WO2021056497A1 - 应用于试管分拣平台的条码扫描识别方法及试管分拣平台 - Google Patents
应用于试管分拣平台的条码扫描识别方法及试管分拣平台 Download PDFInfo
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- WO2021056497A1 WO2021056497A1 PCT/CN2019/108843 CN2019108843W WO2021056497A1 WO 2021056497 A1 WO2021056497 A1 WO 2021056497A1 CN 2019108843 W CN2019108843 W CN 2019108843W WO 2021056497 A1 WO2021056497 A1 WO 2021056497A1
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- test tube
- barcode
- scan data
- scan
- identification device
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N35/00—Automatic analysis not limited to methods or materials provided for in any single one of groups G01N1/00 - G01N33/00; Handling materials therefor
- G01N35/02—Automatic analysis not limited to methods or materials provided for in any single one of groups G01N1/00 - G01N33/00; Handling materials therefor using a plurality of sample containers moved by a conveyor system past one or more treatment or analysis stations
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06K—GRAPHICAL DATA READING; PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
- G06K7/00—Methods or arrangements for sensing record carriers, e.g. for reading patterns
- G06K7/10—Methods or arrangements for sensing record carriers, e.g. for reading patterns by electromagnetic radiation, e.g. optical sensing; by corpuscular radiation
Definitions
- This application relates to the technical field of medical testing, and in particular to a barcode scanning recognition method applied to a test tube sorting platform, and a test tube sorting platform applying the method.
- the gripping jaws and the driving mechanism are required to complete the grasping and handling of the test tubes, and then the barcode information of the test tube barcode set on the test tube is scanned and recognized by the scanner to classify the test tubes .
- the gripper easily obstructs the test tube barcode during the process of grasping the test tube, which may cause the barcode information of the test tube barcode scanned and recognized by the scanner to be wrong, thereby reducing the work efficiency of the test tube sorting platform.
- the test tube sorting platform proposed by the present invention includes a controller and a gripper and identification device electrically connected to the controller.
- the barcode scanning and identification method applied to the test tube sorting platform specifically includes:
- the recognition device scans and recognizes two types of scan data, determining the number of scan data corresponding to each scan data.
- the barcode information of the test tube is identified.
- the two types of scan data recognized by the identification device in the preset time period include the first scan data and the second scan data, and the number of the first scan data is greater than that of the second scan data Quantity, it is determined that the first scan data is the barcode information of the test tube.
- the identification device scans and recognizes only one type of scan data within the preset time period, it is determined that the scan data is the barcode information of the test tube;
- the identification device scans and recognizes more than two types of scan data within the preset time period, it is determined that the barcode information of the test tube is invalid.
- the identification device is provided with a scanning interval t
- the clamping jaws include fingers that extend into the area where the test tube barcode of the test tube is located
- the identification device scans a single finger that requires a blocking period T1
- the control The recognition device scans and recognizes the test tube barcode of the test tube within a preset time period, including:
- Control the identification device to scan and identify the test tube barcode of the test tube within a preset time period T, and T ⁇ 2*T1+t.
- the finger has a shielding angle ⁇ relative to the identification device when rotating around the vertical axis of the test tube, and the gripper drives the test tube to rotate around its vertical axis at a first rotation speed ⁇ 1,
- the controlling the identification device to scan and identify the test tube barcode of the test tube within a preset time period includes: controlling the identification device to scan and identify the test tube barcode of the test tube within a preset time period T, and T ⁇ 2* ⁇ / ⁇ 1+t.
- controlling the identification device to scan and identify the test tube barcode of the test tube within a preset time period includes:
- the identification device is controlled to scan and identify the test tube barcode of the test tube within a preset time period.
- the test tube includes a blank area located outside the barcode of the test tube
- the identification device needs to spend a blank period when scanning the blank area, and the recognition device cannot scan and recognize the scanned data during the blank period.
- the identification device is controlled to scan and identify the test tube barcode of the test tube within a preset time period, the blank time period is not included in the preset time period.
- the claw drives the test tube to accelerate rotation to skip the blank area.
- the gripper drives the test tube to reversely rotate around its vertical axis to avoid the blank area, and restart Timing of the preset time period.
- controlling the identification device to scan and identify the test tube barcode of the test tube within a preset time period includes:
- the recognition device scans and recognizes more than two types of scan data within the preset time period, the scanning and recognition actions of the recognition device are stopped, and an error prompt is issued.
- test tube sorting platform provided by the present invention specifically includes:
- the gripper is used for grabbing the test tube provided with the test tube barcode, and driving the test tube to rotate around its vertical axis;
- An identification device for scanning and identifying the test tube barcode of the test tube within a preset time period
- the control device is used to determine the number of scan data corresponding to each scan data when the identification device scans and recognizes two types of scan data; the control device is also used to identify the test tube according to the number of scan data Bar code information.
- control device is configured to scan and recognize the two types of scan data including the first scan data and the second scan data during the preset time period by the identification device, and the number of the first scan data is greater than that of the scan data.
- the quantity of the second scan data is used, it is determined that the first scan data is the barcode information of the test tube.
- control device is configured to determine that the scan data is the barcode information of the test tube when the identification device scans and recognizes only one type of scan data within a preset time period;
- the control device is used for determining that the barcode information of the test tube is invalid when the identification device scans and recognizes more than two types of scan data within a preset time period.
- the identification device is provided with a scanning interval t
- the clamping jaws include fingers that extend into the area where the test tube barcode of the test tube is located
- the identification device scans a single finger that requires a blocking period T1
- the control device uses The identification device is controlled to scan and identify the test tube barcode of the test tube within a preset time period T, and T ⁇ 2*T1+t.
