Method for transferring powder sample and related product

Abstract

Provided in the embodiments of the present application are a method for transferring a powder sample and a related product. The method for transferring a powder sample comprises: controlling a powder scooping and transferring apparatus to perform a powder scooping operation from a supply container; after the powder scooping operation is completed, acquiring a first weight m1 recorded by a weighing apparatus when a container holder is in contact with the weighing apparatus; controlling the powder scooping and transferring apparatus to perform a powder pouring operation into a target container, and after the powder pouring operation is completed, acquiring a third weight m3 recorded by the weighing apparatus when the container holder is in contact with the weighing apparatus; and on the basis of the third weight m3 and the first weight m1, obtaining a powder transfer amount ma. The embodiments of the present application can realize automated quantitative transfer of powder samples, thereby improving the transfer efficiency and accuracy of the powder samples.

Description

Methods for transferring powder samples and related products

[0001] This application claims priority to Chinese patent applications filed on December 19, 2024, with application number 2024119002591 entitled "Powder Scooping Control Method and Related Products" and application number 2024119003467 entitled "Powder Sample Transfer Method and Related Products", the entire contents of which are incorporated herein by reference. Technical Field

[0002] This application relates to the field of sample packaging technology, specifically to a method for transferring powder samples and related products. Background Technology

[0003] Powder aliquoting or powder sample preparation is frequently required in fields such as chemical synthesis, high-throughput screening, food monitoring, and environmental monitoring, with a wide range of applications. The traditional manual aliquoting method involves placing the target container on a balance, with researchers using a small spoon to scoop powder from the source container and pour it into the target container, then weighing the added powder. This method requires multiple scooping and pouring operations, consuming significant time and effort, resulting in high labor costs, low efficiency, and susceptibility to human error. Summary of the Invention

[0004] This application provides a method for transferring powder samples and related products, which can realize automated quantitative transfer of powder samples and improve the transfer efficiency and accuracy of powder samples.

[0005] A first aspect of this application provides a method for transferring a powder sample. The method is applied to a powder-scooping system, which includes a weighing device, a container base, and a powder-scooping and transferring device. A source container and a target container are placed on the container base. The weighing device is located below the container base and is used to weigh the container base when in contact with it. The powder-scooping and transferring device is used to scoop powder from the source container and transfer it to the target container. The method includes:

[0006] Control the powder scooping and transfer device to scoop powder from the source container;

[0007] After the powder scooping operation is completed, the first weight m1 recorded by the weighing device is obtained when the container seat is in contact with the weighing device;

[0008] Control the powder transfer device to pour powder into the target container. After the powder pouring operation is completed, obtain the third weight m3 recorded by the weighing device when the container seat is in contact with the weighing device.

[0009] The powder transfer amount ma is obtained based on the third weight m3 and the first weight m1, where ma = m3 - m1.

[0010] A second aspect of this application provides a powder sample transfer device, which is applied to a powder scooping system. The powder scooping system includes a weighing device, a container seat, and a powder scooping and transfer device. A source container and a target container are placed on the container seat. The weighing device is located below the container seat and is used to weigh the container seat when in contact with it. The powder scooping and transfer device is used to scoop powder from the source container and transfer it to the target container. The device includes:

[0011] A control unit is used to control the powder scooping and transferring device to scoop powder from the source container.

[0012] The acquisition unit is used to acquire the first weight m1 recorded by the weighing device when the container seat is in contact with the weighing device after the powder scooping operation is completed.

[0013] The control unit is also used to control the powder transfer device to perform a powder pouring operation into the target container;

[0014] The acquisition unit is also used to acquire the third weight m3 recorded by the weighing device when the container seat is in contact with the weighing device after the powder pouring operation is completed.

[0015] The determining unit is used to obtain the powder transfer amount ma, where ma = m3 - m1, based on the third weight m3 and the first weight m1.

[0016] A third aspect of this application provides a sample transfer device, including a processor and a memory, the memory being used to store a computer program, the computer program including program instructions, and the processor being configured to invoke the program instructions to execute the step instructions as described in the first aspect of this application.

[0017] A fourth aspect of this application provides a computer-readable storage medium storing a computer program for electronic data interchange, the computer program including program instructions that, when executed by a processor, cause the processor to perform the step instructions as described in the first aspect of this application.

[0018] A fifth aspect of this application provides a computer program product, wherein the computer program product includes a computer program, the computer program including program instructions, and the program instructions, when executed by a processor, cause the processor to perform the step instructions as described in the first aspect of this application.

[0019] The powder sample transfer method of this application embodiment controls a powder scooping and transfer device to scoop powder from a source container; after the scooping operation is completed, a first weight m1 recorded by the weighing device is obtained while the container seat is in contact with the weighing device; the powder scooping and transfer device is controlled to pour powder into a target container; after the pouring operation is completed, a third weight m3 recorded by the weighing device is obtained while the container seat is in contact with the weighing device; the powder transfer amount ma is obtained based on the third weight m3 and the first weight m1, where ma = m3 - m1. In this application embodiment, the powder scooping and transfer device can be controlled to scoop powder from the source container and to pour powder, transferring the powder from the source container to the target container. Automatic powder weighing is performed after scooping and pouring, thereby achieving automated quantitative transfer of powder samples. Compared with manual dispensing, this reduces labor costs and improves the transfer efficiency and accuracy of powder samples. Attached Figure Description

[0020] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0021] Figure 1 is a schematic diagram of a powder scooping system provided in an embodiment of this application;

[0022] Figure 2 is a schematic diagram of another powder scooping system provided in an embodiment of this application;

[0023] Figure 3 is a schematic flowchart of a powder sample transfer method provided in an embodiment of this application;

[0024] Figure 4 is a flowchart illustrating another method for transferring powder samples provided in an embodiment of this application;

[0025] Figure 5 is a flowchart illustrating another method for transferring powder samples provided in an embodiment of this application;

[0026] Figure 6 is a flowchart illustrating another method for transferring powder samples provided in an embodiment of this application;

[0027] Figure 7 is a flowchart illustrating another method for transferring powder samples provided in an embodiment of this application;

[0028] Figure 8 is a flowchart illustrating another method for transferring powder samples provided in an embodiment of this application;

[0029] Figure 9 is a flowchart illustrating another method for transferring powder samples provided in an embodiment of this application;

[0030] Figure 10 is a flowchart illustrating another method for transferring powder samples provided in an embodiment of this application;

[0031] Figure 11 is a schematic flowchart of another powder sample transfer method provided in an embodiment of this application;

[0032] Figure 12 is a schematic diagram of the structure of a powder sample transfer device provided in an embodiment of this application;

[0033] Figure 13 is a schematic diagram of a sample transfer device provided in an embodiment of this application. Detailed Implementation

[0034] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0035] The terms "first," "second," etc., in the specification, claims, and accompanying drawings of this application are used to distinguish different objects, not to describe a specific order. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or apparatus that includes a series of steps or units is not limited to the listed steps or units, but may optionally include steps or units not listed, or may optionally include other steps or units inherent to these processes, methods, products, or apparatuses.

[0036] In this application, the reference to "embodiment" means that a specific feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of this application. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a mutually exclusive, independent, or alternative embodiment. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described in this application can be combined with other embodiments.

[0037] The sample transfer device involved in the embodiments of this application is a device with data processing and computing capabilities. It can be a mobile phone, tablet computer, laptop computer, ultra-mobile personal computer (UMPC), netbook, digital signal processor, microcontroller unit (MCU), etc.

[0038] The following are explanations of the terms used in the embodiments of this application:

[0039] (1) Scoop: A precision tool used to accurately scoop up a certain amount of powder. It is a metal tool with a long rod and a notched spoon-shaped end on one side.

[0040] (2) Container holder: A device in a powder scooping system used to place the target container and the source container containing the powder.

[0041] (3) Bottle cage: A combination of devices used in the powder scooping system to hold the container seat, balance, and balance cover.

[0042] (4) Technique: A set of scooping spoon movements that can achieve a specific scooping effect.

[0043] (5) Shaking: A method that can make the scoop vibrate up, down, left and right when it is at different angles.

[0044] (6) Weight gain method: A method that calculates the actual amount of powder introduced after continuously acquiring balance readings and pouring the powder into the target container.

[0045] (7) Weight reduction method: A method of calculating the actual amount scooped up by continuously obtaining the balance reading after scooping powder and shaking.

[0046] In experimental scenarios such as chemical synthesis, high-throughput screening, food monitoring, and environmental monitoring, powder dispensing or powder sample preparation is frequently required, with a wide range of applications. The traditional manual dispensing method involves placing the target container on a balance, with the experimenter using a small spoon to scoop powder from the source container and pour it into the target container, then weighing the added powder. This method has the following drawbacks:

[0047] (1) Multiple powder scooping and pouring operations are required, which will consume a lot of time and energy of the experimenters, resulting in high labor costs and low efficiency.

[0048] (2) Manual operation is prone to errors, which affects the weighing accuracy;

[0049] (3) Powder exposed to an open environment for a long time is prone to moisture absorption, oxidation or contamination, which affects the properties of the powder.

[0050] (4) When the powder is a toxic or harmful substance, the gas emitted may have a certain impact on human health.

[0051] The powder sample transfer method of this application embodiment can control the powder scooping and transferring device to scoop powder from the source container and pour powder from the source container to the target container. Automatic powder weighing is performed after scooping and pouring, thereby achieving automated quantitative transfer of powder samples. Compared with manual dispensing, this reduces labor costs and improves the efficiency and accuracy of powder sample transfer. Furthermore, it is applicable to the transfer of powder samples with various physical properties, demonstrating strong versatility. The following provides a detailed description.

[0052] Please refer to Figures 1 and 2. Figure 1 is a schematic diagram of a powder scooping system provided in an embodiment of this application, and Figure 2 is a schematic diagram of another powder scooping system provided in an embodiment of this application. As shown in Figures 1 and 2, the powder scooping system includes a weighing device 11, a container seat 12, and a powder scooping and transferring device 13. A source container 14 and a target container 15 are placed on the container seat 12. The weighing device 11 is located below the container seat 12 and is used to weigh the container seat 12 when in contact with it. The powder scooping and transferring device 13 is used to scoop powder from the source container 14 and transfer it to the target container 15.

[0053] As shown in Figure 2, the powder scooping and transferring device 13 includes a scooping spoon 16 and a powder scooping robot arm 17. The powder scooping robot arm 17 is equipped with a fixing structure 18 for fixing the scooping spoon 16. The powder scooping robot arm 17 includes a multi-segment robotic arm; by controlling the movement of the robotic arm, the scooping spoon 16 can achieve multi-degree-of-freedom movement in three-dimensional space. Optionally, the powder scooping and transferring device 13 may also include a rotating mechanism 131 for driving the scooping spoon 16 to rotate around its own axis to scoop or pour powder.

[0054] It is understood that the scoop 16 in the powder transfer device 13 can be replaced by other structures, such as a sticky stick with a certain degree of viscosity, which can pick up a certain amount of powder from the source container 14 and then shake it into the target container 15 to achieve powder transfer; or a straw with a certain capacity, which can draw up a certain amount of powder from the source container 14 and then spit it into the target container 15 to achieve powder transfer. This application embodiment does not limit this.

[0055] Please refer to Figure 3, which is a schematic flowchart of a powder sample transfer method provided in an embodiment of this application. This method can be applied to the powder scooping system described above. As shown in Figure 3, the method may include the following steps.

[0056] 301, The sample transfer equipment controls the powder transfer device to perform a powder scooping operation from the source container.

[0057] In this embodiment, the sample transfer device can be regarded as a component of the powder scooping system. The sample transfer device can communicate with the powder scooping and transfer device (wireless or wired communication). The sample transfer device can send corresponding control commands to the powder scooping and transfer device to control the powder scooping and transfer device to perform operations such as moving, scooping, and pouring.

[0058] This application embodiment uses a powder transfer device with a scoop as an example for illustration. A scoop is a precision instrument used to accurately scoop up a certain amount of powder; it is a long-handled metal instrument with a notched spoon-shaped end on one side. Different sizes of scoops have different capacities. Scoops can be replaced to accommodate the transfer of different amounts of powder samples. The sample transfer equipment controls the powder transfer device to perform a powder scooping operation from the source container; specifically, the sample transfer equipment controls the scoop in the powder transfer device to perform a powder scooping operation from the source container.

[0059] As shown in Figure 1, a source container 14 and a target container 15 are placed on the container base 12. The source container 14 and target container 15 can be containers such as test tubes, centrifuge tubes, glass bottles, or plastic bottles. The weighing device 11 can include a balance, which performs the weighing function. Placing the source container 14 and target container 15 on the container base 12 ensures their stability during powder sample transfer, facilitating the balance's weighing of the items on the container base 12. That is, the balance can simultaneously weigh the container base 12 and the source container 14 and target container 15 on it. As shown in Figure 1, the powder scooping system can also include a moving device 19, which can be connected to at least one of the container base 12 and the weighing device 11. The moving device 19 can control the container base 12 to contact or separate from the weighing device 11 to meet the weighing needs of various scenarios. For example, the moving device 19 may be a lead screw motor connected to the container seat 12 or the weighing device 11 to drive the container seat 12 or the weighing device 11 to rise and fall.

[0060] In step 301, the sample transfer device controls the powder scooping transfer device to scoop powder from the source container, which may specifically include the following steps:

[0061] (11) The sample transfer device controls the moving device to drive the container seat to separate from the weighing device;

[0062] (12) When the sample transfer device is not in contact with the weighing device, it controls the powder transfer device to perform a powder scooping operation from the source container.

[0063] In this embodiment, the moving device drives the container seat to separate from the weighing device. This can be achieved by the moving device driving the container seat to move away from the weighing device, or by the moving device driving the weighing device to move away from the container seat, or by the moving device simultaneously driving the container seat and the weighing device to move in opposite directions, thus moving them away from each other. Preferably, to avoid the weighing device moving and affecting the weighing accuracy, the weighing device is fixed, and the moving device is connected to the container seat to drive the container seat to rise and fall, so that the container seat and the weighing device come into contact or separate. Controlling the powder scooping and transfer device to scoop powder from the source container when the container seat and the weighing device are not in contact can avoid the scoop colliding with the inner wall of the container during the powder scooping operation, which could affect the reading of the weighing device.

[0064] The source container 14 can be a transparent container, allowing researchers or visual inspection devices to easily observe or acquire images of the powder within it. Similarly, the target container 15 can also be transparent, allowing researchers or visual inspection devices to easily observe or acquire images of the powder within it.

