CN110244071A - A kind of automatic assay device based on intelligence control system - Google Patents
A kind of automatic assay device based on intelligence control system Download PDFInfo
- Publication number
- CN110244071A CN110244071A CN201910557429.3A CN201910557429A CN110244071A CN 110244071 A CN110244071 A CN 110244071A CN 201910557429 A CN201910557429 A CN 201910557429A CN 110244071 A CN110244071 A CN 110244071A
- Authority
- CN
- China
- Prior art keywords
- test tube
- coordinate
- control system
- camera
- rack
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N35/00—Automatic analysis not limited to methods or materials provided for in any single one of groups G01N1/00 - G01N33/00; Handling materials therefor
- G01N35/00584—Control arrangements for automatic analysers
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N35/00—Automatic analysis not limited to methods or materials provided for in any single one of groups G01N1/00 - G01N33/00; Handling materials therefor
- G01N35/0099—Automatic analysis not limited to methods or materials provided for in any single one of groups G01N1/00 - G01N33/00; Handling materials therefor comprising robots or similar manipulators
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N35/00—Automatic analysis not limited to methods or materials provided for in any single one of groups G01N1/00 - G01N33/00; Handling materials therefor
- G01N35/02—Automatic analysis not limited to methods or materials provided for in any single one of groups G01N1/00 - G01N33/00; Handling materials therefor using a plurality of sample containers moved by a conveyor system past one or more treatment or analysis stations
Abstract
The present invention provides a kind of automatic assay device based on intelligence control system, which includes upper computer control system, mechanical arm body, visual identifying system, end executive device.Upper computer control system mainly carries out the control of system to whole device；Mechanical arm body is whole device " body ", controls the movement of whole device；Visual identifying system is " eyes " of the present apparatus, and the exact position of target test tube is determined by it；End executive device is the execution unit of whole device, realizes final step operation, inspiration and discharge target laboratory reagent.The chemical examination efficiency of entire automatic assay device and accuracy and the above various pieces are closely related, and indispensable, the above all parts are pulled one hair and move the whole body, and only each part works normally the stability that just can guarantee whole system.The present apparatus uses Open Control, it can be achieved that mechanical arm is mobile, and the identification of test tube is drawn and discharge reagent, the work such as human-computer interaction.
Description
Technical field
The present invention relates to smart machine field more particularly to a kind of automatic assay devices based on intelligence control system.
Background technique
There are the chemical examination department of oneself in most of unit such as factory and hospital in China at present, and most chemical examination is still
It is solved by manpower, and the process chemically examined is single dull, waste of manpower resource can be replaced completely with mechanical arm.Robot
Manpower can be freed from the duplication of labour of a hard row to hoe and factory, although its intelligence however such as mankind's labor
It is dynamic, but its sensitivity and accuracy will be much larger than the mankind, the similarity of procedure each time can be set in we, will
Striking resemblances that chemical examination capacity each time is all set (error is no more than 1 ‰), or even connect the motion track of mechanical arm and be ok
Control is within the displacement error of 0.1mm.Prior, mechanical arm, which can continue working, not to be needed to rest, its efficiency is remote
Much larger than hand labor.
In chemical examination mechanical arm automatically, visual identity is a most important part, he is whole system " eyes ", is used
To enable mechanical arm " to see " position of test tube to be identified and be positioned.Required for us, as quickly, accurately
The position for recognizing test tube, this directly determines the working efficiency and reliability of device.
Summary of the invention
Therefore, in order to overcome the above problem, the present invention provides a kind of automatic assay device based on intelligence control system, should
Device includes upper computer control system, mechanical arm body, visual identifying system, end executive device.Upper computer control system master
The control of system is carried out to whole device；Mechanical arm body is whole device " body ", controls the movement of whole device；Depending on
Feel that identifying system is " eyes " of the present apparatus, the exact position of target test tube is determined by it；End executive device is entire
The execution unit of device realizes final step operation, inspiration and discharge target laboratory reagent.The chemical examination of entire automatic assay device
Efficiency and accuracy and the above various pieces are closely related, and indispensable, the above all parts are pulled one hair and move the whole body, only often
A part all works normally just the stability that can guarantee whole system.The present apparatus uses Open Control, it can be achieved that mechanical arm moves
Dynamic, the identification of test tube is drawn and discharge reagent, the work such as human-computer interaction.
Automatic assay device provided by the invention based on intelligence control system include mechanical arm body, end effector,
Air pump, rack for test tube, upper computer control system and visual identifying system.
Wherein, for fixing test tube, visual identifying system is set in mechanical arm body rack for test tube, and visual identifying system is used
In the coordinate of offer target test tube, and coordinate is transmitted to upper computer control system, the output end and machine of upper computer control system
The input terminal of tool arm body connects, and upper computer control system is sent according to the coordinate of the target test tube received to mechanical arm body
First control instruction to control mechanical arm bulk motion to target test tube position, the output end of upper computer control system also with air pump
Input terminal connection, end effector is installed on mechanical arm body ends, and end effector is set to examination with sucking for being discharged
Reagent to be assayed on pipe support in test tube, end effector are connect with air pump, move to target test tube in mechanical arm body
Behind position, upper computer control system sends the second control instruction to air pump and passes through the positive and negative to control of control pressure to control air pump
The work of end effector, end effector underface are rack for test tube.
Preferably, mechanical arm body include first servo motor, it is the second servo motor, large arm, third servo motor, small
Arm and cooperating joint；End effector includes syringe and camera.
Wherein, first servo motor is fixedly installed on workbench, and the second servo motor and first servo motor are direct
Connection, one end of large arm is connected with the second servo motor, and the other end of large arm is connect with third servo motor, one end of forearm and
The connection of third servo motor, the other end of forearm and one end of cooperating joint connect, and the other end of cooperating joint is provided with injection
Device, syringe side are provided with camera, and first servo motor controls large arm left-right rotation, before the second Serve Motor Control large arm
After rotate, third Serve Motor Control syringe move up and down.
