CN113600350A - Sample placement method, system and device - Google Patents
Sample placement method, system and device Download PDFInfo
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- CN113600350A CN113600350A CN202110871242.8A CN202110871242A CN113600350A CN 113600350 A CN113600350 A CN 113600350A CN 202110871242 A CN202110871242 A CN 202110871242A CN 113600350 A CN113600350 A CN 113600350A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B04—CENTRIFUGAL APPARATUS OR MACHINES FOR CARRYING-OUT PHYSICAL OR CHEMICAL PROCESSES
- B04B—CENTRIFUGES
- B04B11/00—Feeding, charging, or discharging bowls
- B04B11/04—Periodical feeding or discharging; Control arrangements therefor
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B04—CENTRIFUGAL APPARATUS OR MACHINES FOR CARRYING-OUT PHYSICAL OR CHEMICAL PROCESSES
- B04B—CENTRIFUGES
- B04B15/00—Other accessories for centrifuges
Abstract
The invention discloses a sample placing method, a sample placing system and a sample placing device. This application is waited centrifugal sample tube preferentially and is placed the first hole bit group that is located an axis of adapter to place according to the adapter centrosymmetric mode. After the first hole site group is fully placed, selecting vacant holes from a second hole site group positioned on one side of the central axis where the first hole site group is positioned to place sample tubes to be centrifuged, and selecting vacant holes from a third hole site group positioned on the other side of the central axis where the first hole site group is positioned to place sample tubes to be centrifuged according to the central symmetry mode of the adapter until all the sample tubes to be centrifuged are placed or the adapter is fully placed. Therefore, the sample tube is placed in the hole site on the central axis of the adapter preferentially, and the sample tube is placed in the mode of central symmetry of the adapter in the whole sample tube placing process, so that the weight balance of the adapter at each position is guaranteed as much as possible in the whole sample tube placing process, and the stability of the sample centrifugal system is improved.
Description
Technical Field
The invention relates to the field of sample centrifugation, in particular to a sample placement method, a sample placement system and a sample placement device.
Background
With the development of medical automatic detection technology, each detection system in a medical examination laboratory realizes the automatic detection of a production line, wherein the detection system comprises a sample centrifugation system. For a sample centrifugation system, the placement of the sample tube is critical to the efficiency and stability of the operation of the sample centrifugation system. At present, sample tubes are usually placed on an adapter (a container for bearing the sample tubes in a sample centrifuge) in sequence according to the order of hole sites of the adapter, as shown in fig. 1, fig. 1 is a 20-hole adapter, and the hole sites 20 are placed in sequence from hole site 1 and hole site 2 … …, but when the number of the sample tubes is not enough to place all the hole sites of the adapter, especially when a large number of hole sites are left, the adapter has a overweight phenomenon, which affects the stability of the sample centrifugation system.
Therefore, how to provide a solution to the above technical problem is a problem that needs to be solved by those skilled in the art.
Disclosure of Invention
The invention aims to provide a sample placing method, a sample placing system and a sample placing device.
In order to solve the above technical problem, the present invention provides a sample placement method applied to a sample centrifugation system including an adapter and a sample grip, comprising:
acquiring the distribution condition of hole sites for placing sample tubes on the adapter; the distribution condition comprises a first hole bit group positioned on a central axis of the adapter, a second hole bit group positioned on one side of the central axis and a third hole bit group positioned on the other side of the central axis;
selecting a first target hole site from the first hole site group, and controlling the sample gripper to place the sample tube to be centrifuged at the first target hole site;
selecting a second target hole site which is centrosymmetric to the first target hole site on the adapter from the first hole site group, and controlling the sample gripper to place the residual sample tube to be centrifuged to the second target hole site;
after the first hole group is fully arranged, selecting a third target hole from the second hole group, and controlling the sample gripper to place the residual sample tube to be centrifuged to the third target hole;
and selecting a fourth target hole site which is in central symmetry with the third target hole site on the adapter from the third hole site group, and controlling the sample gripper to place the rest sample tubes to be centrifuged to the fourth target hole site until the sample tubes to be centrifuged are completely placed or the adapter is full.
Preferably, the sample gripper is a multi-sample gripper for simultaneously gripping and placing a plurality of sample tubes to corresponding hole sites;
selecting a target well site for placement of the sample tube to be centrifuged from the well site, comprising:
and selecting a plurality of target hole sites from the hole sites so as to control the multi-sample gripper to simultaneously grip and correspondingly place a plurality of sample tubes to be centrifuged to the plurality of target hole sites.