[0065] Optionally, in step 301, the sample transfer device controls the powder scooping transfer device to perform a powder scooping operation from the source container, which may specifically include the following steps:

[0066] (13) The sample transfer device determines the powder scooping reference point in the source container and controls the powder scooping transfer device to scoop powder from the source container according to the powder scooping reference point.

[0067] The powder-scooping reference point can be the starting point for the powder-scooping operation in the source container by the powder-scooping and transfer device. Determining the powder-scooping reference point in the source container allows the powder-scooping operation to be performed at the reference point, thereby improving the powder-scooping effect of subsequent operations.

[0068] The reference point for scooping powder can be determined using any of the following four methods:

[0069] The reference point for scooping powder is determined using a visual inspection device;

[0070] The reference point for scooping powder is determined by the data recorded by the weighing device;

[0071] Pre-defined powder scooping reference points (e.g., manually entered powder scooping reference points, or coordinates of powder scooping reference points pre-stored in the memory of the sample transfer device);

[0072] Historical powder scooping reference point (such as the powder scooping reference point determined by the previous powder scooping operation).

[0073] In this embodiment of the application, the sample transfer device controls the powder scooping and transfer device to perform powder scooping operation from the source container according to the powder scooping reference point. Specifically, the sample transfer device controls the scooping spoon in the powder scooping and transfer device to perform powder scooping operation from the source container according to the powder scooping reference point.

[0074] 302. After the powder scooping operation is completed, the sample transfer device acquires the first weight m1 recorded by the weighing device while the container seat is in contact with the weighing device.

[0075] In this embodiment, the weighing device can be a device that performs a weighing function. When the container seat is in contact with the weighing device, the weighing device can weigh the total weight of the container seat and the items on it. When the container seat is separated from the weighing device, the weighing device cannot weigh the total weight of the container seat and the items on it.

[0076] The sample transfer device can communicate with the weighing device (wireless or wired communication). The sample transfer device can send corresponding acquisition commands to the weighing device to obtain the readings recorded by the weighing device; alternatively, the weighing device can periodically send its recorded readings to the sample transfer device; or, the weighing device can send the changed reading to the sample transfer device after detecting a change in the reading. The readings recorded by the weighing device can be in units of weight, such as XX grams (g), XX milligrams (mg), XX micrograms (ug), or XX nanograms (ng).

[0077] Optionally, in step 302, after the powder scooping operation is completed, the sample transfer device acquires the first weight m1 recorded by the weighing device while the container seat is in contact with the weighing device. This can specifically include the following steps:

[0078] (21) After the powder scooping operation is completed, the sample transfer device controls the moving device to drive the container seat to contact the weighing device;

[0079] (22) The sample transfer device acquires the first weight m1 recorded by the weighing device when the container seat is in contact with the weighing device.

[0080] In this embodiment, the contact between the container seat and the weighing device can be understood as the container seat being completely placed on the weighing device. Specifically, after the moving device drives the container seat to descend and contact the weighing device, the moving device removes its power, and the container seat applies its own weight to the weighing device. The first weight m1 recorded by the weighing device when the container seat contacts the weighing device can accurately record the total weight of the container seat, the source container, and the target container on the weighing device.

[0081] 303, The sample transfer device controls the powder transfer device to pour powder into the target container. After the powder pouring operation is completed, the third weight m3 recorded by the weighing device is obtained when the container seat is in contact with the weighing device.

[0082] In this embodiment of the application, when controlling the powder transfer device to pour powder into the target container, the powder transfer device can be controlled to move towards the target container. After the scoop of the powder transfer device moves to the opening of the target container, the powder transfer device is controlled to pour powder, which can minimize the amount of powder in the scoop of the powder transfer device spilling outside the target container.

[0083] In one example, when the powder transfer device pours powder into the target container, the container base and the weighing device can remain in contact. After the powder is poured, the weighing data obtained by the weighing device is read directly. This operation can improve the efficiency of sample transfer.

[0084] In another example, when the powder transfer device pours powder into the target container, the container base can be separated from the weighing device first. The powder pouring operation can be performed with the container base not in contact with the weighing device. After the powder pouring is completed, the container base is then brought into contact with the weighing device, and the weighing data obtained by the weighing device is then read. This operation can avoid affecting the weighing accuracy of the weighing device due to the scoop hitting the container wall during the powder pouring process.

[0085] 304. The sample transfer device obtains the powder transfer amount ma based on the third weight m3 and the first weight m1, where ma = m3 - m1.

[0086] In this embodiment of the application, steps 301 to 304 constitute a single powder transfer process. The powder transfer amount ma can be obtained by the weight gain method, thereby realizing automated quantitative transfer of powder samples and improving the transfer efficiency and accuracy of powder samples.

[0087] The number of powder transfers can be determined based on the powder transfer amount ma and the required total powder transfer amount, thereby repeating steps 301 to 304.

[0088] In this embodiment, the powder scooping and transfer device can be controlled to scoop powder from the source container and to pour powder, transferring the powder from the source container to the target container. Automatic powder weighing is performed after scooping and pouring, thereby realizing automated quantitative transfer of powder samples. Compared with manual dispensing, this can reduce labor costs and improve the transfer efficiency and accuracy of powder samples.

[0089] In addition, the powder scooping and transfer device can be controlled to scoop powder from the source container based on the powder scooping reference point, which can reduce the risk of empty scooping and improve the accuracy of powder scooping. By scooping powder from the source container into the target container through the powder scooping and transfer device, and combining it with the weighing device for automatic weighing, efficient quantitative transfer of powder samples can be achieved. It is applicable to powder samples with various physical properties, thereby improving the efficiency, accuracy and powder adaptability of powder sample transfer.

[0090] Optionally, in step 303, the sample transfer device controls the powder transfer device to pour powder into the target container, which may specifically include the following steps:

[0091] 303a, control the powder transfer device to move to the container opening of the target container, and obtain the second weight m2 recorded by the weighing device when the container seat is in contact with the weighing device;

[0092] 303b, Control the powder transfer device to pour powder from the container opening into the target container.

[0093] Accordingly, step 304 obtains the powder transfer amount ma based on the third weight m3 and the first weight m1, specifically including:

[0094] Based on the third weight m3 and the second weight m2, the powder transfer amount ma is obtained, where ma = m3 - m2.

[0095] After the powder scooping operation is completed, the sample transfer device acquires the first weight m1 recorded by the weighing device. Then, after controlling the powder scooping and transfer device to move to the opening of the target container, it acquires the second weight m2 recorded by the weighing device. If no powder is spilled from the scoop during the movement to the opening of the target container, then m1 = m2. If m2 is greater than m1, it indicates that some powder was spilled during the movement, and the spilled amount is m2 - m1. By considering the loss during powder transfer, the powder transfer accuracy can be further improved.

[0096] Optionally, in step 303b, controlling the powder transfer device to pour powder from the container opening into the target container may specifically include the following steps:

[0097] 303b1, control the scoop to move from the container opening to the target container to the powder pouring point;

[0098] 303b2, controls the scoop to rotate at a preset angle, and controls the scoop to vibrate with a fourth amplitude to complete the pouring of powder; wherein, the preset angle is greater than or equal to 90 degrees and less than or equal to 180 degrees.

[0099] In this embodiment, the powder pouring point can be a pre-set location within the target container. The powder pouring point can be set at a location within the target container where powder is unlikely to spill out. For example, the powder pouring point can be set at a location far from the container opening, such as 10mm inward from the opening. In this embodiment, when performing the powder pouring operation at the designated point, it can be ensured that the powder will not spill outside the target container.

[0100] The preset angle can be set in advance. Setting the preset angle to 90 degrees or greater and 180 degrees or less allows the powder in the scoop to be poured into the target container under the action of gravity. The preset angle can be 90 degrees, 100 degrees, 110 degrees, 120 degrees, 130 degrees, 135 degrees, 140 degrees, 150 degrees, 160 degrees, 170 degrees, 180 degrees or other values.

[0101] The fourth amplitude can be a preset default value, or it can be set according to the physical properties of the powder. For example, the greater the viscosity of the powder sample, the larger the fourth amplitude can be set. When controlling the scoop to shake with the fourth amplitude, the powder on the scoop can be poured into the target container as much as possible, while protecting the scoop from being damaged by excessive amplitude.

[0102] For example, taking a balance as the weighing device and a powder transfer device including a powder-scooping robot and a scooping spoon as an example, the powder pouring operation process can be as follows:

[0103] (a) Maintain the connection between the container base and the balance, and control the scooping robot to make horizontal, gradual and stable displacement, and move it to the bottle mouth position po of the target container;

[0104] (b) The powder-scooping robot controls the scoop to make a vertical, gradual, and stable displacement, and moves it to the powder-pouring point pd at the mouth of the target container;

[0105] (c) The scooping robot controls the scoop to rotate 90° clockwise, pours the powder into the target container, and then controls the scoop to shake with the amplitude of d' to ensure that as much powder as possible is poured into the target container.

[0106] (d) Restore the scoop to its original state and complete the powder pouring operation. At this time, obtain the balance reading m3, and calculate the actual amount of powder transferred as ma using the weight gain method.

[0107] Please refer to Figure 4, which is a schematic flowchart of another powder sample transfer method provided in an embodiment of this application. As shown in Figure 4, the method may include the following steps.

[0108] 401, When the container seat is in contact with the weighing device, the sample transfer device acquires the initial weight m0 recorded by the weighing device.

[0109] In this embodiment of the application, before the powder transfer process is performed for the first time, after placing the source container and the target container, the sample transfer device can obtain the initial weight m0 recorded by the weighing device. This initial weight m0 can be the total weight of the container seat, the source container and the powder sample inside, and the target container.

[0110] 402, The sample transfer device determines the powder scooping reference point in the source container, and controls the powder scooping transfer device to scoop powder from the source container according to the powder scooping reference point.

[0111] Optionally, in step 402, the sample transfer device determines the scooping reference point in the source container, which may specifically include the following steps:

[0112] The sample transfer device determines the reference point for scooping powder in the source container based on the recording method of the weighing device; or,

[0113] The sample transfer device uses a visual inspection device to determine the reference point for scooping powder in the source container.

[0114] In this embodiment of the application, determining the reference point for scooping powder in the source container can be divided into a mode based on the recording of a weighing device and a mode based on the detection of a visual inspection device.

[0115] Based on the recording pattern of the weighing device, the powder-scooping and transferring device can be moved. During the movement of the powder-scooping and transferring device (i.e., during the search for the powder-scooping reference point), the change in the reading recorded by the weighing device can be detected to determine whether the powder-scooping reference point has been found. This method of determining whether the powder-scooping reference point has been found by detecting changes in the readings recorded by the weighing device can accurately locate the powder-scooping reference point, thereby improving the accuracy of subsequent powder-scooping operations.

[0116] The detection mode based on vision inspection device can quickly detect the powder outline in the source container, thereby quickly finding the powder scooping reference point and improving the efficiency of sample transfer.

[0117] Optionally, the sample transfer device determines the reference point for scooping powder in the source container based on the recording of the weighing device, which may specifically include the following steps:

[0118] (31) The sample transfer device controls the powder transfer device to move to a fixed position to perform powder scooping operation, and obtains the weight m0' recorded by the weighing device when the container seat is in contact with the weighing device.

[0119] (32) If m0' is less than m0, the sample transfer device determines the fixed point as the starting point of scooping powder in the source container;

[0120] (33) If m0' equals m0, the sample transfer device controls the powder transfer device to move to the next point according to the set step size and set direction to perform the powder scooping operation until m0' is less than m0, and the last point is determined as the powder scooping starting point in the source container;

[0121] (34) The sample transfer device determines the reference point for scooping powder in the source container based on the powder scooping starting point.

[0122] In this embodiment, the powder scooping starting point can be directly used as the powder scooping reference point, or a powder scooping offset can be added to the powder scooping starting point as the powder scooping reference point. The powder scooping offset can be set to a fixed value, or the powder scooping offset can be determined based on the physical characteristics of the powder sample in the source container (e.g., powder hardness, density, particle size, etc.). The powder scooping offset can be a test empirical value related to the physical characteristics of the powder sample.

[0123] The fixed point can be a default point, a point derived from experience, or a reference point for scooping powder determined in the previous powder scooping operation; there are no restrictions here.

[0124] The step size and direction can be preset. For example, the step size and direction can be empirical values, such as moving horizontally in 1mm increments each time, or moving along the extension direction of the scoop in 1mm increments each time.

[0125] Steps (31) to (34) are the process of automatically finding the powder scooping reference point, the purpose of which is to detect the edge of the powder. The powder scooping reference point is to ensure that a relatively large amount of powder can be scooped up without sticking to the handle of the scoop (which would easily spill outside the target container when pouring). There can be an offset between the edge of the powder and the appropriate scooping point, the magnitude of which is related to the physical properties of the powder.

[0126] Optionally, in step (34), the sample transfer device determines the powder scooping reference point in the source container based on the powder scooping starting point, which may specifically include the following steps:

[0127] (341) The sample transfer device acquires the physical characteristic parameters of the powder sample in the source container;

[0128] (342) The sample transfer device determines the corresponding powder scooping offset based on the physical property parameters of the powder sample;

[0129] (343) The sample transfer device determines the scooping reference point in the source container based on the scooping starting point and the scooping offset.

[0130] The physical characteristics of the powder sample may include, but are not limited to, at least one of the following: hardness, density, particle size, specific surface area, viscosity, flowability, agglomeration, and hygroscopicity. The scooping offset can be obtained empirically, and different scooping offsets may correspond to different physical properties of the powder sample. For example, a mapping table between the physical characteristics of the powder sample and the scooping offset can be pre-established. For instance, different scooping offsets may correspond to different hardnesses of the powder sample, or different particle sizes of the powder sample. After obtaining the physical characteristics of the powder sample, the corresponding scooping offset can be found in this mapping table. The physical characteristics of the powder sample can be manually input, automatically identified by the device, or obtained by the device from a database; no limitation is imposed here.

[0131] In this embodiment of the application, the coordinates of the powder scooping starting point plus the powder scooping offset can be used as the coordinates of the powder scooping reference point in the source container.

[0132] The weighing device can be a balance, and the recording mode based on the weighing device can be a balance reading detection mode.