Preferably, visual identifying system provides the coordinate of target test tube, comprising the following steps:
Step 1: passing through gray processing, smooth, binaryzation in the image for acquiring camera, extract profile and generate central point, build
A rectangular coordinate system uov as unit of pixel is found, the coordinate (u, v) of each pixel respectively represents the pixel in array
Columns and line number resettle the rectangular coordinate system XO an of physical unit1Y for indicating the position of picture point, and right angle is sat
Mark system XO1The origin of Y is scheduled on the principal point of camera, wherein x-axis is parallel with u axis, y-axis is parallel with v axis, the original of uov coordinate system
Point is scheduled on XO1The upper left corner of Y-coordinate system, if O1Coordinate in uov coordinate system is (u0, v0), each pixel is in x-axis and y-axis
Physical size on direction is dx, dy, then coordinate of any one pixel under two coordinate systems has following relationship in image:
x=(u-u0) dx, y=- (v-v0) dy,
Be converted to matrix form are as follows:
。
Step 2: setting the rectangle that ABCD is the peripheral test tube central point fitting obtained by image procossing, O point is rectangle
Rectangular coordinate system is established by origin of O point in midpoint, and x-axis is parallel to the length of rectangle, and y-axis is parallel to the width of rectangle；If A ' B ' C ' D '
It is the outer rim of camera collection image,It is its midpoint, rack for test tube can be by calculating line relative to the rotation angle θ of camera
The slope of AB or the slope of line CD obtain.
Step 3: in the flat image of rack for test tube, establishing rectangular coordinate system, two phases by origin of the central point of rectangle
The horizontal spacing and longitudinal pitch in the center of circle of adjacent test tube are all Δ, if a row b column of the d test tube on rack for test tube, wherein
Rack for test tube top line is the 0th row, and rack for test tube Far Left one is classified as the 0th column, and a, b are integer, if rack for test tube 3 row of totally 6 column,
And test tube from left to right according to elder generation, then is successively sorted for first from top to bottom with the rack for test tube upper left corner for No. 1 test tube, then, and No. d
The position P of test tube:
。
Step 4: the position of d test tube being transformed into camera coordinate system from plane coordinate system, finally obtains P in camera
Coordinate P ' ' in coordinate, coordinate P ' ' are the coordinate of target test tube.
Preferably, in above-mentioned steps 1, the image of camera acquisition is taken turns by gray processing, smooth, binaryzation, extraction
It is wide and generate central point and include the following steps:
Step 11: the color image that camera acquires is transformed into gray level image.
Step 12: during being smoothed to above-mentioned gray level image, making an uproar to image application Gaussian Blur
Sound removal, reduces the resolution of pseudo-edge.
Step 13: during carrying out binary conversion treatment to the above-mentioned image after smoothing processing, finding figure first
The maximum value and minimum value of all pixels, then take central point as threshold value, the pixel lower than threshold value is set as black, is higher than as in
Or white is set as equal to the pixel of threshold value.
Step 14: profile being extracted to the above-mentioned image after binary conversion treatment and is generating the process of central point
In, firstly, Gaussian Blur is carried out to image, secondly, then calculating gradient magnitude and direction carry out non-maximum value inhibition, connect
, edge pixel is distinguished using a high threshold values and a low valve valve, finally, carrying out hysteresis bounds tracking.
Preferably, in above-mentioned steps 2, rack for test tube can be by calculating the oblique of line AB relative to the rotation angle θ of camera
The slope of rate or line CD obtain, include the following steps:
Step 21: setting the coordinate of A point in image coordinate system as (xa, ya), the coordinate of B point is (xb, yb), the coordinate of C point is (xc,
yc), the coordinate of D point is (xd, yd), the slope of the long AB of rectangle where test tube is kAB, the slope of wide CD is kCD, the length of interior frame
AB is θ relative to the inclination angle of the long A ' B ' of outer rimAB,The wide CD of interior frame is relative to the inclination angle of the wide C ' D ' of outer rim
θCD, then,
；
；
；
。
Step 22: taking tiltangleθABAnd θCDAverage value:
。
Preferably, in above-mentioned steps 4, the position of d test tube is transformed into camera coordinate system from plane coordinate system, most
Coordinate P ' ' of the P in camera coordinate is obtained eventually to include the following steps:
Step 41: the rotation angle θ by rack for test tube relative to camera introduces spin matrix R:
。
Step 42: coordinate P is obtained into P ' after rotation, then,
。
Step 43: the offset (x plus rack for test tube plane coordinate system relative to camera coordinate systemo, yo), obtain final P
Coordinate P ' ' in camera coordinate:
。
Preferably, syringe is driven using air pump, air pump generates positive pressure and negative pressure respectively corresponds syringe discharge and inhales
Enter liquid, closing air pump, then syringe is no longer drawn and reagent in test tube is discharged, and the amount and air pump of sucking or discharge reagent are opened
Time is directly proportional, if draw with discharge amount of liquid be Y, time T, constant K, pressure coefficient P, then,；
Wherein, P is that liquid is then discharged in positive number, and P is that negative then sucks liquid.
Compared with prior art, the present invention have it is following the utility model has the advantages that
(1) present invention provides a kind of automatic assay device based on intelligence control system, which includes upper computer control system,
Mechanical arm body, visual identifying system, end executive device.Upper computer control system mainly carries out the control of system to whole device
System；Mechanical arm body is whole device " body ", controls the movement of whole device；Visual identifying system is the " eye of the present apparatus
Eyeball " determines the exact position of target test tube by it；End executive device is the execution unit of whole device, is realized last
Single stepping, inspiration and discharge target laboratory reagent.The chemical examination efficiency of entire automatic assay device and accuracy are each with more than
Part is closely related, indispensable, and the above all parts are pulled one hair and move the whole body, and only each part works normally and could protect
Demonstrate,prove the stability of whole system.The present apparatus uses Open Control, it can be achieved that mechanical arm is mobile, and the identification of test tube is drawn and arranged
Reagent out, the work such as human-computer interaction.
