the fourth turntable. The third transmission guide includes a fourth arc-shaped guide position corresponding to the second input section at the beginning of the S-shaped transmission path (which can be connected to the external channel to receive new samples), a fifth arc-shaped guide position corresponding to the second output section at the beginning of the S-shaped transmission path (which receives new samples through the fourth turntable), and a sixth arc-shaped guide position corresponding to the fourth transmission position.

[0158] Among them, when the fourth turntable is located at the preset sixth sample output position, the sixth arc-shaped guide position is connected to the clamping position on the fourth turntable to guide the sample module waiting for detection into the clamping position, so that the S-shaped transmission path, the sample output module, the fourth transmission position and the sample injection module are connected in sequence to form a circulatory sample transmission path.

[0159] Among them, when the fourth turntable is located at the preset fourth sample output position, the fourth arc-shaped guide position is connected to the clamping position on the fourth turntable, and the fourth turntable can receive new samples from the outside; when the fourth turntable is located at the preset fifth sample output position, the fifth arc-shaped guide position is connected to the clamping position; and when the fourth turntable rotates from the fourth sample output position to the fifth sample output position, the new sample can be input into the transmission module.

[0160] For example, in some embodiments, the fourth turntable is preferably provided with a fourth clamping position.

[0161] For example, in some embodiments, if a sample currently being transported to the sample output module was missed or misdetected during preprocessing, it can be returned to the transport module via the fourth transport position and the sample input module for the next round of preprocessing. In other words, in this embodiment, the use of a loop-designed sample transport path can enhance the device's fault tolerance, enabling automatic error correction without manual intervention.

[0162] For another example, in some other embodiments, when the samples currently moving to the sample output module need to wait for the next batch of samples to be synchronously detected, the samples can first enter the fourth transmission position to wait for subsequent detection.

[0163] In some embodiments, the injection module 50 also includes at least one signal detection unit.

[0164] For example, in some embodiments, the injection module 50 includes three signal detection units respectively arranged along the fourth, fifth, and sixth arc-shaped guide positions for precise injection.

[0165] In some embodiments, at least two of the second transmission phases are parallel, and the first transmission direction is parallel to the third transmission direction.

[0166] In some embodiments, the first preprocessing module and the second preprocessing module are preferably set on two independent second transmission positions, so that the interval between the processing time of the first preprocessing module and the second preprocessing module for the same sample is greater than the set time threshold, so as to reserve sufficient data processing time for the central control module.

[0167] In some embodiments, the sample output module further includes: a data detection unit, wherein the data detection unit is configured to detect detection information in the chip unit.

[0168] Example 2

[0169] The present invention also provides a method for controlling sample automated transport based on step-by-step processing, and the method focuses on task decomposition in the sample information preprocessing stage. As shown in FIG7 , the method includes the following steps:

[0170] S100 provides an automated conveying device, which includes: a transmission module, a first preprocessing module, a second preprocessing module, and a sample output module arranged in sequence along the transmission direction of the transmission module, and a central control module communicatively connected to the first and second preprocessing modules; wherein the first preprocessing module includes: a first turntable capable of driving the sample module to rotate; the second preprocessing module includes: a second turntable capable of driving the sample module to rotate.

[0171] S101 uses a first preprocessing module to perform a first preprocessing on the sample module to obtain first sample information of the sample module; that is, preferably, sample information is collected independently for a single sample module.

[0172] In some embodiments, S101 includes:

[0173] S11: when the sample module moves to the first sample inlet side of the first pretreatment module, the sample module is driven to revolve to a first preset position by the first turntable;

[0174] S12: independently collecting first sample information of the sample module (through the first data collection unit), and sending the first sample information to the central control module; wherein the central control module generates first detection information correspondingly according to the first sample information;

[0175] S102 uses a second preprocessing module to perform a second preprocessing on the sample module to write the first detection information into the sample module. That is, during the second preprocessing, independent detection information is written to a single sample module based on the previous preprocessing result.

[0176] In some embodiments, the S102 includes:

[0177] S21: when the sample module continues to move to the second sample inlet side of the second pretreatment module under the drive of the transmission module, the sample module is driven to orbit to a third preset position by the second turntable;

[0178] S22: independently collecting second sample information of the sample module (via the second data collection unit), and determining whether the first sample information and the second sample information of sample modules in the same preprocessing order match; if so, writing the first detection information into the sample module; the preprocessing order refers to the order in which the sample module passes through the first or second preprocessing module;

[0179] S103: The sample module continues to move to the sample output module, and the sample output module classifies and outputs the sample module according to the first detection information.

