CN112014582B - Scheduling method of full-automatic coagulation analyzer - Google Patents
Scheduling method of full-automatic coagulation analyzer Download PDFInfo
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- CN112014582B CN112014582B CN202010896155.3A CN202010896155A CN112014582B CN 112014582 B CN112014582 B CN 112014582B CN 202010896155 A CN202010896155 A CN 202010896155A CN 112014582 B CN112014582 B CN 112014582B
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- 238000000034 method Methods 0.000 title claims abstract description 16
- 230000015271 coagulation Effects 0.000 title claims abstract description 11
- 238000005345 coagulation Methods 0.000 title claims abstract description 11
- 238000001514 detection method Methods 0.000 claims abstract description 75
- 239000003153 chemical reaction reagent Substances 0.000 claims abstract description 57
- 238000006243 chemical reaction Methods 0.000 claims abstract description 46
- 238000011534 incubation Methods 0.000 claims abstract description 39
- 238000005406 washing Methods 0.000 claims description 7
- 230000001483 mobilizing effect Effects 0.000 claims description 3
- 238000003756 stirring Methods 0.000 claims description 3
- 238000010586 diagram Methods 0.000 description 2
- 238000007689 inspection Methods 0.000 description 2
- 238000006467 substitution reaction Methods 0.000 description 2
- 230000007547 defect Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 239000002699 waste material Substances 0.000 description 1
Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N35/00—Automatic analysis not limited to methods or materials provided for in any single one of groups G01N1/00 - G01N33/00; Handling materials therefor
- G01N35/00584—Control arrangements for automatic analysers
- G01N35/0092—Scheduling
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N35/00—Automatic analysis not limited to methods or materials provided for in any single one of groups G01N1/00 - G01N33/00; Handling materials therefor
- G01N35/00584—Control arrangements for automatic analysers
- G01N35/0092—Scheduling
- G01N2035/0094—Scheduling optimisation; experiment design
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- Physics & Mathematics (AREA)
- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Chemical & Material Sciences (AREA)
- Analytical Chemistry (AREA)
- Biochemistry (AREA)
- General Health & Medical Sciences (AREA)
- General Physics & Mathematics (AREA)
- Immunology (AREA)
- Pathology (AREA)
- Automatic Analysis And Handling Materials Therefor (AREA)
Abstract
A scheduling method of a full-automatic coagulation analyzer comprises the following steps of S1 system initialization; s2, judging whether a reaction cup exists in the incubation area, if not, sending incubation information to a gripper, and enabling the gripper to grasp the cup from the track area to the incubation area, and entering S4 if yes, entering S3; s3, judging whether a reaction cup exists in the detection area, if not, waiting until receiving detection information, and enabling a gripper to grasp the cup from the incubation area to the detection area, wherein the gripper enters a step S5 after leaving the detection area; if yes, entering step S6; s4, after incubation is completed, sending out detection information, and returning to the step S3; s5, sending mobilization reagent needle information; and S6, the system waits until the cup losing information is received, two operations are simultaneously carried out, and after the step is finished, the system returns to the step S2.
Description
Technical Field
The invention relates to the technical field of medical detection, in particular to a scheduling method of a full-automatic coagulation analyzer.
Background
In the IVD medical device industry, most of the fully automatic coagulation analyzers are designed in a table-type manner. In the instrument detection process, a sample adding needle adds a plasma sample into a reaction cup, the reaction cup moves in a track cup transporting vehicle mode, a gripper grabs the reaction cup to a temperature raising module, after the reaction cup is raised for a certain time, the reaction cup is grabbed to a detection area again through the gripper, a reagent needle absorbs the reagent again, the reagent needle is added into the reaction cup for reaction detection, and after the detection is finished, the gripper grabs the reaction cup to a waste cup groove for discarding. The gripper performs 3 times of cup grabbing actions in the whole process, namely grabbing the reaction cup from the track cup transporting vehicle to the temperature raising module, grabbing the reaction cup from the temperature raising module to the detection module, and grabbing the reaction cup from the detection module to the cup dropping groove.
The risk of collision with the reagent needle exists in the whole motion process of the gripper: firstly, when the hand grip does not leave the detection area yet, if the reagent needle adds reagent to the reaction cup in the detection area, the reagent needle collides with the hand grip; secondly, when the reagent needle is still in the detection area adding reagent process, the gripper starts to grasp the next reaction cup from the incubation module to the detection area, and then the gripper collides with the reagent needle.
In order to solve the problem of collision between the gripper and the reagent needle, the detection area is used as a locking control area in the software design. 1. When the gripper needs to enter the detection area to place the reaction cup, the area lock is firstly obtained to enter the detection area, after entering the detection area, the reagent needle cannot obtain the area lock and cannot enter the area, after the gripper places the reaction cup, the gripper leaves the detection area, and then the area lock is released; 2. after the reagent needle acquires the area lock, reagent is added in the detection area, and the hand grip is ready to enter the area, so that the hand grip can acquire the area lock only after the reagent needle leaves the detection area to release the lock, and can enter the detection area.
The prior art scheduling procedure for the grip and reagent needle is shown in fig. 2 and 3, respectively. The existing scheduling method solves the problem that the grippers collide with the reagent needles, but the condition that the grippers wait for the reagent needles exists in the processing flow, so that a great deal of time is wasted, and the analysis speed is seriously influenced.
Disclosure of Invention
In order to overcome the defects in the prior art, the invention discloses a scheduling method of a full-automatic coagulation analyzer.
The dispatching method of the full-automatic coagulation analyzer comprises the following steps:
S1, initializing a system;
S2, judging whether a reaction cup exists in the incubation area, if not, sending an incubation message to a gripper, and enabling the gripper to grasp the cup from the track area to the incubation area and enter S4
If yes, S3 is entered;
s3, judging whether a reaction cup exists in the detection area, if not, waiting until receiving detection information, and enabling a gripper to grasp the cup from the incubation area to the detection area, wherein the gripper enters a step S5 after leaving the detection area;
if yes, entering step S6;
S4, after incubation is completed, sending out detection information, and returning to the step S3;
s5, sending out mobilization reagent needle information, and then carrying out the following two operations simultaneously:
S51, a reagent needle enters a detection area to add a reagent into a reaction cup and stir and mix uniformly to complete the reaction;
s52 returns to the step S2;
after the step S51 is completed, the reagent needle moves out of the detection area, and sends out cup loss information, and the step S6 is entered;
detecting information is blocked from transferring the information of the reagent needle to the information of the lost cup;
S6, after waiting until receiving the cup loss information, the system simultaneously performs the following two operations:
S61, the reagent needle washes the needle in the needle washing groove area; mobilizing the reagent needle information to be blocked during needle washing;
S62, the gripper enters a detection area, and the reaction cup is gripped to a cup-losing groove;
after the step S62 is completed, the process returns to step S2.
Specific: the system initialization state is as follows: the grip and the reagent needle are both positioned outside the detection area, and a reaction cup is arranged in the track area.
Specific: when no reaction cup is found in the track area, the incubation area and the detection area, the system stops working.
The invention solves the problem of collision between the gripper and the reagent needle, and by studying and judging the working states of all parts, the idle time length of the gripper and the reagent needle scheduling is greatly reduced, the problem that the time consumption of the gripper affects the instrument inspection speed is solved, and the instrument operation efficiency and the product market competitiveness are improved.
Drawings
FIG. 1 is a schematic flow chart of an embodiment of the present invention;
FIG. 2 is a flow chart of an exemplary embodiment of a prior art gripper scheduling algorithm;
FIG. 3 is a flow chart of an exemplary embodiment of a prior reagent needle scheduling algorithm;
FIG. 4 is a schematic flow chart of another embodiment of the present invention;
Fig. 5 is a schematic diagram of an exemplary application scenario of the present invention.
Detailed Description
The invention is further described below in connection with specific embodiments, which are exemplary only and do not limit the scope of the invention in any way. It will be understood by those skilled in the art that various changes and substitutions of details and forms of the technical solution of the present invention may be made without departing from the spirit and scope of the present invention, but these changes and substitutions fall within the scope of the present invention.
The invention is mainly applied to the dispatching of the grippers and the reagent needles of the full-automatic coagulation analyzer, and the grippers and the reagent needles are respectively driven by power devices such as a mechanical arm, a cylinder and the like which are arranged on the reagent needles.
As shown in FIG. 5, a typical distribution diagram of each region of the full-automatic coagulation analyzer is shown, the reaction cups can be multiple in the track region and the cup-losing groove, and only one reaction cup can be present in the incubation region and the detection region, namely, when the reaction cups occupy the incubation region and the detection region, the handles can not send the reaction cups into the regions.
The dispatching method of the full-automatic coagulation analyzer comprises the following steps:
s1, initializing a system, wherein in an initial state, a gripper and a reagent needle are both positioned outside a detection area, the gripper can be positioned in a track area, a cup throwing groove can also be formed, and a reaction cup is arranged in the track area.
S2, judging whether a reaction cup exists in the incubation area, if not, sending an incubation message to a gripper, and enabling the gripper to grasp the cup from the track area to the incubation area and enter S4
If yes, S3 is entered;
s3, judging whether a reaction cup exists in the detection area, if not, waiting until receiving detection information, and enabling a gripper to grasp the cup from the incubation area to the detection area, wherein the gripper enters a step S5 after leaving the detection area;
if yes, entering step S6;
S4, after incubation is completed, sending out detection information, and returning to the step S3;
In the steps S2-S4, firstly, whether a reaction cup with the incubation completed exists in the incubation area or not is detected, if not, a new cup is grabbed for incubation, and if the incubation is completed, the incubation area is transferred to the detection area opportunely.
S5, sending out mobilization reagent needle information, and then carrying out the following two operations simultaneously:
S51, a reagent needle enters a detection area to add a reagent into a reaction cup and stir and mix uniformly to complete the reaction;
s52 returns to the step S2;
after the step S51 is completed, the reagent needle moves out of the detection area, and sends out cup loss information, and the step S6 is entered;
detecting information is blocked from transferring the information of the reagent needle to the information of the lost cup;
in the detection area, the reagent needle shields detection information during the operation of the detection area, even if incubation is completed, the detection information cannot be sent out, the hand grip cannot grasp the cup from the incubation area to the detection area until the cup losing information is sent out, and the detection information can be sent out continuously and received.
During operation of the reagent needle in the detection zone, the system returns to step S2, where the gripper may perform an operation of gripping the cuvette from the track zone to the incubation zone in step S2.
S6, after waiting until receiving the cup loss information, the system simultaneously performs the following two operations:
S61, the reagent needle washes the needle in the needle washing groove area; mobilizing the reagent needle information to be blocked during needle washing;
S62, the gripper enters a detection area, and the reaction cup is gripped to a cup-losing groove;
Because the reaction cup exists in the detection area, the system does not control the gripper to grasp the cup from the incubation area to the detection area even if detection information is sent out before the reaction cup is moved out of the detection area to the cup-loss groove. When the needle is washed in step S61, the reagent needle is not moved until the needle washing is completed, and the system does not send information for moving the reagent needle.
After the step S62 is completed, the process returns to step S2.
When no reaction cup is found in the track area, the incubation area and the detection area, the system stops working.
The invention solves the problem of collision between the gripper and the reagent needle, and by studying and judging the working states of all parts, the idle time length of the gripper and the reagent needle scheduling is greatly reduced, the problem that the time consumption of the gripper affects the instrument inspection speed is solved, and the instrument operation efficiency and the product market competitiveness are improved.
The foregoing is a description of one embodiment of the invention, which is specific and detailed, but is not to be construed as limiting the scope of the invention. It should be noted that it will be apparent to those skilled in the art that several variations and modifications can be made without departing from the spirit of the invention, which are all within the scope of the invention. Accordingly, the scope of protection of the present invention is to be determined by the appended claims.
Claims (1)
1. A scheduling method of a full-automatic coagulation analyzer comprises the following steps:
s1, initializing a system, wherein in an initial state, a gripper and a reagent needle are both positioned outside a detection area, the gripper is positioned in a track area or a cup-losing groove, and a reaction cup is arranged in the track area;
S2, judging whether a reaction cup exists in the incubation area, if not, sending an incubation message to a gripper, and the gripper grabs the cup from the track area to the incubation area and enters S4,
If yes, S3 is entered;
s3, judging whether a reaction cup exists in the detection area, if not, waiting until receiving detection information, and enabling a gripper to grasp the cup from the incubation area to the detection area, wherein the gripper enters a step S5 after leaving the detection area;
if yes, entering step S6;
S4, after incubation is completed, sending out detection information, and returning to the step S3;
In the step S2-S4, firstly, detecting whether a reaction cup with the incubation completed exists in an incubation area, if not, grabbing a new cup for incubation, and if so, transferring to the detection area by chance;
s5, sending out mobilization reagent needle information, and then carrying out the following two operations simultaneously:
S51, a reagent needle enters a detection area to add a reagent into a reaction cup and stir and mix uniformly to complete the reaction;
s52 returns to the step S2;
after the step S51 is completed, the reagent needle moves out of the detection area, and sends out cup loss information, and the step S6 is entered;
detecting information is blocked from transferring the information of the reagent needle to the information of the lost cup;
In the detection area, the reagent needle shields detection information during the operation of the detection area, even if incubation is completed, the detection information cannot be sent out until the cup losing information is sent out, and the detection information can be sent out continuously and received;
During operation of the reagent needle in the detection zone, the system returns to step S2,
S6, after waiting until receiving the cup loss information, the system simultaneously performs the following two operations:
S61, the reagent needle washes the needle in the needle washing groove area; mobilizing the reagent needle information to be blocked during needle washing;
S62, the gripper enters a detection area, and the reaction cup is gripped to a cup-losing groove;
after the step S62 is completed, returning to the step S2;
when no reaction cup is found in the track area, the incubation area and the detection area, the system stops working.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202010896155.3A CN112014582B (en) | 2020-08-31 | 2020-08-31 | Scheduling method of full-automatic coagulation analyzer |
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| CN202010896155.3A CN112014582B (en) | 2020-08-31 | 2020-08-31 | Scheduling method of full-automatic coagulation analyzer |
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| CN112014582B true CN112014582B (en) | 2024-05-03 |
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| CN112986547B (en) * | 2021-04-22 | 2021-07-20 | 中国科学院苏州生物医学工程技术研究所 | Scheduling method, device and system of thrombelastogram detector |
| CN113125786B (en) * | 2021-04-28 | 2024-03-19 | 深圳市卓润生物科技有限公司 | Reaction cup state detection method and system |
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