- the finger has a shielding angle ⁇ relative to the identification device when rotating around the vertical axis of the test tube
- the gripper drives the test tube to rotate around its vertical axis at a first rotation speed ⁇ 1
- the control The device is used to control the identification device to scan and identify the test tube barcode of the test tube within a preset time period T, and T ⁇ 2* ⁇ / ⁇ 1+t.
- control device is used to control the identification device to scan and identify the test tube barcode of the test tube within a preset period of time, while driving the test tube to rotate around its vertical axis through the gripper
- the identification device scans and identifies the test tube barcode of the test tube within a preset time period.
- the test tube includes a blank area located outside the barcode of the test tube, the identification device needs to spend a blank period when scanning the blank area, and the recognition device cannot scan and recognize the scanned data during the blank period.
- the control device is used for controlling the identification device to scan and identify the test tube barcode of the test tube within a preset time period, so that the blank time period is not included in the preset time period.
- control device is used for controlling the gripper to drive the test tube to accelerate rotation to skip the blank area when the recognition device scans the blank area.
- control device is used to control the gripper to drive the test tube to reversely rotate around its vertical axis to avoid the blank area after the recognition device continuously scans and recognizes the scan data. Blank area, and restart the timing of the preset time period.
- control device is configured to stop the scanning and recognition actions of the recognition device and issue an error prompt when the recognition device scans and recognizes more than two types of scan data within a preset time period.
- the control corresponding to the test tube sorting platform in the process of controlling the gripper to grab the test tube provided with the test tube barcode, and driving the test tube to rotate around its vertical axis through the gripper, the control
- the identification device scans and identifies the test tube barcode of the test tube within a preset time period. Because the clamping jaw may block the barcode of the test tube and other reasons, the identification device will scan and recognize two types of scan data. That is, the valid data of the barcode of the test tube and the invalid data of the blocked barcode area.
- This method recognizes the barcode information of the test tube by the number of scan data corresponding to each of the two types of scan data, which can prevent the identification device from reporting an error because the scan data is not unique, resulting in a decrease in the identification efficiency of the test tube sorting platform. defect.
- the barcode scanning recognition method of the first aspect of the present invention can be applied to The number of scan data corresponding to each scan data is used to identify the barcode information of the test tube.
- the test tube sorting platform provided by the present invention also improves the identification efficiency.
- Figure 1 is a schematic diagram of the frame of the test tube sorting platform of the present invention.
- FIG. 2 is a schematic diagram of the sample analysis system where the test tube sorting platform of the present invention is located;
- Figure 3 is a flowchart of the barcode scanning recognition method applied to the test tube sorting platform of the present invention
- Figure 4 is a schematic diagram of barcode scanning and identification performed by the test tube sorting platform of the present invention.
- FIG. 5 is a schematic cross-sectional view of test tubes in the test tube sorting platform of the present invention.
- Figure 6 is a schematic diagram of the gripper in the test tube sorting platform of the present invention.
- FIG. 7 is a flowchart of sub-steps of step S30 in another embodiment of the barcode scanning recognition method of the present invention.
- FIG. 8 is a flowchart of another embodiment of the barcode scanning recognition method of the present invention.
- FIG. 9 is a flowchart of another embodiment of the barcode scanning recognition method of the present invention.
- FIG. 10 is a flowchart of another embodiment of the barcode scanning recognition method of the present invention.
- FIG. 11 is a flowchart of another embodiment of the barcode scanning recognition method of the present invention.
- Figure 12 is a flowchart of another embodiment of the barcode scanning recognition method of the present invention.
- FIG. 13 is a flowchart of sub-steps of step S20 in another embodiment of the barcode scanning recognition method of the present invention.
- step S20 is a flowchart of sub-steps of step S20 in another embodiment of the barcode scanning recognition method of the present invention.
- Fig. 15 is a flowchart of sub-steps of step S20 in another embodiment of the barcode scanning recognition method of the present invention.
- connection and “connection” in the present invention include direct and indirect connection (connection) unless otherwise specified.
- connection connection
- the first feature “on” or “under” the second feature may be in direct contact with the first and second features, or the first and second features may be indirectly through an intermediary. contact.
- the "above”, “above” and “above” of the first feature on the second feature may mean that the first feature is directly above or obliquely above the second feature, or it simply means that the level of the first feature is higher than that of the second feature.
- the “below”, “below” and “below” of the second feature of the first feature may be that the first feature is directly below or obliquely below the second feature, or it simply means that the level of the first feature is smaller than the second feature.
- test tube sorting platform 100 proposed by the present invention shown in FIG. 1, which includes a gripper 10, an identification device 20 and a controller 30.
- the clamping jaw 10 and the identification device 20 are electrically connected to the controller 30 respectively.
- a test tube barcode 210 is provided on the outer surface of the test tube 200 involved in the present invention. At least one test tube 200 is contained in the test tube sorting platform 100.
- FIG. 2 is a schematic diagram of a sample analysis system where the test tube sorting platform 100 of the present invention is located.
- This embodiment provides a sample analysis system, which mainly includes a first sample analyzer 320, a second sample analyzer 330, a test tube rack transmission device, and a test tube sorting platform 100.
- the test tube rack transmission device has a transmission rail 310 and is connected to the first sample analyzer 320 and the second sample analyzer 330.
- the test tube rack transmission device is used to transport the test tube rack 340 with the test tubes 200 to the first sample analyzer 320 And/or the second sample analyzer 330 for detection, the first sample analyzer 320 and the second sample analyzer 330 are arranged in sequence along the first conveying direction of the transmission track 310, and the test tube sorting platform 100 is set in the same Between the present analyzer 320 and the second sample analyzer 330.
- the first conveying direction is shown by the hollow arrow in FIG. 2.
- test tube rack 340 may be sequentially transported to the first sample analyzer 320 and the second sample analyzer 330 by the test tube rack transmission device.
- the test tube sorting platform 100 may further include a connecting rail 40 and a sorting table 50.
- the connecting rail 40 is connected in parallel with the transmission rail 310, especially coaxially connected, so that the test tube rack 340 on which the test tube 200 is placed can be transported from the transmission rail 310 to the connection rail 40 and from the connection rail 40 to the transmission rail 310 .
- the connecting rail 40 can directly pass the test tube rack 340 carried on the transfer rail 310.
- the test tube rack 340 transported from the transfer rail 310 to the connecting rail 40 does not have test tubes 200 that need to be classified, the test tube rack 340 does not stay on the connecting rail 120, but is directly transported to the downstream transfer rail via the connecting rail 40 310 on.
- the connecting track 40 may be connected to the transmission track 310 at both ends respectively, as shown in FIG. 2, or the connecting track 40 may be a part of the transmission track 310.
- the sorting table 50 is used to place at least one test tube rack 340, generally an empty test tube rack 340, and has an interface for the test tube rack 340 on the sorting table 50 to enter the connecting rail 40 or for the test tube rack 340 on the connecting rail 40 to enter the sorting table 50 .
- the clamping jaw 10 is provided on the sorting table 50, and the clamping jaw 10 can move above the connecting rail 40 to transfer the test tube 200 in the test tube rack 340 transported on the connecting rail 40 to the test tube rack 340 on the sorting table 50.
- test tube 200 on a test tube rack 340 may need to be transported to different sample analyzers for testing or different test tubes 200 on a test tube rack 340 need to be transported to different sample analyzers for testing. Therefore, a test tube sorting platform 100 is provided between the first sample analyzer 320 and the second sample analyzer 330, and the test tubes 200 in the test tube rack 340 on the connection rail 40, especially need to be transported to the second sample analysis The test tubes 200 tested by the instrument 330 are transferred to the test tube rack 340 of the sorting station 50.
- test tubes 200 on the test tube rack 340 are sorted by the test tube sorting platform 100, and the test tubes 200 on the test tube rack 340 are sorted, and will need to be transported to the same test tube rack 340.
- the test tubes 200 of the sample analyzer, such as the second sample analyzer, are concentrated in the same test tube rack 340, which can reduce the residence time of the test tube rack 340 on the test tube rack transfer device, avoid "clogging" in the sample analysis system, and improve The efficiency of the sample analysis system.
- the barcode scanning recognition method applied to the test tube sorting platform of the present invention specifically includes the following steps:
- the gripper 10 is controlled to grab the test tube 200 provided with the test tube barcode 210, and the gripper 10 drives the test tube 200 to rotate around its vertical axis 201;
- the test tube 200 involved in the present invention has an axisymmetric shape, and the test tube 200 is a body of revolution formed around a vertical axis 201.
- the test tube barcode 210 is arranged on the outer surface of the test tube 200, and the test tube barcode 210 has a certain length along the vertical axis 201.
- the test tube 200 is usually extracted to a certain height along the vertical axis 201, so that the test tube barcode 210 on the outer surface of the test tube 200 is completely exposed.
- the clamping jaw 10 drives the test tube 200 to rotate around its vertical axis 201, and then drives the test tube barcode 210 provided on the outer surface of the test tube 200 to rotate around the vertical axis 201.
- the identification device 20 (usually a scanner) starts to scan and identify the test tube 200.
- the test tube barcode 210 partially surrounds the outer surface of the test tube 200, or described as the test tube barcode 210 having an identifiable angle ⁇ in the direction of rotation around the vertical axis 201.
- the outer surface of the test tube 200 outside the recognizable angle ⁇ is a blank area 220. It is understandable that if the blank area 220 is defined to have a blank angle ⁇ in the direction of rotation around the vertical axis 201, the condition should be met:
- the identification device 20 is started to scan the test tube barcode 210 of the test tube 200, there is no guarantee that the test tube barcode 210 of the test tube 200 is exactly on the identification device 20. Within the identifiable range. That is, it may happen that the identification device 20 only scans the blank area 220 of the test tube 200. If the identification device 20 fails to scan the test tube barcode 210, it will not be able to identify and generate scan data.
- the gripper 10 needs to be rotated at a certain angle around the vertical axis 201 to ensure that at least part of the test tube barcode 210 is identifiable from the identification device 20. Turned within the range.
- the identification device 20 can only identify and generate scan data after scanning the test tube barcode 210.
- the control that the gripper 10 drives the test tube 200 to rotate a certain angle around its vertical axis 201 can be achieved by controlling the time during which the gripper 10 drives the test tube 200 to rotate. That is, the gripper 10 is controlled to continuously drive the test tube 200 to rotate within the preset time period T, and the identification device 20 is controlled to continuously scan the test tube barcode 210 within the preset time period T, which can ensure that at least part of the test tube barcode 210 is removed from the identification device 20. The purpose of the transfer within the identifiable range.
- the recognition device 20 scans and recognizes two types of scan data, determine the number of scan data corresponding to each type of scan data;
- the barcode information of the test tube 200 is identified.
- the test tube barcode 210 may have some areas that are unclear, or some areas may be blocked. Please refer to FIG. 6 for details.
- the gripper 10 includes four fingers 11. When the gripper 10 grasps the test tube 200, due to the unpredictable state of the test tube 200 in the test tube sorting platform 100, the fingers 11 of the gripper 10 may just form a fit with the test tube barcode 210. When the gripper 10 drives the test tube 200 to rotate about the vertical axis 201, the friction force formed between the fingers 11 and the outer surface of the test tube 200 actually drives the test tube 200 to rotate. That is, the finger 11 and the test tube 200 are relatively stationary during the rotation.
