CN113893958B - Centrifuge tube taking and placing method, device and computer readable storage medium - Google Patents
Centrifuge tube taking and placing method, device and computer readable storage medium Download PDFInfo
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- CN113893958B CN113893958B CN202111507100.XA CN202111507100A CN113893958B CN 113893958 B CN113893958 B CN 113893958B CN 202111507100 A CN202111507100 A CN 202111507100A CN 113893958 B CN113893958 B CN 113893958B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B04—CENTRIFUGAL APPARATUS OR MACHINES FOR CARRYING-OUT PHYSICAL OR CHEMICAL PROCESSES
- B04B—CENTRIFUGES
- B04B13/00—Control arrangements specially designed for centrifuges; Programme control of centrifuges
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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 application relates to a centrifuge tube taking and placing method, a centrifuge tube taking and placing device and a computer readable storage medium, which can realize automatic and accurate taking and placing of a centrifuge tube at low cost. The method comprises the following steps: detecting whether a centrifuge cover is opened; if the centrifuge cover is opened, shooting a centrifugal cavity of the centrifuge through visual equipment, and acquiring an image in a certain range by taking the center of a rotor of the centrifuge as a circle center; determining the orientation of the centrifugal tube according to an image in a certain range taking the center of the centrifuge rotor as the circle center; and controlling the mechanical arm to place or take out the centrifugal tube according to the position of the centrifugal tube. The technical scheme of this application has got rid of centrifuge to specific motor and/or external sensor's dependence, and the motor can slow down the speed naturally and stop after the centrifugation, need not the motor and seeks the ending position, and is more simple and convenient on the hardware control, realizes low cost.
Description
Technical Field
The application relates to the technical field of laboratory automation equipment, in particular to a centrifuge tube taking and placing method, centrifuge tube taking and placing equipment and a computer readable storage medium.
Background
Centrifugal separation is a basic process in the analytical discipline, and the process is to realize the solid-liquid separation and the liquid-liquid separation of a sample by utilizing centrifugal force. With the current trend of laboratory automation, automation of centrifugation is also a demand. In the working mode of the traditional centrifugal machine, the starting and stopping of the motor can not be automatically realized at the same position, so that the automation of the centrifugal machine has certain difficulty. In order to solve the above problems, the existing method uses a specific motor or an external sensor to accurately start and stop the motor at a specific position. However, the existing method has high implementation cost, and the popularization and application of the existing method are restricted.
Disclosure of Invention
In order to solve or partially solve the problems in the related art, the application provides a centrifuge tube taking and placing method, a device and a computer readable storage medium, which can realize automatic and accurate taking and placing of a centrifuge tube with lower cost.
In one aspect, the application provides a centrifuge tube picking and placing method, including:
shooting a centrifugal cavity of the centrifugal machine through visual equipment, and acquiring an image in a certain range by taking the center of a rotor of the centrifugal machine as a circle center;
matching feature points in the image for positioning the centrifuge tube rack;
acquiring coordinates of the characteristic points in a rotor coordinate system, wherein the rotor coordinate system is a coordinate system where the centrifuge rotor is located;
and calculating the coordinates of the center of the centrifuge tube rack in the rotor coordinate system according to the coordinates of the characteristic points in the rotor coordinate system.
On the other hand, this application provides a centrifuging tube is got and is put device, includes:
the first acquisition module is used for shooting a centrifugal cavity of the centrifugal machine through visual equipment and acquiring an image in a certain range by taking the center of a rotor of the centrifugal machine as a circle center;
the matching module is used for matching the characteristic points used for positioning the centrifuge tube rack in the image;
the second acquisition module is used for acquiring the coordinates of the characteristic points in a rotor coordinate system, wherein the rotor coordinate system is a coordinate system where the centrifuge rotor is located;
and the calculation module is used for calculating the coordinates of the center of the centrifuge tube rack in the rotor coordinate system according to the coordinates of the characteristic points in the rotor coordinate system.
In a third aspect, the present application provides an apparatus, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor, and the processor implements the steps of the above-mentioned centrifuge tube picking and placing method when executing the computer program.