[0133] For example, the execution flow for determining the powder scooping reference point in the source container based on the balance record is as follows:

[0134] (41) Place the target container and the source container containing the powder on the container stand, connect the container stand to the balance, and obtain the initial weight m0;

[0135] (42) Control the scoop to move to the fixed point p0 to scoop powder, and record the balance reading;

[0136] (43) If the balance reading is less than m0, then the point p0 is considered to be the starting point for scooping powder; if the balance reading does not change, then it is considered that no powder has been scooped yet, and the scoop is moved to the next point until the balance reading is less than m0, then the starting point for scooping powder is confirmed to be pn; then the physical characteristic parameters of the powder sample are input to obtain the scooping offset delta_p, and finally the scooping reference point is output as pn+delta_p.

[0137] Optionally, in step 402, the sample transfer device controls the powder scooping and transfer device to perform a powder scooping operation from the source container based on the powder scooping reference point, which may specifically include the following steps:

[0138] The sample transfer device controls the powder transfer device to move to the powder scooping reference point and performs a powder scooping operation according to the set powder scooping action. The set powder scooping action is determined based on at least one of the powder amount in the source container, the current amount to be scooped, and the physical characteristic parameters of the powder sample.

[0139] In this embodiment, the set scooping action can be viewed as the movement trajectory of the scooping and transferring device when scooping powder. Optionally, the set scooping action can be a set of default movement trajectories. Optionally, the set scooping action can be determined based on one or more combinations of the amount of powder in the source container, the current amount to be scooped, and the physical characteristic parameters of the powder sample (e.g., powder agglomeration, viscosity, flowability, particle size, and hardness). For example, different mapping tables between powder amounts and scooping actions can be established in advance, or different mapping tables between the current amount to be scooped and scooping actions can be established, or different mapping tables between the physical characteristic parameters of the powder sample and scooping actions can be established, or different mapping tables between powder amounts and physical characteristic parameters and scooping actions can be established, etc.

[0140] The powder scooping operation of this application can adopt different scooping actions according to powders with different physical properties, thereby improving the adaptability and accuracy of the powder scooping operation.

[0141] 403. After the powder scooping operation is completed, the sample transfer device acquires the first weight m1 recorded by the weighing device while the container seat is in contact with the weighing device.

[0142] 404, The sample transfer device controls the powder transfer device to pour powder into the target container. After the powder pouring operation is completed, the third weight m3 recorded by the weighing device is obtained when the container seat is in contact with the weighing device.

[0143] 405. The sample transfer device obtains the powder transfer amount ma based on the third weight m3 and the first weight m1, where ma = m3 - m1.

[0144] The specific implementation methods for steps 402 to 405 can be found in the relevant content of steps 301 to 304 above, and will not be repeated here.

[0145] In this embodiment, the powder scooping and transfer device can be controlled to scoop powder from the source container based on the powder scooping reference point, which can reduce the risk of empty scooping and improve the accuracy of powder scooping. It can also be controlled to perform a powder pouring operation, transferring the powder from the source container to the target container, thereby achieving automated and efficient transfer of powder samples. Compared with manual dispensing, this reduces labor costs and is applicable to powder samples with various physical properties. Furthermore, the powder transfer amount *ma* can be accurately calculated using the weight recorded by the weighing device, thereby improving the accuracy of powder sample transfer and powder adaptability.

[0146] Please refer to Figure 5, which is a schematic flowchart of another powder sample transfer method provided in an embodiment of this application. As shown in Figure 5, the method may include the following steps.

[0147] 501. The sample transfer device uses a visual inspection device to collect the powder distribution state of the powder sample in the source container, determines the powder scooping starting point in the source container based on the powder distribution state of the powder sample in the source container, and determines the powder scooping reference point in the source container based on the powder scooping starting point.

[0148] In this embodiment, the powder distribution state of the powder sample in the source container can include the three-dimensional shape of the powder pile formed by the powder sample in the source container. The powder distribution state can reflect the edge position of the powder. After obtaining the powder distribution state, powder edge recognition can be performed based on existing related technologies, and one of the points on the edge position of the powder can be used as the powder scooping starting point.

[0149] In step 501, the specific implementation of the sample transfer device determining the scooping reference point in the source container based on the scooping starting point can be found in the description of step (34) above, and will not be repeated here.

[0150] Optionally, the visual inspection device includes a top visual acquisition module and a side visual acquisition module; in step 501, the sample transfer device uses the visual inspection device to acquire the powder distribution state of the powder sample in the source container, which may specifically include the following steps:

[0151] (51) The sample transfer device uses the top vision acquisition module to take a top-down picture of the source container, and inputs the captured top-down image into the first vision model to obtain the powder outline under the top view.

[0152] (52) The sample transfer device uses the side vision acquisition module to take a side shot of the source container, and inputs the captured side shot image into the second vision model to obtain the powder outline under the side view.

[0153] (53) The sample transfer device performs three-dimensional fusion processing on the powder profile under top view and the powder profile under side view to obtain the powder distribution state of the powder sample in the source container.

[0154] In this embodiment, the top visual acquisition module can be positioned above the source container, and the side visual acquisition module can be positioned to the side of the source container. The top and side visual acquisition modules are devices with visual acquisition capabilities, such as cameras. Both the first and second visual models can be pre-trained models; they can be two different models or the same model, without limitation. Existing related technologies can be used for 3D fusion processing, which will not be elaborated upon in this application.

[0155] The sample transfer device can communicate with the top vision acquisition module (wireless or wired communication). The sample transfer device can send corresponding control commands to the top vision acquisition module to control it to take overhead images, acquiring the overhead images captured by the top vision acquisition module. The sample transfer device can also communicate with the side vision acquisition module (wireless or wired communication). The sample transfer device can send corresponding control commands to the side vision acquisition module to control it to take side images, acquiring the side images captured by the top vision acquisition module.

[0156] Steps (51) to (53) involve obtaining the powder outline from a top view using the first visual model, obtaining the powder outline from a side view using the second visual model, and performing a three-dimensional fusion process on the powder outline from the top view and the powder outline from the side view to obtain a three-dimensional powder outline, thereby determining the edge of the powder.

[0157] Taking a camera as an example, the execution flow of a vision inspection device based on the detection pattern is as follows:

[0158] (61) Place the target container and the source container containing the powder on the container stand, connect the container stand to the balance, and obtain the initial weight m0;

[0159] (62) The top camera (i.e., the top vision acquisition module) is used to take a top-down picture of the source container, and the captured image is input into model M1 (i.e., the first vision model) for recognition to obtain the powder outline under the top view; the side camera is used to take a side picture of the source container, and the captured image is input into model M2 (i.e., the second vision model) for recognition to obtain the powder outline under the side view; the top-down and side-view powder outlines are fused in three dimensions to obtain the actual powder distribution;

[0160] (63) The powder edge is calculated to be located at pn based on the powder distribution. Then, the powder scooping offset delta_p is obtained based on the physical characteristic parameters of the input powder sample. Finally, the powder scooping reference point is output as pn+delta_p.

[0161] 502, The sample transfer equipment controls the powder transfer device to perform powder scooping operation from the source container based on the powder scooping reference point.

[0162] The specific implementation of step 502 can be found in the descriptions of steps 301 and 402 above, and will not be repeated here.

[0163] 503. After the powder scooping operation is completed, the sample transfer device acquires the first weight m1 recorded by the weighing device while the container seat is in contact with the weighing device.

[0164] 504, The sample transfer device controls the powder transfer device to pour powder into the target container. After the powder pouring operation is completed, the third weight m3 recorded by the weighing device is obtained when the container seat is in contact with the weighing device.

[0165] 505, The sample transfer device obtains the powder transfer amount ma based on the third weight m3 and the first weight m1, where ma = m3 - m1.

[0166] The specific implementation methods for steps 503 to 505 can be found in the relevant content of steps 302 to 304 above, and will not be repeated here.

[0167] In this embodiment, the powder scooping and transfer device can be controlled to scoop powder from the source container based on the powder scooping reference point, reducing the risk of empty scooping and improving scooping accuracy. The powder scooping reference point in the source container can be determined using a visual inspection device, eliminating the need for a weighing device, thus improving operational efficiency and quickly determining the scooping reference point. The powder scooping and transfer device can also be controlled to perform a powder pouring operation, transferring powder from the source container to the target container, thereby achieving automated and efficient transfer of powder samples. Compared to manual dispensing, this reduces labor costs and is applicable to powder samples with various physical properties. Furthermore, the powder transfer amount *ma* can be accurately calculated using the weight recorded by the weighing device, thereby improving the accuracy of powder sample transfer and powder adaptability.

[0168] Please refer to Figure 6, which is a schematic flowchart of another powder sample transfer method provided in an embodiment of this application. As shown in Figure 6, the method may include the following steps.

[0169] 601, The sample transfer equipment controls the scooping scooping device to scoop powder from the source container.

[0170] 602. After the powder scooping operation is completed, the sample transfer device determines the first scoop amount on the scooping spoon.

[0171] In this embodiment of the application, the first scooped amount on the ladle can be determined by data recorded by a visual inspection device or a weighing device.

[0172] Optionally, the powder scooping system also includes a visual inspection device; in step 602, the sample transfer device determines the first scooped amount on the scoop, which may specifically include the following steps:

[0173] (71) The sample transfer device collects the powder distribution on the scoop using a visual inspection device;

[0174] (72) The sample transfer device determines the first scoop amount on the ladle based on the powder distribution state and the visual prediction model; wherein, the visual prediction model is used to reflect the correspondence between different powder distribution states and powder amounts.

[0175] In this embodiment, the visual inspection device can acquire at least one image containing a scoop, and determine the powder distribution state on the scoop using this image. The visual inspection device can acquire images of the scoop from different angles and fuse these images to obtain the powder distribution state on the scoop. The powder distribution state on the scoop can include the three-dimensional shape of the powder pile formed by the powder on the scoop. There is a correspondence between the powder distribution state and the powder amount. The visual prediction model can reflect the correspondence between different powder distribution states and the powder amount. By inputting the powder distribution state into the visual prediction model, the first scooped amount on the scoop can be obtained.

[0176] The embodiments of this application can determine the first scooped amount on the ladle using a visual inspection device and a visual prediction model, without the need for a weighing device. That is, the scooped amount on the ladle can be determined without lowering the container base to contact the weighing device, which can improve operational efficiency.

[0177] The visual prediction model can be a pre-trained visual prediction model. The training process of the visual prediction model is as follows: input training samples into the initial visual prediction model to obtain the prediction results output by the visual prediction model. The training samples include: the powder distribution state on the scoop and the corresponding amount of powder to be weighed. Based on the prediction results and the corresponding powder distribution state on the scoop, the training loss is obtained. The parameters of the visual prediction model are updated based on this training loss until the training loss meets the corresponding training completion conditions, and the trained visual prediction model is obtained.

[0178] 603. The sample transfer device controls the powder transfer device to adjust the powder in the scoop based on the first scoop amount and the current amount to be scooped, so as to obtain the adjusted second scoop amount.

[0179] In this embodiment, the powder transfer device can be controlled to adjust the powder in the scoop, so that the adjusted second scoop amount is close to the current amount to be scooped. For example, the absolute value of the difference between the adjusted second scoop amount and the current amount to be scooped can be less than or equal to the allowable deviation. Preferably, the adjustment of the powder in the scoop is performed when the container seat is in contact with the weighing device to improve adjustment efficiency.

[0180] 604, The sample transfer device acquires the first weight m1 recorded by the weighing device when the container seat is in contact with the weighing device.

[0181] 605, the sample transfer device controls the powder transfer device to pour powder into the target container based on the second scooping amount. After the powder pouring operation is completed, the third weight m3 recorded by the weighing device is obtained when the container seat is in contact with the weighing device.

[0182] In this embodiment of the application, the sample transfer device controls the powder transfer device to pour powder into the target container based on the second scooping amount, so that the amount of powder poured into the target container by the powder transfer device meets the expectation.

[0183] 606. The sample transfer device obtains the powder transfer amount ma based on the third weight m3 and the first weight m1, where ma = m3 - m1.

[0184] The specific implementation methods of steps 601, 604, 605, and 606 can be found in the detailed description of steps 301 to 304 above, and will not be repeated here.

[0185] Please refer to Figure 7, which is a schematic flowchart of another powder sample transfer method provided in an embodiment of this application. As shown in Figure 7, the method may include the following steps.

[0186] 701, with the container seat in contact with the weighing device, the sample transfer device acquires the initial weight m0 recorded by the weighing device.

[0187] In this embodiment of the application, before the powder transfer process is performed for the first time, after placing the source container and the target container, the sample transfer device can obtain the initial weight m0 recorded by the weighing device. This initial weight m0 can be the total weight of the container seat, the source container and the powder sample inside, and the target container.

[0188] 702, The sample transfer device controls the scooping scooping device to scoop powder from the source container.

[0189] For the specific implementation of step 702, please refer to the detailed description of steps 301 or 402 above, which will not be repeated here.

[0190] 703. After the powder scooping operation is completed, the sample transfer device collects the powder distribution status on the scoop using a visual inspection device.

[0191] 704, the sample transfer device determines the first scoop amount on the scoop based on the powder distribution state and the visual prediction model; wherein, the visual prediction model is used to reflect the correspondence between different powder distribution states and powder amounts.

[0192] The specific implementation of steps 703 and 704 can be found in the detailed description of steps (71) and (72) above, and will not be repeated here.

[0193] 705. The sample transfer device controls the powder transfer device to adjust the powder in the scoop based on the first scoop amount and the current amount to be scooped, so as to obtain the adjusted second scoop amount.

[0194] 706, The sample transfer device acquires the first weight m1 recorded by the weighing device when the container seat is in contact with the weighing device.

[0195] After executing step 706, the following steps can also be executed:

[0196] (81) The sample transfer device obtains the actual amount scooped up on the ladle based on the initial weight m0 and the first weight m1;

[0197] (82) The sample transfer device calculates the deviation between the actual scooped amount and the first scooped amount, and fine-tunes the visual prediction model based on the deviation to obtain a new visual prediction model.

[0198] In this embodiment, if the actual amount scooped up by the ladle is ms, then ms = m0 - m1. The first scooped amount is the amount of powder predicted by the visual prediction model. If the first scooped amount is mc, then the deviation can be equal to the difference between ms and mc, or the deviation can be equal to the difference between mc and ms, or the deviation can be equal to the absolute value of the difference between ms and mc.

[0199] Generally, the closer the deviation is to 0, the more accurate the prediction results of the visual prediction model. Fine-tuning the visual prediction model based on the deviation yields a new model, making its predictions closer to the actual values, thereby improving the prediction accuracy. Optionally, fine-tuning the visual prediction model based on the deviation can specifically include: when the absolute value of the deviation exceeds a preset allowable deviation range, mapping the powder distribution on the scoop obtained in this visual acquisition to the actual scooped amount (ms) and using this mapping as a new training sample input into the visual prediction model for training, thus fine-tuning and updating the model; when the absolute value of the deviation is within the preset allowable deviation range, no fine-tuning of the visual prediction model is required.