- the identification device 20 when the identification device 20 scans a portion of the test tube barcode 210 that is exposed after being blocked by the finger 11, the identification device 20 can still generate scan data because the barcode image actually exists in the portion of the area.
- the scan data obtained by the identification device 20 identifying all areas of the test tube barcode 210 is defined as valid scan data, and the scan data obtained by defining the identification device 20 to identify a partial area of the test tube barcode 210 is invalid. Scan the data. Therefore, after the clamping jaw 10 is clamped within the range of the test tube barcode 210, the scan data obtained by scanning and recognizing the test tube barcode 210 by the identification device 20 will include valid scan data and invalid scan data.
- the respective data quantity of the valid scan data and the invalid scan data is related to the area of the finger 11 shielding the test tube barcode 210 and the recognizable angle ⁇ of the test tube barcode 210.
- the number of invalid scan data recognized by the identification device 20 relative to the scan will be greater. Therefore, after the respective quantities of the two types of scan data are determined, the larger number of scans can be determined
- the data is invalid scan data, and it is determined that the scan data with a smaller amount is the valid scan data, that is, the scan data with a smaller amount is the barcode information of the test tube 200.
- the shielding area of the finger 11 is relatively small, and the valid scan data scanned and recognized by the identification device 20 will be more than the invalid scan data. Therefore, in the embodiment of FIG. 5, it can be determined that a larger number of scan data scanned and recognized by the identification device 20 are valid scan data, that is, a larger number of scan data is the barcode information of the test tube 200.
- the recognition device 20 can recognize both types of scan data, and the difference in the amount of the two types of scan data is relatively stable. That is, when the width of the finger 11 is wider, the number of invalid scan data will be greater than the number of valid scan data; when the width of the finger 11 is narrow, the number of valid scan data will be greater than the number of invalid scan data.
- the barcode scanning recognition method of the present invention uses the type and quantity of the scanned data scanned and recognized by the recognition device 20 to determine the barcode information of the test tube 200 in the test tube sorting platform 100, and two types of barcode information can be scanned and recognized by the recognition device 20.
- the barcode information of the test tube 200 is automatically determined, which improves the ability of the test tube sorting platform 100 to recognize the test tube barcode 210 of the test tube 200, and also improves the work efficiency of the test tube sorting platform 100.
- step S30 "if the identification device 20 scans and recognizes two types of scan data, then determine the number of scan data corresponding to each type of scan data;
- this method also includes:
- the two types of scan data recognized by the recognition device 20 include the first scan data and the second scan data, and the quantity of the first scan data is greater than the quantity of the second scan data;
- S32 Determine that the first scan data is the barcode information of the test tube 200.
- the jaw 10 includes four fingers 11.
- the four fingers 11 on the cross section perpendicular to the vertical axis 201 can be relatively dispersed to contact the outer surface of the test tube 200 and form a stronger clamping force on the test tube 200.
- the width of each finger 11 is relatively narrow. Therefore, in the embodiment of FIG. 5, the width of the finger 11 is relatively small compared to the recognizable angle ⁇ of the test tube barcode, and the identification device 20 can The number of valid scan data in the two types of data obtained by scanning recognition will be more.
- the two types of scan data recognized by the recognition device 20 include the first scan data and the second scan data, and the data amount of the first scan data is greater than the data amount of the second scan data, then It can be determined that the first scan data is valid scan data, and then it can be determined that the first scan data is barcode information of the test tube 200.
- step S30 "if the recognition device 20 scans and recognizes two types of scan data, determine the number of scan data corresponding to each type of scan data;
- this method also includes:
- the identification device 20 scans and recognizes only one type of scan data within the preset time period T, it is determined that the scan data is the barcode information of the test tube 200; and/or
- the identification device 20 scans and recognizes two or more types of scan data within the preset time period T, it is determined that the barcode information of the test tube 200 is invalid.
- this embodiment corresponds to the case where the scanning data recognized by the recognition device 20 during scanning is not two types. That is, the identification device 20 may also scan and identify only one type of scan data, or scan and identify more than two types of scan data.
- the recognition device 20 only scans and recognizes one type of scan data, because the width of the finger 11 cannot completely cover the test tube barcode 210, it is only possible that any finger 11 of the gripper 10 does not block the test tube barcode 210. Appears under. At this time, it can be determined that all the scan data scanned and recognized by the identification device 20 are valid scan data, and then it can be determined that the scan data is the barcode information of the test tube 200.
- the reason may be in the area where the test tube barcode 210 is not covered by the finger. For example, wrinkles appear when the test tube barcode 210 is attached to the outer surface of the test tube 200, or the test tube barcode 210 is not firmly adhered and causes defects such as edge warping. At this time, the identification device 20 may generate three or more kinds of scan data. And because of the uncertainty of the influence area of the test tube barcode 210 by phenomena such as wrinkles or edge warping, it is impossible to determine which of the two or more types of scan data is valid scan data based on the number of scan data.
- the identification device 20 scans and recognizes two or more types of scan data within the preset time period T, it can be determined that the barcode information of the test tube 200 is invalid, and the invalid test tube 200 is marked, and at the same time, an error message is issued to the operator and waits. The operator handles the test tube 200 with abnormal data.
- the scanning interval t is set in the identification device 20. That is, the interval time between the recognition device 20 scanning and recognizing actions every two times is t, or the time interval when the recognition device 20 scans and generates scan data is t.
- the finger 11 in the area where the test tube barcode 210 of the test tube 200 is inserted by the gripper 10 during the process of driving the test tube 200 to rotate, the blocking period required for the identification device 20 to scan a single finger 11 is T1.
- step S20 control the identification device 20 to scan and identify the test tube barcode 210 of the test tube 200 within the preset time period T
- the method further includes:
- S20b Control the identification device 20 to scan and identify the test tube barcode 210 of the test tube 200 within the preset time period T, and:
- the scan data recognized based on the scan by the recognition device 20 may include valid scan data and invalid scan data
- the total time of the preset period T during which the recognition device 20 performs the scan recognition action can also be decomposed into a valid period T2 and a blocking period T1, namely:
- the valid time period T2 is the time period for the identification device 20 to scan the complete test tube barcode 210
- the blocking time period T1 is the time period for the identification device 20 to scan the finger 11 correspondingly.
- the occlusion period T1 of the recognition device 20 scanning and recognizing a single finger 11 is a certain duration, it is necessary to ensure that the valid period T2 of the recognition device 20 scanning and recognizing the complete test tube barcode 210 takes longer than the occlusion period T1.
- the recognition device 20 generates at least one scan data in the valid period T2 at least than the occlusion period T1.
- the effective period T2 in formula (4) is greater than or equal to the sum of the duration of the blocking period T1 and the scanning interval t, it can be ensured that the identification device 20 scans the recognized scans within the effective period T2
- the number of data is at least one more than the number of scan data generated when the recognition device 20 scans and recognizes a single finger 11.
- step S20 of the method "controlling the identification device 20 to scan and identify the test tube barcode 210 of the test tube 200 within the preset time period T" further includes:
- S20c Control the identification device 200 to scan and identify the test tube barcode 210 of the test tube 200 within the preset time period T, and:
- the shielding angle ⁇ relative to the identification device 20 is a fixed value; and the first rotation speed ⁇ 1 and the scanning interval t can be preset and adjusted manually, so for the preset time period T, the formula (5)
- the condition relationship is preset and easy to adjust.
- T 2* ⁇ / ⁇ 1+t Formula (6).
- the identification device 20 Under the condition of formula (6), even if the identification device 20 has a complete finger 11 turned from within the recognizable range of the identification device 20 during the process of scanning and identifying the test tube barcode 210, it can be ensured that the identification device 20 is in the preset period of time.
- the number of valid scan data identified in T is one more than the number of invalid scan data.
- the invalid scan data scanned and identified by the identification device 20 is correspondingly less, and the validity of the identification device 20 can also be determined.
- the number of scanned data is more than the number of invalid scanned data. Therefore, under the condition of formula (6), the value of the preset time period T is the smallest, and the scanning and recognition process of the recognition device 20 takes shorter total time, which can greatly improve the execution efficiency of the barcode scanning and recognition method of the present invention.
- step S20 controlling the identification device 20 to scan and identify the test tube barcode 210 of the test tube 200 within the preset time period T" further includes:
- the identification device 20 can scan and recognize the test tube barcode 210.
- the test tube sorting platform 100 may not drive the test tube 200 to rotate after the identification device 20 initiates the scanning recognition action. If the timing of the preset time period T is started before the test tube 200 rotates, it is easy to cause the identification device 20 to continuously scan and identify the stationary test tube barcode 210 and generate scan data. If the area of the test tube barcode 210 corresponding to the continuous scan identification and generated scan data happens to be the area occluded by the finger 11, the amount of invalid scan data will be distorted.
- the above phenomenon is likely to cause the number of invalid scan data to be more than the number of valid scan data.
- an error occurs in the barcode information determined based on the number of scanned data of the identification device 20.
- this embodiment provides a solution for controlling the identification device 20 to scan and identify the test tube barcode 210 of the test tube 200 within the preset time period T while the test tube 200 is driven to rotate around its vertical axis 201 by the gripper 10.
- the two are started simultaneously, the total time for scanning and identifying a single test tube 200 can be shortened to a greater extent, and the above-mentioned defect of error in the barcode information can also be avoided.
- the definition of the preset time period T in the present invention is that at least part of the test tube barcode 210 is within the recognizable range of the identification device 20, so that the identification device 20 can scan the test tube barcode 210 and identify and generate scan data The total length of time.
- the test tube 200 includes a blank area 220 located outside the test tube barcode 210, and the blank area 220 has a blank angle ⁇ in the direction of rotation around the vertical axis 201. It is understandable that when the identification device 20 scans the blank angle ⁇ , the blank period T3 needs to be spent. Because the identification device 20 cannot scan and recognize the scanned data in the blank period T3, please refer to FIG. 12, step S20 "control the identification device 20 to scan and recognize the test tube barcode 210 of the test tube 200 within the preset period T". include:
- the identification device 20 is controlled to scan and identify the test tube barcode 210 of the test tube 20 within the preset time period T, the blank time period T3 is not included in the preset time period T.
- the identification device 20 does not generate scan data during the blank period T3 if the blank period T3 is included in the timing of the preset period T, the blank period T3 will reduce the total amount of scan data.
- the total amount of scan data is composed of valid scan data and invalid scan data. If the blank period T3 results in a reduction in the number of invalid scan data, it can still be ensured that the number of valid scan data is greater than the number of invalid scan data in the barcode scanning identification method of the present invention, and the finally identified barcode information of the test tube 200 is an accurate barcode. information.
- the blank period T3 may also reduce the amount of effective scan data. It even reduces the number of valid scan data and invalid scan data. At this time, if the number of valid scan data is reduced and the number of valid scan data is less than the number of invalid scan data, the invalid scan data will be determined to be the barcode information of the test tube 200, resulting in the method of the present invention for the barcode scanning identification of the test tube 200 Wrong result. Therefore, in view of the feature that the recognition device 20 does not generate scan data when scanning to the blank area 220, it can be distinguished whether the recognition device scans the blank area 220 by whether the recognition device 20 generates scan data.
- the blank period T3 during which the recognition device 20 scans to the blank area 220 is excluded from the total time T0 of scanning recognition by the recognition device 20 to ensure that the recognition device 20 can scan and recognize the scanned data within the preset period T, and then The total quantity of scanned data is guaranteed, and the barcode information of the test tube 200 can be accurately identified according to the quantity of scanned data.
- T T0-T3 formula (7)
- T is the preset time period
- T0 is the total time for scanning and identification
- T3 is the blank time period.
- step S20e "when the identification device 20 is controlled to scan and recognize the test tube barcode 210 of the test tube 20 within the preset time period T, the blank time period T3 is not counted in the preset time period T", and may also include the sub-steps shown in FIG. 13 :
- test tube 200 is driven to accelerate the rotation by the gripper 10 to skip the blank area 220.
- the recognition device scans the blank area 220 by whether the recognition device 20 generates scan data. That is, when the identification device 20 does not generate scan data after the scanning interval t, it can be determined that the current identification device 20 has scanned the blank area 220 of the test tube 200. Then, in order to speed up the scanning recognition speed, the test tube 200 can be driven by the gripper 10 to accelerate rotation, so as to skip the blank area 220 where no scanning data is generated. Specifically, after it is determined that the identification device 20 scans the blank area 220, the gripper 10 drives the test tube 200 to rotate at the second rotation speed ⁇ 2, and ⁇ 2> ⁇ 1, thereby achieving the purpose of quickly skipping the blank area 220.
- test tube 200 rotates at the second rotation speed ⁇ 2
- the identification device 20 continues to scan the blank area 220, it is in the blank period T3 in this state, and the timing of the preset period T enters a pause.
- the device to be identified 20 scans the bar code image again at the second rotation speed ⁇ 2, and after generating the scan data, the test tube 200 can be driven to slow down by the gripper 10 to restore the state of rotating at the first rotation speed ⁇ 1, and continue for the preset time period T Until the timing of the preset time period T is completed, the scanning recognition action of the recognition device 20 is ended.
- the scanning and recognition efficiency of the test tube sorting platform 100 can be improved.
- step S20e “when the identification device 20 is controlled to scan and identify the test tube barcode 210 of the test tube 20 within the preset time period T, the blank time period T3 is not included in the preset time period T”, and It can include the following sub-steps:
- test tube 200 is driven to rotate in the reverse direction by the clamping jaw 10 to avoid the blank area 220, and the timing of the preset time period T is restarted.
- the recognition device 20 when the recognition device 20 scans and recognizes the blank area 220 within the preset time period T, it can also restart the scan recognition action by immediately reverse rotation, and restart the preset time period T. Time to complete a complete scan identification process again.
- the identification device 20 obtains scanned data during continuous scanning, it can be determined that the test tube barcode 210 is within the recognizable range of the identification device 20.
- the identification device 20 enters the state where the scan data is not generated from the continuous scanning within the preset time period T, it can be determined that the test tube barcode 210 has just transferred out of the recognizable range of the identification device 20, that is, the test tube barcode The edge of 210 just left the recognizable range of the recognition device 20.
- the test tube 200 is driven to rotate in the reverse direction by the clamping jaw 10, which can ensure that the test tube barcode 210 starts to rotate from the edge again and enters the identifiable range of the identification device 20.
- Restarting the timing of the preset time period T from this time can ensure that the identification device 20 can completely scan the test tube barcode 210 within the preset time period T, which not only ensures the reliability of the scanned data, but also reduces the time-consuming scanning and identification.
- the scanning and identification efficiency of the test tube sorting platform 100 can also be improved.
- the gripper 10 drives the test tube 200 to rotate around its vertical axis 201.
- the identification device 20 scans and recognizes the test tube barcode 210 of the test tube 200 within the preset time period T."
- the identification device 20 starts scanning and identifying The moment of the action is in the state of scanning and identifying the blank area 220, and the situation as the blank period T3 is not included in the preset period T.
- the timing of the preset time period T is started. That is to say, in the barcode scanning recognition method of the present invention, the timing start time of the preset period T may be at the moment when the gripper 10 drives the test tube 200 to rotate around its vertical axis 201, or when the test tube barcode 210 enters the identification device 20 to be identifiable. Moments within range.
- the timing end time of the preset time period T may be exactly equal to the preset time period T. That is, the identification device 20 always scans into the corresponding area of the test tube barcode 210 during the entire scanning and identification process; the total time T0 for scanning identification can also be equal to "preset period T + blank period T3", that is, the identification device 20 is reading the test tube barcode 210 During the scanning process, the blank area 220 is also scanned at the same time, and the blank area 220 is skipped by the way of accelerating the rotation of the test tube 200; the total time T0 for scanning recognition can also be controlled within twice the preset time period T, corresponding to The identification device 20 immediately rotates the test tube 200 in the reverse direction after scanning to the blank area 220 to avoid the blank area 220, and restarts the embodiment of timing the preset time period T.
- the barcode scanning recognition method of the present invention can adjust the start time and end time of the preset time period T according to whether the recognition device 20 generates scan data or not, and cooperate with the gripper 10 to drive the test tube 200 to rotate. Speed or rotation direction to improve the efficiency of scanning recognition.
- the total time T0 of scanning and recognition of the recognition device 20 can be adjusted in real time according to the position of the test tube barcode 210 relative to the recognizable range of the recognition device 20.
- step S20 control the identification device 20 to scan and identify the test tube barcode 210 of the test tube 200 within the preset time period T, it includes:
- the identification device 20 obtains more than two types of scan data by scanning and identifying, the barcode information of the test tube 200 cannot be determined between the two or more scan data by their respective numbers, even if the identification device 20 is in the preset time period T The barcode information obtained will also be determined to be invalid if the scanning and identification work is completed within. Therefore, in order to save time and resources of the test tube sorting platform 100, when the recognition device 20 scans and recognizes more than two types of barcode information within the preset time period T, the scanning and recognition actions of the recognition device 20 can be directly stopped, and the The operator issues an error prompt to prevent the identification device 20 from continuing to complete subsequent scan identification actions according to the preset time period T, which causes unnecessary time waste.
- test tube sorting platform 100 includes a gripper 10, an identification device 20 and a control device 30. specific:
- the gripper 10 is used for grabbing the test tube 200 provided with the test tube barcode 210, and driving the test tube 200 to rotate around its vertical axis 201;
- the identification device 20 is used for scanning and identifying the test tube barcode 210 of the test tube 200 within the preset time period T;
- the control device 30 is used to determine the number of scan data corresponding to each scan data when the identification device 20 scans and recognizes two types of scan data; the control device 30 is also used to identify the barcode information of the test tube 200 according to the number of scan data.
- the test tube sorting platform 100 of the present invention can implement the above-mentioned barcode scanning identification method.
- the barcode scanning identification method of the present invention can be used to identify the barcode information of the test tube 200 according to the number of scan data corresponding to each scan data. This improves the identification efficiency of the test tube sorting platform 100.
- the test tube sorting platform 100 may further include a connecting track 40 and a sorting table 50.
- the connecting rail 40 is connected in parallel with the transfer rail 310 outside the test tube sorting platform 100, so that the test tube rack 340 on which the test tubes 200 are placed can be transported from the transfer rail 310 to the connecting rail 40 and from the connecting rail 40 to the transfer rail 310.
- the sorting table is used to store at least one test tube 200.
- control device 30 is configured to scan and recognize the two types of scan data including the first scan data and the second scan data during the preset time period by the identification device 20, and the number of the first scan data is greater than the second scan data.
- the number is determined to be the barcode information of the test tube 200, the first scan data is determined.
- control device 30 is configured to determine that the scan data is the barcode information of the test tube 200 when the identification device 20 scans and recognizes only one type of scan data within the preset time period T; and/or
- the control device 30 is used for determining that the barcode information of the test tube is invalid when the identification device 20 scans and recognizes two or more types of scan data within the preset time period T.
- the recognition device 20 is provided with a scanning interval t
- the gripper 10 includes a finger 11 extending into the area where the test tube barcode 210 of the test tube 200 is located
- the recognition device 20 scans a single finger 11 and it takes a blocking period T1
- the control device 30 is used for The control and recognition device 20 scans and recognizes the test tube barcode 210 of the test tube 200 within the preset time period T, and T ⁇ 2*T1+t(2).
- the gripper 10 drives the test tube 200 to rotate around its vertical axis 201 at a first speed ⁇ 1, and the control device 30 It is used to control the identification device 20 to scan and identify the test tube barcode 210 of the test tube 200 within a preset time period T, and T ⁇ 2* ⁇ / ⁇ 1+t(5).
- control device 30 is used to control the identification device 20 to scan and identify the test tube barcode 210 of the test tube 20 within the preset time period T, while driving the test tube 20 to rotate around its vertical axis 201 through the gripper 10
- the identification device 20 is controlled to scan and identify the test tube barcode 210 of the test tube 20 within the preset time period T.
- the test tube 20 includes a blank area 220 located outside the test tube barcode 210, the identification device 20 needs a blank period T3 when scanning the blank area 220, and the recognition device 20 cannot scan and recognize the scanned data during the blank period T3.
- the control device 30 is used to control the identification device 20 to scan and identify the test tube barcode 210 of the test tube 20 within the preset time period T, so that the blank time period T3 is not included in the preset time period T.
- control device 30 is used to control the gripper 10 to drive the test tube 200 to accelerate the rotation to skip the blank area 220 when the identification device 20 scans the blank area 220.
- control device 30 is used to control the gripper 10 to drive the test tube 200 to rotate in the opposite direction around its vertical axis 201 to avoid the blank area 220 when the recognition device 20 continuously scans and recognizes the scan data and then scans the blank area 220. , And restart the timing of the preset time period T.
- control device 30 is configured to stop the scanning and recognition actions of the recognition device 20 when the recognition device 20 scans and recognizes more than two types of scan data within the preset time period T, and sends an error prompt to the operator.
- test tube sorting platform 100 of the present invention can also be expanded with reference to the corresponding description of the above-mentioned barcode scanning identification method embodiment.
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Abstract
Description
Claims (20)
- 一种应用于试管分拣平台的条码扫描识别方法,其特征在于,所述试管分拣平台包括控制器和电连接所述控制器的夹爪及识别装置,所述条码扫描识别方法包括如下步骤:控制所述夹爪抓取设置有试管条码的试管,并通过所述夹爪带动所述试管围绕其竖直轴线旋转;控制所述识别装置在预设时段内对所述试管的试管条码进行扫描和识别;若所述识别装置扫描识别到两种扫描数据,则确定每一所述扫描数据所对应的扫描数据数量;以及根据所述扫描数据数量,识别所述试管的条码信息。
- 根据权利要求1所述的应用于试管分拣平台的条码扫描识别方法,其特征在于,若所述识别装置在预设时段内扫描识别到的两种所述扫描数据包括第一扫描数据和第二扫描数据,且所述第一扫描数据的数量大于所述第二扫描数据的数量,则确定所述第一扫描数据为所述试管的条码信息。
- 根据权利要求1所述的应用于试管分拣平台的条码扫描识别方法,其特征在于,若所述识别装置在预设时段内只扫描识别到一种扫描数据,则确定所述扫描数据为所述试管的条码信息;和/或若所述识别装置在预设时段内扫描识别到两种以上的扫描数据,则确定所述试管的条码信息无效。
- 根据权利要求2所述的应用于试管分拣平台的条码扫描识别方法,其特征在于,所述识别装置内设扫描间隔t,所述夹爪包括伸入所述试管的试管条码所在区域的手指,所述识别装置扫描单个所述手指需要耗费遮挡时段T1,所述控制所述识别装置在预设时段内对所述试管的试管条码进行扫描和识别,包括:控制所述识别装置在预设时段T内对所述试管的试管条码进行扫描和识别,且T≥2*T1+t。
- 根据权利要求4所述的应用于试管分拣平台的条码扫描识别方法,其特征在于,所述手指绕所述试管的竖直轴线旋转时具有相对于所述识别装置的 遮挡角度θ,所述夹爪带动所述试管围绕其竖直轴线以第一转速ω1旋转,所述控制所述识别装置在预设时段内对所述试管的试管条码进行扫描和识别,包括:控制所述识别装置在预设时段T内对所述试管的试管条码进行扫描和识别,且T≥2*θ/ω1+t。
- 根据权利要求4所述的应用于试管分拣平台的条码扫描识别方法,其特征在于,所述控制所述识别装置在预设时段内对所述试管的试管条码进行扫描和识别,包括:在通过所述夹爪带动所述试管围绕其竖直轴线旋转的同时控制所述识别装置在预设时段内对所述试管的试管条码进行扫描和识别。
- 根据权利要求1所述的应用于试管分拣平台的条码扫描识别方法,其特征在于,所述试管包括位于所述试管条码之外的空白区,所述识别装置在扫描所述空白区时需要耗费空白时段,所述识别装置在所述空白时段内不能扫描识别到扫描数据,所述控制所述识别装置在预设时段内对所述试管的试管条码进行扫描和识别时,所述空白时段不计入所述预设时段。
- 根据权利要求7所述的应用于试管分拣平台的条码扫描识别方法,其特征在于,所述识别装置在扫描到所述空白区时,通过所述夹爪带动所述试管加速旋转以跳过所述空白区。
- 根据权利要求7所述的应用于试管分拣平台的条码扫描识别方法,其特征在于,所述识别装置在连续扫描识别到扫描数据后扫描到所述空白区时,通过所述夹爪带动所述试管围绕其竖直轴线反向旋转以避开所述空白区,并重新开始所述预设时段的计时。
- 根据权利要求1所述的应用于试管分拣平台的条码扫描识别方法,其特征在于,所述控制所述识别装置在预设时段内对所述试管的试管条码进行扫描和识别,包括:若所述识别装置在预设时段内扫描识别到两种以上的扫描数据,则停止所述识别装置的扫描和识别动作,并发出错误提示。
- 一种试管分拣平台,其特征在于,包括:夹爪,用于抓取设置有试管条码的试管,并带动所述试管围绕其竖直轴线旋转;识别装置,用于在预设时段内对所述试管的试管条码进行扫描和识别;控制装置,用于在所述识别装置扫描识别到两种扫描数据时,确定每一所述扫描数据所对应的扫描数据数量;所述控制装置还用于根据所述扫描数据数量识别所述试管的条码信息。
- 根据权利要求11所述的试管分拣平台,其特征在于,所述控制装置用于在所述识别装置在预设时段内扫描识别到的两种所述扫描数据包括第一扫描数据和第二扫描数据,且所述第一扫描数据的数量大于所述第二扫描数据的数量时,确定所述第一扫描数据为所述试管的条码信息。
- 根据权利要求11所述的试管分拣平台,其特征在于,所述控制装置用于在所述识别装置在预设时段内只扫描识别到一种扫描数据时,确定所述扫描数据为所述试管的条码信息;和/或所述控制装置用于在所述识别装置在预设时段内扫描识别到两种以上的扫描数据时,确定所述试管的条码信息无效。
- 根据权利要求12所述的试管分拣平台,其特征在于,所述识别装置内设扫描间隔t,所述夹爪包括伸入所述试管的试管条码所在区域的手指,所述识别装置扫描单个所述手指需要耗费遮挡时段T1,所述控制装置用于控制所述识别装置在预设时段T内对所述试管的试管条码进行扫描和识别,且T≥2*T1+t。
- 根据权利要求14所述的试管分拣平台,其特征在于,所述手指绕所述试管的竖直轴线旋转时具有相对于所述识别装置的遮挡角度θ,所述夹爪带动所述试管围绕其竖直轴线以第一转速ω1旋转,所述控制装置用于控制所述识别装置在预设时段T内对所述试管的试管条码进行扫描和识别,且T≥2*θ/ω1+t。
- 根据权利要求14所述的试管分拣平台,其特征在于,所述控制装置用于控制所述识别装置在预设时段内对所述试管的试管条码进行扫描和识别时,在通过所述夹爪带动所述试管围绕其竖直轴线旋转的同时控制所述识别装置在预设时段内对所述试管的试管条码进行扫描和识别。
- 根据权利要求14所述的试管分拣平台,其特征在于,所述试管包括位于所述试管条码之外的空白区,所述识别装置在扫描所述空白区时需要耗费 空白时段,所述识别装置在所述空白时段内不能扫描识别到扫描数据,所述控制装置用于在控制所述识别装置在预设时段内对所述试管的试管条码进行扫描和识别时,对所述空白时段不计入所述预设时段。
- 根据权利要求17所述的试管分拣平台,其特征在于,所述控制装置用于在所述识别装置在扫描到所述空白区时,控制所述夹爪带动所述试管加速旋转以跳过所述空白区。
- 根据权利要求17所述的试管分拣平台,其特征在于,所述控制装置用于在所述识别装置连续扫描识别到扫描数据后扫描到所述空白区时,控制所述夹爪带动所述试管围绕其竖直轴线反向旋转以避开所述空白区,并重新开始所述预设时段的计时。
- 根据权利要求14所述的试管分拣平台,其特征在于,所述控制装置用于在所述识别装置在预设时段内扫描识别到两种以上的扫描数据时,停止所述识别装置的扫描和识别动作,并发出错误提示。
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