CN-122015994-A - Reaction cup allowance detection method and system based on cooperation of mechanical arm and drawer

CN122015994ACN 122015994 ACN122015994 ACN 122015994ACN-122015994-A

Abstract

The invention discloses a reaction cup allowance detection method and a reaction cup allowance detection system based on the cooperation of a mechanical arm and a drawer, wherein the detection method comprises the following steps of responding to an instruction for detecting the reaction cup allowance, synchronously or sequentially implementing two control instructions, namely controlling the drawer to be completely opened, and controlling the mechanical arm to move so that a sensor is positioned at a preset detection position; the method comprises the steps of controlling a drawer to retract at a constant speed v and start timing, monitoring the state of the reaction cups by using a sensor, recording the current time t when the sensor detects the reaction cups for the first time, and calculating the number of used reaction cups and/or the number of residual reaction cups based on the constant speed v, the recorded time t and preset structural parameters. The invention skillfully converts the physical motion parameter speed v, time t and known structural parameters into the quantity data of the reaction cups, does not need to additionally install an expensive and easily polluted photoelectric or weighing sensor, and obviously reduces the hardware cost and the maintenance complexity of the analysis instrument.

Inventors

LIN WEICHANG
ZHONG XIAOYONG
DING XIAOMING
JIANG ZHIGUO

Assignees

东方伊诺(苏州)医疗科技有限公司

Dates

Publication Date: 20260512
Application Date: 20251223

Claims (6)

1. The reaction cup allowance detection method based on the cooperation of the mechanical arm and the drawer is applied to an analysis instrument and is implemented by a control system of the analysis instrument, wherein the analysis instrument comprises a drawer for storing the reaction cup and the mechanical arm provided with a sensor; the detection method is characterized by comprising the following steps: in response to an instruction for checking the residual quantity of the reaction cup, two control instructions are synchronously or sequentially implemented, namely, a drawer is controlled to be completely opened, and the mechanical arm is controlled to move to a preset pose so that the sensor is positioned at a preset detection position; controlling the drawer to retract at a constant speed v and starting timing; Monitoring the state of the reaction cup during the drawer retraction process by using the sensor positioned at the detection position; recording the current time t when the sensor detects the reaction cup for the first time; And calculating the number of used reaction cups and/or the number of residual reaction cups based on the constant speed v, the recorded time t and the preset structural parameters, and updating the using amount of the reaction cups and/or the residual reaction cup.
2. The method for detecting the residual quantity of the reaction cups based on the cooperation of the mechanical arm and the drawer according to claim 1 is characterized in that the specific formula for calculating the quantity of the used reaction cups is N used = [(L 0 -v multiplied by t)/d; Wherein N used is the number of used reaction cups, L 0 is the preset distance from the detection position to the first reaction cup under the condition of full disk, d is the center distance between adjacent reaction cups, and [ (.. ] is a rounding function.
3. The method for detecting the residual quantity of the reaction cup based on the cooperation of the mechanical arm and the drawer according to claim 1 is characterized in that the instruction for checking the residual quantity of the reaction cup is sent by a user through the interaction device or is sent by the control system when a preset condition is met, wherein the preset condition comprises that the mechanical arm is in an idle state.
4. According to the reaction cup allowance detection method based on the cooperation of the mechanical arm and the drawer, when an instruction for checking the reaction cup allowance is sent by a user through the interaction device, the user sends out the checking instruction and then controls the drawer to be completely opened, and after the user sends out the retraction instruction, the drawer is controlled to be retracted at a constant speed v.
5. The method for detecting the residual quantity of the reaction cup based on the cooperation of the mechanical arm and the drawer, which is disclosed in claim 1, is characterized in that a plurality of rows of cup positions are arranged in the drawer, each row of cup positions are provided with corresponding detection positions, and each row of cup positions are detected, the mechanical arm is controlled to operate so that the sensor reaches the detection position corresponding to the next row of cup positions, and the next row of cup positions are detected until all rows of cup positions are detected.
6. Reaction cup allowance detection system based on arm and drawer cooperation, its characterized in that includes: The first control module is used for responding to an instruction for checking the allowance of the reaction cup and synchronously or successively implementing two control instructions, namely controlling the drawer to be completely opened, and controlling the mechanical arm to move to a preset pose so that the sensor is positioned at a preset detection position; the second control module is used for controlling the drawer to retract at a constant speed v and starting timing; the detection module is used for monitoring the state of the reaction cup in the drawer retraction process by using the sensor positioned at the detection position; the recording module is used for recording the current time t when the sensor detects the reaction cup for the first time; The calculating module is used for calculating the number of used reaction cups and/or the number of residual reaction cups based on the constant speed v, the recorded time t and the preset structural parameters, and updating the using amount of the reaction cups and/or the residual reaction cup.