[0200] 707, the sample transfer device controls the powder transfer device to pour powder into the target container based on the second scooping amount. After the powder pouring operation is completed, the third weight m3 recorded by the weighing device is obtained when the container seat is in contact with the weighing device.

[0201] 708. The sample transfer device obtains the powder transfer amount ma based on the third weight m3 and the first weight m1, where ma = m3 - m1.

[0202] The specific implementation methods for steps 705 to 708 can be found in steps 603 to 606 above, and will not be repeated here.

[0203] Please refer to Figure 8, which is a schematic flowchart of another powder sample transfer method provided in an embodiment of this application. As shown in Figure 8, the method may include the following steps.

[0204] 801, with the container seat in contact with the weighing device, the sample transfer device acquires the initial weight m0 recorded by the weighing device.

[0205] In this embodiment of the application, before the powder transfer process is performed for the first time, after the source container and the target container are placed, the sample transfer device obtains the initial weight m0 recorded by the weighing device.

[0206] 802, The sample transfer equipment controls the powder transfer device to perform a powder scooping operation from the source container.

[0207] For the specific implementation of step 802, please refer to the detailed description of steps 301 or 402 above, which will not be repeated here.

[0208] 803. After the powder scooping operation is completed, the sample transfer device acquires the first weight m1 recorded by the weighing device while the container seat is in contact with the weighing device.

[0209] For a detailed description of step 803, please refer to the above-described step 302. It will not be repeated here.

[0210] 804, the sample transfer device obtains the first scoop amount on the ladle based on the initial weight m0 and the first weight m1.

[0211] Wherein, the first scoop amount is the actual scoop amount ms on the ladle, ms = m0 - m1.

[0212] The embodiments of this application can obtain the first scooping amount based on the initial weight m0 and the first weight m1 recorded by the weighing device, that is, the actual scooping amount of the ladle can be accurately obtained by the weight reduction method.

[0213] 805. The sample transfer device controls the powder transfer device to adjust the powder in the scoop based on the first scoop amount and the current amount to be scooped, so as to obtain the adjusted second scoop amount.

[0214] For a detailed description of step 805, please refer to the above-described step 603. It will not be repeated here.

[0215] 806, the sample transfer device controls the powder transfer device to move to the container opening of the target container based on the second scooping amount, and obtains the second weight m2 recorded by the weighing device when the container seat is in contact with the weighing device.

[0216] In this embodiment of the application, the sample transfer device controls the powder transfer device to move to the container opening of the target container. Specifically, the sample transfer device controls the scoop in the powder transfer device to move to the container opening of the target container.

[0217] Optionally, after performing step 806, the following steps may also be performed:

[0218] The sample transfer device obtains the powder transfer loss mw based on the first weight m1 and the second weight m2, where mw = m2 - m1.

[0219] Wherein, the powder transfer loss mw is the amount of powder spilled from the scoop during the process of the powder transfer device moving to the opening of the target container. This embodiment of the application can accurately calculate the amount of powder spilled during the process of the powder transfer device moving to the opening of the target container, thus providing a reference for subsequent powder transfer. Furthermore, the algorithm for controlling the movement of the powder transfer device to the opening of the target container in step 806 can be optimized based on the powder transfer loss mw, thereby reducing the amount of powder spilled during the process of the powder transfer device moving to the opening of the target container.

[0220] 807, The sample transfer device controls the powder transfer device to pour powder from the container opening into the target container. After the powder pouring operation is completed, the third weight m3 recorded by the weighing device is obtained when the container seat is in contact with the weighing device.

[0221] In this embodiment of the application, after the powder transfer device moves to the opening of the target container, controlling the powder transfer device to perform a powder pouring operation can ensure that the powder in the scoop of the powder transfer device falls into the target container as much as possible.

[0222] 808, The sample transfer device obtains the powder transfer amount ma based on the third weight m3 and the second weight m2, where ma = m3 - m2.

[0223] In this embodiment of the application, after the sample transfer device controls the powder transfer device to move to the container opening of the target container, before the powder pouring operation, the second weight m2 recorded by the weighing device is obtained, and after the powder pouring operation is completed, the third weight m3 recorded by the weighing device is obtained. The powder transfer amount ma can be accurately obtained based on the third weight m3 and the second weight m2 recorded by the weighing device, thereby obtaining an accurate powder transfer amount and improving the transfer accuracy of powder samples.

[0224] Optionally, in steps 705 and 805, the sample transfer device controls the powder transfer device to adjust the powder in the scoop based on the first scoop amount and the current amount to be scooped, to obtain the adjusted second scoop amount. Specifically, this may include the following steps:

[0225] (91) When the first scoop amount is less than or equal to the first threshold and the first scoop amount is greater than or equal to the second threshold, the sample transfer device controls the first scoop amount on the scoop to remain unchanged and uses the first scoop amount as the second scoop amount; the first threshold is equal to the sum of the current scoop amount and the allowable deviation, and the second threshold is equal to the difference between the current scoop amount and the allowable deviation.

[0226] (92) When the first scoop amount is greater than the first threshold, the sample transfer device controls the powder transfer device to perform a downward adjustment strategy to reduce the powder on the scoop, and obtain the adjusted second scoop amount; wherein, the downward adjustment strategy includes: controlling the powder transfer device to shake the scoop until the scoop amount on the scoop is less than or equal to the first threshold and greater than or equal to the second threshold.

[0227] (93) When the first scoop amount is less than the second threshold, the sample transfer device controls the powder transfer device to perform an upward adjustment strategy to increase the powder on the scoop, thereby obtaining the adjusted second scoop amount; wherein, the upward adjustment strategy includes: controlling the powder transfer device to perform a supplementary scooping operation and / or a re-scooping operation until the scoop amount on the scoop is less than or equal to the first threshold and greater than or equal to the second threshold.

[0228] In this embodiment, the current amount to be scooped can be considered as the amount of powder that should theoretically be scooped up during the scooping operation. It should be noted that the current amount to be scooped should be less than or equal to the powder weight corresponding to the capacity specification of the scoop.

[0229] Permissible deviation refers to the error allowed in the results recorded by a weighing device. Permissible deviation can be equal to the accuracy of the weighing device; for example, if the accuracy of a balance is 0.1 milligrams, then the permissible deviation is 0.1 milligrams.

[0230] If the first scoop amount is less than or equal to the first threshold and greater than or equal to the second threshold, it indicates that the first scoop amount is close to the current amount to be scooped and meets the accuracy requirements of the current powder scooping operation. Therefore, it is not necessary to adjust the powder in the scoop, and the first scoop amount on the scoop can be kept unchanged and used as the second scoop amount.

[0231] If the first scoop amount is greater than the first threshold, it indicates that the first scoop amount is greater than the current amount to be scooped, and the difference is significant. At this time, the powder transfer device is controlled to execute a downward adjustment strategy to reduce the powder on the scoop. Specifically, the powder transfer device can be controlled to shake the scoop until the scoop amount is less than or equal to the first threshold and greater than or equal to the second threshold, thereby meeting the accuracy requirements of the current powder scooping operation.

[0232] If the first scoop amount is less than the second threshold, it indicates that the first scoop amount is less than the current amount to be scooped, and the difference is significant. At this point, the powder transfer device is controlled to execute an upward adjustment strategy to increase the powder on the scoop. Specifically, the powder transfer device can be controlled to perform supplementary scooping and / or re-scooping operations until the scoop amount on the scoop is less than or equal to the first threshold and greater than or equal to the second threshold, thereby meeting the accuracy requirements of the current powder scooping operation.

[0233] The supplementary scooping operation involves scooping more powder than the existing amount to increase the scooping volume. The repeated scooping operation refers to performing the scooping operation again.

[0234] Optionally, in step (92), the sample transfer device controls the powder transfer device to perform a downward adjustment strategy to reduce the powder on the scoop, which may specifically include the following steps:

[0235] (921) If the difference between the first scooped amount and the first threshold is greater than the third threshold, the powder transfer device is controlled to shake the scoop with a first amplitude until the scooped amount on the scoop is less than or equal to the first threshold and greater than or equal to the second threshold; or

[0236] (922) When the difference between the first scooped amount and the first threshold is greater than the third threshold, the scooping and transferring device is controlled to shake the scoop with a first amplitude. When the difference between the scooped amount on the scoop and the first threshold is greater than 0 and less than or equal to the third threshold, the scooping and transferring device is controlled to shake the scoop with a second amplitude until the scooped amount on the scoop is less than or equal to the first threshold and greater than or equal to the second threshold; wherein the second amplitude is less than the first amplitude; or

[0237] (923) If the difference between the first scoop amount and the first threshold is greater than 0 and less than or equal to the third threshold, the powder transfer device is controlled to shake the scoop with the second amplitude until the scoop amount on the scoop is less than or equal to the first threshold and greater than or equal to the second threshold.

[0238] In this embodiment of the application, the third threshold is a pre-set value greater than 0, which can be set according to actual needs, such as the third threshold being 10mg, 5mg, 2mg, 1mg or other values.

[0239] In one possible embodiment, when the difference between the first scooped amount and the first threshold is greater than the third threshold, the powder transfer device can be controlled to shake the scoop with a first amplitude until the scooped amount on the scoop is less than or equal to the first threshold and greater than or equal to the second threshold. The first amplitude can be a preset default value, a fixed value calculated based on the first scooped amount according to a preset formula (such as a linear relationship between the first scooped amount and the first amplitude), or a dynamic value calculated based on the difference between the scooped amount on the scoop and the first threshold according to a preset formula (such as a linear relationship between the difference and the first amplitude, a PID algorithm, etc.). No limitation is imposed here.

[0240] In another possible embodiment, when the difference between the first scooped amount and the first threshold is greater than the third threshold, it indicates that the first scooped amount differs significantly from the current amount to be scooped, and the scoop is shaken with a larger amplitude (first amplitude). After each round of shaking the scoop with the first amplitude, the new scooped amount on the scoop can be calculated by re-acquiring the new m1 recorded by the weighing device, where the new scooped amount = m0 - new m1. Since the amount of powder on the scoop decreases after each round of shaking, the new scooped amount will be smaller. If the difference between the new scooped amount and the first threshold is still greater than the third threshold, the scoop is shaken with the first amplitude again, and the new scooped amount is calculated by re-acquiring the new m1 recorded by the weighing device. If the difference between the new scooped amount and the first threshold is greater than 0 and less than or equal to the third threshold, it indicates that the new scooped amount differs slightly from the current amount to be scooped, and at this time, the scoop can be shaken with a smaller amplitude (second amplitude) until the scooped amount on the scoop is less than or equal to the first threshold and greater than or equal to the second threshold.

[0241] In another possible embodiment, when the difference between the first scooped amount and the first threshold is greater than 0 and less than or equal to the third threshold, it indicates that the difference between the first scooped amount and the current scooped amount is small. In this case, a smaller amplitude (second amplitude) can be used to shake the scoop. After each round of shaking the scoop with the second amplitude, the new scooped amount can be calculated by re-acquiring the new m1 recorded by the weighing device, where the new scooped amount = m0 - new m1. Since the amount of powder on the scoop decreases after each round of shaking, the new scooped amount will be even smaller until the new scooped amount is less than or equal to the first threshold and greater than or equal to the second threshold. The second amplitude can be a preset default value, a fixed value calculated based on the first scooped amount according to a preset formula (such as a linear relationship between the first scooped amount and the second amplitude), or a dynamic value calculated based on the difference between the scooped amount on the scoop and the first threshold according to a preset formula (such as a linear relationship between the difference and the second amplitude, a PID algorithm, etc.). It is not limited here.

[0242] Optionally, the amplitude of the shaking ladle is determined by the difference between the amount scooped up on the ladle and a first threshold, and the difference between the amount scooped up on the ladle and the first threshold is positively correlated with the amplitude of the shaking ladle. In this embodiment, at least one of the first amplitude and the second amplitude is determined by the difference between the amount scooped up on the ladle and the first threshold, and the amplitude is positively correlated with the difference. For example, the amount scooped up on the ladle can be acquired at preset intervals, and the amplitude decreases accordingly when the difference between the amount scooped up and the first threshold decreases.

[0243] When shaking the scoop, the duration of each shake is fixed (e.g., 8ms / shake, 10ms / shake, etc.), and a larger amplitude indicates a faster shaking speed. The number of shakes in one round is also fixed (e.g., 8, 10, 12, 15, 16 shakes, etc.). After completing one round of shaking, the amount scooped up on the scoop can be obtained.

[0244] In this embodiment, when the difference between the first scooped amount and the current scooped amount is large, the scoop is shaken with a large amplitude to rapidly reduce the first scooped amount. When the difference between the first scooped amount and the current scooped amount is small, the scoop is shaken with a small amplitude to slowly reduce the first scooped amount, until the first scooped amount is less than or equal to the first threshold and greater than or equal to the second threshold. This allows for rapid adjustment of the scooped amount to a suitable weight, improving the speed and accuracy of scooped amount adjustment, thereby improving the efficiency and accuracy of sample transfer.

[0245] Optionally, in step (92), the sample transfer device controls the powder transfer device to perform a downward adjustment strategy to reduce the powder on the scoop, which may specifically include the following steps:

[0246] (924) The sample transfer equipment controls the powder transfer device to shake the scoop with the first amplitude;

[0247] (925) When the difference between the weights recorded by the weighing device in multiple consecutive transactions is less than the set value, the sample transfer device controls the powder transfer device to shake the scoop with a second amplitude until the amount scooped up on the scoop is less than or equal to the first threshold and greater than or equal to the second threshold; wherein the second amplitude is less than the first amplitude.

[0248] In this embodiment, the set value can be preset. If the difference in weight recorded by the weighing device in multiple consecutive weighings is less than the set value, it indicates that the weight reduction after shaking the scoop with the first amplitude is small, and the reading of the weighing device has stabilized. The scoop can then be shaken with a smaller amplitude (second amplitude) for more precise adjustments until the amount scooped up on the scoop is less than or equal to the first threshold and greater than or equal to the second threshold, thereby improving the adjustment accuracy of the amount scooped up on the scoop.