Preferably, the sample centrifugation system comprises a plurality of said adapters;
the sample placement method further comprises:
numbering the hole sites of each adapter according to the placing sequence of the sample tubes of the adapter in advance to obtain the placing sequence number of each hole site in each adapter; the sample tubes corresponding to the hole sites of the adapters are placed in the same order;
sequentially inquiring the target placing sequence numbers corresponding to the next placing of the sample tubes to be centrifuged by the plurality of adapters in the sample tube detecting process of the sample centrifugation system, and judging whether the target placing sequence numbers corresponding to the plurality of adapters are the same;
if so, controlling the sample gripper to sequentially place the sample tubes to be centrifuged to the hole sites corresponding to the target placement sequence numbers of the plurality of adapters according to the polling sequence of the plurality of adapters;
if not, controlling the sample gripper to sequentially place the sample tubes to be centrifuged in the hole sites corresponding to the target placement sequence numbers of the plurality of adapters according to the sequence from small to large of the target placement sequence numbers corresponding to the plurality of adapters.
Preferably, the sample placement method further comprises:
determining whether a plurality of the adapters are full;
if all the adapters are full, judging whether the weight difference values among the adapters are within a preset difference value range;
if the difference values are within the preset difference value range, determining that the sample centrifugal system finishes the sample tube check-in process;
and if the difference values are not in the preset difference value range, controlling the sample gripper to pick out a sample tube from the adapter with the largest current weight, and returning to execute the step of judging whether the weight difference values among the adapters are in the preset difference value range or not until the weight difference values among the adapters are in the preset difference value range.
Preferably, the sample placement method further comprises:
in the process of placing the sample tubes to be centrifuged on an adapter, acquiring the total number of the holes corresponding to the adapter in the placing process, and judging whether the sample grippers grab the sample tubes with the number equal to the total number of the holes within a preset time;
if not, the sample gripper is controlled to complete the sample tube placement, the overtime of the sample tube detection is determined, and the sample tube detection operation is stopped.
Preferably, the sample placement method further comprises:
after stopping the sample tube check-in operation, obtaining sample hole site states of a plurality of adapters, which represent the situation that sample tubes are placed in the hole sites on the adapters;
and controlling the sample gripper to grab a prepared balancing pipe to perform sample hole position alignment based on the balancing requirement that the sample hole position states of the plurality of adapters are kept consistent.
Preferably, the sample placement method further comprises:
after the sample hole sites are completely repaired, judging whether the weight difference values among the adapters are all within a preset difference value range;
if the difference values are within the preset difference value range, determining that the sample centrifugal system finishes the sample tube check-in process;
and if the difference values are not within the preset difference value range, controlling the sample gripper to grip a residual balance pipe and place the balance pipe on the adapter with the smallest current weight, and returning to execute the step of judging whether the weight difference values among the adapters are within the preset difference value range or not until the weight difference values among the adapters are within the preset difference value range.
In order to solve the above technical problem, the present invention further provides a sample placement system applied to a sample centrifugation system including an adapter and a sample grip, comprising:
the acquisition module is used for acquiring the distribution condition of hole sites for placing the sample tubes on the adapter; the distribution condition comprises a first hole bit group positioned on a central axis of the adapter, a second hole bit group positioned on one side of the central axis and a third hole bit group positioned on the other side of the central axis;
the first placing module is used for selecting a first target hole site from the first hole site group and controlling the sample gripper to place the sample tube to be centrifuged at the first target hole site;
the second placing module is used for selecting a second target hole site which is centrosymmetric to the first target hole site on the adapter from the first hole site group, and controlling the sample gripper to place the residual sample tube to be centrifuged to the second target hole site;
the third placing module is used for selecting a third target hole position from the second hole position group after the first hole position group is fully placed, and controlling the sample gripper to place the residual sample tube to be centrifuged to the third target hole position;
and the fourth placing module is used for selecting a fourth target hole site which is centrosymmetric to the third target hole site on the adapter from the third hole site group, and controlling the sample gripper to place the rest sample tubes to be centrifuged to the fourth target hole site until all the sample tubes to be centrifuged are placed or the adapter is full.
Preferably, the sample gripper is a multi-sample gripper for simultaneously gripping and placing a plurality of sample tubes to corresponding hole sites;
selecting a target well site for placement of the sample tube to be centrifuged from the well site, comprising:
and selecting a plurality of target hole sites from the hole sites so as to control the multi-sample gripper to simultaneously grip and correspondingly place a plurality of sample tubes to be centrifuged to the plurality of target hole sites.
In order to solve the above technical problem, the present invention further provides a sample placement device, including:
a memory for storing a computer program;
a processor for implementing the steps of any of the above-described sample placement methods when executing the computer program.
The invention provides a sample placement method, which is applied to a sample centrifugation system comprising an adapter and a sample gripper. This application is waited centrifugal sample tube preferentially and is placed the first hole bit group that is located an axis of adapter to place according to the adapter centrosymmetric mode. After the first hole site group is fully placed, selecting vacant holes from a second hole site group positioned on one side of the central axis where the first hole site group is positioned to place sample tubes to be centrifuged, and selecting vacant holes from a third hole site group positioned on the other side of the central axis where the first hole site group is positioned to place sample tubes to be centrifuged according to the central symmetry mode of the adapter until all the sample tubes to be centrifuged are placed or the adapter is fully placed. Therefore, the sample tube is placed in the hole site on the central axis of the adapter preferentially, and the sample tube is placed in the mode of central symmetry of the adapter in the whole sample tube placing process, so that the weight balance of the adapter at each position is guaranteed as much as possible in the whole sample tube placing process, and the stability of the sample centrifugal system is improved.
The invention also provides a sample placing system and a sample placing device, which have the same beneficial effects as the sample placing method.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed in the prior art and the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.
FIG. 1 is a hole site layout of a 20-hole adapter of the prior art;
FIG. 2 is a flow chart of a sample placement method according to an embodiment of the present invention;
fig. 3 is a schematic structural diagram of a sample placement system according to an embodiment of the present invention.
Detailed Description
The core of the invention is to provide a sample placing method, a sample placing system and a sample placing device, wherein a hole position on a central axis of an adapter is preferentially selected to place a sample tube, and the sample tube is placed in a manner of central symmetry of the adapter in the whole sample tube placing process, so that the weight balance of all parts of the adapter is ensured as much as possible in the whole sample tube placing process, and the stability of a sample centrifugal system is improved.
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.
Referring to fig. 2, fig. 2 is a flowchart of a sample placement method according to an embodiment of the present invention.
The sample placement method is applied to a sample centrifugation system comprising an adapter and a sample gripper, and comprises the following steps:
step S1: acquiring the distribution condition of hole sites for placing sample tubes on the adapter; the distribution situation comprises a first hole group located on a central axis of the adapter, a second hole group located on one side of the central axis and a third hole group located on the other side of the central axis.
Specifically, the sample centrifugation system comprises an adapter and a sample gripper, wherein the adapter is provided with a hole site for placing a sample tube, and the sample gripper is used for placing the sample tube to be centrifuged in the hole site arranged on the adapter.
In the process of placing a sample tube to be centrifuged on the adapter, the distribution of each hole site on the adapter is firstly obtained, specifically, a hole site group (called as a first hole site group) on a central axis (called as a target central axis) of the adapter, a hole site group (called as a second hole site group) on one side of the target central axis and a hole site group (called as a third hole site group) on the other side of the target central axis, so that a basis is provided for subsequent balanced placement of the sample tube to be centrifuged.
Step S2: and selecting a first target hole site from the first hole site group, and controlling the sample gripper to place the sample tube to be centrifuged to the first target hole site.
Specifically, the application preferentially selects a hole site (called as a first target hole site) for placing the sample tube to be centrifuged from the first hole site group, and then controls the sample gripper to place the sample tube to be centrifuged at the first target hole site. Because the first hole site group is located the axis of adapter, the first hole site group of preferred placement is favorable to guaranteeing adapter weight balance.
Step S3: and selecting a second target hole site which is centrosymmetric to the first target hole site on the adapter from the first hole site group, and controlling the sample gripper to place the residual sample tube to be centrifuged to the second target hole site.
Specifically, according to the method, after the first target hole is placed, a hole (called as a second target hole) which is symmetrical to the first target hole in the center of the adapter is selected from the first hole group, and then the sample gripper is controlled to place the rest sample tubes to be centrifuged to the second target hole, so that the weight balance of the adapter on the target central axis is guaranteed as much as possible.
Step S4: and after the first hole group is fully arranged, selecting a third target hole position from the second hole position group, and controlling the sample gripper to place the residual sample tube to be centrifuged to the third target hole position.
Specifically, after the first hole site is fully arranged in the centrosymmetric manner in steps S2 and S3, a hole site (referred to as a third target hole site) for placing the sample tube to be centrifuged is selected from the second hole site group, and then the sample gripper is controlled to place the remaining sample tube to be centrifuged at the third target hole site.
Step S5: and selecting a fourth target hole site which is in central symmetry with the third target hole site on the adapter from the third hole site group, and controlling the sample gripper to place the rest sample tubes to be centrifuged to the fourth target hole site until the sample tubes to be centrifuged are completely placed or the adapter is full.
Specifically, after the third target hole is placed, a hole (called a fourth target hole) which is centrosymmetric to the third target hole on the adapter is selected from the third hole group, and then the sample gripper is controlled to place the remaining sample tubes to be centrifuged to the fourth target hole, so that the weight balance of the two sides of the target central axis of the adapter is ensured as much as possible. Next, the second aperture group and the third aperture group are placed in a manner of central symmetry in steps S4 and S5 until the tube to be centrifuged is completely placed or the adapter is full.
The invention provides a sample placement method, which is applied to a sample centrifugation system comprising an adapter and a sample gripper. This application is waited centrifugal sample tube preferentially and is placed the first hole bit group that is located an axis of adapter to place according to the adapter centrosymmetric mode. After the first hole site group is fully placed, selecting vacant holes from a second hole site group positioned on one side of the central axis where the first hole site group is positioned to place sample tubes to be centrifuged, and selecting vacant holes from a third hole site group positioned on the other side of the central axis where the first hole site group is positioned to place sample tubes to be centrifuged according to the central symmetry mode of the adapter until all the sample tubes to be centrifuged are placed or the adapter is fully placed. Therefore, the sample tube is placed in the hole site on the central axis of the adapter preferentially, and the sample tube is placed in the mode of central symmetry of the adapter in the whole sample tube placing process, so that the weight balance of the adapter at each position is guaranteed as much as possible in the whole sample tube placing process, and the stability of the sample centrifugal system is improved.
On the basis of the above-described embodiment:
as an alternative embodiment, the sample gripper is a multi-sample gripper for simultaneously gripping and placing a plurality of sample tubes to the corresponding hole sites;
selecting a target well site for placing a sample tube to be centrifuged from the well sites, comprising:
and selecting a plurality of target hole sites from the hole sites so as to control the multi-sample gripper to simultaneously grip a plurality of sample tubes to be centrifuged and correspondingly place the sample tubes to the plurality of target hole sites.
In particular, the sample grip in the sample centrifugation system is a multi-sample grip for simultaneously gripping and placing a plurality of sample tubes to the corresponding well locations. Then this application is when selecting the target hole site that is used for placing the sample tube of waiting to centrifuge from first hole bit group, second hole bit group, third hole bit group, and a plurality of target hole sites can be selected to the single time, then control many sample tongs and snatch a plurality of sample tubes of waiting to centrifuge simultaneously and correspondingly place a plurality of target hole sites.
For example, the sample gripper in the sample centrifugation system is specifically a double-sample gripper that can transversely place two sample tubes at a time, as shown in fig. 1, each hole site of the adapter is numbered according to the sequence of the transverse direction, and then the sample placement method of the present application only needs 12 placement processes, and if the placement sequence is: (9,10) (11,12) (4,5) (16,17) (7,8) (13,14) (1,3) (18,20) (6) (15) (2) (19) comprising 8 double sample tube placements and 4 single sample tube placements. Compared with a single sample tube placing mode, the sample placing efficiency of the single adapter is improved by 40%.
As an alternative embodiment, the sample centrifugation system comprises a plurality of adapters;
the sample placement method further comprises:
numbering the hole sites of each adapter according to the placing sequence of the sample tubes of the adapters in advance to obtain the placing sequence number of each hole site in each adapter; wherein, the sample tubes corresponding to the hole sites of the plurality of adapters are placed in the same order;
in the process of detecting the sample tubes in the sample centrifugation system, sequentially inquiring the target placing sequence numbers corresponding to the next placing of the sample tubes to be centrifuged by the plurality of adapters, and judging whether the target placing sequence numbers corresponding to the plurality of adapters are the same;
if so, controlling the sample gripper to sequentially place the sample tubes to be centrifuged in the hole sites corresponding to the target placement sequence numbers of the plurality of adapters according to the polling sequence of the plurality of adapters;
if not, controlling the sample gripper to sequentially place the sample tubes to be centrifuged in the hole sites corresponding to the target placement sequence numbers of the plurality of adapters according to the sequence from small to large of the target placement sequence numbers corresponding to the plurality of adapters.
Further, the sample centrifugation system comprises an adapter pack consisting of a plurality of adapters, typically four adapters. Based on this, this application numbers the hole site of every adapter according to its sample tube placement order in advance, obtains the placement order number of each hole site in every adapter. It should be noted that the hole sites of the multiple adapters of the sample centrifugation system are distributed the same, and the sample tubes corresponding to the hole sites of the multiple adapters are placed in the same order.