(2) present invention a kind of automatic assay device based on intelligence control system is provided, with traditional equipment compared with with
Lower advantage:
Reduce manual labor, chemical examination cost is greatly saved, while improving chemical examination efficiency, so that other working efficiencies mention
It is high；Working time much length and hand labor.
The harm that laboratory personnel directly contacts noxious material is avoided, it is more many safely than traditional assay method, instead of perhaps
The chemical examination of more unavoidable hazards substances operates.
The present apparatus has used automatic vision identifying system, can be with Intellectual garment from pseudoinstruction, more acurrate identification test tube label,
Precision is higher.
Visual identity and mechanical arm control system form closed-loop control, and anti-interference is extremely strong.
Detailed description of the invention
Fig. 1 is the structure chart of mechanical arm body of the invention；
Fig. 2 is the structure chart of the automatic assay device of the invention based on intelligence control system；
Fig. 3 is rectangular coordinate system uov and XO of the invention1The relation schematic diagram of Y；
Fig. 4 is rack for test tube floor map of the invention；
Fig. 5 is camera collection image binaryzation schematic diagram of the invention；
Fig. 6 is the rack for test tube image schematic diagram after label of the invention；
Fig. 7 is that target test tube coordinate of the invention transforms to camera coordinate system schematic diagram by rack for test tube plane coordinate system；
Fig. 8 is signal processing circuit figure of the invention.
Appended drawing reference:
1- machinery arm body；2- end effector；3- air pump；4- rack for test tube；5- upper computer control system；6- the second servo electricity
Machine；7- large arm；8- third servo motor；9- forearm；10- cooperating joint；11- syringe；12- camera；13- the first servo electricity
Machine.
Specific embodiment
The automatic assay device to provided by the invention based on intelligence control system carries out with reference to the accompanying drawings and examples
It is described in detail.
As shown in Fig. 2, the automatic assay device provided by the invention based on intelligence control system include mechanical arm body 1,
End effector 2, air pump 3, rack for test tube 4, upper computer control system 5 and visual identifying system.
Wherein, rack for test tube 4 is for fixing test tube, and visual identifying system is set in mechanical arm body 1, visual identifying system
Upper computer control system 5, the output end of upper computer control system 5 are transmitted to for providing the coordinate of target test tube, and by coordinate
It is connect with the input terminal of mechanical arm body 1, upper computer control system 5 is according to the coordinate of the target test tube received to mechanical arm master
Body 1 sends the first control instruction and moves to target test tube position, the output of upper computer control system 5 to control mechanical arm body 1
End is also connect with the input terminal of air pump 3, and end effector 2 is installed on mechanical 1 end of arm body, and end effector 2 is for being discharged
The reagent to be assayed being set on rack for test tube 4 in test tube with sucking, end effector 2 is connect with air pump 3, in mechanical arm body
1 move to target test tube position after, upper computer control system 5 sends the second control instruction to air pump 3 and is passed through with controlling air pump 3
The positive and negative work to control end effector 2 of control pressure is rack for test tube 4 immediately below end effector 2.
As shown in Figure 1, mechanical arm body 1 includes first servo motor 13, the second servo motor 6, large arm 7, third servo
Motor 8, forearm 9 and cooperating joint 10；End effector 2 includes syringe 11 and camera 12.
Wherein, first servo motor 13 is fixedly installed on workbench, the second servo motor 6 and first servo motor 13
It is directly connected to, one end of large arm 7 is connected with the second servo motor 6, and the other end of large arm 7 is connect with third servo motor 8, forearm
9 one end is connect with third servo motor 8, and the other end of forearm 9 is connect with one end of cooperating joint 10, cooperating joint 10 it is another
One end is provided with syringe 11, and 11 side of syringe is provided with camera 12, and first servo motor 13 controls 7 left/right rotation of large arm
It is dynamic, it is rotated before and after the second servo motor 6 control large arm 7, third servo motor 8 controls syringe 11 and moves up and down.
As shown in figure 3, mechanical arm is to the position for first having to determine target test tube before tube manipulation, this process mainly by
Two parts are constituted, and are the conversion for obtaining coordinate under target test tube coordinate and target test tube coordinate and world coordinate system respectively.
Specifically, visual identifying system provides the coordinate of target test tube, comprising the following steps:
Step 1: pass through gray processing, smooth, binaryzation in the image for acquiring camera 12, extract profile and generate central point,
A rectangular coordinate system uov as unit of pixel is established, the coordinate (u, v) of each pixel respectively represents the pixel in array
Columns and line number, resettle the rectangular coordinate system XO an of physical unit1Y, for indicating the position of picture point, and by right angle
Coordinate system XO1The origin of Y is scheduled on the principal point of camera, wherein x-axis is parallel with u axis, y-axis is parallel with v axis, uov coordinate system
Origin is scheduled on XO1The upper left corner of Y-coordinate system, if O1Coordinate in uov coordinate system is (u0, v0), each pixel is in x-axis and y
Physical size in axis direction is dx, dy, then coordinate of any one pixel under two coordinate systems has following relationship in image:
x=(u-u0) dx, y=- (v-v0) dy,
Be converted to matrix form are as follows:
。
As shown in figure 4, ABCD is the rectangle of the peripheral test tube central point fitting obtained by image procossing, O point is rectangle
Midpoint, establish rectangular coordinate system by origin of O point, X-axis is parallel to the length of rectangle, and Y-axis is parallel to the width of rectangle.
Step 2: setting the rectangle that ABCD is the peripheral test tube central point fitting obtained by image procossing, O point is rectangle
Rectangular coordinate system is established by origin of O point in midpoint, and x-axis is parallel to the length of rectangle, and y-axis is parallel to the width of rectangle；If A ' B ' C ' D '
It is the outer rim that camera 12 acquires image,It is its midpoint, rack for test tube 4 can pass through relative to the rotation angle θ of camera 12
The slope of the slope or line CD that calculate line AB obtains.
As shown in figure 5, A ' B ' C ' D ' is the outer rim of camera collection image,It is its midpoint, ABCD is rack for test tube institute
Rectangle, rack for test tube can obtain relative to the rotation angle θ of camera by the slope or the slope of line CD for calculating line AB.
