CN111503958A

CN111503958A - Horizontal rotation automatic blood storage device and access method

Info

Publication number: CN111503958A
Application number: CN201910099579.4A
Authority: CN
Inventors: 刘占杰; 宫济武; 孙波; 任文广; 刘吉元; 魏秋生; 潘振辉; 辛若健; 张江涛
Original assignee: Qingdao Haier Biomedical Co Ltd
Current assignee: Qingdao Haier Biomedical Co Ltd; Qingdao Haite Biomedical Co Ltd
Priority date: 2019-01-31
Filing date: 2019-01-31
Publication date: 2020-08-07

Abstract

The invention discloses a horizontal rotary automatic blood storage device and a storing and taking method.A goods shelf capable of doing horizontal rotary motion is arranged in a refrigerator, the goods shelf is sequentially provided with a plurality of storage positions from top to bottom, each storage position is provided with a storage box for placing a blood bag, the storing and taking of the blood bags are realized by utilizing a set of movable grabbing components, the occupied space is small, and the space utilization rate is high. Meanwhile, the automatic storing and taking of the blood bags are realized, and the storing and taking speed and accuracy of the blood bags are effectively improved; the storage environment of the blood bag is constant in humidity, constant in temperature and sterile, and the storage safety of blood is improved.

Description

Horizontal rotation automatic blood storage device and access method

Technical Field

The invention relates to the technical field of blood storage, in particular to a horizontal rotary automatic blood storage device and an access method.

Background

Blood is usually stored in a blood bank and kept by a medical unit, a blood station, or a red cross for use when transfusion is required. Because the clinical demand for blood is uncertain, and the types of blood or blood components required are also different, the cryogenic refrigeration technology for prolonging the shelf life of blood and blood components is receiving more and more attention.

At present, blood is stored mainly by means of a traditional refrigerator or a cold storage, a three-dimensional shelf is arranged in the refrigerator or the cold storage, a tray is horizontally placed on the three-dimensional shelf, and a blood bag is horizontally placed in the tray, so that the blood is stored. When blood is stored and taken, a stacker is needed to be used for taking and placing the tray, and a space for the stacker to move needs to be reserved in the refrigerator or the cold storage, so that the whole refrigerator or the cold storage has large overall dimension and large occupied space. In a refrigerator or a cold storage with a certain space, the space for storing blood is limited really, and the space utilization rate is low. A plurality of blood bags are horizontally placed in one tray at the same time, when blood is taken, the whole tray is taken out by the stacker, then the required blood is taken by manual identification, and the rest blood is sent back to the warehouse. When high-frequency blood needs exist, blood frequently flows in and out between the low-temperature environment and the external environment, so that the low-temperature storage environment in a warehouse is influenced, and the storage quality of the blood is influenced.

Disclosure of Invention

The invention provides a horizontal rotary automatic blood storage device and an access method, which have the advantages of small occupied space and high space utilization rate.

The technical proposal provided by the invention is that the horizontal rotary automatic blood storage device comprises a control unit, a refrigeration unit, a cold storage, a mechanical unit, an input unit, an output unit and a detection unit,

the control unit controls the work of the mechanical unit and the refrigeration unit according to the instruction from the user received by the input unit and sends the execution results of the mechanical unit and the refrigeration unit to the output unit;

the refrigeration unit is controlled by the control unit and adjusts the temperature of the refrigerator;

the refrigerator provides a required temperature environment for blood storage;

the mechanical unit comprises a goods shelf assembly and a grabbing and moving assembly, wherein the goods shelf assembly comprises two guide supports which are horizontally and oppositely arranged in the refrigerator, and a plurality of goods shelves which are vertically arranged between the two guide supports, the goods shelves perform horizontal rotary motion along the guide supports, the goods shelves are sequentially provided with a plurality of storage positions for placing blood bags along the vertical direction, each storage position is provided with a movable storage box, and the blood bags are placed in the storage boxes; the grabbing and moving assembly is used for moving the storage box into the storage position or moving the storage box out of the storage position to an access port of the refrigerator;

the input unit receives an instruction from a user and sends instruction information to the control unit;

the output unit is used for displaying the working states of the mechanical unit, the refrigeration unit and the refrigerator;

the detection unit is used for detecting the working states of the refrigeration unit, the mechanical unit and the refrigerator and transmitting the working states to the control unit.

Further, the blood quality detection unit is used for detecting the layered interface condition of the blood in the blood bag and judging the blood quality according to the layered interface condition of the blood.

Furthermore, each guide support is provided with a closed-loop roller chain, the roller chains horizontally rotate in the horizontal plane, a guide rail is arranged on the outer side of each roller chain, the upper end and the lower end of each goods shelf are respectively provided with a connecting part and a guide sliding block, the connecting parts are connected with the roller chains, and the guide sliding blocks are connected with the guide rails in a sliding manner.

Further, the grabbing and moving assembly comprises a rail perpendicular to the ground and a manipulator reciprocating along the rail, the manipulator can also horizontally rotate relative to the rail, and the manipulator clamps the storage box, moves the storage box into the storage position or moves the storage box from the storage position to an access port of the refrigerator.

Further, the blood quality detection unit comprises a detection box with an opening at one side, a detection assembly and an analysis module, the detection assembly and the analysis module are arranged on the detection box, a clamping part of the manipulator is located inside the detection box and used for clamping the storage box, the detection assembly is used for acquiring the layered interface condition of blood and sending the layered interface condition of the blood to the analysis module, the analysis module comprises a teaching model, and the analysis module analyzes and compares the received layered interface condition of the blood with the teaching model and judges the quality of the blood.

