CN116714000A

CN116714000A - Experimental container transfer system

Info

Publication number: CN116714000A
Application number: CN202311003010.6A
Authority: CN
Inventors: 朱大伟; 李勐; 马丁卯; 郭洪菊; 李航; 张建康; 李烁; 程京
Original assignee: CapitalBio Corp
Current assignee: CapitalBio Corp
Priority date: 2023-08-10
Filing date: 2023-08-10
Publication date: 2023-09-08
Anticipated expiration: 2043-08-10
Also published as: CN116714000B

Abstract

The application discloses an experimental container transfer system, which comprises a terminal, a mechanical arm and a mechanical arm module positioned at the tail end of the mechanical arm, wherein a conveying device connected with the mechanical arm is used for determining a first position of a target experimental container to be transferred, the mechanical arm is conveyed to the first position by the conveying device, the mechanical arm is controlled by the mechanical arm to grasp the target experimental container, a second position of target experimental equipment to which the target experimental container is required to be transferred is determined by the terminal, the mechanical arm is conveyed to the second position by the conveying device, and the target experimental container is released to the target experimental equipment by the mechanical arm control mechanical arm module. The transfer of the target experiment container can be realized without arranging a plurality of mechanical arms, the cost is reduced, the space occupied by the mechanical arms is reduced, the space utilization rate of the experiment environment is improved, the situation that the target experiment container cannot be transferred is avoided, the plurality of mechanical arms are not required to work in a coordinated manner, the transfer time is shortened, and the transfer efficiency is improved.

Description

Experimental container transfer system

Technical Field

The application relates to the technical field of experimental container transfer, in particular to an experimental container transfer system.

Background

In biological experiments, various treatments and tests are generally required for experimental samples, which are generally contained in an experimental container, and when the experimental samples are treated and tested, the experimental container containing the experimental samples is transferred to an experimental apparatus, such as a centrifuge, a microscope, etc., so as to treat and test the experimental samples.

In the existing method for transferring the experimental container, the experimental container is usually transferred by using a mechanical arm, but the experimental container is usually required to be transferred to experimental equipment at a plurality of different positions, and different experimental equipment are far away, and because of the limitation of the arm extension of the mechanical arm, one mechanical arm can transfer the experimental container only in a fixed distance range, a plurality of mechanical arms are generally arranged for cooperative transfer. However, this kind of mode that a plurality of mechanical arms cooperated transport owing to need set up a plurality of mechanical arms, and it is with high costs to the space that a plurality of mechanical arms occupy is great, leads to experimental environment's space utilization low, in some experimental environment, still can have the space restriction, can't hold a plurality of mechanical arms, leads to unable transport experimental container, and need a plurality of mechanical arms coordinated work in the transportation process, makes transport very loaded down with trivial details, and is consuming time long, leads to transporting inefficiency.

Disclosure of Invention

In view of the above, the application provides an experimental container transfer system, which is used for solving the problems that in the existing experimental container transfer mode, a plurality of mechanical arms are required to be arranged, the cost is high, the space occupied by the plurality of mechanical arms is large, the space utilization rate of an experimental environment is low, the plurality of mechanical arms cannot be accommodated, the experimental container cannot be transferred, and the plurality of mechanical arms are required to work in a coordinated manner in the transfer process, so that the transfer is very complicated, the time consumption is long, and the transfer efficiency is low.

In order to achieve the above object, the following solutions have been proposed:

a laboratory vessel transport system, comprising: the device comprises a terminal, a mechanical arm module positioned at the tail end of the mechanical arm and a conveying device connected with the mechanical arm;

the terminal is used for determining a target experiment container to be transferred, a target experiment device to which the target experiment container is required to be transferred, determining a first position corresponding to the target experiment container, determining a second position corresponding to the target experiment device, sending a first transmission instruction for transmitting the mechanical arm to the first position to the transmission device, sending a grabbing instruction for controlling the mechanical arm to grab the target experiment container to the mechanical arm after the mechanical arm is transmitted to the first position, sending a second transmission instruction for transmitting the mechanical arm to the second position to the transmission device after the mechanical arm is controlled to grab the target experiment container, and sending a release instruction for controlling the mechanical arm to release the target experiment container to the target experiment device to the mechanical arm after the mechanical arm is transmitted to the second position;

The conveying device is used for conveying the mechanical arm to the first position when receiving the first conveying instruction, and conveying the mechanical arm to the second position when receiving the second conveying instruction;

and the mechanical arm is used for controlling the mechanical arm module to grasp the target experiment container when receiving the grasping instruction, and controlling the mechanical arm module to release the target experiment container to the target experiment equipment when receiving the release instruction.

Preferably, the transfer device includes: the mechanical arm comprises a guide rail, a stepping motor and a sliding table, wherein the stepping motor and the sliding table are arranged on the guide rail, the stepping motor is connected with the sliding table, and the mechanical arm is fixed on the sliding table;

the process of the terminal sending the first transmission instruction to the transmission device comprises the following steps:

the terminal sends the first transmission instruction to the stepping motor;

the process of the transfer device transferring the mechanical arm to the first position when receiving the first transfer instruction includes:

when the stepping motor receives the first transmission instruction, the sliding table is transmitted to the first position;

The process of the terminal sending the second transmission instruction to the transmission device comprises the following steps:

the terminal sends the second transmission instruction to the stepping motor;

the process of the transfer device transferring the mechanical arm to the second position when receiving the second transfer instruction includes:

when the stepping motor receives the second transmission instruction, the sliding table is transmitted to the second position;

the manipulator module comprises a clamping jaw;

the stepping motor is further used for transmitting a first feedback signal to the terminal after the sliding table is transmitted to the first position, and transmitting a second feedback signal to the terminal after the sliding table is transmitted to the second position;

the terminal is further configured to determine a target grabbing pose of the mechanical arm when the mechanical arm controls the clamping jaw to grab the target experimental container, determine a target releasing pose of the mechanical arm when the mechanical arm controls the clamping jaw to release the target experimental container onto the target experimental device, send a first movement instruction for moving to the target grabbing pose to the mechanical arm when the first feedback signal is received, perform the step of sending the grabbing instruction to the mechanical arm after the mechanical arm moves to the target grabbing pose, send a second movement instruction for moving to the target releasing pose to the mechanical arm when the second feedback signal is received, and perform the step of sending the releasing instruction to the mechanical arm after the mechanical arm moves to the target releasing pose;

The mechanical arm is further used for moving to the target grabbing pose when the first movement instruction is received, and moving to the target releasing pose when the second movement instruction is received.

Preferably, the mechanical arm is further configured to move to a preset initial pose after the clamping jaw is controlled to release the target experimental container onto the target experimental device, where the initial pose is a pose with a shortest path or shortest movement time when the mechanical arm moves to each preset grabbing pose.

Preferably, the method further comprises: the guide rail is placed on the transfer platform, an experimental container and experimental equipment are placed on one side and the other side of the guide rail on the transfer platform, and one side and the other side of the guide rail are divided into a plurality of transfer intervals in advance;

the process of determining the first position corresponding to the target experiment container by the terminal comprises the following steps:

the terminal determines a first target transfer interval in which the target experimental container is located, and determines a first position corresponding to the first target transfer interval in a preset position corresponding to each transfer interval;

the process of determining the second position corresponding to the target experimental equipment by the terminal comprises the following steps:

The terminal determines a second target transfer interval where the target experimental equipment is located, and determines a second position corresponding to the second target transfer interval in the positions corresponding to each transfer interval;

the terminal is further configured to determine, when the first feedback signal is received, a first target safety pose corresponding to the first target transfer zone in preset safety poses of each transfer zone, send a third movement instruction for moving to the first target safety pose to the mechanical arm, and after the mechanical arm moves to the first target safety pose, execute a step of sending the first movement instruction to the mechanical arm, where the mechanical arm moves from the first target safety pose to the target grabbing pose, and control the clamping jaw to grab the target experimental container without collision with the experimental equipment;

the mechanical arm is further used for moving to the first target safety pose when the third movement instruction is received;

the terminal is further configured to determine, in a safety pose of each transfer zone, a second target safety pose corresponding to the second target transfer zone, send a fourth motion instruction to the mechanical arm, the fourth motion instruction being moved to the second target safety pose, and after the mechanical arm moves to the second target safety pose, perform a step of sending the second motion instruction to the mechanical arm, where the mechanical arm moves from the second target safety pose to the target release pose, and control the clamping jaw to release the target experimental container onto the target experimental device without collision with the experimental device;

And the mechanical arm is further used for moving to the second target safety pose when the fourth movement instruction is received.