For example, the sample centrifugation system comprises four adapters as shown in fig. 1, each of the four adapters requires 12 placement processes, and the placement sequence is as follows: (9,10) (11,12) (4,5) (16,17) (7,8) (13,14) (1,3) (18,20) (6) (15) (2) (19), then the placing sequence number of each adapter is 1-12 (the initial placing number is 1), placing the hole site (9,10) corresponding to the number 1, placing the hole site (11,12) corresponding to the number 2, placing the hole site (4,5) corresponding to the number 3, placing the hole site (16,17) corresponding to the number 4, placing the hole site (7,8) corresponding to the number 5, placing the hole site (13,14) corresponding to the number 6, placing the hole site (1,3) corresponding to the number 7, placing the hole site (18,20) corresponding to the number 8, placing the hole site (6) corresponding to the number 9, placing the hole site (15) corresponding to the number 10, placing the hole site (2) corresponding to the number 11, placing the hole site (19) corresponding to the number 12.
It should be noted that the hole sites of each adapter are numbered in advance according to the placing order of the sample tubes, and the number is as follows: in order to design the optimum number of grasping processes according to the actual situation of the multi-sample gripper, the optimum number of grasping times of the 20-hole site adapter mentioned in the above embodiment is 12, wherein 8 relate to double sample placement and 4 relate to single sample placement.
It should be noted that the four adapters are placed in the same order, but the order of placing the adapters is not the same, and it is only necessary to place the sample tube in the manner of central symmetry of the adapters in the whole process of placing the sample tube by preferentially selecting the hole locations on the central axis of the adapters (i.e., the preset position numbers are based on the central symmetry placement rule). For example, there is no regular sequential arrangement of hole sites that are symmetric with each other, for example, if hole site (2) and hole site (19) are a group of hole sites that are symmetric with each other, and the placement order of these two hole sites can be interchanged, then hole site (19) corresponding to placement number 11, and hole site (2) corresponding to placement number 12 are placed.
In the process of detecting the sample tube in the sample centrifugation system, the target placing sequence numbers corresponding to the next placing of the sample tubes to be centrifuged by the plurality of adapters are sequentially inquired, and whether the target placing sequence numbers corresponding to the plurality of adapters are the same is judged; if the target placing sequence numbers corresponding to the adapters are the same, controlling a sample gripper to sequentially place the sample tubes to be centrifuged in the hole sites corresponding to the target placing sequence numbers of the adapters according to the polling sequence of the adapters; if the target placing sequence numbers corresponding to the adapters are different, controlling the sample gripper to sequentially place the sample tubes to be centrifuged in the hole sites corresponding to the target placing sequence numbers of the adapters according to the sequence from small to large of the target placing sequence numbers corresponding to the adapters so as to ensure the optimal balance of the sample quantity among the different adapters and on the single adapter.
As an alternative embodiment, the sample placement method further comprises:
judging whether the plurality of adapters are full;
if all the adapters are full, judging whether the weight difference values among the adapters are within a preset difference value range;
if the difference values are within the preset difference value range, determining that the sample centrifugal system finishes the sample tube check-in process;
and if the difference values are not in the preset difference value range, controlling the sample gripper to pick out a sample tube from the adapter with the largest current weight, and returning to execute the step of judging whether the weight difference values among the plurality of adapters are in the preset difference value range or not until the weight difference values among the plurality of adapters are in the preset difference value range.
Further, when a sample tube to be placed is placed in a hole site of any adapter, the sample hole site state representing the situation of placing the sample tube in the hole site on the adapter is updated (if the sample hole site state is '1', the sample tube is placed in the hole site, and if the sample hole site state is '0', the sample tube is not placed in the hole site), whether the adapters are all fully placed is judged according to the sample hole site states corresponding to the adapters, if the adapters are all fully placed, the current weights of the adapters are obtained, and whether the weight difference values among the adapters are all within a preset difference value range is judged; if the weight difference values among the adapters are within the preset difference value range, determining that the sample centrifugal system finishes the sample tube check-in process; if the weight difference values among the adapter bodies are not within the preset difference value range, sequencing the current weights of the adapter bodies, controlling the sample gripper to pick out a sample tube from the adapter body with the largest current weight, and returning to execute the step of judging whether the weight difference values among the adapter bodies are within the preset difference value range or not until the weight difference values among the adapter bodies are within the preset difference value range, so that the weight balance among the adapter bodies is realized, the running stability of the sample centrifuge is improved, and the sample centrifugation efficiency and the sample centrifugation effect of the sample centrifugation system are improved.
As an alternative embodiment, the sample placement method further comprises:
in the process of placing a sample tube to be centrifuged on an adapter, acquiring the total number of holes corresponding to the adapter in the placing process, and judging whether a sample gripper catches the number of sample tubes equal to the total number of holes within a preset time;
if not, controlling the sample gripper to complete the sample tube placement, determining that the sample tube is overtime, and stopping the sample tube inspection operation.
Specifically, the process of placing a sample tube to be centrifuged into an adapter (referred to as a target adapter) is as follows: controlling a sample gripper to a gripping position of a sample tube to be centrifuged, controlling the sample gripper to grip the number of sample tubes equal to the total number of the holes corresponding to the current placement according to the total number of the holes corresponding to the current placement of the target adapter (as 2), if the number of the remaining sample tubes to be centrifuged is enough for the current gripping, successfully finishing the gripping process of the current sample tube by the sample gripper within preset time, controlling the sample gripper to move to a placement position after the gripping of the sample gripper is finished, finishing the placement of the current sample tube, and updating the state of sample holes of the target adapter; if the number of the remaining sample tubes to be centrifuged is not enough to be grabbed at this time, the sample grabber cannot successfully complete the grabbing process of the sample tubes within the preset time.
Based on the above, in the process of placing the sample tubes to be centrifuged on the target adapter, the total number of the holes corresponding to the placement of the target adapter at this time is obtained, timing is started when the sample gripper is controlled to grip the sample tubes to be centrifuged required by the placement at this time, and when the timing time reaches the preset time, whether the sample gripper grips the sample tubes with the number equal to the total number of the holes corresponding to the placement at this time is judged; if the sample tubes are not grabbed, the number of the remaining sample tubes to be centrifuged is considered to be insufficient for grabbing the sample tubes at the time, the sample grippers are controlled to complete the placing of the sample tubes, and therefore the limited waiting of the sample grippers is guaranteed, and the using frequency of the sample grippers is improved. In addition, when the sample gripper is controlled to complete the placement of the sample tube, the state of the sample hole site of the target adapter is updated, the overtime of the sample tube detection is determined, and the sample tube detection operation is stopped.
As an alternative embodiment, the sample placement method further comprises:
after stopping the sample tube check-in operation, obtaining sample hole site states of a plurality of adapters, which represent the situation of placing sample tubes on the hole sites on the adapters;
and controlling a sample gripper to grab a prepared balancing pipe to perform sample hole site alignment based on the sample hole site states of the plurality of adapters to keep consistent balancing requirements.
Further, the sample hole site states of the adapters are obtained after the sample tube check-in operation is stopped, the sample gripper is controlled to grab the prepared balancing tube to perform sample hole site filling based on the sample hole site states of the adapters keeping consistent balancing requirements, and the sample hole site filling is performed specifically in a mode of adapter center symmetry to ensure that the number of the sample tubes among the adapters is balanced.
As an alternative embodiment, the sample placement method further comprises:
after the sample hole sites are completely repaired, judging whether the weight difference values among the adapters are all within a preset difference value range;
if the difference values are within the preset difference value range, determining that the sample centrifugal system finishes the sample tube check-in process;
and if the difference values are not within the preset difference value range, controlling the sample gripper to grip a residual balance pipe and place the balance pipe on the adapter with the smallest current weight, and returning to execute the step of judging whether the weight difference values among the adapters are within the preset difference value range or not until the weight difference values among the adapters are within the preset difference value range.
Further, according to the method, after the sample hole sites are filled, the current weights of the adapters are obtained, and whether the weight difference values among the adapters are within a preset difference value range is judged; if the weight difference values among the adapters are within the preset difference value range, determining that the sample centrifugal system finishes the sample tube check-in process; if the weight difference value which is not within the preset difference value range exists in the weight difference values among the adapters, sequencing the current weights of the adapters, controlling the sample gripper to grab the rest leveling pipe and place the balance leveling pipe on the adapter with the smallest current weight, and returning to execute the step of judging whether the weight difference values among the adapters are within the preset difference value range or not until the weight difference values among the adapters are within the preset difference value range, so that the weight balance among the adapters is realized, the running stability of the sample centrifugal machine is improved, and the sample centrifugal efficiency and the sample centrifugal effect of the sample centrifugal system are improved.
Referring to fig. 3, fig. 3 is a schematic structural diagram of a sample placement system according to an embodiment of the present invention.
The sample placement system is applied to a sample centrifugation system comprising an adapter and a sample grip, comprising:
the acquisition module 1 is used for acquiring the distribution condition of hole sites on the adapter for placing the sample tubes; the distribution condition comprises a first hole group positioned on a central axis of the adapter, a second hole group positioned on one side of the central axis and a third hole group positioned on the other side of the central axis;
the first placing module 2 is used for selecting a first target hole site from the first hole site group and controlling the sample gripper to place the sample tube to be centrifuged at the first target hole site;
the second placing module 3 is used for selecting a second target hole position which is centrosymmetric to the first target hole position on the adapter from the first hole position group, and controlling the sample gripper to place the residual sample tube to be centrifuged to the second target hole position;
the third placing module 4 is used for selecting a third target hole position from the second hole position group after the first hole position group is fully placed, and controlling the sample gripper to place the residual sample tube to be centrifuged to the third target hole position;
and the fourth placing module 5 is used for selecting a fourth target hole site which is centrosymmetric to the third target hole site on the adapter from the third hole site group, and controlling the sample gripper to place the rest sample tubes to be centrifuged to the fourth target hole site until the sample tubes to be centrifuged are completely placed or the adapter is full.
As an alternative embodiment, the sample gripper is a multi-sample gripper for simultaneously gripping and placing a plurality of sample tubes to the corresponding hole sites;
selecting a target well site for placing a sample tube to be centrifuged from the well sites, comprising:
and selecting a plurality of target hole sites from the hole sites so as to control the multi-sample gripper to simultaneously grip a plurality of sample tubes to be centrifuged and correspondingly place the sample tubes to the plurality of target hole sites.
For introduction of the sample placement system provided in the present application, reference is made to the above-mentioned embodiments of the sample placement method, which are not repeated herein.
The application also provides a sample placement device, including:
a memory for storing a computer program;
a processor for implementing the steps of any of the above-described sample placement methods when executing a computer program.
For the introduction of the sample placement device provided in the present application, reference is made to the above-mentioned embodiments of the sample placement method, which are not repeated herein.
It is further noted that, in the present specification, relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (10)
1. A sample placement method for use in a sample centrifugation system comprising an adapter and a sample grip, comprising:
acquiring the distribution condition of hole sites for placing sample tubes on the adapter; the distribution condition comprises a first hole bit group positioned on a central axis of the adapter, a second hole bit group positioned on one side of the central axis and a third hole bit group positioned on the other side of the central axis;
selecting a first target hole site from the first hole site group, and controlling the sample gripper to place the sample tube to be centrifuged at the first target hole site;
selecting a second target hole site which is centrosymmetric to the first target hole site on the adapter from the first hole site group, and controlling the sample gripper to place the residual sample tube to be centrifuged to the second target hole site;
after the first hole group is fully arranged, selecting a third target hole from the second hole group, and controlling the sample gripper to place the residual sample tube to be centrifuged to the third target hole;
and selecting a fourth target hole site which is in central symmetry with the third target hole site on the adapter from the third hole site group, and controlling the sample gripper to place the rest sample tubes to be centrifuged to the fourth target hole site until the sample tubes to be centrifuged are completely placed or the adapter is full.
2. The sample placement method according to claim 1, wherein said sample grip is a multi-sample grip for simultaneously gripping and placing a plurality of sample tubes to respective well sites;
selecting a target well site for placement of the sample tube to be centrifuged from the well site, comprising:
and selecting a plurality of target hole sites from the hole sites so as to control the multi-sample gripper to simultaneously grip and correspondingly place a plurality of sample tubes to be centrifuged to the plurality of target hole sites.
3. The sample placement method according to claim 1 or 2, wherein said sample centrifugation system comprises a plurality of said adapters;
the sample placement method further comprises:
numbering the hole sites of each adapter according to the placing sequence of the sample tubes of the adapter in advance to obtain the placing sequence number of each hole site in each adapter; the sample tubes corresponding to the hole sites of the adapters are placed in the same order;
sequentially inquiring the target placing sequence numbers corresponding to the next placing of the sample tubes to be centrifuged by the plurality of adapters in the sample tube detecting process of the sample centrifugation system, and judging whether the target placing sequence numbers corresponding to the plurality of adapters are the same;
if so, controlling the sample gripper to sequentially place the sample tubes to be centrifuged to the hole sites corresponding to the target placement sequence numbers of the plurality of adapters according to the polling sequence of the plurality of adapters;
if not, controlling the sample gripper to sequentially place the sample tubes to be centrifuged in the hole sites corresponding to the target placement sequence numbers of the plurality of adapters according to the sequence from small to large of the target placement sequence numbers corresponding to the plurality of adapters.
4. The sample placement method as recited in claim 3, further comprising:
determining whether a plurality of the adapters are full;
if all the adapters are full, judging whether the weight difference values among the adapters are within a preset difference value range;
if the difference values are within the preset difference value range, determining that the sample centrifugal system finishes the sample tube check-in process;
and if the difference values are not in the preset difference value range, controlling the sample gripper to pick out a sample tube from the adapter with the largest current weight, and returning to execute the step of judging whether the weight difference values among the adapters are in the preset difference value range or not until the weight difference values among the adapters are in the preset difference value range.
5. The sample placement method as recited in claim 3, further comprising:
in the process of placing the sample tubes to be centrifuged on an adapter, acquiring the total number of the holes corresponding to the adapter in the placing process, and judging whether the sample grippers grab the sample tubes with the number equal to the total number of the holes within a preset time;
if not, the sample gripper is controlled to complete the sample tube placement, the overtime of the sample tube detection is determined, and the sample tube detection operation is stopped.
6. The sample placement method as recited in claim 5, further comprising:
after stopping the sample tube check-in operation, obtaining sample hole site states of a plurality of adapters, which represent the situation that sample tubes are placed in the hole sites on the adapters;
and controlling the sample gripper to grab a prepared balancing pipe to perform sample hole position alignment based on the balancing requirement that the sample hole position states of the plurality of adapters are kept consistent.
7. The sample placement method as recited in claim 6, further comprising:
after the sample hole sites are completely repaired, judging whether the weight difference values among the adapters are all within a preset difference value range;
if the difference values are within the preset difference value range, determining that the sample centrifugal system finishes the sample tube check-in process;
and if the difference values are not within the preset difference value range, controlling the sample gripper to grip a residual balance pipe and place the balance pipe on the adapter with the smallest current weight, and returning to execute the step of judging whether the weight difference values among the adapters are within the preset difference value range or not until the weight difference values among the adapters are within the preset difference value range.
8. A sample placement system for use in a sample centrifugation system comprising an adapter and a sample grip, comprising:
the acquisition module is used for acquiring the distribution condition of hole sites for placing the sample tubes on the adapter; the distribution condition comprises a first hole bit group positioned on a central axis of the adapter, a second hole bit group positioned on one side of the central axis and a third hole bit group positioned on the other side of the central axis;
the first placing module is used for selecting a first target hole site from the first hole site group and controlling the sample gripper to place the sample tube to be centrifuged at the first target hole site;
the second placing module is used for selecting a second target hole site which is centrosymmetric to the first target hole site on the adapter from the first hole site group, and controlling the sample gripper to place the residual sample tube to be centrifuged to the second target hole site;
the third placing module is used for selecting a third target hole position from the second hole position group after the first hole position group is fully placed, and controlling the sample gripper to place the residual sample tube to be centrifuged to the third target hole position;
and the fourth placing module is used for selecting a fourth target hole site which is centrosymmetric to the third target hole site on the adapter from the third hole site group, and controlling the sample gripper to place the rest sample tubes to be centrifuged to the fourth target hole site until all the sample tubes to be centrifuged are placed or the adapter is full.
9. The sample placement system according to claim 8, wherein said sample grip is a multi-sample grip for simultaneously gripping and placing a plurality of sample tubes into respective well locations;
selecting a target well site for placement of the sample tube to be centrifuged from the well site, comprising:
and selecting a plurality of target hole sites from the hole sites so as to control the multi-sample gripper to simultaneously grip and correspondingly place a plurality of sample tubes to be centrifuged to the plurality of target hole sites.
10. A sample placement device, comprising:
a memory for storing a computer program;
a processor for implementing the steps of the sample placement method as claimed in any one of claims 1-7 when executing the computer program.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110871242.8A CN113600350A (en) | 2021-07-30 | 2021-07-30 | Sample placement method, system and device |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110871242.8A CN113600350A (en) | 2021-07-30 | 2021-07-30 | Sample placement method, system and device |
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| CN113600350A true CN113600350A (en) | 2021-11-05 |
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| CN202110871242.8A Pending CN113600350A (en) | 2021-07-30 | 2021-07-30 | Sample placement method, system and device |
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Cited By (1)
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| CN115055289A (en) * | 2022-07-13 | 2022-09-16 | 中元汇吉生物技术股份有限公司 | Method, device, equipment and medium for centrifugal control of sample |
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