This system design is using plane visual, so considering the relevant two-dimensional coordinate formula of plane visual in design
The correlation properties of variation, because we are designed as camera axis perpendicular to rack for test tube plane, image coordinate to device
Be it is parallel with world coordinate system, we are it is only necessary to carry out two-dimensional transform to it in this way, two-dimensional coordinate transformation rotate and
Translation, we carry out parameter calculating to processed image, then it can be concluded that translation and rotation of the rack for test tube relative to camera
Data volume.
As shown in fig. 6, Fig. 4 is the rack for test tube image after label.
Step 3: in the flat image of rack for test tube 4, establishing rectangular coordinate system, two phases by origin of the central point of rectangle
The horizontal spacing and longitudinal pitch in the center of circle of adjacent test tube are all Δ, if a row b column of the d test tube on rack for test tube, wherein
4 top line of rack for test tube is the 0th row, and 4 Far Left one of rack for test tube is classified as the 0th column, and a, b are integer, if totally 6 column 3 of rack for test tube 4
It is capable, and test tube from left to right according to elder generation, then is successively sorted for first from top to bottom with 4 upper left corner of rack for test tube for No. 1 test tube, then,
The position P of d test tube:
；
Step 4: the position of d test tube being transformed into camera coordinate system from plane coordinate system, finally obtains P in camera coordinate
In coordinate P ' ', coordinate P ' ' be target test tube coordinate.
Specifically, in above-mentioned steps 1, the image that camera 12 is acquired is by gray processing, smooth, binaryzation, extraction wheel
It is wide and generate central point and include the following steps:
Step 11: the color image that camera 12 acquires is transformed into gray level image；
Step 12: during being smoothed to above-mentioned gray level image, noise being carried out to image application Gaussian Blur and is gone
It removes, reduces the resolution of pseudo-edge；
Step 13: during carrying out binary conversion treatment to the above-mentioned image after smoothing processing, finding in image first
Then the maximum value and minimum value of all pixels take central point as threshold value, the pixel lower than threshold value is set as black, are higher than or wait
White is set as in the pixel of threshold value；
Step 14: first during extracting profile to the above-mentioned image after binary conversion treatment and generating central point
First, Gaussian Blur is carried out to image, secondly, then calculating gradient magnitude and direction carry out non-maximum value inhibition, then, used
One high threshold values and a low valve valve distinguish edge pixel, finally, carry out hysteresis bounds tracking.
Specifically, in above-mentioned steps 2, rack for test tube 4 can be by calculating the oblique of line AB relative to the rotation angle θ of camera 12
The slope of rate or line CD obtain, include the following steps:
Step 21: setting the coordinate of A point in image coordinate system as (xa, ya), the coordinate of B point is (xb, yb), the coordinate of C point is (xc,
yc), the coordinate of D point is (xd, yd), the slope of the long AB of rectangle where test tube is kAB, the slope of wide CD is kCD, the length of interior frame
AB is θ relative to the inclination angle of the long A ' B ' of outer rimAB,The wide CD of interior frame is relative to the inclination angle of the wide C ' D ' of outer rim
θCD, then,
；
；
；
；
Step 22: taking tiltangleθABAnd θCDAverage value:
。
Specifically, in above-mentioned steps 4, the position of d test tube is transformed into camera coordinate system from plane coordinate system, finally
Coordinate P ' ' of the P in camera coordinate is obtained to include the following steps:
Step 41: the rotation angle θ by rack for test tube 4 relative to camera 12 introduces spin matrix R:
；
Step 42: coordinate P is obtained into P ' after rotation, then,
；
Step 43: the offset (x plus rack for test tube plane coordinate system relative to camera coordinate systemo, yo), it obtains final P and exists
Coordinate P ' ' in camera coordinate:
。
As shown in fig. 7, target test tube coordinate transforms to camera coordinate system by rack for test tube plane coordinate system.
Specifically, syringe 11 is driven using air pump 3, air pump 3 generates positive pressure and negative pressure respectively corresponds the discharge of syringe 11
With sucking liquid, then syringe 11 no longer draws amount and gas with reagent in discharge test tube, sucking or discharge reagent to closing air pump 3
Pump that 3 opening times are directly proportional, if drawing with the amount of liquid of discharge is Y, time T, constant K, pressure coefficient P, then,；Wherein, P is that liquid is then discharged in positive number, and P is that negative then sucks liquid.
Further, intelligent control system is based on to provided by the invention due to the vibration in 2 operation of end effector
The precision of automatic assay device of system has tremendous influence, and in the prior art, to the vibration-testing of actuator, often precision is not high,
In precise operation, vibrating the influence to the automatic assay device provided by the invention based on intelligence control system be can not ignore.
Therefore, the automatic assay device provided by the invention based on intelligence control system further includes being set to end effector
Vibrating sensor on 2, wherein vibrating sensor is used to monitor the vibration signal of end effector 2, the output of vibrating sensor
End connect with the input terminal of signal processing circuit, signal processing circuit successively to the vibration signal that receives carry out signal amplify with
Upper computer control system 5, the vibration signal that upper computer control system 5 will receive again are transmitted a signal to after signal filtering processing
It is converted to vibration values and is transmitted to the display device connecting with upper computer control system 5, staff can pass through display as a result,
Accurately know the Vibration Condition of end effector 2, when end effector 2 vibrates excessive, staff can check in time and set
It is standby.
As shown in figure 8, vibrating sensor is used to monitor the vibration signal of end effector 2, the vibration signal of acquisition is turned
It is changed to current signal I0, and current signal I0 is transmitted to signal processing circuit, V1 is that treated by signal processing circuit
Voltage signal, signal processing circuit include signal amplification unit and signal filter unit, the output end and signal of vibrating sensor
The input terminal of amplifying unit connects, and the output end of signal amplification unit is connect with the input terminal of signal filter unit, signal filtering
The output end of unit is connect with the input terminal of upper computer control system 5.