[0180] In some embodiments, the first detection information includes one or more of the following: detection items, detection priorities, and detection conditions.

[0181] In some embodiments, S11 includes:

[0182] collecting a first photoelectric signal from the first injection side by a first signal detection unit;

[0183] The first control unit determines whether the sample module has moved to the first sample injection side based on the first photoelectric signal, and if so, controls the first turntable to drive the sample module to revolve to a first preset position;

[0184] In some embodiments, S12 includes:

[0185] collecting a second photoelectric signal at the first preset position by a second signal collecting unit;

[0186] The first control unit determines whether the sample module moves to the first preset position based on the second photoelectric signal, and if so, collects first sample information of the sample module, wherein the first sample information includes: a first photo of at least one label of the sample module, wherein the label is associated with one or more of the following information: barcode information, sample type, sample object, sample collection time, and sample detection time;

[0187] The first preprocessing sequence and first sample information of the sample module are sent to the central control module.

[0188] In some embodiments, the label may be an identification code such as a one-dimensional code or a two-dimensional code.

[0189] In some embodiments, S21 includes:

[0190] collecting a fourth photoelectric signal from the second sample injection side of the second preprocessing module by a fourth signal detection unit;

[0191] It is determined by the fourth photoelectric signal whether the sample module has moved to the second sample injection side. If so, the second turntable is controlled to drive the sample module to revolve to a third preset position.

[0192] In some embodiments, S22 further includes the steps of:

[0193] collecting a fifth photoelectric signal at the third preset position by a fifth signal detection unit;

[0194] determining whether the sample module has moved to the third preset position by the fifth photoelectric signal, and if so, collecting second sample information of the sample module by using the first data collection unit, wherein the second sample information includes: a second photo of the label;

[0195] The first data acquisition unit or the first control unit sends the second preprocessing sequence and the second sample information of the sample module to the central control module;

[0196] Determining, by the central control module, whether the first sample information and the second sample information of the sample modules in the same preprocessing order match, and if so, sending the first detection information to the second preprocessing module;

[0197] The second pre-processing module writes the first detection information into the chip unit of the sample module.

[0198] In some embodiments, the first turntable is provided with at least two clamping positions, each of which can clamp one sample module; accordingly, S101 further includes:

[0199] collecting a third photoelectric signal from the first sample output side of the first pre-processing module by a third signal detection unit;

[0200] When a sample module is detected at the first sample output side by the third photoelectric signal, it is determined whether the time difference between the third photoelectric signal and the first photoelectric signal falls within a first set time; if not, a corresponding prompt signal is sent to the central control module.

[0201] In this embodiment, a single preprocessing stage is precisely monitored through photoelectric signals and time differences to indicate the accuracy and reliability of sample preprocessing.

[0202] In some embodiments, the first sample information is associated with a first preprocessing order, and the second sample information is associated with a second preprocessing order; accordingly, when the first sample information and the second sample information of sample modules in the same preprocessing order do not match, the method further includes:

[0203] Determine whether there is historical first sample information L1 matching the current second sample information L2 in the central control module;

[0204] If so, it is considered that there may be missed detection in the second preprocessing stage. At this time, the corresponding first detection information L3 (i.e., the detection information generated according to the historical first sample information L1) can be written into the chip unit of the sample module; and the missed detection object information of the second preprocessing module (such as the value of the processing order of the missed detection object, the number of missed detection objects, etc.) is sent to the central control module or the sample output module, wherein the missed detection object is one or more sample modules with the value of x, x+1, ..., x+n-1 in the first processing order, and x is the value II of the second preprocessing order of the current sample module (i.e., the sample module written with the first detection information L3), and n is the difference between the value I and the value II of the first preprocessing order associated with the first detection information L3 written in the current step; accordingly, in S103, the sample output module transmits the missed detection object to the area to be detected;

[0205] If not, the central control module generates second detection information according to the second sample information, and the second pre-processing module writes the second detection information into the chip unit of the sample module.

[0206] The historical first sample information refers to the first sample information that the first preprocessing module has sent to the central control module.