Preferably, the terminal is further configured to determine, after determining the target experimental container, whether the clamping jaw faces to a side where the target experimental container is located, if yes, execute a step of sending the first transmission instruction to the stepper motor, if no, send, to the mechanical arm, a first adjustment instruction for controlling the clamping jaw to face to a side where the target experimental container is located, and, when the mechanical arm controls the clamping jaw to face to a side where the target experimental container is located, execute a step of sending the first transmission instruction to the stepper motor;

the mechanical arm is further used for controlling the clamping jaw to face to the side where the target experiment container is located when the first adjusting instruction is received;

the terminal is further configured to determine whether the clamping jaw faces to a side where the target experimental device is located after the mechanical arm controls the clamping jaw to grab the target experimental container, if yes, execute a step of sending the second transmission instruction to the stepper motor, if no, send a second adjustment instruction to the mechanical arm, where the clamping jaw is controlled to face to the side where the target experimental device is located, and after the mechanical arm controls the clamping jaw to face to the side where the target experimental device is located, execute a step of sending the second transmission instruction to the stepper motor;

And the mechanical arm is also used for controlling the clamping jaw to face to the side where the target experimental equipment is located when the second adjusting instruction is received.

Preferably, the terminal is further configured to determine a third target transfer zone in which the clamping jaw faces after the target experimental container is determined, determine a third target safety pose corresponding to the third target transfer zone in a safety pose corresponding to each transfer zone, send a fifth movement instruction for moving to the third target safety pose to the mechanical arm, and perform a step of determining whether the clamping jaw faces to a side of the target experimental container when the mechanical arm moves to the third target safety pose, wherein the mechanical arm controls the clamping jaw to face to the side of the target experimental container when the clamping jaw does not face to the side of the target experimental container when the mechanical arm moves to the third target safety pose, and the mechanical arm is transferred to the first position when the clamping jaw faces to the side of the target experimental container when the mechanical arm is determined to face to the third target safety pose, so as not to collide with the equipment;

The mechanical arm is further used for moving to the third target safety pose when the fifth movement instruction is received;

the terminal is further configured to send a sixth movement instruction for moving from the target capturing pose to the first target safety pose to the mechanical arm after the mechanical arm moves to the target capturing pose and controls the clamping jaw to capture the target experimental container, and perform a step of determining whether the clamping jaw faces the side where the target experimental device is located after the mechanical arm moves from the target capturing pose to the first target safety pose, wherein the mechanical arm is transferred to the side where the second position when the clamping jaw faces the side where the target experimental device is located after the mechanical arm moves from the target capturing pose to the first target safety pose, and the mechanical arm is not in collision with the experimental device when the mechanical arm moves from the target capturing pose to the first target safety pose;

The mechanical arm is further used for moving from the target grabbing pose to the first target safe pose when the sixth movement instruction is received;

the terminal is further configured to determine a fourth target transfer zone towards which the clamping jaw faces after the mechanical arm controls the clamping jaw to face the side where the target experiment container is located, determine a fourth target safety pose corresponding to the fourth target transfer zone in safety poses corresponding to each transfer zone, send a seventh movement instruction for moving to the fourth target safety pose to the mechanical arm, and execute the step of sending the first transmission instruction to the stepper motor after the mechanical arm moves to the fourth target safety pose, where the mechanical arm does not collide with the experiment equipment in the process of being transferred to the first position after the mechanical arm moves to the fourth target safety pose;

the mechanical arm is further used for moving to the fourth target safety pose when the seventh movement instruction is received;

the terminal is further configured to determine a fifth target transfer zone towards which the clamping jaw faces after the mechanical arm controls the clamping jaw to face the side where the target experimental device is located, determine a fifth target safety pose corresponding to the fifth target transfer zone in safety poses corresponding to each transfer zone, send an eighth movement instruction for moving to the fifth target safety pose to the mechanical arm, and execute the step of sending the second transmission instruction to the stepper motor after the mechanical arm moves to the fifth target safety pose, where the mechanical arm does not collide with the experimental device in the process of being transferred to the second position after the mechanical arm moves to the fifth target safety pose;

And the mechanical arm is further used for moving to the fifth target safety pose when the eighth movement instruction is received.

Preferably, the terminal is further configured to obtain a preset target steering pose;

the process that the terminal sends a second adjustment instruction for controlling the clamping jaw to face to the side where the target experimental equipment is located to the mechanical arm comprises the following steps:

the terminal sends a second adjustment instruction for controlling the clamping jaw to face the side where the target experimental equipment is located through the target steering pose to the mechanical arm, wherein the clamping jaw is kept in a horizontal state in the process that the clamping jaw is controlled to face the side where the target experimental equipment is located through the target steering pose by the mechanical arm;

the mechanical arm controls the process of the clamping jaw towards one side where the target experimental equipment is located, and the process comprises the following steps:

the mechanical arm controls the clamping jaw to pass through the target steering pose to face to one side where the target experimental equipment is located.

Preferably, the terminal is further configured to send a ninth movement instruction for moving to a preset lateral gripping position to the mechanical arm after determining the target experimental container, perform the step of determining whether the clamping jaw faces to the side where the target experimental container is located after the mechanical arm moves to the lateral gripping position, and send a tenth movement instruction for moving to a preset lateral releasing position to the mechanical arm after the mechanical arm controls the clamping jaw to grip the target experimental container, and perform the step of determining whether the clamping jaw faces to the side where the target experimental device is located after the mechanical arm moves to the lateral releasing position;

The process of judging whether the clamping jaw faces to the side of the target experiment container by the terminal comprises the following steps:

the terminal obtains a first spatial position parameter after the mechanical arm moves to the lateral grabbing pose, and judges whether the clamping jaw faces to one side of the target experimental container or not based on a preset corresponding relation between the spatial position parameter of the mechanical arm and the orientation of the clamping jaw and the first spatial position parameter;

the process of judging whether the clamping jaw faces to the side where the target experimental equipment is located by the terminal comprises the following steps:

the terminal acquires a second spatial position parameter after the mechanical arm moves to the lateral release position, and judges whether the clamping jaw faces to the side where the target experimental container is located or not based on the corresponding relation and the second spatial position parameter;

the mechanical arm is further used for moving to the lateral grabbing pose when the ninth movement instruction is received, and moving to the lateral releasing pose when the tenth movement instruction is received.

Preferably, the manipulator module further comprises a vision camera;

the visual camera is used for shooting a first target image on the first target transfer interval and a second target image on the second target transfer interval, and sending the first target image and the second target image to the terminal;

The process of determining the target grabbing pose of the mechanical arm when the mechanical arm controls the clamping jaw to grab the target experimental container by the terminal comprises the following steps:

the terminal determines a target grabbing pose of the mechanical arm when the mechanical arm controls the clamping jaw to grab the target experimental container based on the first target image;

the process of determining the target release pose of the mechanical arm when the mechanical arm controls the clamping jaw to release the target experimental container to the target experimental equipment by the terminal comprises the following steps:

and the terminal determines the target release pose of the mechanical arm when the mechanical arm controls the clamping jaw to release the target experimental container to the target experimental equipment based on the second target image.

Preferably, the method further comprises: a photoelectric sensor positioned below the guide rail;

the photoelectric sensor is used for sending a signal for indicating that the sliding table reaches the limit position to the terminal when the sliding table reaches the preset limit position;

the terminal sends a motion stopping instruction for stopping motion to the stepping motor when receiving the signal;

the stepping motor is further used for stopping movement when the movement stopping instruction is received;

The manipulator module further comprises a level gauge connected with the clamping jaw and a rotating motor;

the level gauge is used for feeding back the level detection state of the clamping jaw to the terminal in real time;

the terminal is used for adjusting the rotating motor according to the horizontal detection state of the clamping jaw so as to enable the clamping jaw to keep the horizontal state.

From the above technical solution, it can be seen that the experimental container transfer system provided by the embodiment of the present application includes: the terminal, the arm, be located the terminal manipulator module of arm, the conveyer of being connected with the arm, the first position that the terminal can confirm the target experiment container corresponds, convey the first position to the arm by conveyer, the arm control manipulator module snatchs the target experiment container, the terminal can also confirm the second position that the target experiment equipment corresponds, convey the arm to the second position by conveyer, the arm control manipulator module releases the target experiment container to the target experiment equipment on. The transfer of the target experiment container can be realized without arranging a plurality of mechanical arms, the cost is reduced, the space occupied by the mechanical arms is reduced, the space utilization rate of the experiment environment is improved, the situation that the target experiment container cannot be transferred due to the fact that the plurality of mechanical arms cannot be accommodated due to space limitation of the experiment environment is avoided, and in the transfer process, the plurality of mechanical arms are not required to coordinate to work, the transfer time is shortened, and the transfer efficiency is improved.

Drawings

In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings that are required to be used in the embodiments or the description of the prior art will be briefly described below, and it is obvious that the drawings in the following description are only embodiments of the present application, and that other drawings can be obtained according to the provided drawings without inventive effort for a person skilled in the art.

Fig. 1 is a schematic structural diagram of an experimental container transfer system according to an embodiment of the present application;

FIG. 2 is a schematic illustration of communication between modules in an experimental container transfer system according to an embodiment of the present application;

fig. 3 is a schematic diagram of a transmission device and a transfer platform according to an embodiment of the present application;

fig. 4 is a schematic diagram of a movement process of a mechanical arm according to an embodiment of the present application;

fig. 5 is a schematic diagram of a process of determining a target capturing pose and moving a mechanical arm to the target capturing pose by a terminal according to an embodiment of the present application;

FIG. 6 is a flow chart of a method for transferring an experimental container according to an embodiment of the present application;

fig. 7 is a block diagram of a hardware structure of a terminal device according to an embodiment of the present application.