[0249] Optionally, in step (93), the sample transfer device controls the powder transfer device to perform an upward adjustment strategy to increase the powder on the scoop, which may specifically include the following steps:

[0250] (931) If the difference between the second threshold and the first scoop amount is less than or equal to the fourth threshold, the sample transfer device controls the powder transfer device to perform a supplementary scooping operation until the scoop amount on the scoop is less than or equal to the first threshold and greater than or equal to the second threshold; or

[0251] (932) If the difference between the second threshold and the first scoop amount is greater than the fourth threshold, the sample transfer device controls the powder transfer device to perform a re-scooping operation until the scoop amount on the scoop is less than or equal to the first threshold and greater than or equal to the second threshold, or

[0252] (933) If the difference between the second threshold and the first scoop amount is greater than the fourth threshold, the sample transfer device controls the powder transfer device to perform a re-scooping operation; if the difference between the second threshold and the scoop amount on the scoop is less than or equal to the fourth threshold, the powder transfer device controls the powder transfer device to perform a supplementary scooping operation until the scoop amount on the scoop is less than or equal to the first threshold and greater than or equal to the second threshold.

[0253] The fourth threshold is a pre-set value greater than 0, which can be set according to actual needs, such as 10mg, 15mg, 18mg, 20mg, 25mg or other values.

[0254] If the difference between the second threshold and the first scooped amount is less than or equal to the fourth threshold, it indicates that the difference between the first scooped amount and the current amount to be scooped is small; if the difference between the second threshold and the first scooped amount is greater than the fourth threshold, it indicates that the difference between the first scooped amount and the current amount to be scooped is large.

[0255] In this embodiment, the supplementary scooping operation is suitable for scenarios where the difference between the first scooped amount and the current amount to be scooped is small, while the re-scooping operation is suitable for scenarios where the difference between the first scooped amount and the current amount to be scooped is large. In scenarios where the difference between the first scooped amount and the current amount to be scooped is small, the supplementary scooping operation allows for precise control of the increase in scooped amount. In scenarios where the difference between the first scooped amount and the current amount to be scooped is large, the re-scooping operation avoids the situation where the supplementary scooping operation cannot quickly reduce the difference between the first scooped amount and the current amount to be scooped, thereby improving the speed and accuracy of the first scooped amount adjustment, and consequently improving the efficiency and accuracy of sample transfer.

[0256] Understandably, if multiple attempts to adjust the strategy fail to reduce the amount scooped up by the ladle to less than or equal to the first threshold and greater than or equal to the second threshold, the ladle can be replaced to use a ladle of appropriate size for scooping powder.

[0257] Please refer to Figure 9, which is a schematic flowchart of another powder sample transfer method provided in an embodiment of this application. As shown in Figure 9, the method may include the following steps.

[0258] 901, The sample transfer equipment controls the powder transfer device to perform a powder scooping operation from the source container.

[0259] 902. After the powder scooping operation is completed, the sample transfer device acquires the first weight m1 recorded by the weighing device while the container seat is in contact with the weighing device.

[0260] The specific implementation of steps 901 to 902 can be found in the detailed description of steps 301 to 302 or steps 402 to 403 above, and will not be repeated here.

[0261] 903, the sample transfer equipment controls the powder transfer device to perform a pre-shaking operation with the third amplitude, and obtains the pre-shaking weight md recorded by the weighing device while the container seat is in contact with the weighing device.

[0262] In this embodiment, the pre-shaking operation can perform one round of shaking according to a preset amplitude. The pre-shaking operation makes the powder in the scoop of the powder transfer device more stable, reducing the possibility of powder spillage during the movement of the device, thereby improving the accuracy of powder sample transfer. The third amplitude can be a preset default value.

[0263] 904, The sample transfer device controls the powder transfer device to pour powder into the target container. After the powder pouring operation is completed, the third weight m3 recorded by the weighing device is obtained when the container seat is in contact with the weighing device.

[0264] The specific implementation of step 904 can be found in the detailed description of step 303 above, and will not be repeated here.

[0265] 905. The sample transfer device obtains the powder transfer amount ma based on the third weight m3 and the pre-shaking weight md, where ma = m3 - md.

[0266] In this embodiment, the powder scooping and transfer device can be controlled to scoop powder from the source container. After the scooping operation is completed, the device performs a pre-shaking operation before transferring the powder from the source container to the target container. This achieves automated transfer of powder samples, reducing labor costs and improving transfer efficiency compared to manual dispensing. The pre-shaking operation further stabilizes the powder in the scoop of the device, reducing the likelihood of powder spillage during movement and thus improving the accuracy of powder sample transfer.

[0267] It is understood that the pre-shaking operation can be performed after step 902, i.e., scooping powder first, then weighing, then pre-shaking and weighing at the same time, or it can be performed before step 902, i.e., scooping powder first, then pre-shaking, then weighing; this application does not limit this.

[0268] After performing step 903 to complete the pre-shaking, the stable scooping amount ms in the scoop can be obtained by the weighting method, ms = m0 - md, and this scooping amount can be used to update the first scooping amount in steps 804 and 805 of the previous embodiment.

[0269] Optionally, before performing step 301, step 402, step 501, step 601, step 702, step 802, or step 901, the following steps may also be performed:

[0270] (101) The sample transfer device performs a leveling operation on the powder sample in the source container so that the powder sample in the source container reaches a flat state.

[0271] The leveling operation can involve shaking or vibrating the source container to flatten the powder sample inside, facilitating subsequent powder scooping. This leveling operation can be achieved using a powder scooping and transfer device or a vibrating device. For example, the sample transfer device can send control commands to the powder scooping and transfer device to shake or vibrate the source container (e.g., controlling the powder scooping and transfer device to tap the container wall to shake or vibrate), thus flattening the powder sample inside. Alternatively, the source container can be placed on or in contact with the vibrating device, and the sample transfer device can send control commands to the vibrating device to shake or vibrate the source container, flattening the powder sample inside.

[0272] Optionally, the powder transfer device has a scoop; in step (101), the sample transfer device performs a leveling operation on the powder sample in the source container, which may specifically include the following steps:

[0273] The sample transfer device controls the scoop to extend into the source container and contact or approach the inner wall of the source container, and controls the powder transfer device to shake the scoop to make the source container shake.

[0274] In this embodiment, when the scoop comes into contact with or approaches the inner wall of the source container, the scooping and transferring device can be controlled to shake the scoop, thereby causing the source container to shake and the powder sample in the source container to reach a flattened state. Flattened powder facilitates accurate acquisition of the powder distribution in the source container by the visual inspection device, and also facilitates powder detection by combining the scoop with a weighing device, thereby improving the accuracy of the scooping reference point and making the scooping operation more efficient.

[0275] Optionally, the powder scooping system also includes a leveling device; in step (101), the sample transfer device performs a leveling operation on the powder sample in the source container, which may specifically include the following steps:

[0276] The sample transfer device brings the leveling device into contact with or near the outer wall of the source container, and controls the leveling device to start vibrating the source container.

[0277] In this embodiment, the leveling device may include a leveling drive and an actuator. The actuator contacts or approaches the outer wall of the source container. The leveling drive may include at least one of a rotary motor, a vibration motor, etc., and the actuator may include at least one of a cam, a striking arm, a whip, etc. When the leveling drive is a rotary motor, the actuator may be configured as a cam, a striking arm, a whip, etc. The leveling drive drives the actuator to swing or rotate so that the actuator strikes or taps the outer wall of the source container, thereby leveling the powder sample in the source container.

[0278] Optionally, the target container is positioned on the container base along a first direction, and the source container is positioned on the container base along a second direction, wherein the first direction and the second direction intersect.

[0279] In this embodiment of the application, as shown in FIG1, the first direction intersects with the second direction, which facilitates the transfer of powder samples from the source container to the target container by the powder transfer device.

[0280] Optionally, the first direction is the vertical direction; along the first direction, the opening of the source container is higher than the bottom of the source container and the opening of the source container faces the target container, and the opening of the source container is higher than the opening of the target container.

[0281] In this embodiment of the application, as shown in Figure 1, the first direction is vertical. The target container is placed vertically, which can ensure that the powder in the target container will not spill out and facilitates the pouring of powder.

[0282] The source container's opening is higher than its bottom to prevent powder from spilling. With the source container's opening facing the target container and higher than its target container's opening, the powder transfer device can easily transfer the powder sample from the source container to the target container, improving transfer efficiency.

[0283] Please refer to Figure 10, which is a schematic flowchart of another powder sample transfer method provided in an embodiment of this application. As shown in Figure 10, the method may include the following steps.

[0284] 1001, The sample transfer device determines the target number of powder scooping times.

[0285] The target number of scoops can be determined based on the amount of powder scooped up by the scoop and the target amount to be scooped. The amount scooped up by the scoop is related to the scoop's specifications and / or the physical properties of the powder (e.g., powder density, hardness, particle size, etc.). The target amount to be scooped is the total amount of powder that needs to be transferred from the source container to the target container.

[0286] The target number of scooping operations P can be rounded up or down, where P = target amount to be scooped / scooped amount by the scooping spoon. The amount of powder transferred ma in the aforementioned embodiments can be used as the scooped amount by the scooping spoon, or the difference between the values ​​recorded by the weighing device before and after one scooping operation can be used as the scooped amount by the scooping spoon, or the average of the differences recorded by the weighing device before and after N scooping operations can be used as the scooped amount by the scooping spoon, or the historical average scooped amount by the scooping spoon can be used as the scooped amount by the scooping spoon. This application does not limit this specific method.

[0287] Optionally, in step 1001, the sample transfer device determines the target number of powder scoops, which may specifically include the following steps:

[0288] (111) The sample transfer device determines the target number of scooping operations based on the powder transfer volume ma and the target scooping volume; or

[0289] (112) The sample transfer device determines the target number of times to scoop powder based on the capacity specification of the scoop and the target amount to be scooped.

[0290] In this embodiment, the target number of scoops P can be rounded up or down, where P = target amount to be scooped / ma; or P = target amount to be scooped / mz. mz represents the capacity specification of the scoop, which can be in milligram (mg) or gram (g) increments, such as 50mg, 100mg, 500mg, 1g, 2g, etc.; or mz can be the amount of powder determined based on the scoop's capacity specification and the physical properties of the powder, where the scoop's capacity specification can be Aml, and the powder sample density is B milligrams per cubic centimeter (mg / cm³). 3 If the capacity of the scoop is 1 ml and the density of the powder is 4 mg / cm³, then mz = A * B, where "*" represents multiplication. 3 Therefore, mz is 4mg.

[0291] Based on the powder transfer amount *ma* and the target amount to be scooped, the target number of scoops is determined. That is, after performing one standard scooping operation (refer to steps 301-304 in the aforementioned embodiment), the target number of scoops can be determined based on the actual powder transfer amount, improving the accuracy of obtaining the target number of scoops. Alternatively, based on the capacity specification of the scoop and the target amount to be scooped, the target number of scoops can be determined quickly using only the capacity specification of the scoop, without needing to perform a standard scooping operation.

[0292] 1002. When the target number of powder scooping operations exceeds the set number, the sample transfer device controls the powder scooping and transfer device to perform n rapid powder scooping operations. After the n rapid powder scooping operations are completed, the remaining amount to be scooped is determined.

[0293] The number of times can be set according to actual needs, such as 3 times, 4 times, 5 times, etc. The rapid powder scooping operation includes: without contact between the container seat and the weighing device, controlling the powder scooping and transfer device to scoop powder from the source container and directly pour the scooped powder into the target container, where n is less than the target number of scooping times.

[0294] The rapid powder scooping operation eliminates the need to record the weight during the scooping process, thus improving efficiency. The number of rapid scoops (n) is less than the target number of scoops, ensuring that the total amount scooped after n rapid scoops will not exceed the target amount, thereby improving accuracy. n can be determined based on the target number of scoops. For example, if one standard scoop has been performed before determining the target number, n can be the target number of scoops - 2; if no standard scoop has been performed before determining the target number, n can be the target number of scoops - 1. Alternatively, n can be determined based on both the target number of scoops and a set number of scoops, for example, n = target number of scoops - set number of scoops, or n = target number of scoops - set number of scoops - 1.

[0295] 1003, The sample transfer device controls the powder transfer device to perform powder scooping operation from the source container based on the remaining amount to be scooped.

[0296] The remaining amount to be scooped can be considered as the difference between the target amount to be scooped and the total amount of powder scooped in n rapid scooping operations, or the remaining amount to be scooped can be considered as the difference between the target amount to be scooped, the total amount of powder scooped in n rapid scooping operations, and the amount of powder transferred in one standard scooping operation. The total amount of powder scooped in n rapid scooping operations can be obtained by weighing with a weighing device after the n rapid scooping operations are completed, or by estimating the amount scooped up on the scooping spoon during each rapid scooping operation using a visual detection device and summing the results.

[0297] After performing step 1003, perform steps 1005 to 1007 until the powder transfer amount meets the remaining amount to be scooped ± allowable deviation. If the powder transfer amount does not meet the remaining amount to be scooped ± allowable deviation in one operation, steps 1003 and 1005-1007 can be performed multiple times until the requirement is met.

[0298] 1004, when the target number of scooping times is less than or equal to the set number, the sample transfer device controls the scooping and transfer device to scoop powder from the source container based on the current amount to be scooped.

[0299] After performing step 1004, proceed to steps 1005 through 1007. If the current amount to be scooped is less than the target amount to be scooped, steps 1004-1007 can be performed multiple times until the total amount of powder transferred meets the target amount to be scooped ± allowable deviation.

[0300] 1005. After the powder scooping operation is completed, the sample transfer device acquires the first weight m1 recorded by the weighing device while the container seat is in contact with the weighing device.

[0301] 1006, The sample transfer device controls the powder transfer device to pour powder into the target container. After the powder pouring operation is completed, the third weight m3 recorded by the weighing device is obtained when the container seat is in contact with the weighing device.

[0302] 1007. The sample transfer device obtains the powder transfer amount ma based on the third weight m3 and the first weight m1, where ma = m3 - m1.

[0303] The specific implementation of steps 1005 to 1007 can be found in the relevant descriptions in the foregoing embodiments, and will not be repeated here.

[0304] Please refer to Figure 11, which is a schematic flowchart of another powder sample transfer method provided in an embodiment of this application. As shown in Figure 11, the method may include the following steps.

[0305] 1101, The sample transfer device determines the target number of powder scooping times.

[0306] 1102, when the target number of powder scooping times is greater than the set number, the sample transfer device controls the powder scooping and transfer device to perform n rapid powder scooping operations. After the n rapid powder scooping operations are completed, the source container is separated from the container seat. When the container seat is in contact with the weighing device, the fourth weight m4 recorded by the weighing device is obtained. Based on the fourth weight m4 and the target amount to be scooped, the remaining amount to be scooped is determined.

[0307] In one example, if no standard scooping operation has been performed before the n rapid scooping operations, then the remaining amount to be scooped = target amount to be scooped - (m4 - m0'); where m0' is the weight recorded by the weighing device before the n rapid scooping operations, with the source container separated from the container seat and the container seat in contact with the weighing device. In this case, m0' can be considered the sum of the weights of the container seat and the empty target container, and m4 can be considered the sum of the weight of the container seat, the weight of the target container, and the total amount transferred in the n rapid scooping operations. m4 - m0' is the total amount transferred in the n rapid scooping operations, i.e., the total amount of powder transferred from the target container.

[0308] In another example, if one standard scoop has already been performed before n rapid scoop operations, then the remaining amount to be scooped = target amount to be scooped - (m4 - m0' + ma). Here, m0' can be considered the sum of the weight of the container base, the weight of the target container, and the amount of powder transferred in one standard scoop operation (ma). m4 can be considered the sum of the weight of the container base, the weight of the target container, the amount of powder transferred in one standard scoop operation (ma), and the total amount transferred in n rapid scoop operations. m4 - m0' + ma is the sum of the amount of powder transferred in one standard scoop operation (ma) and the total amount transferred in n rapid scoop operations, which is the total amount of powder transferred in the target container.

[0309] The weights of the container base and the empty target container can be obtained by weighing before the powder scooping operation, or by manual input, or by pre-stored and directly retrieved; no limitation is made here.

[0310] When the weights of the container holder and the target container are obtained by weighing, the following steps may also be included before performing step 1102:

[0311] Separate the source container from the container seat, and obtain the weight m0' recorded by the weighing device while the container seat is in contact with the weighing device;

[0312] Accordingly, in step 1102, based on the fourth weight m4 and the target amount to be scooped, the remaining amount to be scooped is determined, which can be specifically as follows:

[0313] Based on the fourth weight m4, m0' and the target amount to be scooped, determine the remaining amount to be scooped.

[0314] 1103, The sample transfer device returns the source container to the container holder.

[0315] 1104, the sample transfer device controls the powder transfer device to perform a powder scooping operation from the source container based on the remaining amount to be scooped.

[0316] After executing step 1104, execute steps 1106 to 1108.

[0317] 1105, when the target number of scooping powders is less than or equal to the set number of times, the sample transfer device controls the scooping and transfer device to scoop powders from the source container based on the current amount to be scooped.

[0318] After executing step 1105, execute steps 1106 to 1108.

[0319] 1106. After the powder scooping operation is completed, the sample transfer device acquires the first weight m1 recorded by the weighing device while the container seat is in contact with the weighing device.

[0320] 1107, The sample transfer device controls the powder transfer device to pour powder into the target container. After the powder pouring operation is completed, the third weight m3 recorded by the weighing device is obtained when the container seat is in contact with the weighing device.

[0321] 1108. The sample transfer device obtains the powder transfer amount ma based on the third weight m3 and the first weight m1, where ma = m3 - m1.

[0322] The specific implementation of steps 1106 to 1108 can be found in the relevant descriptions in the foregoing embodiments, and will not be repeated here.

[0323] The entire automated powder sample transfer process is described below with reference to Figures 1 and 2.

[0324] Feeding (manual or mechanical placement of powder into source container 14 and empty target container 15; container base 12 is separated from weighing device 11 during initialization) → Container base 12 contacts weighing device 11, obtaining initial weight m0 → After determining the scooping point, separate container base 12 from weighing device 11 → Scooping robot 17 drives scoop 16 to scoop powder from source container 14 → After scooping, connect container base 12 to weighing device 11, obtaining weight m1 after scooping. The scooped amount ms = m0 - m1 can be obtained by weight reduction method → ​​Maintaining the connection between container base 12 and weighing device 11, scoop 16 moves to the mouth of target container 15, obtaining weight m2 after moving to the mouth. The powder transfer loss mw = m2 - m1 can be obtained by weight gain method → ​​Maintaining the connection between container base 12 and weighing device 11, scoop 16 pours powder → Powder pouring is completed, obtaining weight m3 after pouring. The actual powder transfer amount ma = m3 - m2 can be obtained by weight gain method.

[0325] The hardware configuration includes: a weighing device 11, a container seat 12, a moving device 19, and a powder-scooping robot 17 with a scoop 16; the container seat 12 can simultaneously hold a target container 15 and a source container 14; the moving device 19 is used to move the container seat 12 so that the container seat 12 contacts or separates from the weighing device 11; the weighing device 11 is used for weighing; the powder-scooping robot 17 is used to control the scoop 16 to transfer powder from the source container 14 to the target container 15.

[0326] First weighing: The moving device 19 drives the container seat 12 to descend, placing the container seat 12 on the weighing device 11 to obtain the initial weight m0;

[0327] Second weighing: The moving device 19 drives the container seat 12 to rise, so that the container seat 12 is separated from the weighing device 11. The powder scooping robot 17 drives the scooping spoon 16 to scoop powder from the source container 14. After the powder scooping is completed, the moving device 19 puts the container seat 12 back into the weighing device 11 and obtains the weight m1 after scooping. The amount scooped can be obtained by the weight reduction method: ms = m0 - m1.

[0328] Third weighing: Keeping the contact state between the container seat 12 and the weighing device 11 unchanged, the powder scooping robot 17 drives the scoop 16 to move to the mouth of the target container 15, and obtains the weight m2 after moving to the mouth. The powder transfer loss mw = m2 - m1 can be obtained by the weight gain method.

[0329] Fourth weighing: Keep the container seat 12 in contact with the weighing device 11 unchanged, and pour the powder with the ladle 16; after pouring the powder, obtain the weight m3 after pouring the powder, and the actual amount of powder transferred can be obtained by the weight gain method as ma = m3 - m2.

[0330] When the amount scooped up ms > the first threshold, a downward adjustment strategy is executed, as detailed in step (92) above; when the amount scooped up ms < the second threshold, an upward adjustment strategy is executed, as detailed in step (93) above.

[0331] In this embodiment, a visual prediction model can also be used to predict the amount scooped up with the ladle. Furthermore, the deviation can be calculated using the visually predicted scooped amount and the actual weighed scooped amount. Based on this deviation, the amount of powder predicted by the visual prediction model can be compensated to improve the accuracy of subsequent predictions. The powder distribution on the ladle and the actual weighed scooped amount can also be used as new training samples to fine-tune the visual prediction model, thereby improving its prediction accuracy.

[0332] If the target amount to be transferred is large, performing the above automated powder sample transfer process multiple times will result in low powder transfer efficiency. After completing the first powder transfer according to the above automated powder sample transfer process, the amount of powder transferred and the amount of powder loss are obtained. Based on the amount of powder transferred once and the target amount to be transferred, the number of times powder needs to be transferred (i.e., the target number of times powder needs to be transferred) is calculated. If the number of times is greater than the set number (e.g., 3 times), n rapid powder transfer operations are performed (for example, instead of using the weighing device 11 for weighing, a visual prediction model is used to estimate the weighing, or the transfer amount for each time is assumed to be the amount of powder transferred in the first time or a past experience value, etc.). When the target amount to be transferred is approaching or the remaining number of times powder needs to be transferred is less than or equal to the set number of times, the source container 14 is removed, the container seat 12 is connected to the weighing device 11, and weighing is performed to determine the difference between the current amount of powder in the target container 15 (the target container 15 is initially an empty bottle) and the target amount to be transferred. The source container 14 is returned, and the amount to be transferred for the next powder transfer operation (standard powder transfer operation) is calculated based on this difference, and the next powder transfer process is executed.

[0333] This application provides a powder sample transfer control method based on weight reduction and weight gain, which can replace manual labor to complete automated powder dispensing work and improve transfer accuracy and efficiency.

[0334] The above mainly describes the solutions of the embodiments of this application from the perspective of the method execution process. It is understood that, in order to achieve the above functions, the sample transfer device includes corresponding hardware structures and / or software modules for executing each function. Those skilled in the art should readily recognize that, in conjunction with the units and algorithm steps of the various examples described in the embodiments provided herein, this application can be implemented in hardware or a combination of hardware and computer software. Whether a function is executed in hardware or by computer software driving hardware depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0335] This application embodiment can divide the sample transfer device into functional units according to the above method example. For example, each function can be divided into separate functional units, or two or more functions can be integrated into one processing unit. The integrated unit can be implemented in hardware or as a software functional unit. It should be noted that the unit division in this application embodiment is illustrative and only represents one logical functional division. In actual implementation, there may be other division methods.

[0336] Please refer to Figure 12, which is a schematic diagram of a powder sample transfer device provided in an embodiment of this application. This powder sample transfer device is applied to a powder scooping system, which includes a weighing device, a container seat, and a powder scooping and transfer device. A source container and a target container are placed on the container seat. The weighing device is located below the container seat and is used to weigh the container seat when in contact with it. The powder scooping and transfer device is used to scoop powder from the source container and transfer it to the target container. As shown in Figure 12, the powder sample transfer device 1200 includes:

[0337] Control unit 1201 is used to control the powder scooping and transfer device to scoop powder from the source container;

[0338] The acquisition unit 1202 is used to acquire the first weight m1 recorded by the weighing device after the powder scooping operation is completed and the container seat is in contact with the weighing device.

[0339] The control unit 1201 is also used to control the powder transfer device to perform the powder pouring operation into the target container;

[0340] The acquisition unit 1202 is also used to acquire the third weight m3 recorded by the weighing device when the container seat is in contact with the weighing device after the powder pouring operation is completed.

[0341] The determining unit 1203 is used to obtain the powder transfer amount ma, where ma = m3 - m1, based on the third weight m3 and the first weight m1.

[0342] Optionally, the control unit 1201 controls the powder scooping and transfer device to perform powder scooping operations from the source container, including: determining a powder scooping reference point in the source container, and controlling the powder scooping and transfer device to perform powder scooping operations from the source container based on the powder scooping reference point.

[0343] Optionally, the acquisition unit 1202 is also used to acquire the initial weight m0 recorded by the weighing device before the control unit 1201 determines the powder scooping reference point in the source container, while the container seat is in contact with the weighing device.

[0344] The control unit 1201 determines the powder scooping reference point in the source container, including: controlling the powder scooping transfer device to move to a fixed point to perform the powder scooping operation and obtaining the weight m0' recorded by the weighing device; if m0' is less than m0, determining the fixed point as the powder scooping starting point in the source container; if m0' is equal to m0, controlling the powder scooping transfer device to move to the next point according to a set step size and a set direction to perform the powder scooping operation until m0' is less than m0, and determining the last point as the powder scooping starting point in the source container; and determining the powder scooping reference point in the source container based on the powder scooping starting point.

[0345] Optionally, the powder scooping system also includes a visual inspection device; the control unit 1201 determines the powder scooping reference point in the source container, including: using the visual inspection device to collect the powder distribution state of the powder sample in the source container; determining the powder scooping starting point in the source container based on the powder distribution state of the powder sample in the source container; and determining the powder scooping reference point in the source container based on the powder scooping starting point.

[0346] Optionally, the visual inspection device includes a top visual acquisition module and a side visual acquisition module; the control unit 1201 uses the visual inspection device to acquire the powder distribution state of the powder sample in the source container, including: taking a top-down image of the source container using the top visual acquisition module, inputting the captured top-down image into a first visual model to obtain the powder outline under top view; taking a side-view image of the source container using the side visual acquisition module, inputting the captured side-view image into a second visual model to obtain the powder outline under side view; and performing three-dimensional fusion processing on the powder outline under top view and the powder outline under side view to obtain the powder distribution state of the powder sample in the source container.

[0347] Optionally, the control unit 1201 determines the powder scooping reference point in the source container based on the powder scooping starting point, including: acquiring the physical characteristic parameters of the powder sample in the source container; determining the corresponding powder scooping offset based on the physical characteristic parameters of the powder sample; and determining the powder scooping reference point in the source container based on the powder scooping starting point and the powder scooping offset.

[0348] Optionally, the control unit 1201 controls the powder scooping and transfer device to perform a powder scooping operation from the source container according to the powder scooping reference point, including: controlling the powder scooping and transfer device to move to the powder scooping reference point, and performing the powder scooping operation according to the set powder scooping action, wherein the set powder scooping action is determined based on at least one of the powder amount in the source container, the current amount to be scooped, and the physical characteristic parameters of the powder sample.

[0349] Optionally, the powder sample transfer device 1200 further includes an adjustment unit 1204; the powder transfer device has a scoop; and the determining unit 1203 is further used to determine the first scooped amount on the scoop after the powder scooping operation is completed.

[0350] The adjustment unit 1204 is used to control the powder transfer device to adjust the powder in the scoop based on the first scoop amount and the current amount to be scooped, so as to obtain the adjusted second scoop amount;

[0351] The control unit 1201 controls the powder transfer device to pour powder into the target container, including: based on the second scooping amount, controlling the powder transfer device to pour powder into the target container.

[0352] Optionally, the powder scooping system also includes a visual inspection device; the determining unit 1203 determines the first scooped amount on the scoop, including: acquiring the powder distribution state on the scoop through the visual inspection device; determining the first scooped amount on the scoop based on the powder distribution state and the visual prediction model; wherein, the visual prediction model is used to reflect the correspondence between different powder distribution states and powder amounts.

[0353] Optionally, the powder sample transfer device 1200 also includes a fine-tuning unit 1205;

[0354] The acquisition unit 1202 is also used to acquire the initial weight m0 recorded by the weighing device when the container seat is in contact with the weighing device;

[0355] The determining unit 1203 is also used to obtain the actual amount scooped up on the ladle based on the initial weight m0 and the first weight m1;

[0356] The fine-tuning unit 1205 is used to calculate the deviation between the actual scooping amount and the first scooping amount, and to fine-tune the visual prediction model based on the deviation to obtain a new visual prediction model.

[0357] Optionally, the acquisition unit 1202 is also used to acquire the initial weight m0 recorded by the weighing device when the container seat is in contact with the weighing device.

[0358] The determining unit 1203 determines the first scoop amount on the ladle, including: obtaining the first scoop amount on the ladle based on the initial weight m0 and the first weight m1.

[0359] Optionally, the adjustment unit 1204 controls the powder transfer device to adjust the powder in the scoop based on the first scoop amount and the current amount to be scooped, to obtain the adjusted second scoop amount, including:

[0360] If the first scoop amount is less than or equal to the first threshold and the first scoop amount is greater than or equal to the second threshold, the first scoop amount on the ladle is kept unchanged and the first scoop amount is used as the second scoop amount; the first threshold is equal to the sum of the current amount to be scooped and the allowable deviation, and the second threshold is equal to the difference between the current amount to be scooped and the allowable deviation.