Signal amplification unit includes integrated transporting discharging A1-A2, capacitor C1-C4, triode VT1-VT4 and resistance R1-R10.
Wherein, the output end of vibrating sensor is connect with one end of resistance R1, the other end and integrated transporting discharging A1 of resistance R1
Inverting input terminal connection, the non-inverting input terminal ground connection of integrated transporting discharging A1, the other end of resistance R1 connect with one end of capacitor C1,
One end after capacitor C2 and resistance R2 is in parallel connect with the other end of resistance R2, the other end after capacitor C2 and resistance R2 parallel connection and
The signal filter unit connection, the other end of capacitor C1 are connect with the output end of integrated transporting discharging A1, the output of integrated transporting discharging A1
End is connect with the input terminal of integrated transporting discharging A2, and one end ground connection of capacitor C3, the other end of capacitor C3 is connect with+15V power supply, capacitor
One end of C4 is grounded, and the other end of capacitor C4 is connect with -15V power supply, and the other end of capacitor C4 is also connect with one end of resistance R4,
The other end of resistance R4 is connect with the end V- of integrated transporting discharging A2, and the other end of resistance R4 is also connect with the base stage of triode VT4, electricity
One end of resistance R3 is connect with the end V+ of integrated transporting discharging A2, and one end of resistance R3 is connect with the base stage of triode VT3, and the one of resistance R3
End is also connect with the collector of triode VT1, and the other end of resistance R3 is connect with+15V power supply, one end of resistance R10 and three poles
The collector of pipe VT2 connects, and the collector of triode VT2 is also connect with -15V power supply, the other end and triode of resistance R10
The emitter of VT4 connects, and one end of resistance R9 is connect with the base stage of triode VT2, and the other end of resistance R9 is another with resistance R10's
One end connection, the collector of triode VT2 are connect with the base stage of triode VT4, and one end ground connection of resistance R8, resistance R8's is another
End is connect with the output end of integrated transporting discharging A2, and the other end of resistance R8 is also connect with one end of resistance R7, the other end of resistance R7
It is connect with the collector of triode VT4, the collector of triode VT4 is connect with the collector of triode VT3, triode VT3's
Base stage is connect with the collector of triode VT1, and one end of resistance R6 is connect with the base stage of triode VT1, the other end of resistance R6
Connect with the collector of triode VT3, one end of resistance R5 is connect with the collector of triode VT1, the other end of resistance R5 with
The other end of resistance R6 connects.
Signal filter unit includes resistance R11-R20, capacitor C5-C11 and integrated transporting discharging A3-A6.
Wherein, the output end of signal amplification unit is connect with one end of resistance R11, the other end and capacitor C5 of resistance R11
One end connection, one end ground connection of resistance R15, the other end of resistance R15 connect with one end of resistance R14, and resistance R15's is another
End is connect with the non-inverting input terminal of integrated transporting discharging A3, and the other end of resistance R14 is connect with one end of resistance R13, and resistance R14's is another
One end is also connect with the output end of integrated transporting discharging A4, and the other end of resistance R13 is connect with the inverting input terminal of integrated transporting discharging A3, electricity
The other end of resistance R13 is connect with the inverting input terminal of integrated transporting discharging A4, and the other end of resistance R13 also connects with one end of capacitor C7
It connecing, the other end of capacitor C7 is connect with the output end of integrated transporting discharging A3, and the other end of capacitor C7 is connect with one end of resistance R12,
The other end of resistance R12 is connect with one end of capacitor C6, and the other end of resistance R12 also connects with the non-inverting input terminal of integrated transporting discharging A4
It connects, the other end of capacitor C6 is connect with the other end of capacitor C5, and the other end of capacitor C5 is also connect with one end of capacitor C8, resistance
One end of R19 is grounded, and the other end of resistance R19 is connect with one end of resistance R18, the other end and integrated transporting discharging A5 of resistance R19
Non-inverting input terminal connection, the other end of resistance R18 connect with one end of resistance R17, the other end of resistance R18 also with integrated fortune
The output end connection of A6 is put, the other end of resistance R17 is connect with the inverting input terminal of integrated transporting discharging A5, the other end of resistance R17
It is connect with the inverting input terminal of integrated transporting discharging A6, the other end of resistance R17 is also connect with one end of capacitor C10, and capacitor C10's is another
One end is connect with the output end of integrated transporting discharging A5, and the other end of capacitor C10 is connect with one end of resistance R16, and resistance R16's is another
End is connect with one end of capacitor C9, and the other end of resistance R16 is also connect with the non-inverting input terminal of integrated transporting discharging A6, and capacitor C9's is another
One end is connect with the other end of capacitor C8, and the other end of capacitor C8 is also connect with one end of capacitor C11, a termination of resistance R20
The other end on ground, resistance R20 is connect with the other end of capacitor C11, and the other end of resistance R20 is defeated with upper computer control system 5
Enter end connection, voltage signal V1 is transmitted to upper computer control system 5 by signal filter unit.
In above embodiment, the noise of signal processing circuit drifts about within 2.25nV as 1.25 μ V/ DEG C, integrated fortune
The model for putting A1 is LT1056, the model LT1192 of the model LT1010 of integrated transporting discharging A2, integrated transporting discharging A3-A6, and three
The model of pole pipe VT1 is 2N3906, and the model of triode VT2 is 2N3904, and the model of triode VT3 is MJE2955,
The model of triode VT4 is MJE3055.
In signal amplification unit, the resistance value of resistance R1 is 10k Ω, and the resistance value of resistance R2 is 10k Ω, the resistance value of resistance R3
For 33 Ω, the resistance value of resistance R4 is 33 Ω, and the resistance value of resistance R5 is 0.18 Ω, and the resistance value of resistance R6 is 1k Ω, the resistance of resistance R7
Value is 100 Ω, and the resistance value of resistance R8 is 100 Ω, and the resistance value of resistance R9 is 1k Ω, and the resistance value of resistance R10 is 0.18 Ω, capacitor C1
Capacitance be 22 μ F, the capacitance of capacitor C2 is 15pF, and the capacitance of capacitor C3 is 22 μ F, and the capacitance of capacitor C4 is 22 μ
F。
Since the signal of vibrating sensor acquisition is more faint, it is easy by noise covering/influence, therefore, the present embodiment mentions
The output power that the circuit structure of the signal amplification unit of confession provides an anti-noise, quicklys increase integrated transporting discharging A2, for putting
The signal effect of sensor acquisition is preferable in the big present invention, overcomes the problem that sensor acquisition precision is not high in the prior art.
The power supply signal of resistance R3 and resistance R4 acquisition integrated transporting discharging A2, load use the resistance R8 of ground connection.Resistance
Pressure drop on R3 and resistance R4 biases triode VT3 and VT4, in addition, forming the feedback loop of closure, using resistance R7 to ensure
Signal amplified signal stablizes output, is directly fed back to integrated transporting discharging A1 control amplification, triode VT1 and three poles by resistance R2
Pipe VT2 senses the pressure drop on resistance R5 and R10, and noise signal can be effectively suppressed.
The stability of integrated transporting discharging A1 makes it roll-off by capacitor C1 to guarantee, and the feedback capacity of capacitor C2 finely tunes edge
It responds, the triode used in the signal amplification unit in the present embodiment has low-frequency response, therefore, in signal amplification unit
In need not consider further that and carry out additional frequency compensation.
The output voltage signal of signal amplification unit is V01.
In signal filter unit, resistance value, the capacitance of capacitor C10-C11 of resistance R15-R24 is according to filtering demands
It is configured.
The resistance value of preferably one group resistance R11-R20, the value of the capacitance of capacitor C5-C11 in the present embodiment, wherein resistance
The resistance value of R11 is 100k Ω, and the resistance value of resistance R12 is 66.5k Ω, and the resistance value of resistance R13 is 66.5k Ω, the resistance value of resistance R14
For 66.5k Ω, the resistance value of resistance R15 is 66.5k Ω, and the resistance value of resistance R16 is 75k Ω, and the resistance value of resistance R17 is 75k Ω, electricity
The resistance value for hindering R18 is 75k Ω, and the resistance value of resistance R19 is 75k Ω, and the resistance value of resistance R20 is 100k Ω, the capacitance of capacitor C5
For 5.161nF, the capacitance of capacitor C6 is 35.05nF, and the capacitance of capacitor C7 is 10nF, and the capacitance of capacitor C8 is
The capacitance of 3.251nF, capacitor C9 are 12.03nF, and the capacitance of capacitor C10 is 10nF, and the capacitance of capacitor C11 is
6.505nF。
Since the signal of vibrating sensor acquisition is faint voltage signal, thus signal amplification unit passes through integrated transporting discharging
A1-A2, capacitor C1-C4, triode VT1-VT4 and resistance R1-R10 amplify place to the electric current I0 that vibrating sensor exports
Reason, is only had by the signal amplification unit that integrated transporting discharging A1-A2, capacitor C1-C4, triode VT1-VT4 and resistance R1-R10 are constituted
The noise of 2.25nV in offset, 100pA bias current and the broadband 0.1Hz to 10Hz within the drift of 1.25 μ V/ DEG C, 2 μ V.Its
In, signal filter unit is using resistance R11-R20, capacitor C5-C11 and integrated transporting discharging A3-A6 to by amplified telecommunications
It number is filtered, to improve the precision of vibration detection.
The present invention provides a kind of automatic assay device based on intelligence control system, which includes PC control system
System, mechanical arm body, visual identifying system, end executive device.Upper computer control system mainly carries out system to whole device
Control；Mechanical arm body is whole device " body ", controls the movement of whole device；Visual identifying system is the present apparatus
" eyes " determine the exact position of target test tube by it；End executive device is the execution unit of whole device, is realized most
Single stepping afterwards, inspiration and discharge target laboratory reagent.The chemical examination efficiency of entire automatic assay device and accuracy are each with more than
A part is closely related, indispensable, and the above all parts are pulled one hair and move the whole body, and only each part works normally ability
Guarantee the stability of whole system.The present apparatus uses Open Control, it can be achieved that mechanical arm is mobile, the identification of test tube, draw with
Reagent, the work such as human-computer interaction are discharged.
It should be noted last that the above examples are only used to illustrate the technical scheme of the present invention and are not limiting.Although ginseng
It is described the invention in detail according to embodiment, those skilled in the art should understand that, to technical side of the invention
Case is modified or replaced equivalently, and without departure from the spirit and scope of technical solution of the present invention, should all be covered in the present invention
Scope of the claims in.
Claims (7)
1. a kind of automatic assay device based on intelligence control system, which is characterized in that it is described based on intelligence control system from
Dynamic assay device includes mechanical arm body (1), end effector (2), air pump (3), rack for test tube (4), upper computer control system (5)
And visual identifying system；
Wherein, for fixing test tube, the visual identifying system is set on the mechanical arm body (1) rack for test tube (4), described
Coordinate is transmitted to the upper computer control system (5) for providing the coordinate of target test tube by visual identifying system, it is described on
The output end of position machine control system (5) is connect with the input terminal of the mechanical arm body (1), the upper computer control system (5)
The first control instruction is sent to control the mechanical arm to the mechanical arm body (1) according to the coordinate of the target test tube received
Main body (1) moves to target test tube position, input of the output end of the upper computer control system (5) also with the air pump (3)
End connection, the end effector (2) are installed on described mechanical arm body (1) end, and the end effector (2) is for being discharged
The reagent to be assayed on the rack for test tube (4) in test tube, the end effector (2) and the air pump are set to sucking
(3) connect, the mechanical arm body (1) move to target test tube position after, upper computer control system (5) Xiang Suoshu
Air pump (3) sends the second control instruction to control the air pump (3) by the positive and negative of control pressure and execute to control the end
The work of device (2), end effector (2) underface is the rack for test tube (4).
2. the automatic assay device according to claim 1 based on intelligence control system, which is characterized in that the mechanical arm
Main body (1) include first servo motor (13), the second servo motor (6), large arm (7), third servo motor (8), forearm (9) with
And cooperating joint (10)；The end effector (2) includes syringe (11) and camera (12)；
Wherein, the first servo motor (13) is fixedly installed on workbench, second servo motor (6) and described the
One servo motor (13) is directly connected to, and one end of the large arm (7) is connected with second servo motor (6), the large arm (7)
The other end connect with the third servo motor (8), one end of the forearm (9) is connect with the third servo motor (8),
The other end of the forearm (9) is connect with one end of the cooperating joint (10), the other end setting of the cooperating joint (10)
Have the syringe (11), syringe (11) side is provided with camera (12), first servo motor (13) control
Large arm (7) left-right rotation, second servo motor (6) control rotation before and after the large arm (7), the third servo electricity
Machine (8) controls the syringe (11) and moves up and down.
3. the automatic assay device according to claim 1 based on intelligence control system, which is characterized in that the vision is known
Other system provides the coordinate of target test tube, comprising the following steps:
Step 1: in the image for acquiring the camera (12) by gray processing, smooth, binaryzation, extraction profile and generation
Heart point, establishes a rectangular coordinate system uov as unit of pixel, and the coordinate (u, v) of each pixel respectively represents the pixel and exists
Columns and line number in array resettle the rectangular coordinate system XO an of physical unit1Y, for indicating the position of picture point, and
By rectangular coordinate system XO1The origin of Y is scheduled on the principal point of camera, wherein x-axis is parallel with u axis, y-axis is parallel with v axis, and uov is sat
The origin of mark system is scheduled on XO1The upper left corner of Y-coordinate system, if O1Coordinate in uov coordinate system is (u0, v0), each pixel exists
Physical size on x-axis and y-axis direction is dx, dy, then in image coordinate of any one pixel under two coordinate systems just like
Lower relationship:
x=(u-u0) dx, y=- (v-v0) dy,
Be converted to matrix form are as follows:
；
Step 2: the rectangle that ABCD is the peripheral test tube central point fitting obtained by image procossing is set, O point is the midpoint of rectangle,
Rectangular coordinate system is established by origin of O point, x-axis is parallel to the length of rectangle, and y-axis is parallel to the width of rectangle；If A ' B ' C ' D ' is institute
The outer rim of camera (12) acquisition image is stated,It is its midpoint, rotation of the rack for test tube (4) relative to the camera (12)
Rotational angle theta can be obtained by the slope of the slope or line CD that calculate line AB；
Step 3: in the flat image of the rack for test tube (4), rectangular coordinate system is established using the central point of rectangle as origin, two
The horizontal spacing and longitudinal pitch in the center of circle of adjacent test tube are all Δ, if a row b column of the d test tube on rack for test tube,
In, rack for test tube (4) top line is the 0th row, and rack for test tube (4) Far Left one is classified as the 0th column, and a, b are integer,
If the rack for test tube (4) 3 row of totally 6 column, and test tube with first, the rack for test tube (4) upper left corner for No. 1 test tube, according to elder generation from a left side
It turns right, then successively sorts from top to bottom, then, and the position P of d test tube:
；
Step 4: the position of d test tube being transformed into camera coordinate system from plane coordinate system, finally obtains P in camera coordinate
In coordinate P ' ', coordinate P ' ' be target test tube coordinate.
4. the automatic assay device according to claim 3 based on intelligence control system, which is characterized in that above-mentioned steps 1
In, by the image of the camera (12) acquisition by gray processing, smooth, binaryzation, extract profile and generate central point and include
Following steps:
Step 11: the color image that the camera (12) acquire is transformed into gray level image；
Step 12: during being smoothed to above-mentioned gray level image, noise being carried out to image application Gaussian Blur and is gone
It removes, reduces the resolution of pseudo-edge；
Step 13: during carrying out binary conversion treatment to the above-mentioned image after smoothing processing, finding in image first
Then the maximum value and minimum value of all pixels take central point as threshold value, the pixel lower than threshold value is set as black, are higher than or wait
White is set as in the pixel of threshold value；
Step 14: first during extracting profile to the above-mentioned image after binary conversion treatment and generating central point
First, Gaussian Blur is carried out to image, secondly, then calculating gradient magnitude and direction carry out non-maximum value inhibition, then, used
One high threshold values and a low valve valve distinguish edge pixel, finally, carry out hysteresis bounds tracking.
5. the automatic assay device according to claim 3 based on intelligence control system, which is characterized in that above-mentioned steps 2
In, the rack for test tube (4) can be by calculating the slope or line CD of line AB relative to the rotation angle θ of the camera (12)
Slope obtains, includes the following steps:
Step 21: setting the coordinate of A point in image coordinate system as (xa, ya), the coordinate of B point is (xb, yb), the coordinate of C point is (xc,
yc), the coordinate of D point is (xd, yd), the slope of the long AB of rectangle where test tube is kAB, the slope of wide CD is kCD, the length of interior frame
AB is θ relative to the inclination angle of the long A ' B ' of outer rimAB,The wide CD of interior frame is relative to the inclination angle of the wide C ' D ' of outer rim
θCD, then,
；
；
；
；
Step 22: taking tiltangleθABAnd θCDAverage value:
。
6. the automatic assay device according to claim 3 based on intelligence control system, which is characterized in that above-mentioned steps 4
In, the position of d test tube is transformed into camera coordinate system from plane coordinate system, finally obtains seat of the P in camera coordinate
Mark P ' ' includes the following steps:
Step 41: the rotation angle θ by the rack for test tube (4) relative to the camera (12) introduces spin matrix R:
；
Step 42: coordinate P is obtained into P ' after rotation, then,
；
Step 43: the offset (x plus rack for test tube plane coordinate system relative to camera coordinate systemo, yo), it obtains final P and is taking the photograph
As the coordinate P ' ' in head coordinate:
。
7. the automatic assay device according to claim 2 based on intelligence control system, which is characterized in that use the gas
Pump (3) and drive the syringe (11), the air pump (3) generates positive pressure and negative pressure respectively correspond the syringe (11) discharge with
Liquid is sucked, closing the air pump (3), then the syringe (11) is no longer drawn and reagent in discharge test tube, sucking or discharge examination
The amount of agent is directly proportional to the air pump (3) opening time, if drawing with the amount of liquid of discharge is Y, time T, constant K, pressure
FACTOR P, then,；Wherein, P is that liquid is then discharged in positive number, and P is that negative then sucks liquid.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910557429.3A CN110244071B (en) | 2019-06-25 | 2019-06-25 | Automatic chemical examination device based on intelligent control system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910557429.3A CN110244071B (en) | 2019-06-25 | 2019-06-25 | Automatic chemical examination device based on intelligent control system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110244071A true CN110244071A (en) | 2019-09-17 |
| CN110244071B CN110244071B (en) | 2022-12-23 |
Family
ID=67889390
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910557429.3A Active CN110244071B (en) | 2019-06-25 | 2019-06-25 | Automatic chemical examination device based on intelligent control system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110244071B (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111015651A (en) * | 2019-11-26 | 2020-04-17 | 广东省医疗器械研究所 | Novel online water quality analysis system and implementation method thereof |
| CN112474391A (en) * | 2020-11-16 | 2021-03-12 | 基点生物科技(成都)有限公司 | Frozen tube selection method based on visual auxiliary verification |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103282781A (en) * | 2010-11-23 | 2013-09-04 | 安德鲁联合有限公司 | Devices and methods for programmable manipulation of pipettes |
| CN203858256U (en) * | 2014-04-04 | 2014-10-01 | 珠海森龙生物科技有限公司 | Sample adding system |
| CN108187781A (en) * | 2017-12-30 | 2018-06-22 | 深圳市阿瑟医疗机器人有限公司 | Rack for test tube mobile system and Development of intelligent laboratory |
| CN208350820U (en) * | 2018-06-26 | 2019-01-08 | 长沙理工大学 | A kind of quick automatic sample feeding device |
-
2019
- 2019-06-25 CN CN201910557429.3A patent/CN110244071B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103282781A (en) * | 2010-11-23 | 2013-09-04 | 安德鲁联合有限公司 | Devices and methods for programmable manipulation of pipettes |
| CN203858256U (en) * | 2014-04-04 | 2014-10-01 | 珠海森龙生物科技有限公司 | Sample adding system |
| CN108187781A (en) * | 2017-12-30 | 2018-06-22 | 深圳市阿瑟医疗机器人有限公司 | Rack for test tube mobile system and Development of intelligent laboratory |
| CN208350820U (en) * | 2018-06-26 | 2019-01-08 | 长沙理工大学 | A kind of quick automatic sample feeding device |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111015651A (en) * | 2019-11-26 | 2020-04-17 | 广东省医疗器械研究所 | Novel online water quality analysis system and implementation method thereof |
| CN112474391A (en) * | 2020-11-16 | 2021-03-12 | 基点生物科技(成都)有限公司 | Frozen tube selection method based on visual auxiliary verification |
| CN112474391B (en) * | 2020-11-16 | 2021-10-29 | 基点生物科技(成都)有限公司 | Frozen tube selection method based on visual auxiliary verification |
Also Published As
| Publication number | Publication date |
|---|---|
| CN110244071B (en) | 2022-12-23 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110244071A (en) | A kind of automatic assay device based on intelligence control system | |
| CN103076876B (en) | Based on character entry apparatus and the method for eye tracking and speech recognition | |
| CN106625673B (en) | Small space assembly system and assembly method | |
| CN108544531A (en) | A kind of automatic chemical examination robot arm device, control system and its control method of view-based access control model calibration | |
| US9008442B2 (en) | Information processing apparatus, information processing method, and computer program | |
| CN106003119A (en) | Object grabbing method and system for suction type mechanical hand | |
| JP5699697B2 (en) | Robot device, position and orientation detection device, position and orientation detection program, and position and orientation detection method | |
| WO2014141262A1 (en) | System and methods for processing a biopsy sample | |
| CN108492321A (en) | A kind of multi-modal method for tracking target and device | |
| CN108051361B (en) | A kind of detection device and method of the more biophysical properties of cell | |
| CN106886758A (en) | Based on insect identifying device and method that 3 d pose is estimated | |
| CN1442786A (en) | Microinsect automatic counting system | |
| CN102768541B (en) | The control method of operating robot and system | |
| CN211402569U (en) | Tester for detecting touch screen line segment touch identification | |
| CN104535383B (en) | A kind of three-dimensional adjustable mechanical cleft hand for sample pre-treatments | |
| Pauli et al. | Vision-based integrated system for object inspection and handling | |
| CN111524592B (en) | Intelligent diagnosis robot for skin diseases | |
| CN108583115B (en) | Manufacturing system of mouse early embryo model | |
| Guo et al. | A contour-guided pose alignment method based on Gaussian mixture model for precision assembly | |
| CN217552389U (en) | Mobile temperature measurement disinfection robot device | |
| CN111242062A (en) | Image processing method and system for detecting skin position of zebra fish juvenile fish | |
| US20230404823A1 (en) | Control system and control method for controlling electric walking aid device | |
| Zhang et al. | Research on object panoramic 3D point cloud reconstruction system based on structure from motion | |
| CN115174771B (en) | Child DR photographing auxiliary vehicle and method | |
| CN107320280A (en) | A kind of method of accurate control patient in dental operation |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| TA01 | Transfer of patent application right |
Effective date of registration: 20221206 Address after: 401121 No. 3-2, 1st floor, zone 2-2, Jupiter science and Technology Development Center (Jupiter), Gaoxin Park, Dazhulin street, Liangjiang New Area, Chongqing Applicant after: Chongqing Ouluo Intelligent Control System Co.,Ltd. Address before: 211305 Gangkou kindergarten, zhuanqiang Town, Gaochun District, Nanjing City, Jiangsu Province Applicant before: SUZHOU PULITE ELECTRONICS TECHNOLOGY Co.,Ltd. |
|
| TA01 | Transfer of patent application right | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |