CN110711751B

CN110711751B - Automatic cleaning apparatus, control method of automatic cleaning apparatus, and storage medium

Info

Publication number: CN110711751B
Application number: CN201810759497.3A
Authority: CN
Inventors: 张兴华; 王志红; 刘嘉琛
Original assignee: Shenzhen Mindray Bio Medical Electronics Co Ltd; Shenzhen Mindray Scientific Co Ltd
Current assignee: Shenzhen Mindray Bio Medical Electronics Co Ltd; Shenzhen Mindray Scientific Co Ltd
Priority date: 2018-07-11
Filing date: 2018-07-11
Publication date: 2022-02-18
Anticipated expiration: 2038-07-11
Also published as: CN110711751A

Abstract

The embodiment of the invention discloses automatic cleaning equipment, a control method of the automatic cleaning equipment and a storage medium, wherein the equipment comprises the following components: the cup holder assembly is used for placing at least two groups of cups to be cleaned; the cleaning needle assembly comprises at least two groups of cleaning needles which are arranged above the cup body to be cleaned; the fluid mechanism is used for injecting and sucking corresponding cleaning fluid into the cup body to be cleaned through the cleaning needle; the moving mechanism is used for driving the cleaning needle assembly to synchronously move up and down relative to the cup body to be cleaned; the control mechanism is used for controlling the movement mechanism to drive the cleaning needle assembly to move up and down and controlling the fluid mechanism to inject and suck the cleaning fluid through the cleaning needle, so that the liquid level of the cup body to be cleaned, where the cleaning fluid in the next cleaning stage in the same period is higher than the liquid level of the cup body to be cleaned, where the cleaning fluid in the previous cleaning stage is. The technical problem that the cleaning agent still remains in the cup body cleaned by the existing automatic cleaning equipment is solved, and the technical effect of improving the cleaning effect of the reaction cup is achieved.

Description

Automatic cleaning apparatus, control method of automatic cleaning apparatus, and storage medium

Technical Field

The embodiment of the invention relates to the technical field of automatic control, in particular to automatic cleaning equipment, a control method of the automatic cleaning equipment and a storage medium.

Background

The existing full-automatic biochemical analyzer adopts a reusable reaction container. After the test is performed, a reaction solution is stored in the reaction cup, which needs to be cleaned for reuse. In order to save manpower, automatic cleaning equipment is generally used to clean the reaction cups. However, the existing automatic cleaning equipment has poor cleaning effect, and the residue in the cup body can influence the test result of the liquid to be tested.

Disclosure of Invention

The embodiment of the invention provides automatic cleaning equipment, a control method of the automatic cleaning equipment and a storage medium, and aims to solve the technical problem that a cup body cleaned by the conventional automatic cleaning equipment still has cleaning agent residues.

In a first aspect, an embodiment of the present invention provides an automatic cleaning apparatus, including:

the cup holder assembly is used for placing at least two groups of cups to be cleaned;

the cleaning needle assembly comprises at least two groups of cleaning needles, is arranged above the cup body to be cleaned and corresponds to the cup body to be cleaned one by one, and each group of cleaning needles corresponds to one cleaning stage;

the fluid mechanism is respectively connected with each group of cleaning needles and is used for injecting and sucking corresponding cleaning fluid into the to-be-cleaned cup bodies through the cleaning needles, wherein the cleaning fluid comprises at least two cleaning fluids, and different cleaning fluids are adopted to clean different groups of to-be-cleaned cup bodies in different cleaning stages of the same period;

the moving mechanism is connected with the cleaning needle assembly and is used for driving the cleaning needle assembly to synchronously move up and down relative to the cup body to be cleaned;

and the control mechanism is respectively connected with the fluid mechanism and the movement mechanism and is used for controlling the movement mechanism to drive the cleaning needle assembly to move up and down and controlling the fluid mechanism to inject and suck the cleaning liquid through the cleaning needle, so that the liquid level of the cup body to be cleaned, in which the cleaning liquid in the next cleaning stage in the same period is higher than the liquid level of the cup body to be cleaned, in which the cleaning liquid in the previous cleaning stage is.

In a second aspect, an embodiment of the present invention further provides a control method for an automatic cleaning apparatus, which is executed by using the automatic cleaning cup apparatus in the first aspect, and the method includes:

the control movement mechanism drives the cleaning needle assembly to move up and down and controls the fluid mechanism to inject and suck cleaning liquid through the cleaning needle, so that the liquid level of the cup body to be cleaned, in which the cleaning liquid in the later cleaning stage is located, in the same period is higher than the liquid level of the cup body to be cleaned, in which the cleaning liquid in the previous cleaning stage is located.

In a third aspect, the present invention further provides a storage medium containing computer-executable instructions, which when executed by a computer processor, are used for executing the control method of the automatic cleaning device according to the second aspect.

The automatic cleaning equipment provided by the embodiment of the invention comprises: the cup holder assembly is used for placing a cup body to be cleaned; the cleaning needle assembly comprises at least two groups of cleaning needles which are arranged above the cup body to be cleaned, and each group of cleaning needles corresponds to one cleaning stage; the fluid mechanism is connected with each group of cleaning needles and is used for injecting and sucking corresponding cleaning liquid into the to-be-cleaned cup bodies through the cleaning needles, wherein the number of the cleaning liquid is at least two, and different cleaning liquids are adopted to clean different groups of to-be-cleaned cup bodies in different cleaning stages of the same period; the moving mechanism is connected with the cleaning needle assembly and is used for driving the cleaning needle assembly to synchronously move up and down relative to the cup body to be cleaned; the control mechanism is respectively connected with the fluid mechanism and the movement mechanism and is used for controlling the movement mechanism to drive the cleaning needle assembly to move up and down and controlling the fluid mechanism to inject and suck cleaning fluid through the cleaning needle, and the liquid level of the cup body to be cleaned, in which the cleaning fluid in the next cleaning stage is positioned, in the same period is higher than the liquid level of the cup body to be cleaned, in which the cleaning fluid in the previous cleaning stage is positioned, through the matched use of injecting the cleaning fluid and sucking the cleaning fluid. Compared with the prior art that the liquid level height is controlled only by the liquid injection amount control precision, the complexity of a control circuit can be reduced by matching the liquid injection and the liquid absorption, and the equipment cost is favorably reduced; the liquid level of the cleaning liquid in the next cleaning stage is higher than that of the cleaning liquid in the previous cleaning stage, so that the residues of the cleaning liquid in the previous cleaning stage near the liquid level can be better removed, and the cleaning effect of the cup body to be cleaned is favorably improved.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.

FIG. 1 is a block diagram of an automatic cleaning apparatus according to an embodiment of the present invention;

FIG. 2 is a schematic view of a cleaning needle assembly provided in accordance with an embodiment of the present invention;

FIG. 3 is a timing chart of the control according to the second embodiment of the present invention;

FIG. 4 is a timing chart of a control operation according to a second embodiment of the present invention;

FIG. 5 is a timing chart of a control operation according to a second embodiment of the present invention;

FIG. 6 is a timing chart of a control operation according to a second embodiment of the present invention;

FIG. 7 is a timing chart of the control according to the third embodiment of the present invention;

FIG. 8 is a schematic view of a cleaning needle assembly provided in accordance with a fourth embodiment of the present invention;

FIG. 9 is a timing chart of control provided by the fourth embodiment of the present invention;

FIG. 10 is a schematic view of a cleaning needle assembly provided in accordance with a fifth embodiment of the present invention;

FIG. 11 is a control timing chart according to a sixth embodiment of the present invention;

fig. 12 is a flowchart of a control method of an automatic cleaning apparatus according to a seventh embodiment of the present invention.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention clearer, the technical solutions of the present invention will be clearly and completely described through embodiments with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

Example one

Fig. 1 is a schematic block diagram of an automatic cleaning apparatus according to an embodiment of the present invention. The automatic cleaning device is adapted to clean a cup body, such as a biochemical reaction cup. As shown in fig. 1 and 2, the automatic cleaning apparatus includes a cup holder assembly 11, a cleaning needle assembly 12, a fluid mechanism 13, a movement mechanism 14, and a control mechanism 15, the cup holder assembly 11 being used to place cups 01, 02 to be cleaned; the cleaning needle assembly 12 comprises at least two groups of cleaning needles which are arranged above the cup body to be cleaned, and each group of cleaning needles corresponds to one cleaning stage; the fluid mechanism 13 is respectively connected with each group of cleaning needles and is used for injecting and sucking corresponding cleaning fluid into the cup body to be cleaned through the cleaning needles, wherein the cleaning fluid comprises at least two cleaning fluids, and different cleaning fluids are adopted to clean the cup body to be cleaned in different cleaning stages of the same period; the moving mechanism 14 is connected with the cleaning needle assembly 12 and is used for driving the cleaning needle assembly 12 to synchronously move up and down relative to the cup body to be cleaned; the control mechanism 15 is connected to the fluid mechanism 13 and the moving mechanism 14 respectively, and is used for controlling the moving mechanism 14 to drive the cleaning needle assembly 12 to move up and down and controlling the fluid mechanism 13 to inject and suck the cleaning liquid through the cleaning needle, so that the liquid level of the cup body to be cleaned where the cleaning liquid in the next cleaning stage in the same cycle is higher than the liquid level of the cup body to be cleaned where the cleaning liquid in the previous cleaning stage is.

It should be noted that, in this embodiment, a cycle refers to that the moving mechanism drives the cleaning needle to return to the preset position from the preset initial position through at least one descending motion and one returning ascending motion, and in this process, the process of liquid suction and injection is completed.

Because the cup body to be cleaned usually needs to be cleaned by at least two cleaning liquids, the cleaning stages are determined according to the types of the cleaning liquids, that is, each cleaning liquid corresponds to one cleaning stage, and the sequence of the cleaning stages is set according to the using sequence of different cleaning liquids. When the cup body to be cleaned corresponds to the cleaning needle (see fig. 2), the cleaning needle assembly and the cup body to be cleaned are divided into at least two groups according to the cleaning stage; when the number of the cup bodies to be cleaned is less than the number of the cleaning needles, the cup bodies to be cleaned can be dispersed in a plurality of cleaning stages or can be positioned in only one cleaning stage. And the cup body to be cleaned can be moved to the next cleaning stage from the previous cleaning stage through the conveying mechanism so as to go through different cleaning stages corresponding to the two cleaning liquids, thereby being beneficial to ensuring the cleaning effect of the cup body to be cleaned.

For example, the cleaning process of the cup body to be cleaned needs to be carried out by using a cleaning agent firstly, and then cleaning is carried out by using cleaning water, wherein the cleaning agent corresponds to a previous cleaning stage, and the cleaning water corresponds to a next cleaning stage. It can be understood that the type and sequence of the cleaning liquid can be specifically set according to the actual cleaning condition, and correspondingly, the cleaning stage can be correspondingly set according to the type and sequence of the cleaning liquid.

Wherein, motion 14 connects washing needle subassembly 12 for drive washing needle subassembly 12 for treating the synchronous up-and-down motion of washing cup, that is to say, motion 14 can be through driving washing needle subassembly 12 for treating the motion of washing cup, the adjustment washing needle end with treat the distance between the washing cup, and then can adjust the liquid level height of washing liquid through the terminal position of the imbibition needle that is in effective imbibition state. The effective liquid-absorbing state of the present embodiment means that the liquid-absorbing speed is greater than the liquid-injecting speed, and the liquid-injecting speed may be zero or non-zero at this time.

The fluid mechanism 13 is used for connecting each group of cleaning needles and injecting and sucking corresponding cleaning fluid through the cleaning needles 110, and the cleaning needles 110 can inject and suck fluid simultaneously. For this reason, the cleaning needle 110 of the present embodiment includes an injection needle 1101 for injecting liquid and a pipette needle 1102 for aspirating liquid.

Further, the automatic cleaning equipment further comprises a cup body conveying mechanism, and the cup holder assembly is connected with the cup body conveying mechanism and used for moving the to-be-cleaned cup body on the cup holder assembly in a set direction by the cup positions with the preset number of the cup positions. The number of the cup positions can be one or more, and the cup positions can be set according to specific conditions during actual design, production or use; the cup body transmission mechanism can be a belt-shaped transmission mechanism and can also be a disc-type transmission mechanism, the belt-shaped transmission mechanism controls the cup body to be cleaned to move along a straight line, and the disc-shaped transmission mechanism controls the cup body to be cleaned to move along a circular track. The present embodiment does not limit the specific form of the cup holder assembly and the cup body transfer mechanism as long as the displacement of the cup body to be cleaned can be achieved.

The cup body conveying mechanism usually displaces the cup body to be cleaned after each cycle is finished, and it can be understood that at least the last cup body to be cleaned in the cleaning stage corresponding to the last cleaning liquid is removed from the cleaning stage of the cleaning liquid, but the cleaning liquid injected in the previous cycle is still left in the cup body to be cleaned at this time, so the cleaning work is not finished. Based on this, the present embodiment is further provided with an emptying phase (see fig. 2) after the cleaning phase of the cleaning liquid, wherein the cup 03 to be cleaned in the emptying phase is not filled with the cleaning liquid, but only sucks the liquid, so that the cleaning liquid in the cup to be cleaned in the phase is completely sucked. Further, considering that the inner wall of the cup body is still in a wet state after the liquid suction needle sucks the residual liquid in the cup body to be cleaned, the liquid suction needle in the last cleaning stage of the embodiment is further provided with a wiping head for wiping the inner wall of the cup body to be cleaned through the wiping head while sucking the residual liquid by the liquid suction needle. The wiping head is preferably sleeved at the bottom of the liquid suction needle, and the bottom of the wiping head is flush with the tail end of the liquid suction needle.

In order to improve the universality of the cleaning equipment, the number of the cleaning stages is not limited in the embodiment, and the number and the sequence of the cleaning stages can be set according to the type of the cleaning liquid and the cleaning sequence in actual use.

Illustratively, there are two to-be-cleaned cup bodies in the cleaning agent stage, there are five to-be-cleaned cup bodies in the cleaning water stage, there is one to-be-cleaned cup body in only the imbibition cleaning stage, the preset liquid level height of two to-be-cleaned cup bodies in the cleaning agent stage is the same, the preset liquid level height of five to-be-cleaned cup bodies in the cleaning water stage is the same, and after the liquid amount control stage of each period, the liquid level height of cleaning water is higher than the liquid level height of cleaning agent, and after each period, the transport mechanism can select to move a cup position in order along the direction of the cleaning process. At the moment, each cup body to be cleaned can be cleaned after 8 cycles, and the cleaning process specifically comprises two times of cleaning agent cleaning, 5 times of cleaning water cleaning and one time of liquid absorption wiping in a liquid absorption stage.

Exemplarily, there are two to wait to wash the cup in the cleaner stage, there are four to wait to wash the cup in the washing water stage, only imbibition washing stage has two to wait to wash the cup, two in the cleaner stage wait to wash the preset liquid level height unanimity of cup, four in the washing water stage wait to wash the preset liquid level height unanimity of cup, and after the liquid measure control stage of every cycle, the liquid level height that washs water is higher than the liquid level height of cleaner, after every cycle, transport mechanism can select to remove two cup positions in order along the direction of cleaning process. At the moment, each cup body to be cleaned can be cleaned after 8 cycles, and the cleaning process specifically comprises one-time cleaning solution cleaning, two-time cleaning solution cleaning and one-time liquid absorption wiping only in a liquid absorption stage.

The technical scheme of the automatic cleaning equipment provided by the embodiment of the invention comprises the following steps: the cup holder assembly is used for placing a cup body to be cleaned; the cleaning needle assembly comprises at least two groups of cleaning needles which are arranged above the cup body to be cleaned, and each group of cleaning needles corresponds to one cleaning stage; the fluid mechanism is connected with each group of cleaning needles and is used for injecting and sucking corresponding cleaning liquid into the to-be-cleaned cup bodies through the cleaning needles, wherein the number of the cleaning liquid is at least two, and different cleaning liquids are adopted to clean different groups of to-be-cleaned cup bodies in different cleaning stages of the same period; the moving mechanism is connected with the cleaning needle assembly and is used for driving the cleaning needle assembly to synchronously move up and down relative to the cup body to be cleaned; the control mechanism is respectively connected with the fluid mechanism and the movement mechanism and is used for controlling the movement mechanism to drive the cleaning needle assembly to move up and down and controlling the fluid mechanism to inject and suck cleaning fluid through the cleaning needle, and the liquid level of the cup body to be cleaned, in which the cleaning fluid in the next cleaning stage is positioned, in the same period is higher than the liquid level of the cup body to be cleaned, in which the cleaning fluid in the previous cleaning stage is positioned, through the matched use of injecting the cleaning fluid and sucking the cleaning fluid. Compared with the prior art that the liquid level height is controlled only by the liquid injection amount control precision, the complexity of a control circuit can be reduced by matching the liquid injection and the liquid absorption, and the equipment cost is favorably reduced; the liquid level of the cleaning liquid in the next cleaning stage is higher than that of the cleaning liquid in the previous cleaning stage, so that the residues of the cleaning liquid in the previous cleaning stage near the liquid level can be better removed, and the cleaning effect of the cup body to be cleaned is favorably improved.

Example two

On the basis of the foregoing embodiment, the embodiment of the present invention adds an explanation on the liquid injection control stage, where the liquid injection control stage is a stage of selecting a start timing of the liquid injection valve. In this embodiment, several alternative opening timings of the filling valve are listed, wherein each cleaning stage corresponds to one filling valve.

Considering that the cup to be cleaned in the cleaning liquid stage needs to be filled with the cleaning liquid at the preset liquid level height in each period, and the cup to be cleaned carries the cleaning liquid to enter the next period, the cleaning liquid in the previous period retained in the cup to be cleaned needs to be pumped before the cleaning liquid is filled in the new period. The control mechanism of the embodiment controls the movement mechanism to drive the cleaning needle to be inserted into the cup bottom, controls the liquid suction valve to be opened in the descending process of the cleaning needle or when the cleaning needle is positioned at the cup bottom of the cup body to be cleaned, and then controls the liquid injection valves to be opened so as to inject the cleaning liquid into the cup body to be cleaned until the liquid suction needle is in an effective liquid suction state at the preset liquid level height of each cleaning liquid.

In order to facilitate the explanation of the control sequence, the preset liquid level height of the previous cleaning stage corresponds to the first height in the drawing, and the preset liquid level height of the subsequent cleaning stage corresponds to the second height in the drawing, as shown in fig. 3.

In conjunction with fig. 2, the liquid suction valve 113 is opened during the descending process of the cleaning needle (see fig. 3) or when the cleaning needle is located at the bottom of the cup to be cleaned (see fig. 4) for sucking the residual liquid in the cup to be cleaned, and the

liquid injection valves

111 and 112 are opened after the liquid suction valve 113 sucks the preset suction time. The

liquid injection valves

111 and 112 may be opened when the liquid suction needle completely sucks the residual liquid, or may be opened when the residual liquid is not completely sucked, and the former is preferred in this embodiment to improve the cleaning effect of each cycle and prevent the residual liquid from diluting the cleaning liquid of the current cycle.

It can be understood that the residual liquid can be completely sucked if and only if the tail end of the liquid suction needle is positioned at the bottom of the cup, and after the residual liquid is completely sucked, the liquid injection valves can be controlled to be opened simultaneously (see fig. 3) or opened successively based on a preset sequence (see fig. 4). The liquid injection valve can stay at the bottom of the cup for a period of time after the bottom of the cup is opened (see figures 3 and 4) or can directly rise (see figure 5), and particularly when the liquid injection speed is slow, the liquid injection valve can stay at the bottom of the cup for a period of time.

It can be understood that the control mechanism can control the liquid suction needle in the cleaning needle to perform lifting movement after sucking the residual liquid completely at the bottom of the cup, and simultaneously open each liquid injection valve (see fig. 6) in the movement process, or sequentially start each liquid injection valve to inject liquid into the corresponding cup body to be cleaned based on a preset sequence, and the open position of each liquid injection valve is lower than the preset liquid level corresponding to each liquid injection valve, and preferably, the open positions of all the liquid injection valves are lower than the lowest preset liquid level.

Because the preset liquid level height of each cleaning stage is different, and each cleaning stage corresponds to one liquid injection valve, each preset liquid level height also corresponds to one liquid injection valve. The control mechanism can also control the liquid suction needle in the cleaning needle to perform ascending movement to the lowest preset liquid level immediately after sucking the residual liquid completely at the bottom of the cup, and then simultaneously open the liquid injection valves (see fig. 7) or start the liquid injection valves one after another based on a preset sequence so as to inject liquid into the cup body to be cleaned. It is understood that the control mechanism may open the filling valve corresponding to each preset liquid level at each preset liquid level (see fig. 7), or may open the filling valve corresponding to each preset liquid level before each preset liquid level.

It can be understood that the control mechanism can also control the liquid suction needle in the cleaning needle to lift up after sucking the residual liquid completely at the bottom of the cup, and open all the liquid injection valves at the same time at the position higher than the lowest preset liquid level and not higher than the highest preset liquid level, or open all the liquid injection valves according to the preset sequence. It can be understood that, after the liquid injection of the liquid injection needle is completed, since the liquid injection position of the cleaning needle, that is, the current position of the cleaning needle is at least higher than the lowest preset liquid level height, the control mechanism needs to control the liquid level height of the cleaning liquid corresponding to the preset liquid level height lower than the liquid injection position through a return motion, for example, control the cleaning needle to return to the lowest preset liquid level height, and stabilize the cleaning liquid corresponding to the lowest preset liquid level height at the lowest preset liquid level height through the liquid suction needle in a liquid suction state. Therefore, for the cleaning liquid corresponding to the preset liquid level height lower than the current position of the cleaning needle, the liquid level height of the cleaning liquid corresponding to the preset liquid level height can be controlled through the return movement of the cleaning needle, and for the cleaning liquid corresponding to the preset liquid level height higher than the current position of the cleaning needle, the liquid level height of the cleaning liquid corresponding to the preset liquid level height can be controlled through the ascending movement or the ascending return movement of the cleaning needle.

It should be noted that, because the synchronous cleaning stages are controlled by respective filling valves, the filling speed of the filling needle in each cleaning stage may be the same or different, and the filling speed in each cleaning stage may be constant or variable.

In summary, the injection process of the injection valve is usually accompanied by the movement of the cleaning needle, so different injection valve start timings correspond to different cleaning needle movement trajectories and different control timings, and the injection valve can be selected or set according to specific situations during actual use to adapt to specific use scenarios.

EXAMPLE III

The embodiment of the present invention adds a description of the liquid amount control stage to the aforementioned embodiment. The liquid amount control stage in this embodiment is a liquid filling valve closing timing selection stage.

In order to stabilize the liquid level of each cup body to be cleaned at the respective preset liquid level, a certain amount of cleaning liquid needs to be injected into each cup body to be cleaned, so that the liquid injection amount of the liquid injection needle of the cleaning needle corresponding to each cup body to be cleaned needs to be controlled. It should be noted that the liquid injection amount control accuracy may be set according to actual requirements, and different liquid injection amount control accuracies generally correspond to different flow control strategies. The control precision of the liquid injection amount is related to the control precision of the liquid injection valve, the control mechanism controls the liquid injection amount of the cleaning liquid in each cleaning stage by controlling the effective liquid injection duration of the liquid injection valve, and different control strategies are formed by matching the liquid injection valve with the liquid suction valve, so that the control precision of the liquid injection amount is adapted to different control precisions, and the liquid level of the cleaning liquid is accurately stabilized at the preset liquid level height. It should be noted that, when the accuracy of controlling the liquid injection amount is high, there are many selectable flow control strategies, that is, the control strategy that is suitable for the case that the accuracy of controlling the liquid injection amount is low is also suitable for the case that the accuracy of controlling the liquid injection amount is high, and this embodiment can overcome the problem that the accuracy of controlling the liquid injection amount is low by using the liquid injection valve and the liquid suction valve in cooperation.

The effective liquid injection in this embodiment means that the liquid injection speed of the cleaning liquid is greater than the liquid absorption speed, and the liquid absorption speed may be zero or non-zero at this time. When the imbibition speed is zero, only annotate liquid needle work, when imbibition speed is nonzero value, annotate liquid needle and imbibition needle simultaneous working.

In this embodiment, the liquid amount control strategy implemented by the cooperation of the liquid injection valve and the liquid suction valve may be selected as follows: in the liquid amount control stage in the same period, the control mechanism 15 makes the liquid suction needle in an effective liquid suction state at the preset liquid level height of each cleaning liquid through the liquid injection valve and the liquid suction valve, so that the liquid level of each cleaning liquid is stabilized at the respective preset liquid level height.

The concrete options are: in the liquid injection control stage of the same period, when the control mechanism controls the cleaning needle to stop at each preset liquid level height through at least two liquid injection valves, the current liquid level height of the cleaning liquid corresponding to the preset liquid level height is greater than or equal to the preset liquid level height; and simultaneously, in the liquid amount control stage of the same period, controlling the liquid suction needle to keep a liquid suction state corresponding to the preset liquid suction time at the preset liquid level height, and then closing the liquid suction needle to rise or controlling the liquid suction needle to directly rise.

Wherein, the effective liquid absorption state is that the liquid absorption speed is greater than the liquid injection speed, and the liquid injection speed can be a zero value or a non-zero value.

Wherein, it can be zero value or non-zero value to predetermine the imbibition time length, and when predetermineeing the imbibition time length and be zero, control mechanism controls the effective notes liquid speed of annotating the liquid needle through the imbibition of imbibition needle to when making annotate the liquid needle and be in predetermined liquid level height, actual liquid level height just arrives predetermined liquid level height, can directly close notes liquid valve this moment, and control washing needle directly rises, need not to stop (refer to fig. 6 notes liquid valve 1). Such a control strategy generally corresponds to a case where the liquid amount control accuracy is high, that is, a case where the control accuracy of the liquid injection valve or the liquid injection valve and the liquid suction valve is high. When the preset imbibition time is a non-zero value, the cleaning needle stops at the preset liquid level height for a period of time, during which the closing of the liquid injection valve is completed and the liquid level height of the cleaning liquid is stabilized at the preset liquid level height (see fig. 5). Such a control strategy generally corresponds to a case where the liquid amount control accuracy is low, but may be applied to a case where the liquid amount control accuracy is high.

The control mechanism controls the cleaning needle to ascend while/after the liquid level of the cleaning liquid is stabilized. In general, if the preset liquid level is the last liquid level, the control mechanism can select to close the liquid suction valve first and then control the cleaning needle to rise, and other preset liquid levels can directly control the cleaning needle to rise.

It is understood that the activation timing of each filling valve in the foregoing embodiments corresponds to one filling valve closing timing only in terms of time, and corresponds to at least one filling valve closing timing in terms of time combined with the movement of the cleaning needle, and the embodiment is not described here, and only the closing timing or sequence of each filling valve will be described by taking the simultaneous activation of each filling needle at the bottom of the cup as an example.

Optionally, the two liquid injection valves are opened at the bottom of the cup simultaneously, the control mechanism can control the cleaning needle to stay at the bottom of the cup for a preset time, then the cleaning needle is controlled to rise to a preset liquid level corresponding to a previous cleaning stage, if the liquid level of the cleaning liquid can be guaranteed to be higher than the preset liquid level, the liquid injection valve corresponding to the preset liquid level is closed, the liquid suction valve is enabled to be in a working state, and the liquid level is stabilized at the preset liquid level through the tail end of the liquid suction needle. If the liquid level height of the cleaning liquid cannot be guaranteed to be higher than the preset liquid level height, the liquid injection needle continues to inject liquid at the current position until the liquid level height of the cleaning liquid is higher than the preset liquid level height, the liquid injection valve corresponding to the preset liquid level height is closed, the cleaning liquid higher than the tail end of the liquid suction needle is sucked through the liquid suction needle in a liquid suction state, and the liquid level height is stabilized at the preset liquid level height. After the liquid level in the previous cleaning stage is stabilized, the cleaning needle is controlled to rise to the preset liquid level height in the next cleaning stage, and the control mode of the liquid injection valve corresponding to the preset liquid level height is the same as that in the previous cleaning stage, which is not described herein again.

Optionally, the two liquid injection valves are opened at the bottom of the cup at the same time, the control mechanism can control the cleaning needle to stay at the bottom of the cup for a period of time and then ascend (see fig. 3 and 4), and also can directly ascend (see fig. 5), the embodiment controls the cleaning needle to ascend after staying at the bottom of the cup for a short time, the liquid injection needle in the cleaning needle continues to inject liquid in the ascending process, if the liquid level control precision is high, and when the liquid injection needle is located at the preset liquid level height, the actual liquid level height can be ensured to just reach the preset liquid level height, at this time, the liquid injection valve corresponding to the previous cleaning stage can be directly closed, and the cleaning needle is controlled to directly ascend without staying (see fig. 6, liquid injection valve 1); and if the liquid amount control precision is low, controlling the cleaning needle to stay at the preset liquid level height for a period of time (see fig. 5), and completing the closing of the liquid injection valve and stabilizing the liquid level height of the cleaning liquid at the preset liquid level height.

In order to accurately complete the closing of the liquid injection valve and stabilize the liquid level height of the cleaning liquid at the preset liquid level height during the stay period of the cleaning needle at the preset liquid level height, the liquid injection speed and the liquid injection precision need to be considered. If the liquid level of the cleaning liquid is higher than the preset liquid level when the cleaning needle reaches the preset liquid level in the previous cleaning stage, the liquid injection valve corresponding to the cleaning stage can be closed when the cleaning needle reaches the preset liquid level, and then the liquid level is stabilized at the preset liquid level through the tail end of the liquid absorption needle in a liquid absorption state (see the liquid injection valve 111 in fig. 4). And if the liquid level height of the cleaning liquid cannot be guaranteed to be higher than the preset liquid level height, controlling the liquid injection needle to continue injecting liquid at the current position until the liquid level height of the cleaning liquid can be higher than the preset liquid level height, closing the liquid injection valve corresponding to the preset liquid level height, and stabilizing the liquid level height at the preset liquid level height through the tail end of the liquid suction needle (see the liquid injection valve 112 in fig. 4). When or after the liquid level in the previous cleaning stage is stable, the cleaning needle is controlled to rise to the preset liquid level height in the next cleaning stage, and the control mode of the liquid injection valve corresponding to the next cleaning stage may be the same as that in the previous cleaning stage, or may be the same as that in the other control modes, which is not described herein again in this embodiment.

It can be understood that the cleaning needle can complete liquid injection and liquid level height control in the lifting motion, and also can perform reciprocating motion in the lifting process, and the liquid injection and/or liquid level position control is completed through the reciprocating motion, specifically: the two liquid injection valves are opened at the bottom of the cup simultaneously and then ascend, the liquid injection needle in the cleaning needle injects liquid simultaneously in the ascending process, the liquid injection needle ascends to exceed the preset liquid level height in the previous cleaning stage, then the liquid injection valve is closed at the position, or the liquid injection valve is closed after the liquid injection needle returns to the preset liquid level height, under the normal condition, the actual height of the cleaning liquid in the previous cleaning stage is higher than the preset liquid level height of the cleaning liquid when the cleaning needle returns to the preset liquid level height by the arrangement of the distance or time, the cleaning needle is controlled to stay at the position for a certain time at the moment, the cleaning liquid higher than the tail end of the liquid injection needle is sucked by the liquid injection needle in a liquid suction state, and the liquid level is stabilized at the preset liquid level height. It is understood that the filling valve corresponding to the later cleaning stage may adopt this control method, or may adopt other control methods as described above, which is not described herein again.

In summary, in this embodiment, the liquid level height is controlled by the closing timing of the liquid injection valve and the liquid suction needle, and compared with the complex control circuit in the prior art that the liquid level height needs to be controlled directly by the control precision of the liquid injection amount, the liquid suction needle in the liquid suction state can suck the cleaning liquid higher than the end of the liquid suction needle under the condition that the control precision of the liquid injection amount is low, so that the liquid level height is controlled by the end position of the liquid suction needle, which is beneficial to simplifying the control circuit and reducing the control difficulty, and further reducing the cost of the cleaning equipment.

Example four

The embodiment of the invention is added with the explanation of the influence of the number of the liquid injection valves on the liquid amount control on the basis of the embodiment.

In order to reduce the equipment cost, simplify the control flow and reduce the control difficulty, the cleaning needle of each cleaning stage can be controlled by one filling valve, and all the cleaning needles are controlled by one suction valve (see figure 2). The control mechanism is specifically configured to: in the liquid volume control stage in the same period, the cleaning needle is controlled to continuously rise, and the liquid injection valve in the previous cleaning stage is controlled to be closed before the liquid injection valve in the next cleaning stage (see fig. 3), and simultaneously, the preset liquid level height of the liquid suction needle in each cleaning stage is enabled to be in an effective liquid suction state. It should be noted that, the liquid amount control of the liquid filling valve setting manner can be referred to the foregoing embodiment, and the description of this embodiment is omitted here.

Illustratively, as shown in fig. 2, there are two cups to be cleaned in the cleaning agent stage, four cups to be cleaned in the cleaning water stage and two cups to be cleaned in the liquid suction only cleaning stage, the liquid injection needles corresponding to the two cups to be cleaned in the cleaning agent stage are controlled by the liquid injection valve 111, and the liquid injection needles corresponding to the four cups to be cleaned in the cleaning water stage are controlled by the liquid injection valve 112.

In order to improve the flexibility of liquid injection needle control, when a certain cleaning stage corresponds to a plurality of cups to be cleaned, namely corresponds to a plurality of liquid injection needles, the liquid injection needles can be controlled by a plurality of liquid injection valves, the control time sequences of the liquid injection valves can be the same or different, the liquid injection valves with the same control time sequences generally correspond to the same preset liquid level height, and the liquid injection valves can be selected according to actual conditions during actual use.

Preferably, referring to fig. 8, when a plurality of cups to be cleaned at a certain cleaning stage correspond to a plurality of preset liquid level heights, the liquid injection needle corresponding to the cup to be cleaned corresponding to each preset liquid level height is set to be controlled by one liquid injection valve. As shown in fig. 9, the control mechanism is specifically configured to: in the liquid amount control stage in the same period, the cleaning needle is controlled to continuously rise, the liquid injection valve corresponding to the previous preset liquid level is controlled to be closed before the liquid injection valve corresponding to the next preset liquid level, the liquid suction needle is enabled to be in an effective liquid suction state at the previous preset liquid level and the next preset liquid level, the sequence of the front and the back of the preset liquid level is determined according to the sequence of the preset liquid level from low to high, for example, in the cleaning water stage, the liquid injection valve 1121 corresponding to the previous preset liquid level is closed before the liquid injection valve 1121 corresponding to the next preset liquid level.

Illustratively, there are two to-be-cleaned cup bodies in the cleaning agent stage, there are four to-be-cleaned cup bodies in the cleaning water stage and two to-be-cleaned cup bodies in the liquid suction cleaning stage, and the preset surface heights of the two to-be-cleaned cup bodies in the cleaning agent stage are the same, the preset liquid level heights of the first two to-be-cleaned cup bodies in the cleaning water stage are the same and lower than the preset liquid level heights of the second two to-be-cleaned cup bodies, and the preset liquid level heights in the cleaning water stage are both higher than the liquid level height in the cleaning agent stage, at this time, the two liquid injection needles corresponding to the cleaning agent stage can be controlled by the liquid injection valve 111, the first two liquid injection needles in the cleaning water stage can be controlled by one liquid injection valve 1121, and the second two liquid injection needles can be controlled by the other liquid injection valve 1121. Correspondingly, the cleaning needle is stopped at three preset liquid level heights in the rising process, when the liquid level height is higher than the tail end of the cleaning needle, the corresponding liquid injection needle is closed at each preset liquid level height through the corresponding liquid injection valve, and meanwhile, the liquid level is stabilized at the corresponding preset liquid level height through the liquid suction needle.

It will be appreciated that when any one of the cleaning stages includes a plurality of preset liquid levels, the former preset liquid level is generally lower than the latter preset liquid level.

The technical scheme of automatic cleaning equipment that this embodiment provided, through annotating the corresponding relation of liquid valve and washing stage, perhaps annotate the corresponding relation of liquid valve and predetermineeing liquid level height quantity, improved the flexibility that the inside predetermined liquid level height of washing stage set up, make the washing needle when predetermineeing liquid level height and stop simultaneously, all can be through the terminal position of the imbibition needle that is in the imbibition state, with the liquid level height stability of washing liquid at predetermineeing liquid level height. Compared with the prior art that the liquid level height is controlled directly through the liquid injection amount control precision and a complex control circuit is needed, the liquid level height can be controlled through the tail end position of the liquid suction needle under the condition that the liquid injection amount control precision is low, the control circuit is simplified, the control difficulty is reduced, the cost of cleaning equipment is reduced, and equipment popularization is facilitated.

EXAMPLE five

Fifth embodiment of the present invention is based on the above embodiments, and the influence of the number of the liquid suction valves on the liquid amount control is illustrated.

In order to reduce the cost of the equipment, all the pipette needles can be controlled by one pipette valve, see fig. 2 and 8, and the pipette valve 113 needs to make all the pipette needles in an effective liquid suction state at each preset liquid level for liquid level control. The concrete options are: the liquid suction needle is always in a liquid suction state; or at the beginning of each period, the liquid suction valve 113 is opened in the process of inserting the cleaning needle into the bottom of the cup body, and then the liquid suction valve 113 is closed after the liquid level of the cleaning liquid corresponding to the last preset liquid level is stabilized to the preset liquid level; or at the beginning of each period, the liquid suction valve 113 is opened in the process of inserting the cleaning needle into the bottom of the cup body, the liquid suction valve 113 is closed after the residual liquid in the cup body to be cleaned is completely sucked, and then the liquid suction valve 113 is opened before and after the liquid level of each preset liquid level needs to be stabilized.

In order to improve the flexibility of controlling the pipette valves, the number of the pipette valves is at least two, and the pipette valves are respectively connected to the pipette needles corresponding to each cleaning stage, such as the

pipette valves

1131, 1132, and 1133 in fig. 10, and the control mechanism is specifically configured to: and respectively controlling the cleaning needles in each cleaning stage to move to the preset liquid level height, and respectively controlling the working states of the corresponding liquid injection valve and the corresponding liquid suction valve, so that the liquid suction needles are in an effective liquid suction state at the preset liquid level height of each cleaning liquid. At the moment, liquid suction in each cleaning stage is not affected, so that each liquid suction valve can still be in a liquid suction state, or each liquid suction valve can be opened in the process that the cleaning needle is inserted into the bottom of the cup body at the beginning of each period, each liquid suction valve is closed after residual liquid in the cup body to be cleaned is completely sucked, or one of the liquid suction valves is closed, no matter whether the liquid suction valve is closed at the moment, the liquid suction valve corresponding to each cleaning stage is in an effective working state only when the liquid level of the cleaning liquid corresponding to each cleaning stage is stabilized at the preset liquid level corresponding to the cleaning stage, and the liquid level of the cleaning liquid corresponding to the liquid suction needle can be closed and then rises after the liquid level is stabilized at the preset liquid level corresponding to the cleaning stage.

It can be understood that when each cleaning stage corresponds to one liquid suction valve, the cleaning needle is lifted and then returns to control the liquid level height of the cleaning liquid in each cleaning stage. Optionally, the control mechanism controls the cleaning needle to inject liquid at a position higher than the lowest preset liquid level and not higher than the highest preset liquid level simultaneously, or starts to inject liquid according to a preset sequence. It can be understood that the control mechanism can control the cleaning needle to move to the preset liquid level height of any cleaning liquid, and stabilize the liquid level height of the cleaning liquid at the preset liquid level height through the liquid suction needle corresponding to the cleaning liquid in a liquid suction state.

It can be understood that the liquid suction needle corresponding to the cleaning needle in each cleaning stage can be controlled by a plurality of liquid suction valves, and the control time sequences of the plurality of liquid suction valves corresponding to the same cleaning stage can be the same or different, so long as the liquid suction needle is in an effective liquid suction state when the corresponding cleaning liquid is subjected to liquid level adjustment at a preset liquid level height.

To sum up, different imbibition valve quantity can correspond different control mode, no matter how many the quantity of imbibition valve, all can realize accomplishing the adjustment to washing liquid level height through the terminal position of imbibition needle, compare in prior art and directly come control liquid level height through annotating liquid volume control accuracy and need complicated control circuit, can be under the lower circumstances of liquid volume control accuracy of annotating, come control liquid level height through the terminal position of imbibition needle, be favorable to simplifying control circuit and reduce the control degree of difficulty, and then reduce cleaning equipment's cost.

EXAMPLE six

The sixth embodiment of the present invention optimizes the timing control of the foregoing embodiments, and is used to reduce the control flow and reduce the cleaning time.

Referring to fig. 1, 2 and 11, 8 sets of washing needles 110 provided on the washing needle assembly 12 are simultaneously moved vertically by the movement mechanism 14, and 8-step washing is simultaneously performed on 8 cuvettes. The cleaning needle assembly 12 descends and ascends once in each period to complete the liquid suction and injection actions and control the liquid level height of the cleaning liquid in the reaction cup.

Optionally, movement mechanism 14 initially moves vertically downward to move wash needle assembly 12 to the bottom of the reaction cup at time 2. At time point 1, the pipette valve 113 is opened, and the pipette needle in the cleaning needle assembly 12 starts aspirating; when the time point 3 is reached, the liquid injection valve 111 is opened, and the cleaning agent is injected into the reaction cup through the liquid injection needle in the cleaning needle assembly 12; when the time point 4 is reached, the liquid injection valve 112 is opened, the washing water is injected into the reaction cups through the liquid injection needles in the washing needle assembly 12, and the washing needles in the last 2 reaction cups do not inject liquid, only absorb liquid or only absorb liquid and wipe; when the time point 5 is reached, the movement mechanism 14 is lifted, and when the time point 6 moves to the first height position, the movement is paused for a period of time; then, when the time point 8 is reached, the liquid injection valve 111 for injecting the cleaning agent is closed, and when the time point 7 is reached, the movement mechanism 14 continues to be vertically lifted; the movement mechanism 14 then pauses for a period of time when it reaches the second height at point 9; then at time point 10, the liquid injection valve 112 controlling the washing water is closed; then, the vertical lift is continued to the initial position at time point 11, and the pipette valve 113 is closed at time point 12. The liquid level height of the cleaning agent in the reaction cups of the first stage and the second stage in the previous cleaning stage is h1, the liquid level height of the cleaning water in the reaction cups of the 3 rd to 6 th cleaning water in the next cleaning stage is h2, wherein h1 is smaller than h2, the periodic action is repeatedly executed, after the reaction cups finish 8-stage cleaning according to the sequence from the cleaning agent to the cleaning water, the cleaning water can finish rinsing the cleaning agent, and residual crystals cannot be formed at the mouths of the reaction cups.

Wherein, time point 3 and time point 4 are the same time point, time point 7 and time point 8 are the same time point, time point 10 is later than time point 9, and time point 10 is earlier than time point 11. After the cleaning action of each period is finished, the reaction cup advances by one cup position, the advancing direction advances progressively according to the direction from the cleaning agent to the cleaning water, and after 8 periods, one reaction cup finishes 2 times of cleaning by the cleaning agent, 4 times of cleaning by the cleaning water, 2 times of air suction cleaning, and finally is cleaned.

Wherein time 8 is earlier than time 7, e.g., time 8 is 50ms or more earlier than time 7; the liquid injection valve 111 is temporarily stopped after being closed to stabilize the cleaning agent at the first height by the distal end position of the liquid suction needle.

As can be seen from the foregoing embodiment, the cleaning needle assembly may not pause at the first height, as shown in FIG. 6, close the filling valve 111 when passing the second height, and then continue to rise. It will be appreciated that the cleaning needle assembly may not be suspended at the second height, and the filling valve 112 may be closed after the second height, and then may be raised continuously, which is advantageous to save the time consumed in the liquid amount control stage, and further reduce the cleaning time for each cup to be cleaned.

Referring to fig. 9, according to the foregoing embodiment, when the washing water stage or the cleaning agent stage includes a plurality of reaction cups, the injection needles corresponding to the washing stage can be controlled by a plurality of injection valves, and preferably, the number of preset liquid level heights corresponding to the reaction cups of the washing stage is the same as the number of the injection valves. As shown in fig. 2, the reaction cup in the washing water stage corresponds to two liquid levels, and at this time, the moving mechanism needs to drive the washing needle assembly to pause at the first height (the washing agent) and the second height in sequence, so as to adjust the liquid level of the washing water or the washing agent through the end of the liquid suction needle, so that the liquid level is stabilized to the corresponding preset liquid level.

It can be understood that the preset liquid level number corresponding to the cleaning water stage and the cleaning agent stage can be set according to actual conditions, and the number of the liquid injection valves can be adjusted according to the preset liquid level number of each cleaning stage.

In conclusion, this embodiment accessible multiple chronogenesis controls liquid filling valve and imbibition valve, makes the liquid level height control of washing liquid not rely on liquid injection volume control accuracy, can be under the lower circumstances of liquid injection volume control accuracy, controls liquid level height through the terminal position of imbibition needle, is favorable to simplifying control circuit and reducing the control degree of difficulty, and then reduces cleaning equipment's cost, is favorable to equipment popularization.

EXAMPLE seven

Fig. 12 is a flowchart of a control method of a cleaning apparatus according to a seventh embodiment of the present invention. The technical scheme of this embodiment is applicable to the condition that control cleaning equipment washs. The method can be executed by the cleaning device provided by the embodiment of the invention, and the device can be realized in a software and/or hardware manner and is configured to be applied in a processor. As shown in fig. 12, the method specifically includes the following steps:

s101, controlling the movement mechanism to drive the cleaning needle assembly to move up and down and controlling the fluid mechanism to inject and suck cleaning fluid through the cleaning needle, so that the liquid level of the cup body to be cleaned, where the cleaning fluid in the next cleaning stage in the same period is higher than the liquid level of the cup body to be cleaned, where the cleaning fluid in the previous cleaning stage is.

Every washing needle is including the notes liquid needle that is arranged in annotating the liquid and the imbibition needle that is used for the imbibition, and fluid mechanism includes two at least notes liquid valves and at least one imbibition valve, and the notes liquid needle that annotates in the liquid valve is arranged in the control washing needle annotates the liquid, and the imbibition needle that the imbibition valve is arranged in the control washing needle carries out the imbibition.

Because the cup body to be cleaned usually needs to be cleaned by at least two cleaning liquids, the cleaning stages are determined according to the types of the cleaning liquids, that is, each cleaning liquid corresponds to one cleaning stage, and the sequence of the cleaning stages is set according to the using sequence of different cleaning liquids. Because treat that wash the cup and wash the needle one-to-one, consequently the washing needle subassembly of this embodiment with treat that the cup that washs all divides into two sets of at least according to wasing the stage, and treat that wash cup accessible transport mechanism removes to the back washing stage from the preceding washing stage to two washing stages of experience two kinds of washing liquids are favorable to guaranteeing the cleaning performance who treats the washing cup.

For example, the cleaning process of the cup body to be cleaned needs to be carried out by using a cleaning agent firstly, and then cleaning is carried out by using cleaning water, wherein the cleaning agent corresponds to a previous cleaning stage, and the cleaning water corresponds to a next cleaning stage. It can be understood that the type and sequence of the cleaning liquid can be specifically set according to the actual cleaning condition, and correspondingly, the cleaning stage can be set according to the type and sequence of the cleaning liquid.

Before the liquid level of the cup body to be cleaned, where the cleaning liquid in the next cleaning stage in the same cycle is higher than the liquid level of the cup body to be cleaned, where the cleaning liquid in the previous cleaning stage is, the method further comprises the step of enabling the liquid suction needle to be in an effective liquid suction state at the preset liquid level of each cleaning liquid so as to enable the liquid level of each cleaning liquid to be stabilized at the respective preset liquid level.

The effective liquid suction state is that the liquid suction speed is greater than the liquid injection speed, the liquid injection speed can be a zero value or a non-zero value, and no matter what the liquid injection speed is, the liquid level of the cleaning liquid is higher than the tail end position of the liquid suction needle at the moment.

When the liquid level of the cleaning liquid is level with the tail end of the liquid suction needle, the liquid suction speed of the liquid suction needle is zero, and the liquid level is not changed any more. In order to adjust the liquid level height of the cleaning liquid through the tail end position of the liquid suction needle, the control mechanism can control the cleaning needle to stop at each preset liquid level height through at least two liquid injection valves, and the current liquid level height of the cleaning liquid corresponding to the preset liquid level height is larger than or equal to the preset liquid level height; and simultaneously, in the liquid amount control stage of the same period, controlling the liquid suction needle to keep a liquid suction state corresponding to the preset liquid suction duration at the preset high liquid level, and then closing the liquid suction needle to rise or controlling the liquid suction needle to directly rise.

Wherein, it can be zero value or non-zero value to predetermine the imbibition time length, and when predetermineeing the imbibition time length and be zero, control mechanism controls the effective notes liquid speed of annotating the liquid needle through the imbibition of imbibition needle to when making annotate the liquid needle and be in predetermineeing liquid level height, actual liquid level height just arrives and predetermine liquid level height, can directly close notes liquid valve this moment, and control washing needle directly rises, need not to stop. Such a control strategy generally corresponds to a case where the liquid amount control accuracy is high. When the preset imbibition duration is a non-zero value, the cleaning needle stops at the preset liquid level height for a period of time, and the liquid injection valve is closed and the liquid level height of the cleaning liquid is stabilized at the preset liquid level height. Such a control strategy generally corresponds to a case where the liquid amount control accuracy is low.

The implementation of the control strategy requires the cooperation of the liquid injection valve, the liquid suction valve and the movement mechanism, and reference may be made to the foregoing embodiments, which are not described herein again.

According to the automatic cleaning equipment provided by the embodiment of the invention, the movement mechanism is controlled to drive the cleaning needle assembly to move up and down, and the fluid mechanism is controlled to inject and suck cleaning fluid through the cleaning needle, so that the liquid level of the cup body to be cleaned, in which the cleaning fluid in the next cleaning stage is located, in the same cycle is higher than that of the cup body to be cleaned, in which the cleaning fluid in the previous cleaning stage is located. By matching the liquid injection valve and the liquid suction valve, the liquid level of the cup body to be cleaned with the cleaning liquid in the next cleaning stage in the same period is higher than that of the cup body to be cleaned with the cleaning liquid in the previous cleaning stage. Compared with the prior art that the liquid level height is controlled only by the liquid injection amount control precision, the complexity of a control circuit can be reduced by matching the liquid injection and the liquid absorption, and the equipment cost is favorably reduced; and the liquid level height of the cleaning liquid in the later cleaning stage is higher than that of the cleaning liquid in the previous cleaning stage, so that the residue near the liquid level height in the previous cleaning stage can be better removed, and the cleaning effect of the cup body to be cleaned can be improved.

Example eight

An eighth embodiment of the present invention further provides a storage medium containing computer-executable instructions, which when executed by a computer processor, are configured to perform a method for controlling an automatic cleaning apparatus, the method including:

Of course, the storage medium provided by the embodiment of the present invention contains computer-executable instructions, and the computer-executable instructions are not limited to the operations of the method described above, and may also execute the operations related to the control method of the automatic cleaning device provided by any embodiment of the present invention.

From the above description of the embodiments, it is obvious for those skilled in the art that the present invention can be implemented by software and necessary general hardware, and certainly, can also be implemented by hardware, but the former is a better embodiment in many cases. Based on such understanding, the technical solutions of the present invention may be embodied in the form of a software product, which may be stored in a computer-readable storage medium, such as a floppy disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a FLASH Memory (FLASH), a hard disk or an optical disk of a computer, and includes several instructions for enabling a computer device (which may be a personal computer, a server, or a network device) to execute the control method of the automatic cleaning device according to the embodiments of the present invention.

It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present invention and the technical principles employed. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.

Claims

1. An automatic cleaning apparatus, comprising:

the cup holder assembly is used for placing a cup body to be cleaned;

the cleaning needle assembly comprises at least two groups of cleaning needles which are arranged above the cup body to be cleaned, and each group of cleaning needles corresponds to one cleaning stage;

2. The automatic cleaning apparatus according to claim 1, wherein: each cleaning needle comprises a liquid injection needle for injecting liquid, and the fluid mechanism comprises at least two liquid injection valves for respectively controlling the liquid injection needles in the corresponding cleaning needles in different cleaning stages to inject liquid;

the control mechanism is specifically used for controlling the liquid injection amount of the cleaning liquid in each cleaning stage by controlling the effective liquid injection duration of the liquid injection valve.

3. The automatic cleaning apparatus according to claim 2, wherein:

each cleaning needle further comprises a liquid suction needle for sucking liquid, and the fluid mechanism further comprises at least one liquid suction valve for controlling the liquid suction needle in the cleaning needle to suck liquid;

the control mechanism is specifically configured to, in a liquid amount control stage in the same period, enable the liquid suction needle to be in an effective liquid suction state at a preset liquid level height of each cleaning liquid through the liquid injection valve and the liquid suction valve by the control mechanism, so that the liquid level of each cleaning liquid is stabilized at the respective preset liquid level height.

4. The automatic cleaning apparatus according to claim 3, wherein: the control mechanism is specifically configured to: in the liquid injection control stage of the same period, the control mechanism controls the cleaning needle to stop at each preset liquid level height through at least two liquid injection valves, so that the current liquid level height of the cleaning liquid corresponding to the preset liquid level height is greater than or equal to the preset liquid level height; and simultaneously, in the liquid amount control stage of the same period, controlling the liquid suction needle to keep a liquid suction state corresponding to the preset liquid suction duration at the preset liquid level height, and then closing the liquid suction needle to rise or controlling the liquid suction needle to directly rise.

5. The automatic cleaning equipment according to claim 4, wherein the number of the liquid suction valves is one, and the liquid suction valves are respectively connected with the liquid suction needles;

the control mechanism is specifically configured to: and at the liquid volume control stage in the same period, controlling the cleaning needle to close the liquid injection valve corresponding to the preset liquid level at least at the preset liquid level in the continuous rising process, and simultaneously enabling the liquid suction needle to be in a liquid suction state and stay for the corresponding preset liquid suction time.

6. The automatic cleaning apparatus according to claim 5, wherein the control mechanism is specifically configured to:

and controlling the liquid injection valves to be opened simultaneously in the liquid injection control stage in the same period.

7. The automatic cleaning device according to any one of claims 3 to 6, wherein the control mechanism is specifically configured to, during a liquid injection control phase in the same cycle, control the moving mechanism to drive the cleaning pin to be inserted into the bottom of the cup, control the liquid suction valve to open during the descending process of the cleaning pin or when the cleaning pin is located at the bottom of the cup to be cleaned, and then control each liquid injection valve to open to inject the cleaning liquid into the cup to be cleaned, so that the liquid suction pin is in an effective liquid suction state at a preset liquid level height of each cleaning liquid.

8. The automatic cleaning apparatus according to claim 7, wherein the control mechanism is specifically configured to: and controlling the liquid suction valve to suck residual liquid in the cup body to be cleaned completely, and simultaneously or subsequently, controlling the liquid injection valves to open, wherein the residual liquid is cleaning liquid injected in the previous period.

9. The automatic cleaning equipment according to any one of claims 1 to 6, comprising three groups of cups to be cleaned, wherein the cleaning liquid corresponding to the first group of cups to be cleaned is cleaning agent, the cleaning liquid corresponding to the second group of cups to be cleaned is cleaning water, and the third group of cups to be cleaned is set not to be filled with cleaning liquid;

the liquid level of the cleaning agent in the cup body to be cleaned in the same period is lower than that of the cleaning water in the cup body to be cleaned.

10. The automatic cleaning equipment according to claim 6, wherein at least one cleaning stage comprises a plurality of cleaning needles corresponding to a plurality of preset liquid level heights and liquid filling valves in the same number as the preset liquid level heights, wherein the number of the cups to be cleaned is greater than or equal to the number of the preset liquid level heights;

the control mechanism is specifically configured to: and in the liquid amount control stage in the same period, controlling the cleaning needle to continuously rise, controlling the liquid injection valve corresponding to the former preset liquid level height to be closed before the liquid injection valve corresponding to the latter preset liquid level height, simultaneously enabling the liquid suction needle to be in an effective liquid suction state at the former preset liquid level height and the latter preset liquid level height, and determining the front and rear sequence of the preset liquid levels according to the sequence of the preset liquid level heights from low to high.

11. The automatic cleaning equipment according to claim 4, wherein the number of the liquid suction valves is at least two, and the liquid suction valves are respectively connected with the liquid suction needles corresponding to the cleaning stages;

the control mechanism is specifically configured to: and respectively controlling the cleaning needles in each cleaning stage to move to the preset liquid level height, and respectively controlling the working states of the corresponding liquid injection valve and the corresponding liquid suction valve, so that the liquid suction needles are in an effective liquid suction state at the preset liquid level height of each cleaning liquid.

12. A control method of an automatic washing apparatus, characterized by being performed using the automatic washing cup apparatus according to any one of claims 1 to 11, the method comprising:

13. The method as claimed in claim 12, wherein each of the cleaning needles includes a liquid injection needle for injecting liquid and a liquid suction needle for sucking liquid, the fluid mechanism includes at least two liquid injection valves and at least one liquid suction valve, the liquid injection valves are used for controlling the liquid injection needle in the cleaning needle to inject liquid, the liquid suction valves are used for controlling the liquid suction needle in the cleaning needle to suck liquid, and correspondingly, the control movement mechanism drives the cleaning needle assembly to move up and down and controls the fluid mechanism to inject and suck the cleaning liquid through the cleaning needle, so that the liquid level of the cup to be cleaned in which the cleaning liquid in a later cleaning stage in the same cycle is located is higher than the liquid level of the cup to be cleaned in which the cleaning liquid in a previous cleaning stage is located, comprising:

in the liquid amount control stage in the same period, the control movement mechanism drives the cleaning needle assembly to move up and down and controls the fluid mechanism to inject and suck cleaning liquid through the cleaning needle, so that the liquid suction needle is in an effective liquid suction state at the preset liquid level height of each cleaning liquid, the liquid level of each cleaning liquid is stabilized at the respective preset liquid level height, and the liquid level height of the cup body to be cleaned, where the cleaning liquid in the next cleaning stage is located, is higher than the liquid level height of the cup body to be cleaned, where the cleaning liquid in the previous cleaning stage is located.

14. A storage medium containing computer-executable instructions for performing the method of controlling an automatic cleaning apparatus according to claim 12 or 13 when executed by a computer processor.