[0207] For example, in some embodiments, when a plurality of samples, such as sample A, sample B, sample C, sample D, sample E, ... sample N, are sequentially placed on the transmission module, when these samples sequentially pass through the first preprocessing module, their first preprocessing order values ​​are sequentially labeled as 1, 2, 3, 4, 5, ... N; and when these samples sequentially pass through the second preprocessing module, their second preprocessing order values ​​are sequentially labeled as 1, 2, 3, 4, 5, ... N. If the samples are processed in the same order and have the same sample information in the two preprocessing modules, the sample preprocessing process is considered normal.

[0208] Furthermore, for situations such as the first missed detection or the second missed detection, the step-by-step processing mode and the loop path design of the automated transmission device can be used for supplementary inspection to improve the fault tolerance of the entire automated transmission system.

[0209] For example, when the second pre-processing module detects that the second sample information of the current sample (e.g., sample E) has matching historical first sample information in the central control module, but the processing orders of the first sample information L1 and the second sample information L2 are different, for example, the processing order value II of the second sample information L2 is 3, while the value I of the historical first sample information L1 is 5, it is considered that the second pre-processing module may have missed samples C and D (their corresponding values ​​I are 3 and 4, respectively), and the sample output module can be prompted in advance to transmit samples C and D to the waiting area (i.e., the fourth transmission position).

[0210] For example, in some embodiments, if a sample is missed during the first preprocessing process, a second preprocessing process can be used to perform a supplementary test. Specifically, when the second preprocessing module detects that the second sample information of the current sample (e.g., sample D) (e.g., the second preprocessing order value recorded at this time is 4) does not have the corresponding historical first sample information in the central control module, the central control module can also generate corresponding second detection information in real time based on the second sample information.

[0211] For example, in some embodiments, if a sample is missed during the second preprocessing process, the sample output module can be notified in advance to record the missed object, that is, sample D, so that it can be output to the fourth transmission position, so that the circular transmission path can be used to automatically perform a second detection on sample D.

[0212] For example, in some embodiments, the second preprocessing module can also write third detection information representing secondary detection in the sample module (such as the chip in the base), and the sample output module will classify and output the sample module according to the detection information recorded in the sample module.

[0213] As shown in FIG8 , the present invention also provides a corresponding automatic sample delivery system, comprising: the automatic delivery device in any of the above embodiments;

[0214] The first preprocessing system 01 is configured to perform a first preprocessing on the sample module using the first preprocessing module to obtain first sample information of the sample module; wherein the first preprocessing system includes:

[0215] The first control subsystem 011 is configured to drive the sample module to orbit to a first preset position via the first turntable when the sample module moves to the first sample inlet side of the first pretreatment module;

[0216] The second control subsystem 012 is configured to independently collect first sample information from the sample module and send the first sample information to the central control module; wherein the central control module generates first detection information according to the first sample information;

[0217] The second preprocessing system 02 is configured to perform a second preprocessing on the sample module using a second preprocessing module to write the first detection information into the sample module; and the second preprocessing system 02 includes:

[0218] The third control subsystem 021 is configured to drive the sample module to orbit to a third preset position via the second turntable when the sample module continues to move to the second sample inlet side of the second pretreatment module under the drive of the transmission module;

[0219] The fourth control subsystem 022 is configured to independently collect second sample information from the sample module, determine whether the first sample information and the second sample information of sample modules in the same preprocessing order match, and if so, write the first detection information into the sample module; the preprocessing order refers to the order in which the sample module passes through the first or second preprocessing module;

[0220] The classification and output system 03 is configured to enable the sample module to continue to move to a sample output module, and the sample output module classifies and outputs the sample module according to the first detection information.

[0221] In some embodiments, the first control subsystem is further configured to collect a first photoelectric signal from the first injection side; determine whether the sample module has moved to the first injection side through the first photoelectric signal, and if so, control the first turntable to drive the sample module to revolve to a first preset position.

[0222] In some embodiments, the second control subsystem is further configured to collect a second photoelectric signal at the first preset position; determine whether the sample module has moved to the first preset position through the second photoelectric signal, and if so, collect first sample information of the sample module, the first sample information including: at least one first photo of the label of the sample module, wherein the label is associated with one or more of the following information: barcode information, sample type, sample object, sample collection time, and sample detection time; send the first preprocessing sequence and the first sample information of the sample module to the central control module.