[0361] If the first scooped amount is greater than the first threshold, the powder transfer device is controlled to execute a downward adjustment strategy to reduce the powder on the scoop, thereby obtaining an adjusted second scooped amount; wherein, the downward adjustment strategy includes: controlling the powder transfer device to shake the scoop until the scooped amount on the scoop is less than or equal to the first threshold and greater than or equal to the second threshold.

[0362] If the first scoop amount is less than the second threshold, the powder transfer device is controlled to perform an upward adjustment strategy to increase the powder on the scoop, thereby obtaining an adjusted second scoop amount. The upward adjustment strategy includes controlling the powder transfer device to perform a supplementary scooping operation and / or a re-scooping operation until the scoop amount on the scoop is less than or equal to the first threshold and greater than or equal to the second threshold.

[0363] Optionally, the adjustment unit 1204 controls the powder transfer device to perform a downward adjustment strategy to reduce the powder on the scoop, including:

[0364] If the difference between the first scooped amount and the first threshold is greater than the third threshold, the powder transfer device is controlled to shake the scoop with a first amplitude until the scooped amount is less than or equal to the first threshold and greater than or equal to the second threshold; or

[0365] If the difference between the first scooped amount and the first threshold is greater than the third threshold, the scooping and transferring device is controlled to shake the scoop with a first amplitude. If the difference between the scooped amount on the scoop and the first threshold is greater than 0 and less than or equal to the third threshold, the scooping and transferring device is controlled to shake the scoop with a second amplitude until the scooped amount on the scoop is less than or equal to the first threshold and greater than or equal to the second threshold; wherein the second amplitude is less than the first amplitude; or

[0366] If the difference between the first scooped amount and the first threshold is greater than 0 and less than or equal to the third threshold, the powder transfer device is controlled to shake the scoop with a second amplitude until the scooped amount on the scoop is less than or equal to the first threshold and greater than or equal to the second threshold.

[0367] Optionally, the amplitude of the shaking spoon is determined by the difference between the amount scooped up on the spoon and the first threshold, and the difference between the amount scooped up on the spoon and the first threshold is positively correlated with the amplitude of the shaking spoon.

[0368] Optionally, the adjustment unit 1204 controls the powder transfer device to perform a downward adjustment strategy to reduce the powder on the scoop, including: controlling the powder transfer device to shake the scoop with a first amplitude; and when the difference between the weights recorded by the weighing device in multiple adjacent measurements is less than a set value, controlling the powder transfer device to shake the scoop with a second amplitude until the amount scooped up on the scoop is less than or equal to a first threshold and greater than or equal to a second threshold; wherein the second amplitude is less than the first amplitude.

[0369] Optionally, the adjustment unit 1204 controls the powder transfer device to perform an upward adjustment strategy to increase the amount of powder on the scoop, including:

[0370] If the difference between the second threshold and the first scooped amount is less than or equal to the fourth threshold, the powder transfer device is controlled to perform a supplementary scooping operation until the scooped amount on the scoop is less than or equal to the first threshold and greater than or equal to the second threshold; or

[0371] If the difference between the second threshold and the first scooped amount is greater than the fourth threshold, the powder transfer device is controlled to perform a re-scooping operation until the scooped amount on the scoop is less than or equal to the first threshold and greater than or equal to the second threshold, or

[0372] If the difference between the second threshold and the first scooped amount is greater than the fourth threshold, the powder transfer device is controlled to perform a re-scooping operation; if the difference between the second threshold and the scooped amount on the scoop is less than or equal to the fourth threshold, the powder transfer device is controlled to perform a supplementary scooping operation until the scooped amount on the scoop is less than or equal to the first threshold and greater than or equal to the second threshold.

[0373] Optionally, the control unit 1201 is also used to control the powder transfer device to perform a pre-shaking operation with a third amplitude, and to obtain the pre-shaking weight md recorded by the weighing device when the container seat is in contact with the weighing device.

[0374] The determining unit 1203 obtains the powder transfer amount ma based on the third weight m3 and the first weight m1, including: obtaining the powder transfer amount ma based on the third weight m3 and the pre-shaking weight md, where ma = m3 - md.

[0375] Optionally, the control unit 1201 controls the powder transfer device to perform a powder pouring operation into the target container, including:

[0376] Control the powder transfer device to move to the container opening of the target container, and obtain the second weight m2 recorded by the weighing device when the container seat is in contact with the weighing device;

[0377] Control the powder transfer device to perform a powder pouring operation from the container opening to the target container;

[0378] The determining unit 1203 obtains the powder transfer amount ma based on the third weight m3 and the first weight m1, including:

[0379] Based on the third weight m3 and the second weight m2, the powder transfer amount ma is obtained, where ma = m3 - m2.

[0380] Optionally, the powder transfer device has a scoop; the control unit 1201 controls the powder transfer device to perform a powder pouring operation from the container opening to the target container, including: controlling the scoop to move from the container opening to the target container to the powder pouring point; controlling the scoop to rotate at a preset angle, and controlling the scoop to vibrate with a fourth amplitude to complete the powder pouring; wherein, the preset angle is greater than or equal to 90 degrees and less than or equal to 180 degrees.

[0381] Optionally, the control unit 1201 is also used to perform a leveling operation on the powder sample in the source container before controlling the powder transfer device to perform the powder scooping operation from the source container, so that the powder sample in the source container reaches a flat state.

[0382] Optionally, the powder transfer device has a scoop; the control unit 1201 performs a leveling operation on the powder sample in the source container, including: controlling the scoop to extend into the source container and contact or approach the inner wall of the source container, and controlling the powder transfer device to shake the scoop to cause the source container to shake.

[0383] Optionally, the powder scooping system also includes a leveling device; the control unit 1201 performs a leveling operation on the powder sample in the source container, including: bringing the leveling device into contact with or close to the outer wall of the source container, and controlling the leveling device to start to vibrate the source container.

[0384] Optionally, the target container is disposed on the container base along a first direction, and the source container is disposed on the container base along a second direction, wherein the first direction and the second direction intersect.

[0385] Optionally, the first direction is a vertical direction, with the opening of the target container facing upwards; along the first direction, the opening of the source container is higher than the bottom of the source container and faces the target container, with the opening of the source container higher than the opening of the target container.

[0386] Optionally, the powder scooping system further includes a moving device, which is connected to the container seat and / or the weighing device and is used to drive the container seat to contact or separate from the weighing device; the control unit 1201 controls the powder scooping transfer device to perform powder scooping operations from the source container, including: controlling the moving device to drive the container seat to separate from the weighing device; and controlling the powder scooping transfer device to perform powder scooping operations from the source container when the container seat and the weighing device are not in contact.

[0387] The acquisition unit 1202 acquires the first weight m1 recorded by the weighing device after the powder scooping operation is completed, when the container seat is in contact with the weighing device, including: after the powder scooping operation is completed, controlling the moving device to drive the container seat to contact the weighing device; and acquiring the first weight m1 recorded by the weighing device when the container seat is in contact with the weighing device.

[0388] Optionally, the determining unit 1203 is also used to determine the target number of times powder is scooped;

[0389] The control unit 1201 is also used to control the powder scooping and transfer device to perform n rapid powder scooping operations when the target number of powder scooping times is greater than the set number of times;

[0390] The determining unit 1203 is also used to determine the remaining amount to be scooped after n rapid scooping operations are completed;

[0391] Control unit 1201 is also used to control the powder scooping and transfer device to scoop powder from the source container based on the remaining amount to be scooped; the rapid powder scooping operation includes: controlling the powder scooping and transfer device to scoop powder from the source container and directly pouring the scooped powder into the target container when the container seat is not in contact with the weighing device, where n is less than the target number of powder scoops;

[0392] The control unit 1201 is also configured to control the powder transfer device to perform a powder scooping operation from the source container based on the current amount to be scooped when the target number of powder scoops is less than or equal to the set number of times.

[0393] Optionally, the powder transfer device has a scoop; the determining unit 1203 determines the target number of powder scoops, including:

[0394] The target number of powder scooping operations is determined based on the powder transfer amount ma and the target amount to be scooped; or

[0395] The target number of times to scoop powder is determined based on the capacity specifications of the scoop and the target amount to be scooped.

[0396] Optionally, the determining unit 1203 determines the remaining amount to be scooped, including: separating the source container from the container seat, obtaining the fourth weight recorded by the weighing device while the container seat is in contact with the weighing device; and determining the remaining amount to be scooped based on the fourth weight and the target amount to be scooped.

[0397] The control unit 1201 is also configured to, based on the remaining amount to be scooped, place the source container back into the container seat before controlling the scooping and transferring device to perform a scooping operation from the source container.

[0398] The control unit 1201, acquisition unit 1202, determination unit 1203, adjustment unit 1204, and fine-tuning unit 1205 can be processors in the sample transfer device.

[0399] The specific implementation of the powder sample transfer device 1200 shown in Figure 12 can be found in the method embodiments shown in Figures 3 to 11, and will not be repeated here.

[0400] In this embodiment, the powder scooping and transfer device can be controlled to scoop powder from the source container and to pour powder, transferring the powder from the source container to the target container. Automatic powder weighing is performed after scooping and pouring, thereby realizing automated quantitative transfer of powder samples. Compared with manual dispensing, this can reduce labor costs and improve the transfer efficiency and accuracy of powder samples.

[0401] Please refer to Figure 13, which is a schematic diagram of a sample transfer device provided in an embodiment of this application. As shown in Figure 13, the sample transfer device 1300 includes a processor 1301 and a memory 1302. The processor 1301 and the memory 1302 can be interconnected via a communication bus 1303. The communication bus 1303 can be a peripheral component interconnect (PCI) bus or an extended industry standard architecture (EISA) bus, etc. The communication bus 1303 can be divided into an address bus, a data bus, a control bus, etc. For ease of illustration, only one thick line is used in Figure 13, but this does not mean that there is only one bus or one type of bus. The memory 1302 is used to store computer programs, which include program instructions. The processor 1301 is configured to call the program instructions. The program includes some or all of the steps in the methods shown in Figures 3 to 11.

[0402] The memory 1302 may be a read-only memory (ROM) or other type of static storage device capable of storing static information and instructions, random access memory (RAM) or other type of dynamic storage device capable of storing information and instructions, or electrically erasable programmable read-only memory (EEPROM), compact disc read-only memory (CD-ROM) or other optical disc storage, optical disc storage (including compressed optical discs, laser discs, optical discs, digital versatile optical discs, Blu-ray discs, etc.), magnetic disk storage media or other magnetic storage devices, or any other medium capable of carrying or storing desired program code in the form of instructions or data structures and accessible by a computer, but not limited thereto. The memory may exist independently and be connected to the processor via a bus. The memory may also be integrated with the processor.

[0403] The sample transfer device 1300 may also include a communication module 1304. The communication module 1304 can communicate with the powder transfer device and the weighing device, etc.

[0404] In this embodiment, the powder scooping and transfer device can be controlled to scoop powder from the source container and to pour powder, transferring the powder from the source container to the target container. Automatic powder weighing is performed after scooping and pouring, thereby realizing automated quantitative transfer of powder samples. Compared with manual dispensing, this can reduce labor costs and improve the transfer efficiency and accuracy of powder samples.

[0405] This application also provides a computer-readable storage medium storing a computer program for electronic data exchange, which causes a computer to perform some or all of the steps of any of the powder sample transfer methods described in the above method embodiments.

[0406] It should be noted that, for the sake of simplicity, the foregoing method embodiments are all described as a series of actions. However, those skilled in the art should understand that this application is not limited to the described order of actions, as some steps may be performed in other orders or simultaneously according to this application. Furthermore, those skilled in the art should also understand that the embodiments described in the specification are preferred embodiments, and the actions and modules involved are not necessarily essential to this application.

[0407] In the above embodiments, the descriptions of each embodiment have different focuses. For parts not described in detail in a certain embodiment, please refer to the relevant descriptions in other embodiments.

[0408] In the several embodiments provided in this application, it should be understood that the disclosed apparatus can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between devices or units may be electrical or other forms.

[0409] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0410] Furthermore, the functional units in the various embodiments of the application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software program module.

[0411] If the integrated unit is implemented as a software program module and sold or used as an independent product, it can be stored in a computer-readable storage device (CMD). Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a memory and includes several instructions to cause a computer device (which may be a personal computer, sample transfer device, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this application. The aforementioned memory includes various media capable of storing program code, such as USB flash drives, read-only memory (ROM), random access memory (RAM), portable hard drives, magnetic disks, or optical disks.

[0412] Those skilled in the art will understand that all or part of the steps in the various methods of the above embodiments can be implemented by a program instructing related hardware. The program can be stored in a computer-readable storage device, which may include: a flash drive, a read-only memory, a random access memory, a magnetic disk, or an optical disk, etc.

[0413] The embodiments of this application have been described in detail above. Specific examples have been used to illustrate the principles and implementation methods of this application. The description of the above embodiments is only for the purpose of helping to understand the method and core ideas of this application. At the same time, for those skilled in the art, there will be changes in the specific implementation methods and application scope based on the ideas of this application. Therefore, the content of this specification should not be construed as a limitation of this application.

Claims

1. A method for transferring powder samples, characterized in that, The method is applied to a powder scooping system, which includes a weighing device, a container seat, and a powder scooping and transferring device. A source container and a target container are placed on the container seat. The weighing device is located below the container seat and is used to weigh the container seat when in contact with it. The powder scooping and transferring device is used to scoop powder from the source container and transfer it to the target container. The method includes: Control the powder scooping and transfer device to scoop powder from the source container; After the powder scooping operation is completed, the first weight m1 recorded by the weighing device is obtained when the container seat is in contact with the weighing device; Control the powder transfer device to pour powder into the target container. After the powder pouring operation is completed, obtain the third weight m3 recorded by the weighing device when the container seat is in contact with the weighing device. Based on the third weight m3 and the first weight m1, the powder transfer amount ma is obtained, where ma = m3 - m1.

2. The method according to claim 1, characterized in that, The control of the powder-scooping and transferring device to scoop powder from the source container includes: Determine the powder-scooping reference point in the source container, and control the powder-scooping transfer device to scoop powder from the source container based on the powder-scooping reference point.