Description

Reaction cup allowance detection method and system based on cooperation of mechanical arm and drawer Technical Field The invention relates to the technical field of reaction cup detection, in particular to a reaction cup allowance detection method and system based on the cooperation of a mechanical arm and a drawer. Background In an automatic analysis instrument, particularly a medical and biochemical analysis instrument which needs to process samples in batches, the monitoring of the residual quantity of key consumables such as reaction cups, reagents and the like is an important link for ensuring the continuous and efficient operation of the instrument. Conventional cuvette balance monitoring techniques typically rely on the addition of hardware modules below or to the sides of the cuvette tray. For example, by installing a photosensor array, the presence of a reaction cup at the cup position is determined by using the shielding or reflection of a light beam, as shown in patent CN 115684624A and the like. Another common approach is to use a weighing module to indirectly estimate the number of reaction cups remaining by weighing the total weight of the reaction cup tray in real time. However, these conventional methods have the obvious disadvantage that, first, the addition of additional photosensors or weighing modules significantly increases the hardware cost of the instrument and increases the overall manufacturing cost. In the practical application scene, because reagents may be splashed, dust or water vapor and other pollutants exist in the analysis instrument, the additional sensors are easily interfered by pollutants, so that inaccurate monitoring data or misjudgment of a system is caused, and the reliability and stability of the instrument are reduced. Disclosure of Invention The invention aims to overcome the defects in the prior art, and provides the reaction cup allowance detection method and system based on the matching of the mechanical arm and the drawer, which are intelligent, reliable and low in cost, by utilizing the existing mechanical structure of an instrument without additional hardware. In order to achieve the purpose, the reaction cup allowance detection method based on the matching of the mechanical arm and the drawer is applied to an analysis instrument and implemented by a control system of the analysis instrument, wherein the analysis instrument comprises the drawer for storing the reaction cup and the mechanical arm provided with a sensor; The reaction cup is placed in the drawer from the first cup position in sequence, the reaction cup is placed in the second cup position when the reaction cup is already in the first cup position, namely, the reaction cup is placed in the reaction cup from the empty position farthest from the detection position when the drawer is completely opened, and the reaction cup is removed from the drawer in the open state when the reaction cup is removed from the drawer. The detection method comprises the following steps: in response to an instruction for checking the residual quantity of the reaction cup, two control instructions are synchronously or sequentially implemented, namely, a drawer is controlled to be completely opened, and the mechanical arm is controlled to move to a preset pose so that the sensor is positioned at a preset detection position; controlling the drawer to retract at a constant speed v and starting timing; Monitoring the state of the reaction cup during the drawer retraction process by using the sensor positioned at the detection position; recording the current time t when the sensor detects the reaction cup for the first time; And calculating the number of used reaction cups and/or the number of residual reaction cups based on the constant speed v, the recorded time t and the preset structural parameters, and updating the using amount of the reaction cups and/or the residual reaction cup. Further, the specific formula of the number of the reaction cups used for calculation is N used= [(L0 -v multiplied by t)/d; wherein N used is the number of used reaction cups, L 0 is the preset distance from the detection position to the first reaction cup in the state of full disk, the first reaction cup is the reaction cup farthest from the detection position in the drawer opening state, d is the center distance between the adjacent reaction cups, and [ (the.] is a rounding function. Further, the instruction of the instruction for checking the residual quantity of the reaction cup is sent by a user through the interaction device or sent by the control system when a preset condition is met, wherein the preset condition comprises that the mechanical arm is in an idle state. In addition, on the premise that the conditions are met, the preset conditions can also comprise the condition that the time from the last reaction cup allowance detection operation reaches the preset time, so that frequent detection can be avoided. The interaction device