Detailed Description

The following description of the embodiments of the present application will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present application, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.

The application provides a scheme for transferring the experimental container, and can be suitable for various experimental containers, such as beakers, culture dishes, cell microplates and the like.

Referring to fig. 1, fig. 1 is a schematic structural diagram of an experimental container transfer system according to an embodiment of the application. The experimental container transfer system provided by the embodiment of the application can comprise: a terminal 10, a robot arm 11, a robot arm module 12 located at the end of the robot arm 11, and a conveyor 13 connected to the robot arm 11. The terminal 10 may be a computer, a server, a cloud, etc.

The terminal 10 is configured to determine a target laboratory container to be transferred, determine a first position corresponding to the target laboratory container, determine a second position corresponding to the target laboratory container, send a first transfer instruction for transferring the manipulator 11 to the first position to the transfer device 13, send a grabbing instruction for controlling the manipulator module 12 to grab the target laboratory container to the manipulator 11 after the manipulator 11 is transferred to the first position, send a second transfer instruction for transferring the manipulator 11 to the second position to the transfer device 13 after the manipulator 11 is controlled to grab the target laboratory container to the manipulator module 12, and send a release instruction for controlling the manipulator module 12 to release the target laboratory container to the target laboratory device to the manipulator 11 after the manipulator 11 is transferred to the second position.

Specifically, in a laboratory, the transferring of the experimental container is to transfer the experimental container to the experimental device, so the terminal 10 determines the target experimental container to be transferred, and the target experimental device to which the target experimental container is to be transferred is required, because the manipulator 11 can only transfer the target experimental container within a fixed distance range due to the limitation of the arm extension of the manipulator 11, the terminal 10 further determines a first position corresponding to the target experimental container and a second position corresponding to the target experimental device, and sends a first transfer instruction to the transfer device 13, when the manipulator 11 is transferred to the first position by the transfer device 13, the manipulator 11 can control the manipulator module 12 to grasp the target experimental container, so when the manipulator 11 is transferred to the first position, the manipulator module 12 can send a grasp instruction to the manipulator 11, and when the manipulator 11 is controlled to grasp the target experimental container, the manipulator 11 is required to be transferred to the second position corresponding to the target experimental device by the transfer device because the position corresponding to the target experimental device may be different from the target experimental container, and when the manipulator 11 is transferred to the second position corresponding to the target experimental device, the manipulator 11 can be controlled to the target experimental device by the manipulator module 12.

And a conveying device 13, configured to convey the mechanical arm 11 to a first position when receiving the first conveying instruction, and convey the mechanical arm 11 to a second position when receiving the second conveying instruction.

Specifically, the transfer device 13 transfers the robot arm 11 to the first position when receiving the first transfer instruction sent by the terminal 10, and the transfer device 13 transfers the robot arm 11 to the second position when receiving the second transfer instruction sent by the terminal 10 in order to transfer the robot arm 11 to the second position.

And the mechanical arm 11 is used for controlling the mechanical arm module 12 to grasp the target experiment container when receiving the grasping instruction, and controlling the mechanical arm module 12 to release the target experiment container onto the target experiment device when receiving the releasing instruction.

Specifically, in order to control the manipulator module 12 to grasp the target experimental container, the manipulator module 12 is controlled to grasp the target experimental container when the manipulator module 11 receives the grasping instruction, and in order to control the manipulator module 12 to release the target experimental container onto the target experimental device, the manipulator module 12 is controlled to release the target experimental container onto the target experimental device when the manipulator module 11 receives the release instruction sent by the terminal 10. Among them, referring to fig. 2, communication between the terminal 10 and the robot arm 11 may be performed through TCP/IP (Transmission Control Protocol/Internet Protocol). The manipulator 11 may provide a six-degree-of-freedom space movement about the manipulator 11.

The experimental container transfer system provided by the embodiment of the application comprises: the terminal 10, the mechanical arm 11, be located the terminal manipulator module 12 of mechanical arm 11, the conveyer 13 of being connected with mechanical arm 11, the terminal 10 can confirm the first position that the target experiment container corresponds, convey the mechanical arm 11 to first position by conveyer 13, mechanical arm 11 control manipulator module 12 snatchs the target experiment container, terminal 10 can also confirm the second position that the target experiment equipment corresponds, convey the mechanical arm 11 to the second position by conveyer 13, mechanical arm 11 control manipulator module 12 releases the target experiment container on the target experiment equipment. The transfer of the target experiment container can be realized without arranging a plurality of mechanical arms 11, the cost is reduced, the space occupied by the mechanical arms 11 is reduced, the space utilization rate of the experiment environment is improved, the situation that the target experiment container cannot be transferred due to the fact that the plurality of mechanical arms 11 cannot be accommodated because of space limitation of the experiment environment is avoided, and in the transfer process, the plurality of mechanical arms 11 do not need to work in a coordinated manner, the transfer time is shortened, and the transfer efficiency is improved.

In the embodiment of the present application, the transmission device 13 is described, referring to fig. 3, the transmission device 13 may include: the robot arm 11 is fixed to the slide table 133, and the slide table 133 is connected to the stepper motor 132, the slide table 133, and the stepper motor 132.

Based on this, the terminal 10 may send the first and second transfer instructions to the stepping motor 132, and the stepping motor 132 may transfer the sliding table 133 to the first position when receiving the first transfer instruction, and may transfer the sliding table 133 to the second position when receiving the second transfer instruction.

Specifically, after determining the first position corresponding to the target experimental container, the terminal 10 sends a first transmission instruction for transmitting the mechanical arm 11 to the first position to the stepper motor 132, when the stepper motor 132 receives the first transmission instruction, the internal driver generates PWM (Pulse Width Modulation) to control the motor to rotate, the sliding table 133 and the mechanical arm 11 are transmitted to the first position, after determining the second position corresponding to the target experimental device, the terminal 10 sends a second transmission instruction for transmitting the mechanical arm 11 to the second position to the stepper motor 132, and when the stepper motor 132 receives the second transmission instruction, the internal driver generates PWM to control the motor to rotate, and the sliding table 133 and the mechanical arm 11 are transmitted to the second position. Referring to fig. 2, the stepper motor 132 and the mechanical arm 11 may communicate through an I/O (Input/Output) control manner.

Alternatively, the manipulator module 12 may comprise a jaw. The mechanical arm 11, when receiving a grabbing instruction sent by the terminal 10 and used for controlling the clamping jaw to grab the target experiment container, controls the clamping jaw to grab the target experiment container, and when receiving a release instruction sent by the terminal 10 and used for controlling the clamping jaw to release the target experiment container to the target experiment device, controls the clamping jaw to release the target experiment container to the target experiment device. The clamping jaw can be a parallel clamping jaw with two degrees of freedom. Wherein, referring to fig. 2, communication between the mechanical arm 11 and the clamping jaw can be performed through RS485 (Recommended Standard 485).

Alternatively, in order for the terminal 10 to determine whether the robot arm 11 is transferred to the first position and the second position, the stepper motor 132 may be further configured to send a first feedback signal to the terminal 10 after transferring the sliding table 133 to the first position, send a second feedback signal to the terminal 10 after transferring the sliding table 133 to the second position, and determine that the robot arm 11 has been transferred to the first position when the terminal 10 receives the first feedback signal, and determine that the robot arm 11 has been transferred to the second position when the terminal 10 receives the second feedback signal.

Based on this, the terminal 10 may further determine the target gripping pose of the mechanical arm 11 when the mechanical arm 11 controls the gripping jaw to grip the target experimental container, determine the target releasing pose of the mechanical arm 11 when the mechanical arm 11 controls the gripping jaw to release the target experimental container onto the target experimental device, and send a first movement command for moving to the target gripping pose to the mechanical arm 11 when the first feedback signal is received, and execute the step of sending the gripping command to the mechanical arm 11 after the mechanical arm 11 moves to the target gripping pose, and send a second movement command for moving to the target releasing pose to the mechanical arm 11 when the second feedback signal is received, and execute the step of sending the release command to the mechanical arm 11 after the mechanical arm 11 moves to the target releasing pose. The mechanical arm 11 is further configured to move to a target capturing pose when receiving the first movement command, and move to a target releasing pose when receiving the second movement command.