3. The method according to claim 2, characterized in that, Before determining the reference point for scooping powder in the source container, the method further includes: When the container seat is in contact with the weighing device, the initial weight m0 recorded by the weighing device is obtained; Determining the reference point for scooping powder in the source container includes: Control the powder scooping and transferring device to move to a fixed point to perform powder scooping operation, and obtain the weight m0' recorded by the weighing device; If m0' is less than m0, the fixed point is determined as the starting point for scooping powder in the source container; If m0' equals m0, the powder scooping and transfer device is controlled to move to the next point according to the set step size and set direction to perform the powder scooping operation until m0' is less than m0, and the last point is determined as the powder scooping starting point in the source container; The reference point for scooping powder in the source container is determined based on the powder scooping starting point.

4. The method according to claim 2, characterized in that, The powder scooping system further includes a visual inspection device; determining the powder scooping reference point in the source container includes: The visual inspection device is used to collect the powder distribution state of the powder sample in the source container; The powder scooping starting point in the source container is determined based on the powder distribution state of the powder sample in the source container; The reference point for scooping powder in the source container is determined based on the powder scooping starting point.

5. The method according to claim 4, characterized in that, The visual inspection device includes a top visual acquisition module and a side visual acquisition module; the step of using the visual inspection device to acquire the powder distribution state of the powder sample in the source container includes: The top vision acquisition module is used to take a top-down image of the source container, and the captured top-down image is input into the first vision model to obtain the powder outline from the top view. The side vision acquisition module is used to take a side view of the source container, and the captured side view image is input into the second vision model to obtain the powder outline under the side view. The powder profiles from the top view and the side view are fused in three dimensions to obtain the powder distribution state of the powder sample in the source container.

6. The method according to claim 3 or 4, characterized in that, Determining the reference point for scooping powder in the source container based on the powder scooping starting point includes: Obtain the physical characteristic parameters of the powder sample in the source container; The corresponding powder scooping offset is determined based on the physical property parameters of the powder sample; Based on the powder scooping starting point and the powder scooping offset, the powder scooping reference point in the source container is determined.

7. The method according to any one of claims 2-6, characterized in that, The step of controlling the powder-scooping and transferring device to scoop powder from the source container based on the powder-scooping reference point includes: The powder scooping and transfer device is controlled to move to the powder scooping reference point and perform a powder scooping operation according to a set powder scooping action. The set powder scooping action is determined based on at least one of the powder quantity in the source container, the current quantity to be scooped, and the physical characteristic parameters of the powder sample.

8. The method according to any one of claims 1-7, characterized in that, The powder-scooping and transferring device has a scoop; after the powder-scooping operation is completed, the method further includes: Determine the first scoop amount on the ladle; Based on the first scooped amount and the current scooped amount, the powder transfer device is controlled to adjust the powder in the scoop to obtain the adjusted second scooped amount; The control of the powder transfer device to pour powder into the target container includes: Based on the second scooping amount, the powder transfer device is controlled to pour powder into the target container.

9. The method according to claim 8, characterized in that, The powder scooping system also includes a visual inspection device; determining the first scoop amount on the scoop includes: The visual inspection device is used to collect the powder distribution on the scoop. Based on the powder distribution state and the visual prediction model, the first scoop amount on the ladle is determined; wherein, the visual prediction model is used to reflect the correspondence between different powder distribution states and powder amounts.

10. The method according to claim 9, characterized in that, Before controlling the powder-scooping and transferring device to scoop powder from the source container, the method further includes: When the container seat is in contact with the weighing device, the initial weight m0 recorded by the weighing device is obtained; After obtaining the first weight m1 recorded by the weighing device when the container seat is in contact with the weighing device, the method further includes: The actual amount scooped up by the ladle is obtained based on the initial weight m0 and the first weight m1. The deviation between the actual scooped amount and the first scooped amount is calculated, and the visual prediction model is fine-tuned based on the deviation to obtain a new visual prediction model.

11. The method according to claim 8, characterized in that, Before controlling the powder-scooping and transferring device to scoop powder from the source container, the method further includes: When the container seat is in contact with the weighing device, the initial weight m0 recorded by the weighing device is obtained; Determining the first scoop amount on the ladle includes: The first scoop amount is obtained from the initial weight m0 and the first weight m1.

12. The method according to any one of claims 8-11, characterized in that, The step of controlling the powder transfer device to adjust the powder in the scoop based on the first scoop amount and the current amount to be scooped, to obtain the adjusted second scoop amount, includes: When the first scoop amount is less than or equal to the first threshold and the first scoop amount is greater than or equal to the second threshold, the first scoop amount on the scoop is kept unchanged and the first scoop amount is used as the second scoop amount; the first threshold is equal to the sum of the current amount to be scooped and the allowable deviation, and the second threshold is equal to the difference between the current amount to be scooped and the allowable deviation; If the first scooped amount is greater than the first threshold, the powder transfer device is controlled to perform a downward adjustment strategy to reduce the powder on the scoop, thereby obtaining an adjusted second scooped amount; wherein, the downward adjustment strategy includes: controlling the powder transfer device to shake the scoop until the scooped amount on the scoop is less than or equal to the first threshold and greater than or equal to the second threshold; If the first scooped amount is less than the second threshold, the powder transfer device is controlled to perform an upward adjustment strategy to increase the powder on the scoop, thereby obtaining an adjusted second scooped amount; wherein, the upward adjustment strategy includes: controlling the powder transfer device to perform a supplementary scooping operation and / or a re-scooping operation until the scooped amount on the scoop is less than or equal to the first threshold and greater than or equal to the second threshold.

13. The method according to claim 12, characterized in that, The control of the powder transfer device to perform a downward adjustment strategy to reduce the powder on the scoop includes: If the difference between the first scooped amount and the first threshold is greater than the third threshold, the powder transfer device is controlled to shake the scoop with a first amplitude until the scooped amount on the scoop is less than or equal to the first threshold and greater than or equal to the second threshold; or When the difference between the first scooped amount and the first threshold is greater than a third threshold, the powder transfer device is controlled to shake the scoop with a first amplitude. When the difference between the scooped amount on the scoop and the first threshold is greater than 0 and less than or equal to the third threshold, the powder transfer device is controlled to shake the scoop with a second amplitude until the scooped amount on the scoop is less than or equal to the first threshold and greater than or equal to the second threshold; wherein the second amplitude is less than the first amplitude; or If the difference between the first scooped amount and the first threshold is greater than 0 and less than or equal to the third threshold, the powder transfer device is controlled to shake the scoop with a second amplitude until the scooped amount on the scoop is less than or equal to the first threshold and greater than or equal to the second threshold.

14. The method according to claim 13, characterized in that, The amplitude of shaking the ladle is determined by the difference between the amount scooped up on the ladle and the first threshold, and the difference between the amount scooped up on the ladle and the first threshold is positively correlated with the amplitude of shaking the ladle.

15. The method according to claim 12, characterized in that, The control of the powder transfer device to perform a downward adjustment strategy to reduce the powder on the scoop includes: The powder transfer device is controlled to vibrate the scoop with a first amplitude; If the difference between the weights recorded by the weighing device in multiple consecutive measurements is less than a set value, the powder transfer device is controlled to shake the scoop with a second amplitude until the amount scooped up on the scoop is less than or equal to the first threshold and greater than or equal to the second threshold; wherein the second amplitude is less than the first amplitude.

16. The method according to claim 12, characterized in that, The control of the powder transfer device to execute an upward adjustment strategy to increase the powder on the scoop includes: If the difference between the second threshold and the first scooped amount is less than or equal to the fourth threshold, the powder transfer device is controlled to perform a supplementary scooping operation until the scooped amount on the scoop is less than or equal to the first threshold and greater than or equal to the second threshold; or If the difference between the second threshold and the first scooped amount is greater than the fourth threshold, the powder transfer device is controlled to perform a re-scooping operation until the scooped amount on the scoop is less than or equal to the first threshold and greater than or equal to the second threshold, or If the difference between the second threshold and the first scooped amount is greater than the fourth threshold, the powder transfer device is controlled to perform a re-scooping operation; if the difference between the second threshold and the scooped amount on the scoop is less than or equal to the fourth threshold, the powder transfer device is controlled to perform a supplementary scooping operation until the scooped amount on the scoop is less than or equal to the first threshold and greater than or equal to the second threshold.

17. The method according to any one of claims 1-16, characterized in that, After obtaining the first weight m1 recorded by the weighing device when the container seat is in contact with the weighing device, the method further includes: The powder transfer device is controlled to perform a pre-shaking operation with a third amplitude, and the pre-shaking weight md recorded by the weighing device is obtained when the container seat is in contact with the weighing device. The step of obtaining the powder transfer amount ma based on the third weight m3 and the first weight m1 includes: Based on the third weight m3 and the pre-shaking weight md, the powder transfer amount ma is obtained, where ma = m3 - md.

18. The method according to any one of claims 1-17, characterized in that, The process of controlling the powder transfer device to pour powder into the target container includes: Control the powder transfer device to move to the container opening of the target container, and obtain the second weight m2 recorded by the weighing device when the container seat is in contact with the weighing device; Control the powder transfer device to perform a powder pouring operation from the container opening to the target container; The step of obtaining the powder transfer amount ma based on the third weight m3 and the first weight m1 includes: Based on the third weight m3 and the second weight m2, the powder transfer amount ma is obtained, where ma = m3 - m2.

19. The method according to claim 18, characterized in that, The powder-scooping and transferring device has a scooping spoon; controlling the powder-scooping and transferring device to pour powder from the container opening into the target container includes: Control the scoop to move from the container opening to the powder pouring point in the target container; The scoop is controlled to rotate at a preset angle, and the scoop is controlled to vibrate with a fourth amplitude to complete the pouring of powder; wherein the preset angle is greater than or equal to 90 degrees and less than or equal to 180 degrees.

20. The method according to any one of claims 1-19, characterized in that, Before controlling the powder-scooping and transferring device to scoop powder from the source container, the method further includes: The powder sample in the source container is leveled to achieve a flattened state.

21. The method according to claim 20, characterized in that, The powder transfer device has a scoop; the leveling operation of the powder sample in the source container includes: The scoop is controlled to extend into the source container and contact or approach the inner wall of the source container; the powder transfer device is controlled to shake the scoop to cause the source container to shake. Alternatively, the powder scooping system may further include a leveling device; the leveling operation of the powder sample in the source container includes: The vibration leveling device is brought into contact with or close to the outer wall of the source container, and the vibration leveling device is activated to vibrate the source container.

22. The method according to any one of claims 1-21, characterized in that, The target container is disposed on the container base along a first direction, and the source container is disposed on the container base along a second direction, wherein the first direction and the second direction intersect.

23. The method according to claim 22, characterized in that, The first direction is a vertical direction, with the opening of the target container facing upwards; along the first direction, the opening of the source container is higher than the bottom of the source container and faces the target container, with the opening of the source container higher than the opening of the target container.

24. The method according to any one of claims 1-23, characterized in that, The powder scooping system further includes a moving device connected to the container seat and / or the weighing device and used to drive the container seat to contact or separate from the weighing device; controlling the powder scooping and transferring device to scoop powder from the source container includes: The mobile device is controlled to drive the container seat to separate from the weighing device; When the container seat is not in contact with the weighing device, the powder scooping and transfer device is controlled to scoop powder from the source container; The step of obtaining the first weight m1 recorded by the weighing device after the powder scooping operation is completed, while the container seat is in contact with the weighing device, includes: After the powder scooping operation is completed, control the moving device to drive the container seat to contact the weighing device; The first weight m1 recorded by the weighing device is obtained when the container seat is in contact with the weighing device.

25. The method according to any one of claims 1-24, characterized in that, The method further includes: Determine the target number of times to scoop powder; If the target number of scoops exceeds the set number, the scooping and transferring device is controlled to perform n rapid scooping operations. After the n rapid scooping operations are completed, the remaining amount to be scooped is determined. Based on the remaining amount to be scooped, the steps from controlling the scooping and transferring device to scoop powder from the source container to obtaining the powder transfer amount ma based on the third weight m3 and the first weight m1 are executed. The rapid scooping operation includes: controlling the scooping and transferring device to scoop powder from the source container and directly pouring the scooped powder into the target container when the container seat is not in contact with the weighing device, where n is less than the target number of scoops. If the target number of scooping operations is less than or equal to the set number of operations, the steps from controlling the scooping and transferring device to scoop powder from the source container are performed based on the current amount to be scooped, to obtaining the powder transfer amount ma based on the third weight m3 and the first weight m1.

26. The method according to claim 25, characterized in that, The powder-scooping and transferring device has a scooping spoon; determining the target number of powder scoops includes: The target number of powder scooping operations is determined based on the powder transfer amount ma and the target amount to be scooped; or The target number of times to scoop powder is determined based on the capacity specifications of the scoop and the target amount to be scooped.

27. The method according to claim 26, characterized in that, Determining the remaining amount to be scooped includes: Separate the source container from the container seat, and obtain the fourth weight recorded by the weighing device while the container seat is in contact with the weighing device; Based on the fourth weight and the target amount to be scooped, determine the remaining amount to be scooped; The method further includes the steps of performing the control of the powder transfer device to scoop powder from the source container based on the remaining amount to be scooped, up to the step of obtaining the powder transfer amount ma based on the third weight m3 and the first weight m1: Place the source container back into the container holder.

28. A powder sample transfer device, characterized in that, The device is applied to a powder scooping system, which includes a weighing device, a container base, and a powder scooping and transferring device. A source container and a target container are placed on the container base. The weighing device is located below the container base and is used to weigh the container base when in contact with it. The powder scooping and transferring device is used to scoop powder from the source container and transfer it to the target container. The device includes: A control unit is used to control the powder scooping and transferring device to scoop powder from the source container. The acquisition unit is used to acquire the first weight m1 recorded by the weighing device when the container seat is in contact with the weighing device after the powder scooping operation is completed. The control unit is also used to control the powder transfer device to perform a powder pouring operation into the target container; The acquisition unit is also used to acquire the third weight m3 recorded by the weighing device when the container seat is in contact with the weighing device after the powder pouring operation is completed. The determining unit is used to obtain the powder transfer amount ma, where ma = m3 - m1, based on the third weight m3 and the first weight m1.

29. A sample transfer device, characterized in that, The device includes a processor and a memory, the memory being used to store a computer program, the computer program including program instructions, and the processor being configured to invoke the program instructions to perform the method as described in any one of claims 1 to 27.

30. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program, the computer program including program instructions that, when executed by a processor, cause the processor to perform the method as described in any one of claims 1 to 27.

31. A computer program product, characterized in that, The computer program product includes a computer program operable to cause a computer to perform the method as described in any one of claims 1 to 27.

Images