Further, the detection component adopts a spectrum recognition sensor or a visual recognition sensor to acquire the layered interface condition of the blood.

Further, the storage position comprises an upper plate and a lower plate which are oppositely arranged, the storage box comprises a back plate and a box body arranged on the back plate, an opening is formed in the upper portion of the box body, and the back plate is detachably inserted between the upper plate and the lower plate.

The invention also provides a horizontal rotary automatic blood storage method, which comprises the following steps:

(1) the control unit receives the blood storage instruction information of the input unit;

(2) the control unit distributes storage positions for the blood to be stored according to the received storage instruction information;

(3) the mechanical unit receives an instruction of the control unit, and a roller chain in the mechanical unit moves to drive the goods shelf to horizontally rotate in the horizontal plane until the target goods shelf where the specified storage position is located rotates to a position right opposite to the access port;

(4) the mechanical unit receives the instruction of the control unit, and a grabbing and moving assembly in the mechanical unit moves the storage box on the designated storage position from the target shelf to the access port;

(5) the detection unit detects whether a blood bag is put in the storage box or not, detects information of the blood bag and prompts a user to confirm;

(6) the mechanical unit receives the instruction of the control unit, and the grabbing and moving assembly in the mechanical unit moves the storage box back to the target shelf from the access opening;

(8) the control unit records blood information, storage time, and storage location data in the refrigerator.

Further, the detection unit in the step (5) detects the blood bags to be stored as: reading the data of the bar code or RFID electronic label on the blood bag to be stored.

Further, the specific steps of moving the storage box from the target shelf to the access opening by the grabbing and moving assembly in the mechanical unit in the step (4) are as follows:

(a) the manipulator in the grabbing and moving assembly vertically moves to the front of the storage box along the guide rail;

(b) the manipulator extends out and clamps the storage box, and the manipulator moves the storage box out of the storage position on the shelf;

(c) the manipulator moves the storage box to a position opposite to the access port;

(d) the manipulator rotates horizontally to move the storage box to the access port.

Further, a step (7) is included between the step (6) and the step (8), and the blood quality detection unit detects the layered interface condition of the blood in the just-placed blood bag and uploads the layered interface condition of the blood to the analysis module.

Further, the step (7) further comprises: the system sets an interval detection time T, and the blood quality detection unit performs quality detection on the blood in the refrigerator every interval time T.

The invention also provides a horizontal rotation automatic blood taking method, which comprises the following steps:

(1) the control unit receives the blood taking instruction information input by the input unit;

(2) the control unit determines the position of the storage location where the blood bag to be taken out is located according to the received instruction information;

(3) the mechanical unit receives an instruction of the control unit, and a roller chain in the mechanical unit moves to drive the goods shelf to horizontally rotate in the horizontal plane until the target goods shelf where the specified storage position is located is rotated to a position right opposite to the access port;

(4) the detection unit detects the specified storage bit and sends a detection result to the control unit;

(5) the mechanical unit receives the instruction of the control unit, and a grabbing and moving assembly in the mechanical unit moves the storage box on the designated storage position to the access port;

(6) the control unit records blood information, storage time, and storage location data in the refrigerator.

Further, the detecting unit detects the storage cartridge in the step (4) is: detecting whether a blood bag exists in the storage box.

Further, the specific steps of moving the storage box to the access opening by the grabbing and moving assembly in the mechanical unit in the step (5) are as follows:

Compared with the prior art, the invention has the advantages and positive effects that:

the invention provides a horizontal-rotation automatic blood storage device and a storing and taking method. Meanwhile, the automatic storing and taking of the blood bags are realized, and the storing and taking speed and accuracy of the blood bags are effectively improved; the storage environment of the blood bag is constant in humidity, constant in temperature and sterile, and the storage safety of blood is improved.

Drawings

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

FIG. 1 is a schematic block diagram of a system for horizontally rotating an automated storage unit according to an embodiment of the present invention;

FIG. 2 is a schematic perspective view of an embodiment of a horizontal rotation automatic storage device according to the present invention;

FIG. 3 is a side view of an embodiment of the present invention;

FIG. 4 is a schematic perspective view of a storage case according to an embodiment of the present invention;

FIG. 5 is a first schematic view of the connection structure between the storage box and the storage bit according to the first embodiment of the present invention;

FIG. 6 is a schematic diagram of a second connection structure between the first storage box and the storage bit according to the first embodiment of the present invention;

FIG. 7 is a schematic diagram of a connection structure between a storage box and a storage bit according to a second embodiment of the present invention;

FIG. 8 is a second schematic view of the connection structure between the storage box and the storage bit according to the second embodiment of the present invention;

FIG. 9 is a schematic structural diagram of a blood quality detecting unit according to an embodiment of the present invention;

FIG. 10 is a front view of a blood quality detection unit (spectral discrimination sensor) according to an embodiment of the present invention;

FIG. 11 is a top view of a blood quality test unit (spectral discrimination sensor) according to an embodiment of the present invention;

FIG. 12 is a front view of a blood quality detecting unit according to a second embodiment of the present invention (visual recognition sensor);

FIG. 13 is a top view of a blood quality detecting unit according to a second embodiment of the present invention (visual recognition sensor);

FIG. 14 is a side view of a three blood quality test unit (pressure sensor) according to an embodiment of the present invention;

FIG. 15 is a functional block diagram of an embodiment of the present invention illustrating a horizontal swivel automated blood storage process;

FIG. 16 is a flow chart of an embodiment of the present invention for horizontal swivel automated blood storage;

FIG. 17 is a flow chart of an embodiment of the present invention for horizontal turn automated blood removal.