[0223] In some embodiments, the third control subsystem is further configured to collect a fourth photoelectric signal from the second injection side of the second preprocessing module; determine whether the sample module has moved to the second injection side through the fourth photoelectric signal, and if so, control the second turntable to drive the sample module to revolve to a third preset position.

[0224] In some embodiments, the fourth control subsystem is further configured to collect a fifth photoelectric signal at the third preset position; determine whether the sample module has moved to the third preset position through the fifth photoelectric signal, and if so, collect second sample information of the sample module, and the second sample information includes: at least one second photo of the label; send the second preprocessing sequence and the second sample information of the sample module to the central control module; determine whether the first sample information and the second sample information of the sample modules in the same preprocessing sequence match through the central control module, and if so, send the first detection information to the second preprocessing module; the second preprocessing module writes the first detection information into the chip unit of the sample module.

[0225] In some embodiments, the first turntable is provided with at least two clamping positions, each of which can clamp one sample module; accordingly, the first pretreatment system further comprises:

[0226] The monitoring subsystem 023 is configured to collect a third photoelectric signal from the first sample output side of the first preprocessing module; when a sample module is detected at the first sample output side through the third photoelectric signal, determine whether the time difference between the third photoelectric signal and the first photoelectric signal belongs to a first set time; if not, send a corresponding prompt signal to the central control module.

[0227] In some embodiments, the first sample information is associated with a first preprocessing sequence, and the second sample information is associated with a second preprocessing sequence; accordingly, the system further includes: a re-inspection decision system 04, comprising: a judgment subsystem 041, configured to, when the first sample information and the second sample information of the sample module in the same preprocessing sequence do not match, determine whether there is historical first sample information in the central control module that matches the current second sample information;

[0228] The first re-inspection decision subsystem 042 is configured to write the corresponding first detection information into the chip unit of the sample module if there is matching historical first sample information; and send the missed detection object information of the second pre-processing module to the central control module or the sample output module, wherein the missed detection object is the sample module with the value x, x+1, ..., x+n-1 in the first pre-processing sequence, and x is the value II of the second pre-processing sequence of the current sample module, and n is the difference between the value I and the value II of the first pre-processing sequence associated with the first detection information written in the current step; accordingly, in the classification output system 03, the sample output module transmits the missed detection object to the area to be detected;

[0229] The second re-inspection decision subsystem 043 is configured such that if there is no matching historical first sample information, the central control module generates second detection information based on the second sample information, and the second preprocessing module writes the second detection information into the chip unit of the sample module.

[0230] It is worth noting that the step-by-step task processing mode in the present invention can not only improve the task processing accuracy, but also can cooperate with the multi-signal acquisition mode at a single location at different spatial positions to improve the preprocessing efficiency of the entire automated conveying system (that is, it can avoid the impact of the "slow" processing method of the multi-signal acquisition mode on the overall transmission efficiency).

[0231] Through the description of the above embodiments, those skilled in the art can clearly understand that the above embodiment methods can be implemented by means of software plus the necessary general hardware platform, and of course can also be implemented by hardware, but in many cases the former is a better embodiment. Based on such an understanding, the technical solution of the present invention is essentially or the part that contributes to the prior art can be embodied in the form of a software product, which is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk), and includes several instructions for enabling a computer terminal (which can be a mobile phone, computer, server, or network device, etc.) to execute the methods described in each embodiment of the present invention. The embodiments of the present invention are described above in conjunction with the accompanying drawings, but the present invention is not limited to the above specific embodiments. The above specific embodiments are merely illustrative and not restrictive. Under the guidance of the present invention, those skilled in the art can also make many forms without departing from the scope of protection of the present invention and the claims, and these all fall within the protection of the present invention.

Claims

1. An automated sample conveying method, characterized in that, Including: S100 provides an automated conveying device, and the automated conveying device includes: a transmission module, a first preprocessing module, a second preprocessing module, a sample output module arranged in sequence along the transmission direction of the transmission module, and a central control module communicatively connected to the first and second preprocessing modules; wherein, the first preprocessing module includes: a first turntable capable of driving the sample module to rotate; the second preprocessing module includes: a second turntable capable of driving the sample module to rotate; S101 performs a first preprocessing on the sample module by using the first preprocessing module to obtain first sample information of the sample module; wherein, S101 includes: S11 When the sample module moves to the first sample loading side of the first preprocessing module, drive the sample module to revolve to a first preset position by means of the first turntable; S12 Independently collect the first sample information of the sample module, and send the first sample information to the central control module; wherein, the central control module will correspondingly generate first detection information according to the first sample information; S102 performs a second preprocessing on the sample module by using the second preprocessing module to write the first detection information into the sample module; and S102 includes: S21 When the sample module continues to move to the second sample loading side of the second preprocessing module driven by the transmission module, drive the sample module to revolve to a third preset position by means of the second turntable; S22 Independently collect the second sample information of the sample module, and judge whether the first sample information and the second sample information of the sample modules in the same preprocessing sequence match. If so, write the first detection information into the sample module; the preprocessing sequence refers to the sequence in which the sample module passes through the first or second preprocessing module; S103 The sample module continues to move to the sample output module, and the sample output module classifies and outputs the sample module according to the first detection information.

2. The method according to claim 1, characterized in that, S11 includes: Collect the first optoelectronic signal on the first sample loading side; Judge whether the sample module moves to the first sample loading side through the first optoelectronic signal. If so, control the first turntable to drive the sample module to revolve to the first preset position.

3. The method according to claim 2, wherein S12 includes: Collect the second optoelectronic signal at the first preset position; Judge whether the sample module moves to the first preset position through the second optoelectronic signal. If so, collect the first sample information of the sample module. The first sample information includes: at least one first photo of a label of the sample module, wherein the following one or more kinds of information are associated with the label: bar code information, sample type, sample object, sample collection time, sample detection time; Send the first preprocessing sequence and the first sample information of the sample module to the central control module.

4. The method according to any one of claims 1 to 3, characterized in that, S21 includes: Collect the fourth optoelectronic signal on the second sample loading side of the second preprocessing module; Judge whether the sample module moves to the second sample injection side according to the fourth optoelectronic signal. If so, control the second turntable to drive the sample module to revolve to the third preset position.

5. The method according to claim 4, wherein S22 further includes steps: Collect a fifth optoelectronic signal at the third preset position; Judge whether the sample module moves to the third preset position according to the fifth optoelectronic signal. If so, collect second sample information of the sample module, and the second sample information includes at least one second photo of the label of the sample module; Send the second preprocessing sequence and the second sample information of the sample module to the central control module; Judge whether the first sample information and the second sample information of the sample modules in the same preprocessing sequence match according to the central control module. If so, the central control module sends the first detection information to the second preprocessing module; The second preprocessing module writes the first detection information into the chip unit of the sample module.

6. The method according to claim 5, wherein At least two clamping positions are arranged on the first turntable, and each clamping position can clamp one sample module; correspondingly, S101 further includes: Collect a third optoelectronic signal at the first sample output side of the first preprocessing module; When a sample module is detected at the first sample output side according to the third optoelectronic signal, judge whether the time difference between the third optoelectronic signal and the first optoelectronic signal belongs to a first set time; if not, send a corresponding prompt signal to the central control module.

7. The method according to claim 5, characterized in that, The first sample information is associated with a first preprocessing sequence, and the second sample information is associated with a second preprocessing sequence; Correspondingly, when the first sample information and the second sample information of the sample modules in the same preprocessing sequence do not match, the method further includes: Judge whether there is historical first sample information matching the current second sample information in the central control module; If so, write the corresponding first detection information into the chip unit of the sample module; and send the missed detection object information of the second preprocessing module to the central control module or the sample output module, where the missed detection object is a sample module with the value of the first preprocessing sequence being x, x + 1, ……, x + n - 1, and x is the value II of the second preprocessing sequence of the current sample module, and n is the difference between the value I and the value II of the first preprocessing sequence associated with the first detection information written in the current step; correspondingly, in S103, the sample output module transports the missed detection object to the area to be detected; If not, the central control module generates second detection information according to the second sample information, and the second preprocessing module writes the second detection information into the chip unit of the sample module.