In a fourth aspect, the present application provides a computer-readable storage medium, which stores a computer program, and the computer program, when executed by a processor, implements the steps of the above technical solution of the centrifuge tube picking and placing method.
According to the technical scheme provided by the application, shoot the centrifugal chamber of centrifuge through vision equipment, acquire the image of the certain extent that uses the center of centrifuge rotor as the centre of a circle, according to the image of the certain extent that uses the center of centrifuge rotor as the centre of a circle, confirm the position of centrifuging tube, afterwards, according to the position of centrifuging tube, just can control the position of mechanical arm to centrifuging tube and place or take out the centrifuging tube. Because for original centrifuge, this application only increases low price's visual equipment, just can realize placing or taking out the accuracy of centrifuging tube, has broken away from centrifuge to the dependence of specific motor, can slow down the speed naturally and stop after the centrifugation is accomplished, need not the motor and seeks the end position, and more simple and convenient on the hardware control realizes low cost.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present application, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
Fig. 1 is a flowchart of a centrifuge tube picking and placing method provided in an embodiment of the present application;
fig. 2 is a schematic structural diagram of a centrifuge tube taking and placing device provided in the embodiment of the present application;
fig. 3 is a schematic structural diagram of an apparatus provided in an embodiment of the present application.
Detailed Description
The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. 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 application.
In this specification, adjectives such as first and second may only be used to distinguish one element or action from another, without necessarily requiring or implying any actual such relationship or order. References to an element or component or step (etc.) should not be construed as limited to only one of the element, component, or step, but rather to one or more of the element, component, or step, etc., where the context permits.
In the present specification, the sizes of the respective portions shown in the drawings are not drawn in an actual proportional relationship for the convenience of description.
The application provides a centrifuge tube taking and placing method, as shown in fig. 1, the method mainly comprises steps S101 to S104, which are detailed as follows:
step S101: and detecting whether the centrifuge cover is opened or not.
Specifically, when a centrifuge tube is ready to be placed, after an uncovering signal sent by a control module is received, a push rod pushes up a centrifuge cover to an uncovering set position, and at the moment, a sensor arranged in the centrifuge feeds back information to the control module after sensing that a cover is completely opened, so as to detect the opening of the centrifuge cover; after centrifugal process, the push rod pushes up the centrifuge cover to uncapping and sets for the position, and the built-in sensor of centrifuge senses that the centrifuge cover has opened completely, feeds back information to control module, detects that the centrifuge cover has opened.
Step S102: if the centrifuge cover is opened, a centrifugal cavity of the centrifuge is shot through the vision equipment, and an image in a certain range with the center of the rotor of the centrifuge as the center of a circle is obtained.
In this application embodiment, can be with visual equipment such as camera or camera setting directly over the centrifugal chamber of centrifuge be just to the centrifugal chamber promptly, so, not only can shoot parts such as rotor, centrifuge tube rack and centrifuging tube of centrifuge completely, make rotor plane (circle) by complete reservation and can not be out of shape (for example, can not become the ellipse) moreover. The vision device can be pre-set and held stationary so that the rotor of the centrifuge can be imaged without fail as long as the lid of the centrifuge is opened. As for the range of photographing, a certain range may be used that is centered at the center of the centrifuge rotor, and the range may be in principle as long as all the ends of the rotor can be completely covered.
Step S103: and determining the orientation of the centrifugal tube according to the image in a certain range taking the center of the centrifuge rotor as the circle center.
Specifically, according to a certain range of images using the center of the centrifuge rotor as the center of the circle, determining the orientation of the centrifuge tube may be: matching features for positioning in an image in a certain range with the center of a centrifuge rotor as a circle center; the orientation of the centrifuge tube is determined according to the orientation of the features, wherein the features can be the centrifuge tube cover, the identification of the top of the centrifuge tube cover and/or the positioning label, the positioning label can be Arabic numerals, and the positioning label in the form of the Arabic numerals can be placed at the central position of the centrifuge tube rack.
As an embodiment of the present application, determining the orientation of the centrifuge tube according to the orientation of the feature may be: matching positioning labels for positioning the centrifuge tube rack in an image in a certain range with the center of the centrifuge rotor as the center of a circle; acquiring the orientation of the positioning label under a rotor coordinate system; determining the orientation of the centrifuge tube rack according to the relative position relationship between the positioning tag and the centrifuge tube rack; and determining the orientation of the centrifugal tube according to the relative position relationship between the centrifugal tube frame and the centrifugal tube, wherein the rotor coordinate system is the coordinate system where the centrifuge rotor is located. In the above embodiment, the matching of the positioning tag for positioning the centrifuge tube rack in the image may specifically be matching of the positioning tag for positioning the centrifuge tube rack in the image by a preset algorithm. The initial position or initial angle of the positioning tag is set to zero degrees. Because the relative position of centrifuging tube and centrifuge tube rack is fixed, consequently, after the position of confirming centrifuge tube rack is position and angle, can be according to the relative position relation of location label and centrifuge tube rack, confirm centrifuge tube rack's position.
As another embodiment of the present application, determining the orientation of the centrifuge tube may be, depending on the orientation of the feature: matching marks of a centrifuge tube cover or the top of the centrifuge tube cover for positioning the centrifuge tube rack in an image in a certain range taking the center of the centrifuge rotor as the center of a circle; and acquiring the position of the centrifugal tube cover or the position of the top of the centrifugal tube cover under a rotor coordinate system as the position of the centrifugal tube, wherein the rotor coordinate system is the coordinate system of the centrifugal machine rotor. Because the centrifuge tube cover belongs to a part of the centrifuge tube or the relative position of the centrifuge tube cover and the centrifuge tube is fixed, the position of the centrifuge tube cover or the mark at the top of the centrifuge tube cover under a rotor coordinate system is obtained through a positioning algorithm and can be directly used as the position of the centrifuge tube.
As another embodiment of the present application, determining the orientation of the centrifuge tube may be, depending on the orientation of the feature: matching positioning labels in the images in a certain range with the center of the centrifuge rotor as the center of a circle; judging whether a centrifugal tube exists in an observation area in the image or not; if the observation area has a centrifuge tube, the orientation of the centrifuge tube is determined according to the relative position relationship between the centrifuge tube placing position and the positioning tag, wherein the observation area is an area between the centrifuge tube placing position and the positioning tag. In the above embodiments, the observation regions may be numbered to be sorted. As for whether the centrifuge tube exists in the observation area in the image or not, whether the centrifuge tube exists in the observation area in the image or not can be judged according to the characteristics of the centrifuge tube cover or the codes attached to the scanning centrifuge tube cover.
Step S104: and controlling the mechanical arm to place or take out the centrifugal tube according to the position of the centrifugal tube.
Specifically, when preparing to place the centrifuging tube, control module sends the signal of uncapping, and the push rod pushes up the centrifuge cover to uncapping and sets for the position, and the built-in sensor of centrifuge senses the centrifuge cover and has opened completely, feeds back information to control module, and control module starts visual equipment such as camera and begins to shoot. After the orientation of the centrifuge tube is determined from the photographed image according to the algorithm, the orientation of the centrifuge tube is fed back to the robot arm. At this moment, the arm starts, loops through the sucking disc and takes out the centrifuge tube, then, control module control arm to centrifuge tube's position, place the centrifuge tube of absorption in the centrifuge tube rack. After placing the centrifuge tube, the mechanical arm feeds back the completion signal to the control module, and the control module controls the push rod to close the centrifuge cover to a set position. The sensor arranged in the centrifuge senses that the centrifuge cover is completely closed, and feeds information back to the control module. The control module starts the centrifuge to perform the centrifugal operation. During, vision equipment can shoot many times to prevent to place the position deviation that the in-process caused because of centrifuge tube rack's removal at every turn, judge simultaneously and place the position of process, centrifuge tube rack or centrifuging tube figure and go on as required.
When the centrifugation process ended, control module sent the signal of uncapping, and the push rod pushes up the centrifuge cover to uncapping and sets for the position, and the built-in sensor of centrifuge senses that the centrifuge cover has opened completely, feeds back information to control module, and control module starts visual equipment such as camera and begins to shoot. After the orientation of the centrifuge tube is determined from the photographed image according to the algorithm, the orientation of the centrifuge tube is fed back to the robot arm. At this moment, the arm starts, and control module control arm to the position of centrifuging tube snatchs in proper order or absorbs the centrifuging tube, places it to the settlement position. After placing the centrifuge tube, the mechanical arm feeds back the completion signal to the control module, and the control module controls the push rod to close the centrifuge cover to a set position. The built-in sensor of centrifuge induces that the centrifuge cover has been closed completely, feeds back information to control module, and the process of taking out of centrifuging tube is accomplished. During, vision equipment can shoot many times to prevent to take out the position deviation that the in-process caused because of centrifuge tube rack's removal at every turn, judge simultaneously and take out position, centrifuge tube rack or centrifuging tube figure of process and go on as required.
The above embodiment of the present application further includes: when the centrifuge tube is placed by the mechanical arm, obtaining placement information of the centrifuge tube through visual equipment; and sending a fault signal when the number and/or the position of the placed centrifugal tubes are wrong, wherein the placement information of the centrifugal tubes comprises the number and/or the position of the placed centrifugal tubes. Specifically, when the mechanical arm finishes placing the centrifuge tubes in the centrifuge tube rack, the vision equipment takes pictures again, the number of the centrifuge tubes on the centrifuge tube rack is fed back to the control module, the control module compares the number of the centrifuge tubes on the centrifuge tube rack with the pre-stored number, when the number of the centrifuge tubes on the centrifuge tube rack is consistent with the pre-stored number, the subsequent centrifugation process is continuously executed, and when the number of the centrifuge tubes on the centrifuge tube rack is inconsistent with the pre-stored number, the control module sends a fault signal to suggest that the centrifuge tubes are lost in the operation process; or, when the arm was accomplished and is placed centrifugal tube in centrifuge tube rack, visual equipment was shot once more, with centrifuge tube quantity and/or position feedback to control module on the centrifuge tube rack, compare with the rule of prestoring, when centrifuge tube quantity and/or position on the centrifuge tube rack were unanimous with the rule of prestoring, continue to carry out follow-up centrifugation process, when centrifuge tube quantity and/or position on the centrifuge tube rack were inconsistent with the rule of prestoring, control module sent fault signal, inspired centrifuge tube placed improperly.
The above embodiment of the present application further includes: when the mechanical arm finishes placing the centrifugal tube, acquiring the position of the centrifugal tube and the mark arranged on the centrifugal tube through visual equipment; the position of centrifuging tube and the sign feedback to control module that sets up on it, wherein, the sign that sets up on last centrifuging tube can be the label or the two-dimensional code information of centrifuging tube lid subsides, printing or sculpture, wherein contains centrifuging tube relevant information. Specifically, when the mechanical arm finishes placing the centrifuge tube on the centrifuge tube rack, the vision device takes a picture again, and marks such as labels or two-dimensional code information two-dimensional codes for labeling, printing or etching the centrifuge tube cover on the centrifuge tube and the placing position of the marks are fed back to the control module. Therefore, the control module can collect the sample information of the centrifuge tube and know the specific node where the sample is located in the automatic process.
According to the centrifuge tube taking and placing method illustrated in the attached drawing 1, the vision equipment is used for shooting the centrifugal cavity of the centrifuge, images in a certain range with the center of the centrifuge rotor as the circle center are obtained, the position of the centrifuge tube is determined according to the images in the certain range with the center of the centrifuge rotor as the circle center, and then the centrifuge tube can be placed or taken out from the position of the mechanical arm to the centrifuge tube according to the position of the centrifuge tube. Because for original centrifuge, this application only increases low price's visual equipment, just can realize placing or taking out the accuracy of centrifuging tube, has broken away from centrifuge to the dependence of specific motor, can slow down the speed naturally and stop after the centrifugation is accomplished, need not the motor and seeks the end position, and more simple and convenient on the hardware control realizes low cost.
Referring to fig. 2, a centrifuge tube taking and placing apparatus provided in the embodiment of the present application may include a sensing module 201, an obtaining module 202, a determining module 203, and a control module 204, which are detailed as follows:
the induction module 201 is used for detecting whether the centrifuge cover is opened or not;
an obtaining module 202, configured to capture, by using a visual device, a centrifugal cavity of a centrifuge if a centrifuge cover is opened, and obtain an image of a certain range using a center of a centrifuge rotor as a circle center;
the determining module 203 is configured to determine the orientation of the centrifugal tube according to an image in a certain range with the center of the centrifuge rotor as a circle center;
and the control module 204 is used for controlling the mechanical arm to place or take out the centrifugal tube according to the position of the centrifugal tube.
According to the technical scheme, the centrifugal cavity of the centrifugal machine is shot through the vision equipment, the image in a certain range with the center of the centrifugal machine rotor as the circle center is obtained, the position of the centrifugal tube is determined according to the image in the certain range with the center of the centrifugal machine rotor as the circle center, and then the centrifugal tube can be placed or taken out according to the position of the centrifugal tube by controlling the mechanical arm to the position of the centrifugal tube. Because for original centrifuge, this application only increases low price's visual equipment, just can realize placing or taking out the accuracy of centrifuging tube, has broken away from centrifuge to the dependence of specific motor, can slow down the speed naturally and stop after the centrifugation is accomplished, need not the motor and seeks the end position, and more simple and convenient on the hardware control realizes low cost.
Fig. 3 is a schematic structural diagram of an apparatus provided in an embodiment of the present application. As shown in fig. 3, the apparatus 3 of this embodiment mainly includes: a processor 30, a memory 31, and a computer program 32, such as a program for a centrifuge tube pick and place method, stored in the memory 31 and executable on the processor 30. The processor 30 executes the computer program 32 to implement the steps in the centrifuge tube taking and placing method embodiment, such as the steps S101 to S104 shown in fig. 1. Alternatively, the processor 30, when executing the computer program 32, implements the functions of the modules/units in the above-mentioned device embodiments, such as the functions of the sensing module 201, the obtaining module 202, the determining module 203 and the control module 204 shown in fig. 2.
Illustratively, the computer program 32 of the centrifuge tube handling method comprises: detecting whether a centrifuge cover is opened; if the centrifuge cover is opened, shooting a centrifugal cavity of the centrifuge through visual equipment, and acquiring an image in a certain range by taking the center of a rotor of the centrifuge as a circle center; determining the orientation of the centrifugal tube according to an image in a certain range taking the center of the centrifuge rotor as the circle center; and controlling the mechanical arm to place or take out the centrifugal tube according to the position of the centrifugal tube. The computer program 32 may be partitioned into one or more modules/units, which are stored in the memory 31 and executed by the processor 30 to accomplish the present application. One or more of the modules/units may be a series of computer program instruction segments capable of performing specific functions, which are used to describe the execution of the computer program 32 in the device 3. For example, the computer program 32 may be divided into functions of the sensing module 201, the obtaining module 202, the determining module 203 and the control module 204 (modules in the virtual device), and the specific functions of each module are as follows: the induction module 201 is used for detecting whether the centrifuge cover is opened or not; an obtaining module 202, configured to capture, by using a visual device, a centrifugal cavity of a centrifuge if a centrifuge cover is opened, and obtain an image of a certain range using a center of a centrifuge rotor as a circle center; the determining module 203 is configured to determine the orientation of the centrifugal tube according to an image in a certain range with the center of the centrifuge rotor as a circle center; and the control module 204 is used for controlling the mechanical arm to place or take out the centrifugal tube according to the position of the centrifugal tube.
The device 3 may include, but is not limited to, a processor 30, a memory 31. Those skilled in the art will appreciate that fig. 3 is merely an example of a device 3 and does not constitute a limitation of device 3 and may include more or fewer components than shown, or some components in combination, or different components, e.g., a computing device may also include input-output devices, network access devices, buses, etc.
The Processor 30 may be a Central Processing Unit (CPU), other general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), an off-the-shelf Programmable Gate Array (FPGA) or other Programmable logic device, discrete Gate or transistor logic, discrete hardware components, etc. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
The memory 31 may be an internal storage unit of the device 3, such as a hard disk or a memory of the device 3. The memory 31 may also be an external storage device of the device 3, such as a plug-in hard disk provided on the device 3, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), and the like. Further, the memory 31 may also include both an internal storage unit of the device 3 and an external storage device. The memory 31 is used for storing computer programs and other programs and data required by the device. The memory 31 may also be used to temporarily store data that has been output or is to be output.
It will be apparent to those skilled in the art that, for convenience and brevity of description, only the above-mentioned division of the functional units and modules is illustrated, and in practical applications, the above-mentioned functions may be distributed as required to different functional units and modules, that is, the internal structure of the apparatus may be divided into different functional units or modules to implement all or part of the functions described above. Each functional unit and module in the embodiments may be integrated in one processing unit, or each unit may exist alone physically, or two or more units are integrated in one unit, and the integrated unit may be implemented in a form of hardware, or in a form of software functional unit. In addition, specific names of the functional units and modules are only for convenience of distinguishing from each other, and are not used for limiting the protection scope of the present application. The specific working processes of the units and modules in the above-mentioned apparatus may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
In the above embodiments, the descriptions of the respective embodiments have respective emphasis, and reference may be made to the related descriptions of other embodiments for parts that are not described or illustrated in a certain embodiment.
Those of ordinary skill in the art will appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application.
In the embodiments provided in the present application, it should be understood that the disclosed apparatus/device and method may be implemented in other ways. For example, the above-described apparatus/device embodiments are merely illustrative, and for example, a module or a unit may be divided into only one logic function, and may be implemented in other ways, for example, a plurality of units or components may be combined or integrated into another apparatus, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.
Units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present application may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
The integrated modules/units, if implemented in the form of software functional units and sold or used as separate products, may be stored in a non-transitory computer readable storage medium. Based on such understanding, all or part of the processes in the methods of the embodiments may also be implemented by instructing related hardware through a computer program, where the computer program of the centrifuge tube taking and placing method may be stored in a computer readable storage medium, and when the computer program is executed by a processor, the steps of the embodiments of the methods may be implemented, that is, whether a centrifuge cover is opened or not is detected; if the centrifuge cover is opened, shooting a centrifugal cavity of the centrifuge through visual equipment, and acquiring an image in a certain range by taking the center of a rotor of the centrifuge as a circle center; determining the orientation of the centrifugal tube according to an image in a certain range taking the center of the centrifuge rotor as the circle center; and controlling the mechanical arm to place or take out the centrifugal tube according to the position of the centrifugal tube. Wherein the computer program comprises computer program code, which may be in the form of source code, object code, an executable file or some intermediate form, etc. The non-transitory computer readable medium may include: any entity or device capable of carrying computer program code, recording medium, U.S. disk, removable hard disk, magnetic disk, optical disk, computer Memory, Read-Only Memory (ROM), Random Access Memory (RAM), electrical carrier wave signals, telecommunications signals, software distribution media, and the like. It should be noted that the non-transitory computer readable medium may contain content that is subject to appropriate increase or decrease as required by legislation and patent practice in jurisdictions, for example, in some jurisdictions, non-transitory computer readable media does not include electrical carrier signals and telecommunications signals as subject to legislation and patent practice. The above embodiments are only used to illustrate the technical solutions of the present application, and not to limit the same; although the present application has been described in detail with reference to the foregoing embodiments, it should 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; such modifications and substitutions do not substantially depart from the spirit and scope of the embodiments of the present application and are intended to be included within the scope of the present application. The above-mentioned embodiments, objects, technical solutions and advantages of the present application are described in further detail, it should be understood that the above-mentioned embodiments are merely exemplary embodiments of the present application, and are not intended to limit the scope of the present application, and any modifications, equivalent substitutions, improvements and the like made within the spirit and principle of the present application should be included in the scope of the present invention.
Claims (10)
1. A method of handling a centrifuge tube, the method comprising:
detecting whether a centrifuge cover is opened;
if the centrifuge cover is opened, shooting a centrifugal cavity of the centrifuge through a visual device arranged right above the centrifugal cavity of the centrifuge, and acquiring an image in a certain range by taking the center of a rotor of the centrifuge as a circle center;
determining the orientation of the centrifugal tube according to the image in a certain range with the center of the centrifuge rotor as the circle center;
and controlling the mechanical arm to place or take out the centrifugal tube of the centrifuge in the direction of the centrifugal tube according to the direction of the centrifugal tube.
2. The method of claim 1, wherein determining the orientation of the centrifuge tube from the range of images centered on the center of the centrifuge rotor comprises:
matching features in the image for positioning, the features including centrifuge tube caps, identification of tops of the centrifuge tube caps, and/or positioning labels;
and determining the orientation of the centrifugal tube according to the orientation of the feature.
3. The method of claim 2, wherein determining the orientation of the centrifuge tube based on the orientation of the feature comprises:
matching a positioning tag used for positioning the centrifuge tube rack in the image;
acquiring the position of the positioning label under a rotor coordinate system, wherein the rotor coordinate system is the coordinate system where the centrifuge rotor is located;
determining the orientation of the centrifuge tube rack according to the relative position relationship between the positioning tag and the centrifuge tube rack;
and determining the orientation of the centrifuge tube according to the relative position relationship between the centrifuge tube rack and the centrifuge tube.
4. The method of claim 2, wherein determining the orientation of the centrifuge tube based on the orientation of the feature comprises:
matching the centrifugal tube cover used for positioning the centrifugal tube rack in the image or the mark on the top of the centrifugal tube cover;
and acquiring the position of the centrifugal tube cover or the position of the mark at the top of the centrifugal tube cover under a rotor coordinate system as the position of the centrifugal tube, wherein the rotor coordinate system is the coordinate system where the centrifugal machine rotor is located.
5. The method of claim 2, wherein determining the orientation of the centrifuge tube based on the orientation of the feature comprises:
matching a location tag in the image;
judging whether the centrifugal tube exists in an observation area in the image, wherein the observation area is an area between the placement position of the centrifugal tube and the relative position of the positioning label;
and if the observation area has the centrifugal tube, determining the orientation of the centrifugal tube according to the relative position relationship between the placing position of the centrifugal tube and the positioning label.
6. The method of claim 1, further comprising:
when the centrifuge tube is placed by the mechanical arm, obtaining placement information of the centrifuge tube through the vision equipment, wherein the placement information of the centrifuge tube comprises the number and/or the position of the centrifuge tube;
and sending a fault signal when the number and/or the position of the centrifugal tubes are determined to be wrong.
7. The method of claim 1, further comprising:
when the centrifuge tube is placed on the mechanical arm, the position of the centrifuge tube and the mark arranged on the centrifuge tube are obtained through the visual equipment;
and feeding back the position of the centrifugal tube and the mark arranged on the centrifugal tube to a control module.
8. A centrifuge tube handling device, the device comprising:
the induction module is used for detecting whether the centrifuge cover is opened or not;
the acquisition module is used for shooting a centrifugal cavity of the centrifuge through visual equipment arranged right above the centrifugal cavity of the centrifuge and acquiring an image in a certain range by taking the center of a rotor of the centrifuge as the center of a circle if the centrifuge cover is opened;
the determining module is used for determining the orientation of the centrifugal tube according to the image in a certain range with the center of the centrifuge rotor as the circle center;
and the control module is used for controlling the mechanical arm to place or take out the centrifugal tube of the centrifugal machine according to the position of the centrifugal tube.
9. An apparatus comprising a memory, a processor and a computer program stored in the memory and executable on the processor, characterized in that the processor implements the steps of the method according to any one of claims 1 to 7 when executing the computer program.
10. A computer-readable storage medium, in which a computer program is stored which, when being executed by a processor, carries out the steps of the method according to any one of claims 1 to 7.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111507100.XA CN113893958B (en) | 2021-12-10 | 2021-12-10 | Centrifuge tube taking and placing method, device and computer readable storage medium |
| PCT/CN2022/082541 WO2023103222A1 (en) | 2021-12-10 | 2022-03-23 | Method for fetching and placing centrifugal tube, and device and computer-readable storage medium |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202111507100.XA CN113893958B (en) | 2021-12-10 | 2021-12-10 | Centrifuge tube taking and placing method, device and computer readable storage medium |
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| CN113893958A CN113893958A (en) | 2022-01-07 |
| CN113893958B true CN113893958B (en) | 2022-03-25 |
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| CN202111507100.XA Active CN113893958B (en) | 2021-12-10 | 2021-12-10 | Centrifuge tube taking and placing method, device and computer readable storage medium |
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| WO (1) | WO2023103222A1 (en) |
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| CN113893958B (en) * | 2021-12-10 | 2022-03-25 | 深圳市易瑞生物技术股份有限公司 | Centrifuge tube taking and placing method, device and computer readable storage medium |
| CN114505180B (en) * | 2022-02-17 | 2023-10-24 | 英华达（上海）科技有限公司 | Centrifugal control method, centrifugal control device, electronic equipment and storage medium |
| CN114653490B (en) * | 2022-05-19 | 2022-09-30 | 中国科学技术大学 | Method for automatically operating general centrifuge by using pose measuring plate and mechanical arm |
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| FR2659142B1 (en) * | 1990-03-02 | 1992-06-05 | Gespac Instr Sa | ANALYZER FOR BLOOD GROUPING. |
| JP2011110467A (en) * | 2009-11-25 | 2011-06-09 | Hitachi Koki Co Ltd | Centrifugal separator |
| CN102513224B (en) * | 2011-10-26 | 2014-01-08 | 中国石油集团西部钻探工程有限公司 | Liquid monitoring device of rock core centrifugal machine |
| EP2776848B1 (en) * | 2011-11-07 | 2019-12-25 | Beckman Coulter, Inc. | System and method for transporting sample containers |
| CN102784673A (en) * | 2012-08-13 | 2012-11-21 | 苏州汶颢芯片科技有限公司 | Centrifugal micro-fluidic chip for detecting oil and grease and preparation method of centrifugal micro-fluidic chip |
| CN103055983A (en) * | 2012-12-31 | 2013-04-24 | 苏州汶颢芯片科技有限公司 | Centrifugal micro-fluidic chip for detecting polycyclic aromatic hydrocarbon in soil and preparation method thereof |
| US20190388896A1 (en) * | 2017-01-27 | 2019-12-26 | Foundation For Biomedical Research And Innovation At Kobe | Mononuclear cell separating device and mononuclear cell separating method |
| CN106840803B (en) * | 2017-03-14 | 2020-05-26 | 骏实生物科技(上海)有限公司 | Centrifuge identification error correction system and method |
| CN211099599U (en) * | 2019-06-26 | 2020-07-28 | 广州市雷德生物科技有限公司 | Centrifuge rotor and centrifuge |
| CN110694804A (en) * | 2019-11-29 | 2020-01-17 | 上海百傲科技股份有限公司 | Reagent centrifugation system |
| CN212237770U (en) * | 2020-04-17 | 2020-12-29 | 百泉聚兴(北京)科技有限公司 | Centrifugal system with machine vision synergistic effect |
| CN111686476A (en) * | 2020-05-09 | 2020-09-22 | 中国原子能科学研究院 | Mixing centrifuge |
| CN112102289A (en) * | 2020-09-15 | 2020-12-18 | 齐鲁工业大学 | Cell sample centrifugal processing system and method based on machine vision |
| CN113492065A (en) * | 2021-06-22 | 2021-10-12 | 青岛大学附属医院 | Intelligent full-automatic biological sample centrifugal robot |
| CN113893958B (en) * | 2021-12-10 | 2022-03-25 | 深圳市易瑞生物技术股份有限公司 | Centrifuge tube taking and placing method, device and computer readable storage medium |
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| CN113893958A (en) | 2022-01-07 |
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