Wherein 100-mechanical unit, 110-shelf assembly, 111-shelf, 1111-vertical beam, 1112-horizontal beam, 1113-connecting part, 1114-guide slider, 112-storage position, 1121-upper plate, 1122-lower plate, 1123-groove, 1124-return spring, 1125-ball, 1126-protrusion, 113-guide bracket, 1131-first guide bracket, 1132-second guide bracket, 1133-roller chain, 1134-guide rail, 120-grasping movement assembly, 121-guide rail, 122-manipulator, 1221-clamping part, 123-rotating shaft, 200-blood quality detection unit, 210-detection box, 220-light source, 230-spectral identification sensor, 240-visual identification sensor, 250-pressure sensor, 300-control unit, 400-refrigeration unit, 500-refrigerator, 600-input unit, 700-output unit, 800-detection unit, 810-code reader, 900-storage box, 910-backboard, 920-cartridge, 930-first transparent area, 940-second transparent area, 001-blood bag.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the 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.

The invention discloses a horizontal rotary automatic blood storage device, which comprises a control unit 300, a refrigeration unit 400, a refrigerator 500, a mechanical unit 100, an input unit 600, an output unit 700 and a detection unit 800, wherein the refrigeration unit 400 is directly connected with the refrigerator 500 and can directly operate the refrigerator 500; the control unit 300 is connected with the refrigeration unit 400, the mechanical unit 100, the input unit 600 and the output unit 700 respectively; the control unit 300 controls the refrigerating unit 400 to adjust the temperature and humidity within the refrigerator 500; the control unit 300 receives an instruction from a user through the input unit 600, and controls the mechanical unit 100 to perform cooling; the control unit 300 transmits the result of the execution and the operation states of the refrigerating unit 400, the mechanical unit 100, and the refrigerator 500 to the output unit 700, and the result is displayed to the user through the output unit 700. The detection unit 800 is connected to the refrigeration unit 400, the mechanical unit 100, and the refrigerator 500, respectively, detects the operating states of the refrigeration unit 400, the mechanical unit 100, and the refrigerator 500, and feeds them back to the control unit 300 and the refrigeration unit 400, respectively.

The core of the refrigerating unit 400 is a refrigerating device, which functions to transfer heat from the inside to the outside of the refrigerator 500, thereby lowering the temperature of the refrigerator 500 to a temperature environment required for blood storage.

The input unit 600 is a key and a receiving unit for receiving user instructions or data through a network, and allows an operator to input control instructions and data information, such as a type, a quantity, a date of stored blood, a type of blood to be taken out, a storage optimization strategy, and the like. The storage optimization strategy refers to storage mode, storage position, storage time, blood bag taking condition and the like of the blood bags, for example, storing type A blood in a certain specific shelf, keeping time for 1 year, taking condition of the blood bags according to the first-in first-out principle and the like.

The output unit 700 employs a liquid crystal display L CD, a light emitting diode, a vibration device, a sound module, etc. for displaying certain specific information to the user, such as data, images, light, shadow, actions, sounds, etc., and the user can interact with the storage device according to the prompt of the information, such as the user placing the blood bag at a designated position according to the prompt on the liquid crystal display, so that the manipulator 122 can grab and place the blood bag on the shelf.

The detection unit 800 is a main unit for ensuring stable operation of each part of the system and reducing operation errors and errors, and is composed of various sensors and detection devices, such as a temperature sensor, a proximity switch or a proximity sensor, a voltage and current detection device, a motor device detection device, and the like. The detection unit 800 is provided with a barcode or RFID detection device at the access port 510 of the refrigerator 500, and can recognize a barcode or RFID tag on the blood bag. In this embodiment, the identification device (e.g., a code reader) for identifying the barcode or RFID tag data information on the blood bag is disposed on the manipulator 122 or on the cassette 210 in the blood quality detection unit 200, and the cassette 210 is disposed on the manipulator 122, so that when the manipulator 122 grips the storage cassette 900, the blood information can be read at the same time, thereby improving the operation access efficiency.

The ensuring of the stable operation of each part of the system means that the control unit 300 sends out the instruction of the next operation in real time according to the detected states of each part by detecting the temperature in the refrigerator 500, the working state of the refrigeration unit 400 and the working state of the mechanical unit 100 and transmitting the detection results to the control unit 300.

The reduction of the working errors and errors means that the blood bag is checked at the access opening 510 through necessary tests such as checking the type, weight, etc. of blood, it is confirmed that the storage case 900 is empty before the storage case 900 is put in, it is confirmed that the storage case 900 is actually put in, etc. The detection device for reducing working errors and errors needs intelligent identification means, such as bar code identification, radio frequency identification, visual identification and the like, besides necessary optical sensors.

The control unit 300 is a key component of the system, drives other parts to complete related operations according to instructions, monitors and confirms the running states of the parts through the detection unit 800, and simultaneously performs data entry and processing to realize better management of blood.

The actions and operations include, but are not limited to, picking the storage cartridge 900 into a designated storage location 112 on the shelf, removing the storage cartridge 900 from the designated storage location 122 on the shelf, horizontal pivoting drive of the shelf while the storage cartridge 900 is being placed into or removed from the shelf, opening and closing the door of the access port 510, and the like.