8. An automated sample conveying system, characterized in that, Include: Automated conveying device, the automated conveying device includes: a transmission module, a first preprocessing module, a second preprocessing module, a sample output module arranged in sequence along the transmission direction of the transmission module, and a central control module communicatively connected to the first and second preprocessing modules; wherein, the first preprocessing module includes: a first turntable capable of driving the sample module to rotate; the second preprocessing module includes: a second turntable capable of driving the sample module to rotate; The first preprocessing system is configured to perform a first preprocessing on the sample module using the first preprocessing module to obtain the first sample information of the sample module; wherein, the first preprocessing system includes: The first control subsystem is configured to drive the sample module to revolve to a first preset position through the first turntable when the sample module moves to the first sample loading side of the first preprocessing module; The second control subsystem is configured to independently collect the first sample information of the sample module and send the first sample information to the central control module; wherein, the central control module will correspondingly generate first detection information according to the first sample information; The second preprocessing system is configured to perform a second preprocessing on the sample module using the second preprocessing module to write the first detection information into the sample module; and the second preprocessing system includes: The third control subsystem is configured to drive the sample module to revolve to a third preset position through the second turntable when the sample module continues to move to the second sample loading side of the second preprocessing module under the drive of the transmission module; The fourth control subsystem is configured to independently collect the second sample information of the sample module and determine whether the first sample information and the second sample information of the sample module in the same preprocessing sequence match. If so, write the first detection information into the sample module; the preprocessing sequence refers to the sequence in which the sample module passes through the first or second preprocessing module; The classification and output system is configured to enable the sample module to continue moving to the sample output module, and the sample output module classifies and outputs the sample module according to the first detection information.

9. An automated sample conveying device, characterized in that, Including: The transmission module, the transmission module includes: a first transmission position (11) arranged along a first transmission direction, at least two second transmission positions (12) arranged along a second transmission direction, and a third transmission position (16) arranged along a third transmission direction. The two ends of the at least two second transmission positions intersect with the first and third transmission positions respectively; a first transmission guide (13) is provided at the docking position of the at least two second transmission positions and the first or third transmission position, and a steering guide edge (131) is provided on the first transmission guide; under the reverse transmission of multiple transmission positions, the steering guide edge can guide the sample module to automatically turn between multiple transmission positions, so that multiple relatively independent transmission positions cooperate with the first transmission guide to form an S-shaped transmission path capable of automatic turning; On the S-shaped transmission path, a first preprocessing module and a second preprocessing module are sequentially provided. A plurality of the sample modules can sequentially advance under the guidance and drive of the transmission module and complete multiple-step preprocessing of the sample modules. Among them, The first preprocessing module includes: a first data acquisition unit, which is arranged facing a first preset position to collect first sample information of the sample module and send the first sample information to the central control module of the device. The central control module will generate corresponding first detection information according to the first sample information. The second preprocessing module includes: a second data acquisition unit, which is arranged facing a third preset position to collect second sample information of the sample module; and a data processing unit, which is used to judge whether the first sample information and the second sample information of the sample modules in the same preprocessing order match. If so, the first detection information obtained from the central control module is written into the chip unit of the sample module. Among them, the preprocessing order refers to the order in which the sample modules pass through the first or second preprocessing module.

10. An automated sample conveying device, characterized in that, Including: A transmission module for transmitting sample modules, the transmission module includes: a first transmission position (11) arranged along a first transmission direction, at least two second transmission positions (12) arranged along a second transmission direction, and a third transmission position arranged along a third transmission direction. The two ends of the at least two second transmission positions intersect with the first transmission position and the third transmission position respectively. At the docking positions of the at least two second transmission positions with the first transmission position and the third transmission position, first transmission guiding members (13) are respectively arranged. The first transmission guiding members (13) include: a first guiding plate (1321) and a second guiding plate (1322). The first guiding direction of the first guiding plate (1321) and the second guiding direction of the second guiding plate (1322) intersect; and the second guiding plate is respectively arranged along the transverse direction of the first transmission position or the third transmission position, so that the second guiding direction also intersects with the first transmission direction or the third transmission direction. Among them, when the first end of at least one of the second guiding plates (1322) faces the first end (121) of the second transmission position, the corresponding second guiding plate (1322) can limit the movement of the sample module on the first transmission position or the third transmission position where the current second guiding plate is located, and guide the sample module to turn and move to the second transmission position (12) docked with the current second guiding plate. The first end of at least one additional second guide plate (1322) is disposed towards the second end (122) of the second transfer position. The corresponding second guide plate (1322) can guide the sample module located on the second transfer position (12) to turn and move to the first transfer position or the third transfer position where the current second guide plate is located, and cooperate with the corresponding first guide plate (1321) to enable the sample module to continue to move forward along the first transfer position or the third transfer position; Wherein, the direction in which the first end of the second transfer position points to the second end of the second transfer position is the moving direction in which the second transfer position drives the sample module to move.

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