Specifically, considering that the pose of the mechanical arm 11 includes information of two aspects of position and pose, by controlling the joint movement of the mechanical arm 11, accurate position and pose adjustment under different poses of the mechanical arm 11 can be realized so as to adapt to various task demands, the positions of different experimental containers and experimental devices are different, the pose of the mechanical arm 11 when controlling the clamping jaw to clamp different experimental containers and the pose of the mechanical arm 11 when controlling the clamping jaw to clamp different experimental devices are different, so that the terminal 10 determines the target grabbing pose of the mechanical arm 11 when controlling the clamping jaw to clamp the target experimental containers, after determining that the mechanical arm 11 is transferred to the first position, a first movement command for moving to the target grabbing pose is sent to the mechanical arm 11 so that the mechanical arm 11 moves to the target grabbing pose first, then the clamping jaw is controlled to clamp the target experimental container, and after determining that the mechanical arm 11 is transferred to the second position, a second movement command for moving to the mechanical arm 11 is sent to the second position, and then the target releasing pose is controlled to the target experimental device.

Alternatively, in order to save time of the grabbing gesture when the mechanical arm 11 moves to grab the target experimental container each time, an initial gesture may be preset, where the initial gesture may be a gesture with the shortest path or the shortest movement time when the predetermined mechanical arm 11 moves to each preset grabbing gesture, or the initial gesture may be a gesture with the shorter path and movement time when the predetermined mechanical arm 11 moves to each preset grabbing gesture. Each time the manipulator arm 11 controls the jaws to release the target laboratory vessel onto the target laboratory apparatus, it moves to the initial position.

According to the embodiment of the application, each time the mechanical arm 11 controls the clamping jaw to release the experimental container to the experimental equipment, the experimental container moves to the initial pose, and the initial pose can be the pose with the shortest path or the shortest movement time when the predetermined mechanical arm 11 moves to each preset grabbing pose, or the pose with the shorter path and movement time, so that the time of the mechanical arm 11 moving to the grabbing pose when the experimental container is grabbed again is saved.

Optionally, referring to fig. 3, the above-mentioned laboratory container transport system may further include: a transfer platform 14, on which one side and the other side of the guide rail 131 can be placed with an experimental container and experimental equipment. In order to determine the first position corresponding to the target experimental container and the second position corresponding to the target experimental device, one side and the other side of the guide rail 131 on the transfer platform 14 may be divided into a plurality of transfer sections, for example, referring to fig. 3, the transfer platform 14 is divided into a transfer section 1 to a transfer section 8. Based on this, the terminal 10 may determine a first target transfer zone in which the target experimental container is located, determine a first position corresponding to the first target transfer zone in preset positions corresponding to each transfer zone, determine a second target transfer zone in which the target experimental device is located, and determine a second position corresponding to the second target transfer zone in each position corresponding to each transfer zone.

Specifically, since one side and the other side of the guide rail 131 on the transfer platform 14 are divided into a plurality of transfer sections, and the experimental container and the experimental device are placed on one side and the other side of the guide rail 131, in the embodiment of the present application, corresponding positions are set in advance for each transfer section, and the positions corresponding to the transfer sections where the experimental container and the experimental device are located are the positions corresponding to the experimental container and the experimental device, when the terminal 10 determines the first position corresponding to the target experimental container, the first position corresponding to the first target transfer section can be determined by determining the first target transfer section where the target experimental container is located in the position corresponding to each transfer section. When the terminal 10 determines the second position corresponding to the target experiment device, the second position corresponding to the second target transfer zone may be determined by determining the second target transfer zone in which the target experiment device is located, in the positions corresponding to each transfer zone. For example, the positions corresponding to the transfer section 1 and the transfer section 5 are the position a, the positions corresponding to the transfer section 2 and the transfer section 6 are the position B, the positions corresponding to the transfer section 3 and the transfer section 7 are the position C, the positions corresponding to the transfer section 4 and the transfer section 8 are the position D, when the target experiment container is in the transfer section 1, the first position corresponding to the target experiment container is the position a, the stepper motor 132 should transmit the sliding table 133 to the position a, when the target experiment device is in the transfer section 8, the first position corresponding to the target experiment device is the position D, and the stepper motor 132 should transmit the sliding table 133 to the position D.

Optionally, in order to avoid the approach of an external person during the movement of the mechanical arm 11, which is dangerous for collision, a protection window may be provided on the transfer platform.

Optionally, since the experimental container and the experimental device are disposed on one side and the other side of the guide rail 131, before the clamping jaw grabs the target experimental container, the clamping jaw may not face the side where the target experimental container is located, and after the clamping jaw grabs the target experimental container, the clamping jaw may not face the side where the target experimental device is located. Based on this, the above terminal 10 can also be used for:

after determining the target experimental container, determining whether the clamping jaw faces to the side where the target experimental container is located, if yes, executing the step of sending a first transmission instruction to the stepper motor 132, if not, sending a first adjustment instruction for controlling the clamping jaw to face to the side where the target experimental container is located to the mechanical arm 11, and after controlling the clamping jaw to face to the side where the target experimental container is located by the mechanical arm 11, executing the step of sending the first transmission instruction to the stepper motor 132.

Specifically, after determining the target experimental container, the terminal 10 first determines whether the clamping jaw faces the side where the target experimental container is located, when the clamping jaw faces the side where the target experimental container is located, the step of sending a first transmission instruction to the stepper motor 132 may be performed so as to transmit the mechanical arm 11 to the first position corresponding to the target experimental container, when the clamping jaw does not face the side where the target experimental container is located, the clamping jaw should be controlled to face the side where the target experimental container is located, and then the mechanical arm 11 is transmitted to the first position, so that the terminal 10 sends a first adjustment instruction for controlling the clamping jaw to face the side where the target experimental container is located to the mechanical arm 11, and when the mechanical arm 11 controls the clamping jaw to face the side where the target experimental container is located, the step of sending the first transmission instruction to the stepper motor 132 is performed.

And after the mechanical arm 11 controls the clamping jaw to grab the target experimental container, judging whether the clamping jaw faces to the side where the target experimental device is located, if so, executing the step of sending a second transmission instruction to the stepper motor 132, if not, sending a second adjustment instruction for controlling the clamping jaw to face to the side where the target experimental device is located to the mechanical arm 11, and after the mechanical arm 11 controls the clamping jaw to face to the side where the target experimental device is located, executing the step of sending the second transmission instruction to the stepper motor 132.

Specifically, after determining that the mechanical arm 11 controls the clamping jaw to grasp the target experimental container, the terminal 10 first determines whether the clamping jaw faces the side where the target experimental device is located, when the clamping jaw faces the side where the target experimental container is located, the step of sending a second transmission instruction to the stepper motor 132 may be performed so as to transmit the mechanical arm 11 to the second position corresponding to the target experimental device, when the clamping jaw does not face the side where the target experimental device is located, the clamping jaw should be controlled to face the side where the target experimental device is located, and then the mechanical arm 11 is transmitted to the second position, so that a second adjustment instruction for controlling the clamping jaw to face the side where the target experimental device is located is sent to the mechanical arm 11, and when the mechanical arm 11 controls the clamping jaw to face the side where the target experimental device is located, the step of sending the second transmission instruction to the stepper motor 132 is performed.

The mechanical arm 11 may also be used for: when a first adjusting instruction is received, controlling the clamping jaw to face to the side of the target experimental container; and when receiving a second adjustment instruction, controlling the clamping jaw to face to the side where the target experimental equipment is located.

Specifically, when the mechanical arm 11 receives the first adjustment instruction, the clamping jaw is controlled to face the side where the target experiment container is located, so that when the first adjustment instruction is transmitted to the first position, the clamping jaw can be controlled to grab the target experiment container, and when the second adjustment instruction is received, the clamping jaw is controlled to face the side where the target experiment device is located, so that when the second adjustment instruction is transmitted to the second position, the clamping jaw can be controlled to release the target experiment container to the target experiment device.

Optionally, considering that, due to the experimental equipment placed on the transfer platform 14, when the mechanical arm 11 is transferred to the first position, the mechanical arm 11 moves to the target capturing position, and controls the gripping jaw to capture the target experimental container, the mechanical arm 11 may collide with the experimental equipment on the transfer platform 14, when the mechanical arm 11 is transferred to the second position, the mechanical arm 11 moves to the target releasing position, and controls the gripping jaw to release the target experimental container to the target experimental equipment, the mechanical arm 11 may also collide with the experimental equipment on the transfer platform 14, so as to avoid the collision between the mechanical arm 11 and the experimental equipment, the terminal 10 may further be configured to:

When the first feedback signal is received, determining a first target safety pose corresponding to the first target transfer region in the preset safety poses of each transfer region, sending a third movement instruction for moving to the first target safety pose to the mechanical arm 11, and executing the step of sending the first movement instruction to the mechanical arm 11 after the mechanical arm 11 moves to the first target safety pose, wherein the mechanical arm 11 moves from the first target safety pose to the target grabbing pose, and controlling the clamping jaws to grab a target experimental container without collision with experimental equipment.

Specifically, the embodiment of the application presets the safety pose corresponding to each transfer interval, and for the safety pose corresponding to each transfer interval, the mechanical arm 11 moves from the safety pose corresponding to the transfer interval to the grabbing pose when the mechanical arm 11 controls the clamping jaws to grab the experimental container in the transfer interval, and controls the clamping jaws to grab the experimental container without collision with the experimental equipment on the transfer platform 14. When the terminal 10 receives the first feedback signal, that is, when the mechanical arm 11 is transferred to the first position, in the preset safety pose of each transfer zone, a first target safety pose corresponding to the first target transfer zone where the target experimental container is located is determined, and a third movement instruction for moving to the first target safety pose is sent to the mechanical arm 11, and when the mechanical arm 11 moves to the first target safety pose, the step of sending the first movement instruction to the mechanical arm 11 is executed.

And when the second feedback signal is received, determining a second target safety pose corresponding to the second target transfer region in the safety poses of each transfer region, sending a fourth movement instruction moving to the second target safety pose to the mechanical arm 11, and after the mechanical arm 11 moves to the second target safety pose, executing the step of sending the second movement instruction to the mechanical arm 11, wherein the mechanical arm 11 moves from the second target safety pose to the target release pose, and controlling the clamping jaw to release the target experimental container onto the target experimental device without collision with the experimental device.

Specifically, for the safe pose corresponding to each transferring interval, the mechanical arm 11 moves from the safe pose corresponding to the transferring interval to the releasing pose when the mechanical arm 11 controls the clamping jaw to release the experimental container to the experimental setting in the transferring interval, and controls the clamping jaw to release the experimental container to the experimental equipment in the transferring interval, so that the experimental container does not collide with the experimental equipment on the transferring platform 14. When receiving the second feedback signal, that is, when the mechanical arm 11 is transferred to the second position, the terminal 10 determines, in the safety pose of each transfer zone, a second target safety pose corresponding to a second target transfer zone where the target experimental device is located, sends a fourth movement instruction for moving to the second target safety pose to the mechanical arm 11, and after the mechanical arm 11 moves to the second target safety pose, performs the step of sending the second movement instruction to the mechanical arm 11.

Based on this, the above-mentioned robot arm 11 can also be used for: and when receiving the fourth movement instruction, moving to the second target safety pose.

In the embodiment of the application, the movement of the mechanical arm 11 from the first target safe pose to the target grabbing pose is ensured, the process of grabbing the target experimental container by the clamping jaw is controlled, and the movement of the mechanical arm 11 from the second target safe pose to the target releasing pose is controlled, so that the mechanical arm 11 and the experimental equipment are prevented from being collided in the process of releasing the target experimental container to the target experimental equipment, and the damage of the mechanical arm 11 and the experimental equipment is avoided.

Optionally, in consideration of the process in which the mechanical arm 11 controls the jaw to face the side of the target experimental container when the jaw is not oriented to the side of the target experimental container, and the process in which the mechanical arm 11 is transferred to the first position when the jaw is oriented to the side of the target experimental container, and the process in which the mechanical arm 11 controls the jaw to face the side of the target experimental device when the jaw is not oriented to the side of the target experimental device, and the process in which the mechanical arm 11 is transferred to the second position when the jaw is oriented to the side of the target experimental device, the above terminal 10 may be further used to avoid the collision between the mechanical arm 11 and the experimental device by the experimental device in order to avoid the collision between the mechanical arm 11 and the experimental device:

After the target experimental container is determined, a third target transfer interval in which the clamping jaw faces is determined, in the safety pose corresponding to each transfer interval, a third target safety pose corresponding to the third target transfer interval is determined, a fifth movement instruction for moving to the third target safety pose is sent to the mechanical arm 11, after the mechanical arm 11 moves to the third target safety pose, the step of judging whether the clamping jaw faces to one side of the target experimental container is executed, wherein after the mechanical arm 11 moves to the third target safety pose, the mechanical arm 11 controls the clamping jaw to face to one side of the target experimental container when the clamping jaw does not face to one side of the target experimental container, and after the mechanical arm 11 moves to the third target safety pose, the mechanical arm 11 is conveyed to the first position when the clamping jaw faces to one side of the target experimental container and is not collided with experimental equipment.

Specifically, for the safe pose corresponding to each transferring region, when the mechanical arm 11 moves to the safe pose corresponding to the transferring region where the current clamping jaw faces, when the clamping jaw is judged not to face the side where the experimental container is located, the mechanical arm 11 controls the process that the clamping jaw faces the side where the experimental container is located, and when the mechanical arm 11 moves to the safe pose corresponding to the transferring region where the current clamping jaw faces, when the clamping jaw is judged to face the side where the experimental container is located, the mechanical arm 11 is conveyed to the position corresponding to the experimental container, and the experimental equipment on the transferring platform 14 is not collided. Therefore, after the target experimental container is determined, a third target transfer interval in which the clamping jaw faces is determined, in the safety pose corresponding to each transfer interval, a third target safety pose corresponding to the third target transfer interval is determined, a fifth movement instruction for moving to the third target safety pose is sent to the mechanical arm 11, and after the mechanical arm 11 moves to the third target safety pose, the step of judging whether the clamping jaw faces to the side where the target experimental container is located is performed.

And when the mechanical arm 11 moves to the target capturing pose and controls the clamping jaw to capture the target experiment container, sending a sixth movement instruction for moving from the target capturing pose to the first target safety pose to the mechanical arm 11, and when the mechanical arm 11 moves to the first target safety pose from the target capturing pose, executing the step of judging whether the clamping jaw faces to one side of the target experiment device, wherein when the mechanical arm 11 moves to the first target safety pose from the target capturing pose, the mechanical arm 11 controls the clamping jaw to face to one side of the target experiment device, and when the mechanical arm 11 moves to the first target safety pose from the target capturing pose, the mechanical arm 11 is conveyed to the second position, and collision does not occur with the experiment device.

Specifically, for the safe pose corresponding to each transfer region, when the mechanical arm 11 moves from the grabbing pose when the control clamping jaw grabs the experimental container to the safe pose corresponding to the transfer region where the experimental container is located, when the clamping jaw is judged not to face to one side where the experimental device is located, the mechanical arm 11 controls the process that the clamping jaw faces to one side where the experimental device is located, and when the mechanical arm 11 moves from the grabbing pose when the control clamping jaw grabs the experimental container to the safe pose corresponding to the transfer region where the experimental container is located, when the clamping jaw is judged to face to one side where the experimental device is located, the mechanical arm 11 is conveyed to the second position corresponding to the experimental device in the process that the experimental device is not collided with. So after the mechanical arm 11 moves to the target grabbing pose and the clamping jaw is controlled to grab the target experimental container, a sixth movement instruction for moving from the target grabbing pose to the first target safety pose is sent to the mechanical arm 11, and after the mechanical arm 11 moves from the target grabbing pose to the first target safety pose, the step of judging whether the clamping jaw faces to the side where the target experimental equipment is located is executed.

Based on this, the robot arm 11 is further configured to move to the third target safety pose when the fifth movement instruction is received, and to move from the target gripping pose to the first target safety pose when the sixth movement instruction is received.

In the embodiment of the application, it is ensured that when the mechanical arm 11 moves to the third target safety position, the mechanical arm 11 controls the clamping jaw to face the side where the target experiment container is located when the clamping jaw does not face the side where the target experiment container is located, and when the mechanical arm 11 moves to the third target safety position, the mechanical arm 11 is conveyed to the first position when the clamping jaw faces the side where the target experiment container is located, and when the mechanical arm 11 moves from the target grabbing position to the first target safety position, the mechanical arm 11 controls the clamping jaw to face the side where the target experiment device is located when the clamping jaw does not face the side where the target experiment device is located, and when the mechanical arm 11 moves from the target grabbing position to the first target safety position, the mechanical arm 11 is conveyed to the second position when the clamping jaw faces the side where the target experiment device is located. Damage to the robot arm 11 and the experimental equipment is avoided.

Optionally, considering that, when the manipulator 11 controls the jaw to face the side of the target experimental container, during the process that the manipulator 11 is transferred to the first position corresponding to the target experimental container, and when the manipulator 11 controls the jaw to face the side of the target experimental device, during the process that the manipulator 11 is transferred to the second position corresponding to the target experimental device, the manipulator 11 may collide with the experimental device on the transfer platform 14, so as to avoid the collision between the manipulator 11 and the experimental device, the terminal 10 may be further configured to:

when the mechanical arm 11 controls the clamping jaw to face to one side of the target experimental container, a fourth target transfer interval facing the clamping jaw is determined, in the safety pose corresponding to each transfer interval, a fourth target safety pose corresponding to the fourth target transfer interval is determined, a seventh movement instruction for moving to the fourth target safety pose is sent to the mechanical arm 11, and when the mechanical arm 11 moves to the fourth target safety pose, a step of sending a first transmission instruction to the stepping motor 132 is executed, wherein the mechanical arm 11 is not collided with experimental equipment in the process of being transmitted to the first position after the mechanical arm 11 moves to the fourth target safety pose.

Specifically, for the safe pose corresponding to each transferring region, after the mechanical arm 11 moves to the safe pose corresponding to the transferring region where the current clamping jaw faces, the mechanical arm 11 is not collided with the experimental equipment on the transferring platform 14 in the process of being transferred to the first position corresponding to the experimental container. Therefore, after the mechanical arm 11 controls the clamping jaw to face to the side where the target experimental container is located, a fourth target transfer interval in which the clamping jaw faces is determined, in the safety pose corresponding to each transfer interval, a fourth target safety pose corresponding to the fourth target transfer interval is determined, a seventh movement instruction for moving to the fourth target safety pose is sent to the mechanical arm 11, and after the mechanical arm 11 moves to the fourth target safety pose, a step of sending the first transmission instruction to the stepping motor 132 is executed.

And determining a fifth target transfer zone in which the clamping jaw faces after the mechanical arm 11 controls the clamping jaw to face to the side where the target experimental equipment is located, determining a fifth target safety pose corresponding to the fifth target transfer zone in the safety poses corresponding to each transfer zone, sending an eighth movement instruction for moving to the fifth target safety pose to the mechanical arm 11, and after the mechanical arm 11 moves to the fifth target safety pose, executing a step of sending a second transmission instruction to the stepping motor 132, wherein the mechanical arm 11 is not collided with the experimental equipment in the process of being transmitted to the second position after the mechanical arm 11 moves to the fifth target safety pose.

Specifically, for the safety pose corresponding to each transfer region, after the mechanical arm 11 moves to the safety pose corresponding to the transfer region where the current clamping jaw faces, the mechanical arm 11 is not collided with the experimental equipment on the transfer platform 14 in the process of being transferred to the second position corresponding to the experimental equipment. Therefore, after the mechanical arm 11 controls the clamping jaw to face to the side where the target experimental equipment is located, a fifth target transfer interval in which the clamping jaw faces is determined, in the safety pose corresponding to each transfer interval, a fifth target safety pose corresponding to the fifth target transfer interval is determined, an eighth movement instruction for moving to the fifth target safety pose is sent to the mechanical arm 11, and after the mechanical arm 11 moves to the fifth target safety pose, a step of sending a second transmission instruction to the stepping motor 132 is executed.

Based on this, the above-described robot arm 11 may also be configured to move to the fourth target safety pose when the seventh movement instruction is received, and to move to the fifth target safety pose when the eighth movement instruction is received.

In the embodiment of the application, the mechanical arm 11 is ensured not to collide with experimental equipment in the process of being conveyed to the first position after the mechanical arm 11 moves to the fourth target safety pose and in the process of being conveyed to the second position after the mechanical arm 11 moves to the fifth target safety pose. Damage to the robot arm 11 and the experimental equipment is avoided.

Optionally, considering that, after the mechanical arm 11 controls the clamping jaw to grab the target experimental container, if the clamping jaw does not face to the side where the target experimental device is located, the mechanical arm 11 may control the clamping jaw to face to the side where the target experimental device is located, in a process that the mechanical arm 11 controls the clamping jaw to face to the side where the target experimental device is located, the clamping jaw may be inclined, so that the sample in the target experimental container grabbed by the clamping jaw may be inclined, in order to avoid causing the clamping jaw to incline, and avoid the sample in the target experimental container grabbed by the clamping jaw from being inclined, the terminal 10 may be further configured to obtain a preset target steering gesture, and the process that the terminal 10 sends a second adjustment instruction for controlling the clamping jaw to face to the side where the target experimental device is located to the mechanical arm 11 may include: the terminal 10 sends a second adjustment instruction for controlling the clamping jaw to face the side of the target experimental equipment through the target steering pose to the mechanical arm 11, wherein the clamping jaw is kept in a horizontal state during the process that the clamping jaw passes through the target steering pose to face the side of the target experimental equipment through the mechanical arm 11.

Based on this, the process of controlling the jaw toward the side where the target experimental equipment is located by the mechanical arm 11 may include:

The mechanical arm 11 controls the clamping jaw to face the side of the target experimental equipment through the target steering pose.

Specifically, the embodiment of the application presets the target steering pose, and the mechanical arm 11 controls the clamping jaw to maintain a horizontal state in the process that the clamping jaw passes through the target steering pose and faces to the side where the target experimental equipment is located, so as to avoid the inclination of the clamping jaw and avoid the sample in the target experimental container captured by the clamping jaw from being poured.

In the embodiment of the application, after the mechanical arm 11 controls the clamping jaw to grab the target experimental container, if the clamping jaw does not face to the side where the target experimental device is located, the terminal 10 sends a second adjustment instruction for controlling the clamping jaw to face to the side where the target experimental device is located through the target turning gesture to the mechanical arm 11, and the mechanical arm 11 controls the clamping jaw to keep a horizontal state in the process that the clamping jaw faces to the side where the target experimental device is located through the target turning gesture, so that the inclination of the clamping jaw is avoided, and the sample in the target experimental container grabbed by the clamping jaw is prevented from being poured.

Optionally, a lateral grabbing pose and a lateral releasing pose may be preset, where the lateral grabbing pose may be a preparation pose when the mechanical arm 11 is ready to grab the target experimental container, for determining whether the clamping jaw faces a side where the target experimental container is located, and the lateral releasing pose may be a preparation pose when the mechanical arm 11 is ready to release the target experimental container onto the target experimental device, for determining whether the clamping jaw faces a side where the target experimental device is located. Referring to fig. 3, the lateral grabbing pose and the lateral releasing pose may be set to a pose in which the clamping jaw faces the transferring region 1 to the transferring region 4 when the C parameter in the euler angle in the spatial position parameter of the mechanical arm 11 is negative after the mechanical arm 11 moves to the lateral grabbing pose and the lateral releasing pose, and faces the transferring region 5 to the transferring region 8 when the C parameter in the euler angle of the mechanical arm 11 is positive after the mechanical arm 11 moves to the lateral grabbing pose and the lateral releasing pose. The correspondence between the spatial position parameters of the mechanical arm 11 and the orientations of the clamping jaws may be established so as to determine the orientations of the clamping jaws based on the correspondence and the spatial position parameters of the mechanical arm 11, for example, when the C parameter in the euler angle in the spatial position parameters is negative, the orientation of the corresponding clamping jaw is the orientation transfer interval 1 to the transfer interval 4, and when the C parameter in the euler angle is positive, the orientation of the corresponding clamping jaw is the orientation transfer interval 5 to the transfer interval 8, if the target experimental container is in the transfer interval 1, after the mechanical arm 11 moves to the lateral grabbing pose, the C parameter in the euler angle is positive, and according to the correspondence, the orientation of the clamping jaw is known to be in the direction of the transfer interval 5 to the transfer interval 8, so that the clamping jaw does not face the side where the target experimental container is located.

Based on this, the terminal 10 may send a ninth movement instruction for moving to the lateral gripping position to the mechanical arm 11 after determining the target experimental container, and after the mechanical arm 11 moves to the lateral gripping position, the terminal 10 performs the above step of determining the third target transfer zone where the clamping jaw faces, and determines whether the clamping jaw faces to the side where the target experimental container is located based on the corresponding relationship and the C parameter in the euler angle of the mechanical arm 11. When the mechanical arm 11 is determined to move from the target grabbing pose to the first target safe pose, the terminal 10 sends a tenth movement instruction for moving to the lateral releasing pose to the mechanical arm 11, when the mechanical arm 11 moves to the lateral releasing pose, a sixth target transferring region towards which the clamping jaw faces is determined, a sixth target safe pose corresponding to the sixth target transferring region is determined, an eleventh movement instruction for moving to the sixth target safe pose is sent to the mechanical arm 11, and when the mechanical arm 11 moves to the sixth target safe pose, the terminal 10 judges whether the clamping jaw faces to one side of the target experimental equipment based on the corresponding relation and the C parameter in the Euler angle of the mechanical arm 11.

Referring to fig. 3 and 4, the embodiment of the present application introduces a motion process of a mechanical arm 11 during a process of transferring an experimental container, assuming that a transfer zone where the experimental container to be transferred is a transfer zone 1, a transfer zone where an experimental device to which the experimental container is to be transferred is required to be transferred is a transfer zone 8, the mechanical arm 11 moves to an initial position A1 and then moves to a lateral grabbing position A2, assuming that a gripper does not face to one side where the experimental container is located, the transfer zone where the gripper faces is a transfer zone 6, the mechanical arm 11 moves to a safety position A3 corresponding to the transfer zone 6, and controls the gripper to move to a safety position A5 corresponding to the transfer zone 2 through a preset steering position A4, the mechanical arm 11 is transferred to a safety position A6 corresponding to the transfer zone 2, the mechanical arm 11 is transferred to a position 1 corresponding to the transfer zone 1, the mechanical arm 11 moves to a safety position A6 corresponding to the transfer zone 1, the gripper 11 is controlled to a position A7 when the gripper is controlled to the preset gripping position a, the gripper is controlled to be moved to the lateral position A6, the gripper is assumed to be moved to the side where the gripper is not facing to the safety position A6, the safety position A6 is transferred to the safety position A2, and the mechanical arm is transferred to the safety position A1 corresponding to the transfer zone 11 when the gripper is transferred to the transfer zone 11 through a position 1, and the safety position is transferred to the safety position 1 corresponding to the transfer zone 11, and the safety position is transferred to the safety position 1, and the safety position is controlled to the safety position 1 when the gripper is transferred to the safety position 1, and the safety position is transferred to the safety position corresponding to the side position 1, the mechanical arm 11 controls the clamping jaw to release the experimental container to the experimental equipment, returns to the safe pose A11 and moves to the initial pose.

Optionally, considering that the path needs to be planned when the mechanical arm 11 moves to each pose, in order to simplify the programming step of the mechanical arm 11 and improve the efficiency, a fixed point can be selected in each transfer interval to establish a workpiece coordinate system, and the mechanical arm 11 plans the path based on the workpiece coordinate system corresponding to the transfer interval. For example, referring to fig. 3, the workpiece coordinate systems of the transfer section 1 to the transfer section 8 are wboj1 to wboj8, respectively. When the scene layout in the transfer interval changes, a re-programming program is not needed, and only the workpiece coordinate system is required to be recalibrated.

Optionally, in order to improve accuracy of the target capturing pose and the target releasing pose determined by the terminal 10, the manipulator module 12 may further include a vision camera, configured to capture a first target image on the first target transfer section and a second target image on the second target transfer section, and send the first target image and the second target image to the terminal 10, so that the terminal 10 may determine, based on the first target image, the target capturing pose when the manipulator 11 controls the gripper to capture the target experimental container, and determine, based on the second target image, the target releasing pose of the manipulator 11 when the manipulator 11 controls the gripper to release the target experimental container onto the target experimental device. Wherein the vision camera may be fixed on the clamping jaw. Referring to fig. 2, communication between the terminal 10 and the vision camera may be performed through TCP/IP.

Optionally, in order to enable the experimental container and the experimental equipment to be truly displayed in the image shot by the camera, the clamping jaw is convenient to grasp and release, distortion calibration is required to be performed on the vision camera, and the rotation translation matrix of the vision camera is calculated. The Zhang Zhengyou camera calibration method can be adopted to calibrate the vision camera, specifically, the checkerboard calibration plate can be used to calibrate the vision camera, and the coordinates of a certain point on the calibration plate on the mechanical arm coordinate system of the mechanical arm 11 are assumed to beCoordinates on the corresponding camera coordinate system areIn the vision camera, the rotation and translation matrix of the right camera is R and T compared with that of the left camera, and then the rotation and translation matrix of the point relative to the left camera is，The rotation translation matrix relative to the right camera is，For a vision camera there are:

both sides are simultaneously erasedThe method comprises the following steps:

both sides take advantage ofThe term shift can be obtained:

this can be achieved by:

in the above equation，，Are known quantities, from which the rotational-translational matrices R, T of the vision camera can be calculated.

In the embodiment of the application, the distortion calibration is carried out on the video camera, so that the target experiment container and the target experiment equipment can be truly presented in the image shot by the camera, the accuracy of the target grabbing pose and the target releasing pose determined by the terminal is improved, and the clamping jaws can grab and release conveniently.

Based on this, the process of determining the target gripping pose based on the first target image and the process of moving the robot arm 11 to the target gripping pose by the terminal 10 may include:

the terminal 10 identifies a target experiment container in a first target image, determines a first pixel coordinate of the target experiment container on an image coordinate system of a vision camera, converts the first pixel coordinate into a first camera coordinate on a camera coordinate system of the vision camera, determines a first pose of the target experiment container on a preset clamping jaw coordinate system according to the first camera coordinate, determines a pose of the target experiment container on a mechanical arm coordinate system of the mechanical arm 11 according to the first pose, and obtains a target grabbing pose when the mechanical arm 11 grabs the target experiment container.

Specifically, after receiving the first target image, the terminal 10 identifies the target laboratory vessel in the first target image, so as to determine the target capturing pose when the mechanical arm 11 controls the clamping jaw to capture the target laboratory vessel. The image coordinate system of the camera refers to a coordinate system on the imaging plane of the camera, also called an image plane coordinate system, which is a mathematical model that maps points in a three-dimensional physical space onto two-dimensional image coordinates for describing image information captured by the camera. The camera coordinate system refers to a three-dimensional coordinate system established on the camera, and is used for describing the spatial position and orientation of the camera. After determining a first pixel coordinate of a target experiment container on an image coordinate system of a vision camera, converting the first pixel coordinate into a first camera coordinate on a camera coordinate system of the vision camera. And converting the first pose to obtain the pose of the target experimental container on the mechanical arm coordinate system of the mechanical arm 11, wherein the pose of the target experimental container on the mechanical arm coordinate system of the mechanical arm 11 is the target grabbing pose when the mechanical arm 11 controls the clamping jaws to grab the target experimental container.

The process of determining, by the terminal 10, the target release pose of the mechanical arm 11 when the mechanical arm 11 controls the clamping jaw to release the target experimental container onto the target experimental device based on the second target image may include:

the terminal 10 identifies the target experimental device in the second target image, determines a second pixel coordinate of the target experimental device on the image coordinate system, converts the second pixel coordinate into a second camera coordinate on the camera coordinate system, determines a second pose of the target experimental device on the clamping jaw coordinate system according to the second camera coordinate, determines a pose of the target experimental device on the mechanical arm coordinate system of the mechanical arm 11 according to the second pose, and obtains a target release pose of the mechanical arm 11 when the mechanical arm 11 controls the clamping jaw to release the target experimental container onto the target experimental device.

Specifically, after receiving the second target image, the terminal 10 identifies the target experimental device in the second target image, so as to determine the target release pose when the mechanical arm 11 controls the clamping jaw to release the target experimental container. After the second pixel coordinates of the target experiment device on the image coordinate system of the vision camera are determined, the second pixel coordinates are converted into second camera coordinates on the camera coordinate system of the vision camera, so that the second camera coordinates are converted into second positions of the target experiment container on the clamping jaw coordinate system. And converting the second pose to obtain the pose of the target experimental equipment on the mechanical arm coordinate system of the mechanical arm 11, namely the target release pose when the mechanical arm 11 controls the clamping jaw to release the target experimental container.

Alternatively, the mechanical arm 11 may determine, when receiving the first movement instruction, a target capturing path moving to the target capturing pose, move to the target capturing pose according to the target capturing path, and determine, when receiving the second movement instruction, a target release path moving to the target release pose, and move to the target release pose according to the target release path.

Based on this, referring to fig. 5, fig. 5 is a schematic diagram of a process in which the terminal 10 determines the target gripping pose and the robot arm 11 moves to the target gripping pose. After receiving a first target image sent by a vision camera, the terminal 10 identifies a target experiment container in the first target image, determines a first pixel coordinate of the target experiment container on an image coordinate system of the vision camera, converts the first pixel coordinate into a first camera coordinate on a camera coordinate system of the vision camera, determines a first pose of the target experiment container on a preset clamping jaw coordinate system of a clamping jaw according to the first camera coordinate, determines a pose of the target experiment container on a mechanical arm coordinate system of the mechanical arm 11 according to the first pose, obtains a target grabbing pose when the mechanical arm 11 grabs the target experiment container, sends a first motion instruction for moving to the target grabbing pose to the mechanical arm 11, calculates an angle required to rotate by each joint when the mechanical arm 11 moves to the target grabbing pose through kinematic inverse solution, plans a series of middle poses required to pass by when a path and time are shorter according to the angle required to rotate by each joint, calculates the angle required to move to each middle pose through motion inverse solution, and controls the middle poses to move to each middle pose until each middle pose reaches each middle pose based on the angle required to rotate to each middle pose.

Optionally, in order to determine the first pose of the target experiment container on the jaw coordinate system of the jaw according to the first camera coordinate, determine the second pose of the target experiment device on the jaw coordinate system of the jaw according to the second camera coordinate, after the above-mentioned distortion calibration of the vision camera is completed, the hand-eye calibration needs to be performed, that is, the hand-eye transformation matrix between the camera coordinate system and the jaw coordinate system is solved, so as to obtain the transformation relationship from the camera coordinate system to the jaw coordinate system, and the hand-eye transformation matrix between the camera coordinate system and the jaw coordinate system can be solved based on the following method:

selecting two poses Pos1 and Pos2 in the transferring space range, and adjusting the mechanical arm 11 to enable the mechanical arm 11 to be in the two poses, so that the two poses can be calculated:

；

in the above formula:

base denotes a robot arm coordinate system, tool denotes a jaw coordinate system, cam denotes a camera coordinate system, cal denotes a calibration plate coordinate system, and P _base Indicating machineSpatial matrix under mechanical arm coordinate system, P _cal The calculation parameters can be directly obtained from a demonstrator in a system of the mechanical arm 11, the toolHcab represents the conversion relation from the camera coordinate system to the clamping jaw coordinate system, and the conversion relation between the camera coordinate system and the calibration plate coordinate system is kept unchanged during the whole movement period of the mechanical arm 11 because the vision camera is fixed on the clamping jaw, the conversion relation between the camera coordinate system and the calibration plate coordinate system is represented by the calHcab, the calculation parameters can be obtained from the camera external parameters of the vision camera, the conversion relation between the calibration plate coordinate system and the mechanical arm coordinate system is represented by the baseHcal, and the relative positions of the clamping jaw and the calibration plate are fixed.

Since the robot arm coordinate system and the calibration plate coordinate system are fixed, the baseHcal will not change, so it is possible to:

make baseHtool @) For B ()>），calHcam（/>) For C ()>) The toolHcam is x, available:

because the parameters B and C are known, the hand-eye transformation matrix can be obtained by solving x.

Optionally, considering that the step motor 132 may transmit the sliding table 133 to a different position on the transfer platform 14, the sliding table 133 may possibly have a problem of exceeding a limit movement and collide, in order to avoid collision, the above-mentioned laboratory vessel transfer system may further include a photoelectric sensor located below the guide rail 131, configured to send a signal for indicating that the sliding table 133 reaches the limit position to the terminal 10 when detecting that the sliding table 133 reaches the preset limit position, and when receiving the signal, the terminal 10 sends a movement stop instruction for stopping movement to the step motor 132, and the step motor 132 is further configured to stop movement when receiving the movement stop instruction.

Specifically, in order to avoid the problem that the sliding table 133 is out of the limit movement and collides, the limit position can be set according to the layout on the transfer platform 14, and when the sliding table 133 reaches the limit position, the stepping motor 132 stops moving, so that the conveying of the sliding table 133 can be stopped.

In the embodiment of the application, when the photoelectric sensor detects that the sliding table 133 reaches the preset limit position, a signal for indicating that the sliding table 133 reaches the limit position is sent to the terminal 10, when the terminal 10 receives the signal, a motion stop instruction for stopping motion is sent to the stepper motor 132, and when the motion stop instruction is received, the stepper motor 132 is also used for stopping motion, so that the problem that the sliding table 133 exceeds the limit motion and collides is avoided.

Optionally, considering that the manipulator 11 needs to avoid a series of singular points when planning a path, the gripper may be inclined, so that the sample in the target experimental container may be poured, based on this, the manipulator module 12 may further include a level meter connected to the gripper and a rotating motor, where the level meter may be used to feedback the level detection state of the gripper to the terminal 10 in real time, and the terminal 10 may be further configured to adjust the rotating motor according to the level detection state of the gripper, so that the rotating motor maintains the level state. Wherein, the level gauge can be a high-precision level gauge. Referring to fig. 2, the terminal 10 and the rotating motor can communicate with each other through RS485, and the terminal 10 and the level meter can communicate with each other through TCP/IP.

In the embodiment of the application, the level gauge feeds back the level detection state of the clamping jaw to the terminal 10 in real time, and the terminal 10 adjusts the rotating motor according to the level detection state of the clamping jaw so as to enable the rotating motor to keep the level state. The problem of tilting the jaws due to avoiding a series of singular points when planning the path of the robotic arm 11, thereby tilting the sample within the target laboratory vessel, is avoided.

Referring to fig. 6, fig. 6 is a flowchart of a method for transferring an experimental container according to an embodiment of the application. The method for transferring an experimental container provided by the embodiment of the application can be applied to the terminal 10 in the previous embodiment, and the method for transferring an experimental container can include:

and S100, determining a target experiment container to be transported, and transporting the target experiment container to target experiment equipment.

Step S110, determining a first position corresponding to the target experiment container.

And step S120, determining a second position corresponding to the target experimental equipment.

Step S130, a first transfer instruction for transferring the robot arm 11 to the first position is sent to the transfer device 13, so that the transfer device 13 transfers the robot arm 11 to the first position when receiving the first transfer instruction.

Step S140, after the mechanical arm 11 is transferred to the first position, a grabbing instruction for controlling the mechanical arm module 12 to grab the target experimental container is sent to the mechanical arm 11, so that when the mechanical arm 11 receives the grabbing instruction, the mechanical arm module 12 is controlled to grab the target experimental container.

Step S150, after the manipulator module 12 is controlled by the manipulator 11 to grasp the target experimental container, a second conveying instruction for conveying the manipulator 11 to the second position is sent to the conveying device 13, so that the conveying device 13 conveys the manipulator 11 to the second position when receiving the second conveying instruction.

Step S160, after the mechanical arm 11 is transferred to the second position, a release instruction for controlling the mechanical arm module 12 to release the target experimental container onto the target experimental device is sent to the mechanical arm 11, so that when the mechanical arm 11 receives the release instruction, the mechanical arm module 12 is controlled to release the target experimental container onto the target experimental device.

Referring to fig. 7, fig. 7 is a block diagram of a hardware structure of a terminal device according to an embodiment of the present application, and referring to fig. 7, the hardware structure of the device may include: at least one processor 1, at least one communication interface 2, at least one memory 3 and at least one communication bus 4;

in the embodiment of the application, the number of the processor 1, the communication interface 2, the memory 3 and the communication bus 4 is at least one, and the processor 1, the communication interface 2 and the memory 3 complete the communication with each other through the communication bus 4;

processor 1 may be a central processing unit CPU, or a specific integrated circuit ASIC (Application Specific Integrated Circuit), or one or more integrated circuits configured to implement embodiments of the present application, etc.;

The memory 3 may comprise a high-speed RAM memory, and may further comprise a non-volatile memory (non-volatile memory) or the like, such as at least one magnetic disk memory;

wherein the memory stores a program, the processor is operable to invoke the program stored in the memory, the program operable to: realizing each treatment flow in the experimental container transferring method.

The embodiment of the present application also provides a storage medium storing a program adapted to be executed by a processor, the program being configured to: realizing each treatment flow in the experimental container transferring method.

Finally, it is further noted that 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. Moreover, 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 one … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.

In the present specification, each embodiment is described in a progressive manner, and each embodiment is mainly described in a different point from other embodiments, and identical and similar parts between the embodiments are all enough to refer to each other.

The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present application. 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 application. Thus, the present application 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

1. A laboratory vessel transport system, comprising: the device comprises a terminal, a mechanical arm module positioned at the tail end of the mechanical arm and a conveying device connected with the mechanical arm;

2. The system of claim 1, wherein the transfer device comprises: the mechanical arm comprises a guide rail, a stepping motor and a sliding table, wherein the stepping motor and the sliding table are arranged on the guide rail, the stepping motor is connected with the sliding table, and the mechanical arm is fixed on the sliding table;

the terminal sends the first transmission instruction to the stepping motor;

the terminal sends the second transmission instruction to the stepping motor;

the manipulator module comprises a clamping jaw;

3. The system of claim 2, wherein the robotic arm is further configured to move to a predetermined initial pose when the robotic arm is controlled to release the target container onto the target laboratory apparatus, the initial pose being a pose with a shortest path or shortest movement time when the robotic arm is moved to each predetermined gripping pose.

4. The system of claim 2, further comprising: the guide rail is placed on the transfer platform, an experimental container and experimental equipment are placed on one side and the other side of the guide rail on the transfer platform, and one side and the other side of the guide rail are divided into a plurality of transfer intervals in advance;

5. The system of claim 4, wherein the terminal is further configured to determine, after determining the target experimental container, whether the clamping jaw faces a side of the target experimental container, if so, execute the step of sending the first transmission instruction to the stepper motor, if not, send a first adjustment instruction to the mechanical arm for controlling the clamping jaw to face a side of the target experimental container, and if so, execute the step of sending the first transmission instruction to the stepper motor after the mechanical arm controls the clamping jaw to face a side of the target experimental container;

6. The system according to claim 5, wherein the terminal is further configured to, after determining the target laboratory vessel, determine a third target transfer zone in which the gripper is oriented, determine, in a safety pose corresponding to each transfer zone, a third target safety pose corresponding to the third target transfer zone, send a fifth movement instruction to the robot arm for movement to the third target safety pose, after the robot arm moves to the third target safety pose, perform a step of determining whether the gripper is oriented to a side of the target laboratory vessel, wherein, after the robot arm moves to the third target safety pose, the robot arm controls the gripper to be oriented to the side of the target laboratory vessel when the gripper is determined not to be oriented to the side of the target laboratory vessel, and, after the robot arm moves to the third target safety pose, the robot arm is transferred to the first collision-free device when the gripper is determined to be oriented to the side of the target laboratory vessel;

7. The system of claim 5, wherein the terminal is further configured to obtain a preset target steering pose;

8. The system of claim 5, wherein the terminal is further configured to send a ninth movement instruction to the robot arm for moving to a preset lateral gripping position after determining the target experimental container, perform the step of determining whether the gripper is oriented to a side where the target experimental container is located after the robot arm moves to the lateral gripping position, and send a tenth movement instruction to the robot arm for moving to a preset lateral releasing position after the robot arm controls the gripper to grip the target experimental container, and perform the step of determining whether the gripper is oriented to a side where the target experimental device is located after the robot arm moves to the lateral releasing position;

9. The system of claim 4, wherein the manipulator module further comprises a vision camera;

10. The system according to any one of claims 2-9, further comprising: a photoelectric sensor positioned below the guide rail;