The refrigerator 500 is of a box-type structure, the mechanical unit 100 is arranged in the refrigerator 500, the access port 510 on the refrigerator 500 can be a vertical long-strip-shaped door body arranged along the height direction of a certain shelf 111, when the access port 510 is opened, the storage position 112 on the shelf 111 opposite to the access port 510 is completely visible, the manipulator 122 does not need to move up and down after clamping the storage box 900, and the storage box 900 can be moved into/out of the storage position by direct horizontal rotation. This kind of mode needs the cooperation liftable access platform to use, because access opening 510 has a certain height, and operating personnel can not reach the storage box 900 of placing on access opening 510, through the storage platform of liftable, and storage box 900 places on the access platform, and access platform elevating movement to the high range that operating personnel can operate. Or, the length of the access port 510 is smaller than that of the shelf 111, when the access port 510 opens the door, only a part of the storage bit 112 opposite to the access port 510 is visible, the manipulator 122 needs to move left and right after gripping the storage box 900, and the storage box 900 can be moved into/out of the storage bit after being moved to the position opposite to the access port 510 and then horizontally rotated. The access port 510 is smaller, so that the horizontal left-right movement of the manipulator 122 is increased, the cold leakage can be reduced when the door is opened every time, and the energy consumption is saved.

Referring to fig. 2 and 3, the mechanical unit 100 is built in the refrigerator 500, and includes a shelf assembly 110 and a grasping and moving assembly 120, the shelf assembly 110 is mainly used for storing blood bags, horizontally rotating the target shelf 111 to a position opposite to the access opening 510, so that the grasping and moving assembly 120 grasps the storage box 900; the grasping and moving assembly 900 is mainly used to grasp the storage box 900, move the storage box 900 from the shelf 111 to the access opening 510, or move the storage box 900 from the access opening 510 back to the shelf 111.

The grasping and moving assembly 120 includes a rail 121 disposed in a horizontal direction and a robot 122 reciprocating along the rail 121, the robot 122 is also horizontally rotatable with respect to the rail 121, the robot 122 horizontally rotates with respect to the rail 121 through a rotation shaft 123, and the robot 122 grasps the storage box 900, moves the storage box 900 into the storage location 112, or moves the storage box 900 out of the storage location 122 to the access port 510 of the refrigerator 500.

The shelf assembly 110 includes two guide brackets 113 horizontally disposed in the refrigerator 500, and a plurality of shelves 111 vertically disposed between the two guide brackets 113, the shelves 111 horizontally rotate along the guide brackets 113, and the guide brackets 113 provide a supporting and guiding function for the horizontal rotation of the shelves 111. The shelf 111 is sequentially provided with a plurality of storage positions 112 for placing the blood bags 001 along the vertical direction, each storage position 112 is detachably provided with a storage box 900, and the blood bags 001 are placed in the storage box 900.

Guide bracket 113 has the vertical portion of relative setting and connects the arc portion of two vertical portions, and when a plurality of goods shelves 111 were horizontal rotary motion along guide bracket 113, the key point lies in when goods shelves gyration was to arc portion, will guarantee that the goods shelves still is in vertical state, avoids storage box 900 landing, assurance whole mechanical unit 100's even running from goods shelves 111. In order to achieve the purpose, the guide bracket 113 includes a first guide bracket 1131 and a second guide bracket 1132 arranged outside the first guide bracket 1131, a chain installation cavity for installing the roller chain 1133 is arranged on the first guide bracket 1131 along the track route of the first guide bracket 1131, the roller chain 1133 of the closed loop is arranged in the chain installation cavity, the roller chain 1133 rotates around the first guide bracket 1131 under the driving of a motor, and a guide rail 1134 is arranged on the second guide bracket 1132; the upper end and the lower end of each shelf 111 are respectively provided with a connecting part 1113 and a guide slider 1114, the connecting part 1114 is connected with the roller chain 1133, and the guide slider 1114 is in sliding connection with the guide rail 1134. Thus, when the roller chain 1133 rotates around the first guide bracket 1131 under the driving of the motor, the roller chain 1133 drives the rack 111 to perform horizontal rotation, and meanwhile, the guide slider 1114 on the rack 111 slides along the guide rail 1134, so that the rack 111 is always kept in a vertical state during horizontal rotation.

The shelf 111 includes a vertical beam 1111 and a cross beam 1112 provided at upper and lower ends of the vertical beam 1111, a connecting portion 1113 provided at an end of the cross beam 1112, and a guide slider 1114 provided at an upper portion of the upper cross beam 1112 and a lower portion of the lower cross beam 1112. The vertical beam 1111 is sequentially provided with a plurality of storage positions 112 along the height direction thereof, each storage position 112 comprises an upper plate 1121 and a lower plate 1122 which are oppositely arranged up and down, and the storage box 900 is detachably inserted between the upper plate 1121 and the lower plate 1122. The upper plate 1121 and the lower plate 1122 are fixedly connected to the vertical beams 1111, respectively.

In order to facilitate taking the storage box 900, the access opening 510 is disposed at an outer side close to the arc portion of the guide bracket 113, and when the shelf 111 rotates to the arc portion, a distance between the shelf 111 directly opposite to the access opening 510 and the shelf 111 adjacent thereto is larger, so as to facilitate the grasping and moving assembly 120 to perform corresponding grasping operation on the storage box 900.

Referring to fig. 4, the storage box 900 includes a back plate 910 and a box 920 disposed on the back plate 910, an opening is formed at an upper portion of the box 920, a blood bag 001 is moved into/out of the box 920 from the opening, and the back plate 910 is detachably interposed between an upper plate 1121 and a lower plate 1122. The back plate 910 is sequentially provided with a first transparent area 930 and a second transparent area 940 from top to bottom, and the first transparent area 930 functions that, when the blood quality detecting unit 200 adopts the spectral recognition sensor 230, the light source 220 can shine to the spectral recognition sensor 230 through the layered interface area of blood and through the first transparent area 930. The purpose of the second transparent area 940 is that when a blood bag 001 is placed in the storage box 900, the identification code on the blood bag 001 can be aligned with the second transparent area 940, so that the identification device (e.g. the code reader 810) in the detection unit 800 scans the identification code. The height of the back plate 910 is higher than that of the box 920, and when the blood bag 001 is placed in the box 920, the blood layered interface area in the blood bag 001 extends out of the box 920, so that the spectrum recognition sensor 230 in the blood quality detection unit 200 can obtain the blood layered interface spectrum or the visual recognition sensor 240 can obtain the blood layered interface image.

The insertion structure between the back plate 910 and the upper plate 1121, lower plate 1122 has two implementation forms, which are:

first, referring to fig. 5 and 6, grooves 1123 are respectively formed on the upper plate 1121 and the lower plate 1122, and both ends of the back plate 910 are respectively inserted into the grooves 1123. Furthermore, two ends of the lower plate 1122 are respectively provided with a protrusion 1126 for plugging the end of the groove 1123 of the lower plate 1122. When the storage box 900 is inserted into the groove 1123, a gap is formed between the upper end of the back plate 910 and the upper plate 1121. When the manipulator 122 picks up the storage box 900 from the storage location 112 and moves out, the process is as follows: the robot 122 grips the magazine 900; the storage box 900 is lifted upwards and the lower end of the back plate 910 is removed from the recess 1123 of the lower plate 1122; the storage box 900 is slid out along the recess 1123 on the upper plate 1121. The protruding portion 1126 can prevent the storage box 900 from slipping off the storage bit 112, improving the device reliability. When the robot 122 places the storage cassette 900 into the storage location 112, the process of action is: the robot 122 grips the magazine 900; the storage box 900 is pushed by the manipulator 122, and the upper end of the back plate 910 slides inwards along the groove 1123 of the upper plate 1121; the storage box 900 is moved downward with the lower end of the back plate 910 inserted into the recess 1123 of the lower plate 1122.

Secondly, referring to fig. 7 and 8, a groove 1123 is respectively formed on the upper plate 1121 and the lower plate 1122, a return spring 1124 and a ball 1125 are disposed in the groove 1123 of the lower plate 1122, the ball 1125 is disposed at one end of the return spring 1124, a recess (not shown) adapted to the ball 1125 is disposed at the lower end of the back plate 910, and when the two ends of the back plate 910 are inserted into the grooves 1123, the ball 1125 is recessed in the recess. When the robot 122 moves out of and into the magazine 900 from the storage location 112, the robot 122 grips the magazine 900 and draws along the groove 1123 to slide the ball 1125 out of and into the recess, which is more convenient and quicker than the first embodiment, and eliminates the need to lift or move the magazine 900 up and down. In addition, the cooperation between the concave portion and the ball 1125 makes the storage box 900 more stable on the storage bit 112 and not easy to shake.

The horizontal rotary automated blood storage device further includes a blood quality detection unit 200 for detecting a layered interface condition of blood in the blood bag 001 and determining a blood quality based on the layered interface condition of blood. And when the blood quality does not reach the standard, an alarm is given to remind human intervention.

The blood quality detecting unit 200 is schematically illustrated in the structure of fig. 9, and includes a detecting box 210 having an opening on one side, a detecting component and an analyzing module disposed on the detecting box 210, a clamping portion 1221 of the manipulator 122 is disposed inside the detecting box 210, the clamping portion 1221 is used for clamping the storing box 900, the detecting component is used for obtaining the layered interface condition of blood and sending the layered interface condition of blood to the analyzing module, the analyzing module includes a teaching model, and the analyzing module analyzes and compares the received layered interface condition of blood with the teaching model and determines the quality of blood.

The detection component has two forms, namely a spectrum identification sensor or a visual identification sensor.

First, the detection assembly is a spectrum recognition sensor, referring to fig. 10 and 11, a light source 220 and a spectrum recognition sensor 230 are respectively disposed on two opposite sidewalls of the detection box 210, the light source 220 is located on a side away from the back plate 910, the spectrum recognition sensor 230 is located on a side close to the back plate 910 and directly faces the first transparent area 930, light emitted from the light source 220 penetrates through the layered interface area of the blood bag 001 and irradiates the spectrum recognition sensor 230 through the first transparent area 930, and the spectrum recognition sensor 230 acquires the layered interface spectrum of the blood. When the blood bag 001 is placed within the storage cassette 900, the layered interface region of the blood extends beyond the cassette 920 so that the spectral recognition sensor 230 successfully acquires the layered interface spectrum.

During detection, the light source 220 illuminates the layered interface region of the blood bag 001; the light emitted by the light source 220 penetrates through the layered interface region of the blood and irradiates the spectral recognition sensor 230 through the first transparent region 930, and the spectral recognition sensor 230 acquires the layered interface spectrum of the blood and uploads the layered interface spectrum data to the analysis module; and the analysis module compares the received layered interface spectrum with the teaching model for analysis and judges whether the blood quality reaches the standard.

In order to improve the spectrum quality of the layered interface, the distance between the light source 220 and the blood bag 001 and the distance between the spectrum recognition sensor 230 and the blood bag 001 are the same. Further, the distance between the two sidewalls of the detecting box 210 and the storing box 900 is 2-5cm, that is, the distance between the light source 220 and one side of the blood bag 001 and the distance between the spectrum recognition sensor 230 and the other side of the blood bag 001 are 2-5cm, respectively. The area of the spectrum recognition sensor 230 receiving the light source can cover 1/2 of the blood bag 001 to ensure that the layered interface spectrum can be recognized for blood bags 001 with different volumes and blood bags 001 placed at different angles within a certain range.

The cartridge 210 having only one side opened forms a relatively closed space, which can ensure the stability of the light source, and prevent recognition errors caused by position changes or external light source changes.

Secondly, the detection assembly adopts a visual recognition sensor, referring to fig. 12 and 13, a visual recognition sensor 240 is arranged on a side wall of the detection box 210 far away from the back plate 910, and the visual recognition sensor 240 shoots a layered interface image of blood. When the blood bag 001 is placed within the storage cassette 900, the layered interface region of the blood extends beyond the cassette 920 so that the visual recognition sensor 240 successfully acquires the layered interface image.

During detection, the visual recognition sensor 240 on one side of the blood bag 001 shoots layered interface images and uploads the layered interface image data to the analysis module; and the analysis module compares the received layered interface image with the teaching model for analysis and judges whether the blood quality reaches the standard.

In order to improve the quality of the layered interface image, the distance between the two side walls of the cartridge 210 and the storage case 900 is 2-5cm, i.e., the distance between the visual recognition sensor 240 and one side of the blood bag 001 is 2-5 cm. The area of the blood bag shot by the visual recognition sensor 240 can cover 1/2 of the blood bag, so as to ensure that blood bags 001 with different volumes in a certain range and blood bags 001 placed at different angles can be shot by layered interface images.

The cartridge 210 having only one side opened forms a relatively closed space, which can ensure the stability of the light source and prevent an image photographing error caused by a position change or an external light source change.

The storing method applied to the horizontal rotation automatic blood storing apparatus is as follows, referring to fig. 15:

firstly, in step 101, starting up a system;

in step 102, the states of the various parts of the system are monitored and adjusted, the detection unit 800 collects the operating states of the various parts and feeds the operating states back to the control unit 300, the control unit 300 adjusts the states of the various parts according to the returned information and the preset value, and if the temperature of the refrigerator 500 is too high, the control unit 300 controls the refrigeration unit 400 to refrigerate until the temperature of the refrigerator 500 collected by the detection unit 800 reaches the standard value;

in step 103, the detection unit 800 monitors whether there is an instruction input, and if there is no input from the input unit 600, returns to step 102; if the input unit 600 has an input, the next step is performed;

in step 104, the detection unit 800 analyzes the input command when it monitors that the input unit 600 has input. If the input command is blood storage, executing blood storage command processing: first, the control unit 300 assigns the storage locations 112 to the blood in the refrigerator 500 according to relevant strategies, such as storage optimization measures; then the control unit 300 drives the mechanical unit 100 to grab and move the storage box 900 on the designated storage bit 112 to the access port 510; the output unit 700 prompts the user to place a blood bag 001 into the storage cassette 900; the detection unit 800 detects whether the blood bag 001 is placed in the storage box 900, and reads a barcode or RFID tag data on the blood bag 001; if the detection unit 800 does not detect that the blood bag 001 is put in, or does not read the barcode or RFID tag data on the blood bag 001, the output unit 700 will continue to prompt the user to put in the blood bag 001; if the detection unit 800 detects that the blood bag 001 is placed in the storage box 900 and reads the bar code or the RFID electronic tag data on the blood bag 001, the output unit 700 displays the information of the blood according to the bar code or the RFID electronic tag data and prompts the user to confirm; after confirmation by the user, the control unit 300 controls the mechanical unit 100 to move the storage cassette 900, on which the blood bags 001 are placed, back to the designated storage position 112; the control unit 300 records the blood information, the storage time, the storage location, and the like, and returns to step 102.

During storage of blood in refrigerator 500, blood quality detection unit 200 monitors the change in blood quality. Two specific implementation forms are provided:

first, when the blood bag 001 is placed in the storage box 900, the control unit 300 controls the blood quality detecting unit 200 to acquire the data of the layered interface condition of the current blood by using the spectrum recognition sensor or the visual recognition sensor; in the subsequent blood storage process, according to the interval time T set by the system, the control unit controls the blood quality detection unit 200 to acquire the layered interface condition data of the blood in each blood bag 001 at intervals T and uploads the layered interface condition data to the analysis module; and the analysis module compares the received layered interface condition data with the teaching model, analyzes and judges the blood quality.

Secondly, the pressure sensor is used, and the principle of using the pressure sensor is that as the storage time of blood increases, the inside of blood is changed in quality, and the change in volume of blood is caused by the quality change, so that the pressure change of the blood bag 001 is caused, and the blood quality is judged by detecting the pressure change of the blood bag 001. Referring to fig. 14, pressure sensors 250 are respectively disposed on both sidewalls of the storage case 900, and when a blood bag 001 is placed in the storage case 900, the control unit 300 controls the two pressure sensors 250 to be simultaneously activated to start detecting the pressure of the current blood bag 001; when the pressure sensor 250 detects that the pressure value is between 0 and 0.05Pa, the pressure sensor 250 uploads the current pressure value to the analysis module; in the storage process of blood, pressure sensor 250 detects the pressure of blood bag 001 in real time, and when the pressure value that pressure sensor 250 detected exceeded system's setting value, analysis module analyzed that blood quality did not reach standard this moment to send the analysis result to control unit 300, control unit 300 sends the blood quality and reports to the police.

If the blood quality detection unit 200 detects that the quality of the blood does not reach the standard, the analysis module sends an analysis result to the control unit 300, the control unit 300 sends a blood quality alarm, and the output unit 700 displays the information of the blood with the quality not reaching the standard and prompts a user to take out the blood with the quality not reaching the standard in time. If the blood with the quality not up to the standard can not be taken out in time, the control unit 300 locks the blood with the quality not up to the standard and prohibits the blood from being taken out of the warehouse.

If the input command is a blood sampling, a blood sampling command process is executed: firstly, the control unit 300 determines the position of the storage location 112 where the blood most meets the requirements according to the relevant strategy, such as a storage optimization strategy; the control unit 300 controls the shelf assembly 110 in the mechanical unit 100 to move the shelf 111 where the designated storage position 112 is located to a position opposite to the access port 510; the control unit 300 controls the grasping movement assembly 120 in the mechanical unit 100 to grasp the storage cassette 900 on the designated storage location 112 and detect whether or not there is a blood bag 001 inside the storage cassette 900; if the detection unit 800 does not detect the blood bag 001, recording, searching again and positioning the blood bag which best meets the requirement; if the detection unit 800 detects the blood bag 001, the grasping and moving assembly 120 moves the storage box 900 to the access opening 510, and simultaneously reads the barcode or RFID tag data on the blood bag 001, the output unit 700 displays information of blood according to the barcode or RFID tag data, and prompts the user to confirm and draw blood; after the user confirms and draws blood, the grasping and moving assembly 120 replaces the empty storage cassette 900 in the designated storage location 112, and the control unit records data such as blood information, drawing time and position information, and returns to step 102.

Fig. 16 is a flow chart of the horizontal rotary automatic blood storage work flow, which refers to the work process of putting the blood bag into the refrigerator for storage, and the horizontal rotary automatic blood storage work flow of the present invention will be described in detail with reference to fig. 16:

firstly, in step 201, the system receives blood storage command information such as the number, type and blood sampling time of blood bags to be stored input by an operator through an input unit 600;

in step 202, control unit 300 determines, on the basis of the information received from input unit 600, the position of storage location 112 in which storage cassette 900 is located, in which blood bags 001 are to be stored, allocating storage space in refrigerator 500 for blood bags 001 to be stored, according to an internally stored correlation strategy, such as a storage optimization strategy;

in step 203, the mechanical unit 100 receives the instruction from the control unit 300, and rotates the target shelf 111 where the specified storage location 112 is located to the position directly opposite to the access port 510, specifically: the roller chain 1133 in the mechanical unit 100 moves to drive the shelf 111 to make horizontal rotation movement in the horizontal plane until the target shelf 111 where the designated storage location 112 is located rotates to a position directly opposite to the access opening 510;

at step 204, the mechanical unit 100 receives the instruction from the control unit 500 to move the storage box 900 at the designated storage location 112 from the target shelf 111 to the access port 510, and the specific steps are as follows:

(a) the robot 122 in the grasping and moving assembly 120 moves vertically along the guide rail 1134 to the front of the storage box 900;

(b) the robot 122 extends and holds the magazine 900, and the robot 122 removes the magazine 900 from the storage location 112 on the shelf 111;

(c) the robot 122 moves the magazine 900 to a position facing the access port 510;

(d) the robot 122 horizontally rotates to move the magazine 900 to the access port 510;

in step 205, the user prompts to place the blood bag 001 into the storage box 900 according to the output unit 700, the detection unit 800 detects whether the blood bag 001 is placed in the storage box 900, and if the blood bag 001 is not detected to be placed in the storage box, or the barcode or RFID tag data on the blood bag 001 is not read, the output unit 700 continues to prompt the user to place the blood bag 001; if the detection unit 800 detects that the blood bag 001 is placed in the storage box 900 and reads the bar code or the RFID electronic tag data on the blood bag 001, the output unit 700 displays the information of the blood according to the bar code or the RFID electronic tag data and prompts the user to confirm;

at step 206, the mechanical unit 100, receiving the command of the control unit 300, moves the storage cassette 900 with the blood bag 001 placed thereon from the access opening 510 back to the designated storage position 112;

in step 207, the blood quality detection unit 200 detects the layered interface condition of the blood in the blood bag 001 that has just been placed or the pressure value of the blood bag, and uploads the data to the analysis module;

in step 208, the control unit 300 records data such as blood information, storage time, storage position, and the like, and the blood bag storage and warehousing is completed, wherein the blood information includes initial information of blood quality, such as a blood initial layered interface spectrum or a blood initial layered interface image or a blood bag initial pressure value;

in step 209, during the subsequent blood storage process, according to the interval time T set by the system, the control unit 300 controls the blood quality detection unit 200 to acquire the layered interface condition data of the blood in each blood bag 001 at each interval time T and uploads the layered interface condition data to the analysis module; the analysis module compares and analyzes the received layered interface condition data with the teaching model and judges the blood quality; or, the pressure sensor 250 detects the pressure of the blood bag 001 in real time, when the pressure value detected by the pressure sensor 250 exceeds the set value of the system, the analysis module analyzes that the blood quality does not reach the standard, if the blood quality detection unit 200 detects that the blood quality does not reach the standard, the analysis module sends the analysis result to the control unit 300, the control unit 300 sends a blood quality alarm, and the output unit 700 displays the information of the blood with the quality not reaching the standard and prompts the user to take out the blood with the quality not reaching the standard in time. If the blood with the quality not up to the standard can not be taken out in time, the control unit 300 locks the blood with the quality not up to the standard and prohibits the blood from being taken out of the warehouse.

Fig. 17 is a flow chart of the blood removal operation of the present invention, which will be described in detail with reference to fig. 17:

first, in step 301, the system receives blood collection request information such as the number, type, and blood collection time of blood bags to be collected by the operator via the input unit 600;

in step 302, the control unit 300 determines, on the basis of the information received from the input unit 600, the position of the storage location 112 in which the blood bag 001 to be withdrawn is located, in the refrigerator 500, according to an internally stored correlation strategy, such as a storage optimization strategy;

in step 303, the mechanical unit 100 receives the instruction from the control unit 300, and rotates the target shelf 111 where the specified storage location 112 is located to the position directly opposite to the access port 510, specifically: the roller chain 1133 in the mechanical unit 100 moves to drive the shelf 111 to make horizontal rotation movement in the horizontal plane until the target shelf 111 where the designated storage location 112 is located is rotated to the position opposite to the access opening 510;

in step 304, the detection unit 800 detects the given storage box 900, detects whether there is a blood bag 001 in the storage box 900, and sends the detection result to the control unit 300, and if the detection unit 300 does not detect a blood bag 001, records and re-searches and locates the blood bag that best meets the requirement; if the detection unit 800 detects the blood bag 001, the detection unit 800 reads a bar code or RFID electronic tag data on the blood bag 001, and the output unit 700 displays information of blood according to the bar code or RFID electronic tag data;

in step 305, the mechanical unit 100 receives the instruction from the control unit 300 and moves the storage box 900 to the access port 510, which includes the following steps:

(a) the robot 122 in the grasping and moving assembly 120 moves vertically along the guide rail to the front of the storage box 900;

(b) the robot extends and holds the magazine 900, and the robot 122 removes the magazine 900 from the storage location 112 on the shelf 111;

in step 306, the control unit 300 records the blood information, the storage time, and the storage location data in the refrigerator 500, and the blood drawing is completed.

Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.

Claims

1. A horizontal rotary automatic blood storage device comprises a control unit, a refrigeration unit, a cold storage, a mechanical unit, an input unit, an output unit and a detection unit,

the refrigerator provides a required temperature environment for blood storage;

2. The apparatus according to claim 1, further comprising a blood quality detection unit for detecting a layered interface condition of blood in the blood bag and determining a blood quality based on the layered interface condition of blood.

3. The horizontally rotating automatic blood storage device according to claim 2, wherein a closed loop roller chain is arranged on each guide bracket, the roller chains horizontally rotate in a horizontal plane, a guide rail is arranged on the outer side of each roller chain, a connecting part and a guide slider are respectively arranged at the upper end and the lower end of each shelf, the connecting part is connected with the roller chains, and the guide slider is slidably connected with the guide rail.

4. The horizontally revolving automated blood storage device according to claim 3, wherein the grasping and moving assembly comprises a rail disposed perpendicular to the ground and a robot reciprocating along the rail, the robot further being horizontally rotatable with respect to the rail, the robot gripping the storage cassette, moving the storage cassette into the storage location, or moving the storage cassette from the storage location to an access port of the refrigerator.

5. The apparatus of claim 4, wherein the blood quality detecting unit comprises a cartridge having an opening at one side, a detecting unit disposed on the cartridge, and an analyzing module, wherein the clamping portion of the manipulator is disposed inside the cartridge, the clamping portion is used for clamping the cartridge, the detecting unit is used for obtaining the layered interface condition of the blood and sending the layered interface condition of the blood to the analyzing module, the analyzing module comprises a teaching model, and the analyzing module analyzes and compares the received layered interface condition of the blood with the teaching model and determines the quality of the blood.

6. The horizontally-pivoted automated blood storage device of claim 5, wherein the detection assembly employs a spectral recognition sensor or a visual recognition sensor to capture the layered interface aspect of the blood.

7. The horizontally-revolving automated blood storage device according to claim 5, wherein the storage site comprises an upper plate and a lower plate which are oppositely arranged, the storage box comprises a back plate and a box body arranged on the back plate, an opening is formed on the upper part of the box body, and the back plate is detachably inserted between the upper plate and the lower plate.

8. A method of horizontal rotation automated blood storage, the method comprising the steps of:

9. The automated horizontal-rotation blood storage method according to claim 8, wherein the detection unit in step (5) detects the blood bag to be stored by: reading the data of the bar code or RFID electronic label on the blood bag to be stored.

10. The horizontally-revolving automated blood storage method according to claim 8, wherein the specific steps of moving the storage cassette from the target shelf to the access port by the grasping and moving assembly in the mechanical unit in step (4) are:

11. The horizontally-rotating automated blood storage method according to claim 8, further comprising a step (7) between the step (6) and the step (8), wherein the blood quality detection unit detects the layered interface condition of the blood in the just-placed blood bag and uploads the layered interface condition of the blood to the analysis module.

12. The method of claim 11, wherein step (7) further comprises: the system sets an interval detection time T, and the blood quality detection unit performs quality detection on the blood in the refrigerator every interval time T.

13. A horizontal rotation automated blood removal method, comprising the steps of:

14. The horizontally-revolving automated blood removal method according to claim 13, wherein the detection of the cartridge by the detection unit in step (4) is: detecting whether a blood bag exists in the storage box.

15. The automated horizontally-revolving blood removal method according to claim 13, wherein the specific steps of moving the storage cassette to the access port by the grasping and moving assembly in the mechanical unit of step (5) are: