CN110244071B - Automatic chemical examination device based on intelligent control system - Google Patents
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Abstract
The invention provides an automatic assay device based on an intelligent control system. The upper computer control system mainly controls the whole device; the main body of the mechanical arm is the 'body' of the whole device and controls the movement of the whole device; the vision recognition system is the 'eye' of the device, and the accurate position of the target test tube is determined through the vision recognition system; the end effector is an actuating element of the entire device, which performs the final operation of drawing in and discharging the target assay reagent. The test efficiency and accuracy of the whole automatic test device are closely related to the above parts, one of the parts is not necessary, the above parts are pulled to move the whole body, and the stability of the whole system can be ensured only if each part works normally. The device adopts open control, and can realize the work of mechanical arm movement, test tube identification, reagent suction and discharge, man-machine interaction and the like.
Description
Technical Field
The invention relates to the field of intelligent equipment, in particular to an automatic assay device based on an intelligent control system.
Background
At present, most units in China, such as factories and hospitals, have own testing departments, most tests are still solved by manpower, the testing process is single and tedious, the manpower resource is wasted, and the mechanical arm can be used for replacing the traditional mechanical arm. The robot can release manpower from tedious work and repeated work of a factory, although the intelligence of the robot is not as good as that of the human work, the sensitivity and the accuracy of the robot are far higher than those of the human work, the similarity of each testing process can be set, the testing capacity of each testing process is set to be the same (the error is not more than 1 per thousand), and even the moving track of the mechanical arm can be controlled within the moving error of 0.1 mm. More importantly, the mechanical arm can work continuously without rest, and the efficiency of the mechanical arm is far higher than that of manual labor.
In automated assay robotic arms, visual recognition is one of the most important parts, which is the "eye" of the overall system, to enable the robotic arm to "see" the position of the test tube for identification and positioning. What is needed is a quick and accurate identification of the position of the test tube, which directly determines the efficiency and reliability of the device.
Disclosure of Invention
Therefore, in order to overcome the above problems, the present invention provides an automatic testing device based on an intelligent control system, which comprises a host computer control system, a robot body, a vision recognition system, and an end effector. The upper computer control system mainly controls the whole device; the mechanical arm main body is the 'body' of the whole device and controls the movement of the whole device; the vision recognition system is the 'eye' of the device, and the accurate position of the target test tube is determined through the vision recognition system; the end effector is an actuating element of the entire device, which performs the final operation of drawing in and discharging the target assay reagent. The test efficiency and accuracy of the whole automatic test device are closely related to the above parts, one of the parts is not necessary, the above parts are pulled to move the whole body, and the stability of the whole system can be ensured only if each part works normally. The device adopts open control, and can realize the work of mechanical arm movement, test tube identification, reagent suction and discharge, man-machine interaction and the like.
The invention provides an automatic testing device based on an intelligent control system.
The test tube rack is used for fixing test tubes, the visual recognition system is arranged on the mechanical arm main body and used for providing coordinates of target test tubes, the coordinates are transmitted to the upper computer control system, the output end of the upper computer control system is connected with the input end of the mechanical arm main body, the upper computer control system sends a first control instruction to the mechanical arm main body according to the received coordinates of the target test tubes so as to control the mechanical arm main body to move to a target test tube position, the output end of the upper computer control system is further connected with the input end of the air pump, the end effector is installed at the tail end of the mechanical arm main body and used for discharging and sucking reagents to be tested, which are arranged in the test tubes on the test tube rack, the end effector is connected with the air pump, after the mechanical arm main body moves to the target test tube position, the upper computer control system sends a second control instruction to the air pump so as to control the air pump to work of the end effector by controlling the positive and negative of air pressure, and the test tube rack is arranged right below the end effector.
Preferably, the mechanical arm main body comprises a first servo motor, a second servo motor, a large arm, a third servo motor, a small arm and a linkage joint; the end effector includes a syringe and a camera.
The first servo motor is fixedly arranged on the working platform, the second servo motor is directly connected with the first servo motor, one end of the large arm is connected with the second servo motor, the other end of the large arm is connected with the third servo motor, one end of the small arm is connected with the third servo motor, the other end of the small arm is connected with one end of the linkage joint, the other end of the linkage joint is provided with the injector, a camera is arranged on one side of the injector, the first servo motor controls the large arm to rotate left and right, the second servo motor controls the large arm to rotate front and back, and the third servo motor controls the injector to move up and down.
Preferably, the visual recognition system provides the coordinates of the target tube, comprising the steps of:
step 1: an image acquired by a camera is subjected to graying, smoothing, binarization, contour extraction and central point generation, a rectangular coordinate system uov with pixels as a unit is established, coordinates (u, v) of each pixel respectively represent the column number and the row number of the pixel in an array, and a rectangular coordinate system XO of a physical unit is established 1 Y, representing the position of the image point and using a rectangular coordinate system XO 1 The origin of Y is fixed on the principal point of the camera, wherein the x axis is parallel to the u axis, the Y axis is parallel to the v axis, and the origin of the uov coordinate system is fixed on the XO 1 The upper left corner of the Y coordinate system is provided with O 1 The coordinate in the uov coordinate system is (u) 0 ，v 0 ) And the physical size of each pixel in the directions of the x axis and the y axis is dx, dy, then the coordinates of any one pixel in the image under two coordinate systems have the following relationship:
x=(u-u 0 )dx，y=-(v-v 0 )dy，
conversion to matrix form is:
step 2: setting ABCD as a rectangle fitted with the central point of the peripheral test tube obtained by image processing, setting O point as the middle point of the rectangle, establishing a rectangular coordinate system by taking the O point as the origin, wherein the x axis is parallel to the length of the rectangle, and the y axis is parallel to the width of the rectangle; let A 'B' C 'D' be the outer frame of the image collected by the camera,
it is the midpoint thereof, and the rotation angle θ of the test tube rack with respect to the camera head can be obtained by calculating the slope of the line AB or the slope of the line CD.
And 3, step 3: in the plane image of test-tube rack, use the central point of rectangle to establish rectangular coordinate system as the initial point, the horizontal interval and the longitudinal separation of the centre of a circle of two adjacent test tubes all are delta, establish the a line b of the test tube on the test-tube rack of No. d, wherein, the uppermost line of test-tube rack is the 0 th line, the 0 th line is listed as to the left most line of test-tube rack, an, b all are the integer, it totally 6 lines 3 lines to establish the test-tube rack, and the test tube uses the first test tube of test-tube rack upper left corner as No. 1 test tube, turn right from a left side according to earlier, from the top down sequences in proper order again, then, the position P of No. d test tube:
and 4, step 4: and converting the position of the test tube No. d from a plane coordinate system to a camera coordinate system to finally obtain a coordinate P 'of the test tube P in the camera coordinate, wherein the coordinate P' is the coordinate of the target test tube.
Preferably, in step 1, graying, smoothing, binarizing, extracting a contour and generating a center point of the image acquired by the camera includes the following steps:
step 11: and converting the color image collected by the camera into a gray image.
Step 12: in the process of smoothing the gray level image, gaussian blur is applied to the image to remove noise, and the identification degree of a false edge is reduced.
Step 13: in the process of performing binarization processing on the smoothed image, firstly, the maximum value and the minimum value of all pixels in the image are found, then, the central point is taken as a threshold value, pixels lower than the threshold value are set as black, and pixels higher than or equal to the threshold value are set as white.
Step 14: in the process of extracting the contour of the image after the binarization processing and generating the central point, firstly, the image is subjected to Gaussian blur, secondly, the gradient amplitude and the direction are calculated, secondly, non-maximum suppression is carried out, secondly, a high threshold and a low threshold are used for distinguishing edge pixels, and finally, hysteresis boundary tracking is carried out.
Preferably, in the step 2, the step of calculating the slope of the line AB or the slope of the line CD to obtain the rotation angle θ of the test tube rack with respect to the camera includes the steps of:
step 21: let the coordinate of point A in the image coordinate system be (x) a ，y a ) The coordinate of the point B is (x) b ，y b ) The coordinate of the point C is (x) c ，y c ) The coordinate of the D point is (x) d ，y d ) The slope of the length AB of the rectangle in which the test tube is located is k AB Slope of wide CD is k CD The length AB of the inner frame is inclined at an angle theta relative to the length A 'B' of the outer frame AB， The inclination angle of the width CD of the inner frame relative to the width C 'D' of the outer frame is theta CD Then, the first step is executed,
step 22: take the angle of inclination theta AB And theta CD Average value of (a):
preferably, in the step 4, converting the position of the test tube No. d from the plane coordinate system to the camera coordinate system to finally obtain the coordinate P' of P in the camera coordinate system includes the following steps:
step 41: introducing a rotation matrix R by the rotation angle theta of the test tube rack relative to the camera:
step 42: the coordinate P is rotated to obtain P', then,
step 43: adding the offset (x) of the test tube rack plane coordinate system relative to the camera coordinate system o ，y o ) Obtaining the coordinate P '' of the final P in the camera coordinate:
preferably, the air pump is used for driving the injector, the air pump generates positive pressure and negative pressure which respectively correspond to the discharge and suction of liquid from the injector, the injector does not suck and discharge the reagent in the test tube when the air pump is closed, the amount of the sucked or discharged reagent is in direct proportion to the opening time of the air pump, the amount of the sucked and discharged liquid is Y, the time is T, the constant K and the pressure coefficient P are set, then,
(ii) a Wherein, P is positive number, the liquid is discharged, and P is negative number, the liquid is sucked.
Compared with the prior art, the invention has the following beneficial effects:
(1) The invention provides an automatic assay device based on an intelligent control system. The upper computer control system mainly controls the whole device; the mechanical arm main body is the 'body' of the whole device and controls the movement of the whole device; the vision recognition system is the 'eye' of the device, and the accurate position of the target test tube is determined through the vision recognition system; the end effector is an actuating element of the entire device, which performs the final operation of drawing in and discharging the target assay reagent. The test efficiency and accuracy of the whole automatic test device are closely related to the above parts, one of the parts is unavailable, the above parts are dragged one time to move the whole body, and the stability of the whole system can be ensured only if each part works normally. The device adopts open control, and can realize the work of mechanical arm movement, test tube identification, reagent suction and discharge, man-machine interaction and the like.
(2) The invention provides an automatic testing device based on an intelligent control system, which has the following advantages compared with the traditional equipment:
the labor intensity is reduced, the testing cost is greatly saved, and the testing efficiency is improved, so that other working efficiencies are improved; the working time is far longer than that of manual labor.
Avoids the harm of direct contact of the laboratory staff with toxic substances, is much safer than the traditional laboratory method, and replaces the laboratory operation of a plurality of inevitable dangerous substances.
The device applies an automatic vision recognition system, can intelligently obey artificial instructions, more accurately recognizes test tube labels, and has higher precision.
The vision recognition and the mechanical arm control system form closed-loop control, and the anti-interference performance is extremely strong.
Drawings
FIG. 1 is a block diagram of a robot arm body of the present invention;
FIG. 2 is a block diagram of an automated testing device based on an intelligent control system according to the present invention;
FIG. 3 shows a Cartesian coordinate system uov and XO according to the present invention 1 A schematic diagram of the relationship of Y;
fig. 4 is a schematic plan view of the test tube rack of the present invention;
FIG. 5 is a schematic diagram of binarization of an image acquired by a camera according to the present invention;
FIG. 6 is a schematic view of a labeled test tube rack image of the present invention;
FIG. 7 is a schematic view of the transformation of the target test tube coordinate from the test tube rack plane coordinate system to the camera coordinate system according to the present invention;
fig. 8 is a circuit diagram of the signal processing circuit of the present invention.
Reference numerals:
1-a robot arm body; 2-an end effector; 3, an air pump; 4-test tube rack; 5-an upper computer control system; 6-a second servo motor; 7-big arm; 8-a third servo motor; 9-forearm; 10-linkage joints; 11-a syringe; 12-a camera; 13-first servomotor.
Detailed Description
The automatic testing device based on the intelligent control system provided by the invention is described in detail below with reference to the accompanying drawings and embodiments.
As shown in fig. 2, the automatic testing device based on the intelligent control system provided by the invention comprises a mechanical arm main body 1, an end effector 2, an air pump 3, a test tube rack 4, an upper computer control system 5 and a visual identification system.
Wherein, the test-tube rack 4 is used for fixing the test tube, the visual identification system sets up on arm main body 1, the visual identification system is used for providing the coordinate of target test tube, and transmit the coordinate to host computer control system 5, host computer control system 5's output is connected with arm main body 1's input, host computer control system 5 sends first control command to arm main body 1 according to the coordinate of target test tube received in order to control arm main body 1 and move to target test tube position, host computer control system 5's output still is connected with the input of air pump 3, end effector 2 installs in arm main body 1 end, end effector 2 is used for discharging and inhales the reagent that sets up treating the chemical examination in the test tube on test-tube rack 4, end effector 2 is connected with air pump 3, behind arm main body 1's motion to target test tube position, host computer control system 5 sends the second control command to air pump 3 with the positive and negative of control air pump 3 through controlling atmospheric pressure with the work of control end effector 2, be test-tube rack 4 under end effector 2.
As shown in fig. 1, the robot arm body 1 includes a first servo motor 13, a second servo motor 6, a large arm 7, a third servo motor 8, a small arm 9, and a linkage joint 10; the end effector 2 includes a syringe 11 and a camera 12.
Wherein, first servo motor 13 is fixed to be set up on work platform, second servo motor 6 and first servo motor 13 lug connection, the one end of big arm 7 links to each other with second servo motor 6, the other end of big arm 7 is connected with third servo motor 8, the one end and the third servo motor 8 of forearm 9 are connected, the other end and the one end of linkage joint 10 of forearm 9 are connected, the other end of linkage joint 10 is provided with syringe 11, syringe 11 one side is provided with camera 12, first servo motor 13 controls big arm 7 and controls the rotation about, second servo motor 6 controls big arm 7 fore-and-aft rotation, third servo motor 8 controls syringe 11 up-and-down motion.
As shown in fig. 3, before the robotic arm operates on the test tube, the position of the target test tube is determined, and this process mainly consists of two parts, namely, obtaining the coordinates of the target test tube and converting the coordinates of the target test tube into the coordinates in the world coordinate system.
Specifically, the vision recognition system provides coordinates of a target tube, comprising the steps of:
step 1: an image acquired by a camera 12 is subjected to graying, smoothing, binarization, contour extraction and central point generation, a rectangular coordinate system uov with pixels as a unit is established, coordinates (u, v) of each pixel respectively represent the column number and the row number of the pixel in an array, and a rectangular coordinate system XO of a physical unit is established 1 Y, representing the position of the image point, and using the rectangular coordinate system XO 1 The origin of Y is fixed on the principal point of the camera, wherein the x axis is parallel to the u axis, the Y axis is parallel to the v axis, and the origin of the uov coordinate system is fixed on the XO 1 The upper left corner of the Y coordinate system is provided with O 1 The coordinate in the uov coordinate system is (u) 0 ，v 0 ) And the physical size of each pixel in the directions of the x axis and the y axis is dx, dy, then the coordinates of any one pixel in the image under two coordinate systems have the following relationship:
x=(u-u 0 )dx，y=-(v-v 0 )dy，
conversion to matrix form is:
as shown in fig. 4, ABCD is a rectangle fitted to the central point of the peripheral test tube obtained by image processing, O is the middle point of the rectangle, a rectangular coordinate system is established with O as the origin, the X axis is parallel to the length of the rectangle, and the Y axis is parallel to the width of the rectangle.
Step 2: setting ABCD as a rectangle fitted with the central point of the peripheral test tube obtained by image processing, setting O point as the middle point of the rectangle, establishing a rectangular coordinate system by taking the O point as the origin, wherein the x axis is parallel to the length of the rectangle, and the y axis is parallel to the width of the rectangle; let a 'B' C 'D' be the outer frame of the image captured by the camera 12,
it is the midpoint thereof, and the rotation angle θ of the test tube rack 4 with respect to the camera 12 can be found by calculating the slope of the line AB or the slope of the line CD.
As shown in fig. 5, a 'B' C 'D' is an outer frame of the image captured by the camera,
it is the midpoint, ABCD is the rectangle where the test tube rack is located, and the rotation angle θ of the test tube rack with respect to the camera can be obtained by calculating the slope of the line AB or the slope of the line CD.
The system is designed by adopting plane vision, so the related characteristic of two-dimensional coordinate formula change related to the plane vision is considered in the design, and because the device is designed in such a way that the axis of the camera is vertical to the plane of the test tube rack, an image coordinate system is parallel to a world coordinate system, so the test tube rack only needs to be subjected to two-dimensional transformation, namely rotation and translation, and the data quantity of the translation and the rotation of the test tube rack relative to the camera can be obtained by performing parameter calculation on the processed image.
As shown in fig. 6, fig. 4 is a labeled rack image.
And step 3: in the plane image of test-tube rack 4, use the central point of rectangle to establish rectangular coordinate system as the initial point, the horizontal interval and the longitudinal separation of the centre of a circle of two adjacent test tubes all are delta, establish the a line b of No. d test tube on the test-tube rack, wherein, the 0 th line of the uppermost line of test-tube rack 4, the 0 th line is listed as to the left most line of test-tube rack 4, a, b is the integer, establish 6 lines 3 lines altogether of test-tube rack 4, and the test tube uses the first test tube of No. 1 in the upper left corner of test-tube rack 4, turn right from a left side earlier according to, sort in proper order from the top down again, then, the position P of No. d test tube:
and 4, step 4: and converting the position of the test tube No. d from a plane coordinate system to a camera coordinate system to finally obtain a coordinate P 'of the test tube P in the camera coordinate, wherein the coordinate P' is the coordinate of the target test tube.
Specifically, in step 1, graying, smoothing, binarizing, extracting a contour, and generating a center point of the image acquired by the camera 12 includes the following steps:
step 11: converting the color image collected by the camera 12 into a gray image;
step 12: in the process of smoothing the gray level image, gaussian blur is applied to the image to remove noise, and the recognition degree of a false edge is reduced;
step 13: in the process of carrying out binarization processing on the smoothed image, firstly, finding out the maximum value and the minimum value of all pixels in the image, then taking a central point as a threshold value, setting the pixels lower than the threshold value as black, and setting the pixels higher than or equal to the threshold value as white;
step 14: in the process of extracting the contour of the image after the binarization processing and generating the central point, firstly, the image is subjected to Gaussian blur, secondly, the gradient amplitude and the direction are calculated, secondly, non-maximum suppression is carried out, secondly, a high threshold and a low threshold are used for distinguishing edge pixels, and finally, hysteresis boundary tracking is carried out.
Specifically, in the step 2, the rotation angle θ of the test tube rack 4 with respect to the camera 12 can be obtained by calculating the slope of the line AB or the slope of the line CD, and the method includes the following steps:
step 21: let the coordinate of point A in the image coordinate system be (x) a ，y a ) The coordinate of the point B is (x) b ，y b ) The coordinate of the point C is (x) c ，y c ) The coordinate of the D point is (x) d ，y d ) The slope of the length AB of the rectangle in which the test tube is located is k AB Slope of wide CD is k CD The length AB of the inner frame is inclined at an angle theta relative to the length A 'B' of the outer frame AB， The width CD of the inner frame is inclined at an angle theta to the width C 'D' of the outer frame CD Then, the first step is executed,
step 22: take the angle of inclination theta AB And theta CD Average value of (d):
specifically, in the step 4, converting the position of the test tube No. d from the plane coordinate system to the camera coordinate system to finally obtain the coordinate P' of P in the camera coordinate system includes the following steps:
step 41: the rotation matrix R is introduced by the rotation angle θ of the test tube rack 4 relative to the camera 12:
step 42: and rotating the coordinate P to obtain P', then,
step 43: adding the offset (x) of the test tube rack plane coordinate system relative to the camera coordinate system o ，y o ) Obtaining the coordinate P '' of the final P in the camera coordinate:
as shown in fig. 7, the target test tube coordinates are transformed from the rack plane coordinate system to the camera coordinate system.
Specifically, the air pump 3 is used to drive the injector 11, the air pump 3 generates positive pressure and negative pressure corresponding to the discharge and suction of liquid from the injector 11, respectively, when the air pump 3 is closed, the injector 11 no longer sucks and discharges the reagent in the test tube, the amount of sucked or discharged reagent is proportional to the opening time of the air pump 3, the amount of sucked and discharged liquid is set as Y, the time is set as T, the constant K, the pressure coefficient P, then,
(ii) a Wherein, P is positive number, the liquid is discharged, and P is negative number, the liquid is sucked.
Furthermore, since the vibration generated during the operation of the end effector 2 has a great influence on the precision of the automatic testing apparatus based on the intelligent control system provided by the present invention, in the prior art, the vibration test on the effector is often not high in precision, and in the precision operation, the influence of the vibration on the automatic testing apparatus based on the intelligent control system provided by the present invention is not negligible.
Therefore, the automatic testing device based on the intelligent control system further comprises a vibration sensor arranged on the end effector 2, wherein the vibration sensor is used for monitoring a vibration signal of the end effector 2, the output end of the vibration sensor is connected with the input end of the signal processing circuit, the signal processing circuit sequentially amplifies and filters the received vibration signal and then transmits the signal to the upper computer control system 5, the upper computer control system 5 converts the received vibration signal into a vibration value and transmits the vibration value to the display device connected with the upper computer control system 5, and therefore a worker can accurately know the vibration condition of the end effector 2 through the display and can check equipment in time when the end effector 2 vibrates excessively.
As shown in fig. 8, the vibration sensor is used for monitoring the vibration signal of the end effector 2, the collected vibration signal is converted into a current signal I0, and the current signal I0 is transmitted to the signal processing circuit, V1 is a voltage signal processed by the signal processing circuit, the signal processing circuit includes a signal amplifying unit and a signal filtering unit, the output end of the vibration sensor is connected with the input end of the signal amplifying unit, the output end of the signal amplifying unit is connected with the input end of the signal filtering unit, and the output end of the signal filtering unit is connected with the input end of the upper computer control system 5.
The signal amplification unit comprises integrated operational amplifiers A1-A2, capacitors C1-C4, triodes VT1-VT4 and resistors R1-R10.
Wherein, the output end of the vibration sensor is connected with one end of a resistor R1, the other end of the resistor R1 is connected with the inverting input end of an integrated operational amplifier A1, the non-inverting input end of the integrated operational amplifier A1 is grounded, the other end of the resistor R1 is connected with one end of a capacitor C1, one end of the capacitor C2 connected with the resistor R2 in parallel is connected with the other end of a resistor R2, the other end of the capacitor C2 connected with the resistor R2 in parallel is connected with the signal filtering unit, the other end of the capacitor C1 is connected with the output end of the integrated operational amplifier A1, the output end of the integrated operational amplifier A1 is connected with the input end of the integrated operational amplifier A2, one end of a capacitor C3 is grounded, the other end of the capacitor C3 is connected with a +15V power supply, one end of a capacitor C4 is grounded, the other end of the capacitor C4 is connected with a-15V power supply, the other end of the capacitor C4 is also connected with one end of the resistor R4, and the V-end of the integrated operational amplifier A2 are connected, the other end of the resistor R4 is also connected with the base electrode of the triode VT4, one end of the resistor R3 is connected with the V + end of the integrated operational amplifier A2, one end of the resistor R3 is connected with the base electrode of the triode VT3, one end of the resistor R3 is also connected with the collector electrode of the triode VT1, the other end of the resistor R3 is connected with a +15V power supply, one end of the resistor R10 is connected with the collector electrode of the triode VT2, the collector electrode of the triode VT2 is also connected with a-15V power supply, the other end of the resistor R10 is connected with the emitter electrode of the triode VT4, one end of the resistor R9 is connected with the base electrode of the triode VT2, the collector electrode of the triode VT4 is connected with the base electrode of the resistor R8, the other end of the resistor R8 is connected with the output end of the integrated operational amplifier A2, the other end of the resistor R8 is also connected with one end of the resistor R7, the other end of the resistor R7 is connected with the collector electrode of the triode VT4, the collecting electrode of triode VT4 is connected with triode VT 3's collecting electrode, and triode VT 3's base is connected with triode VT 1's collecting electrode, and the one end of resistance R6 is connected with triode VT 1's base, and the other end of resistance R6 is connected with triode VT 3's collecting electrode, and the one end of resistance R5 is connected with triode VT 1's collecting electrode, and the other end of resistance R5 is connected with the other end of resistance R6.
The signal filtering unit comprises resistors R11-R20, capacitors C5-C11 and integrated operational amplifiers A3-A6.
Wherein, the output end of the signal amplifying unit is connected with one end of a resistor R11, the other end of the resistor R11 is connected with one end of a capacitor C5, one end of a resistor R15 is grounded, the other end of the resistor R15 is connected with one end of a resistor R14, the other end of the resistor R15 is connected with the non-inverting input end of an integrated operational amplifier A3, the other end of the resistor R14 is connected with one end of a resistor R13, the other end of the resistor R14 is also connected with the output end of the integrated operational amplifier A4, the other end of the resistor R13 is connected with the inverting input end of the integrated operational amplifier A3, the other end of the resistor R13 is connected with the inverting input end of the integrated operational amplifier A4, the other end of the resistor R13 is also connected with one end of a capacitor C7, the other end of the capacitor C7 is connected with the output end of the integrated operational amplifier A3, the other end of the capacitor C7 is connected with one end of a resistor R12, the other end of the resistor R12 is connected with one end of a capacitor C6, the other end of the resistor R12 is also connected with the non-inverting input end of the integrated operational amplifier A4, the other end of the capacitor C6 is connected with the other end of the capacitor C5, the other end of the capacitor C5 is also connected with one end of the capacitor C8, one end of the resistor R19 is grounded, the other end of the resistor R19 is connected with one end of the resistor R18, the other end of the resistor R19 is connected with the non-inverting input end of the integrated operational amplifier A5, the other end of the resistor R18 is connected with one end of the resistor R17, the other end of the resistor R18 is also connected with the output end of the integrated operational amplifier A6, the other end of the resistor R17 is connected with the inverting input end of the integrated operational amplifier A5, the other end of the resistor R17 is connected with the inverting input end of the integrated operational amplifier A6, the other end of the capacitor R17 is also connected with one end of the capacitor C10, the other end of the capacitor C10 is connected with the output end of the integrated operational amplifier A5, the other end of the capacitor C10 is connected with one end of the resistor R16, the other end of the resistor R16 is connected with one end of the capacitor C9, the other end of the resistor R16 is also connected with the non-inverting input end of the integrated operational amplifier A6, the other end of the capacitor C9 is connected with the other end of the capacitor C8, the other end of the capacitor C8 is further connected with one end of the capacitor C11, one end of the resistor R20 is grounded, the other end of the resistor R20 is connected with the other end of the capacitor C11, the other end of the resistor R20 is connected with the input end of the upper computer control system 5, and the signal filtering unit transmits the voltage signal V1 to the upper computer control system 5.
In the above embodiment, the noise of the signal processing circuit is within 2.25nV, the drift is 1.25 μ V/° c, the types of the integrated operational amplifiers A1 are LT1056, the types of the integrated operational amplifiers A2 are LT1010, the types of the integrated operational amplifiers A3-A6 are LT1192, the types of the triodes VT1 are 2N3906, the types of the triodes VT2 are 2N3904, the types of the triodes VT3 are MJE2955, and the types of the triodes VT4 are MJE3055.
In the signal amplifying unit, the resistance of the resistor R1 is 10k Ω, the resistance of the resistor R2 is 10k Ω, the resistance of the resistor R3 is 33 Ω, the resistance of the resistor R4 is 33 Ω, the resistance of the resistor R5 is 0.18 Ω, the resistance of the resistor R6 is 1k Ω, the resistance of the resistor R7 is 100 Ω, the resistance of the resistor R8 is 100 Ω, the resistance of the resistor R9 is 1k Ω, the resistance of the resistor R10 is 0.18 Ω, the capacitance of the capacitor C1 is 22 μ F, the capacitance of the capacitor C2 is 15pF, the capacitance of the capacitor C3 is 22 μ F, and the capacitance of the capacitor C4 is 22 μ F.
Because the signal acquired by the vibration sensor is weak and is easily covered/influenced by noise, the circuit structure of the signal amplification unit provided by the embodiment provides noise resistance, the output power of the integrated operational amplifier A2 is rapidly increased, the effect of amplifying the signal acquired by the sensor in the invention is better, and the problem of low acquisition precision of the sensor in the prior art is solved.
The resistor R3 and the resistor R4 collect power supply signals of the integrated operational amplifier A2, and the load of the integrated operational amplifier A2 adopts a grounded resistor R8. The triodes VT3 and VT4 are biased by the voltage drop on the resistor R3 and the resistor R4, in addition, a closed feedback loop is formed by the resistor R7 to ensure the stable output of signal amplification signals, the signals are directly fed back to the integrated operational amplifier A1 through the resistor R2 to control amplification, and the triodes VT1 and VT2 sense the voltage drop on the resistors R5 and R10, so that noise signals can be effectively suppressed.
The stability of the integrated operational amplifier A1 is ensured by the roll-off of the capacitor C1, and the feedback capacitor of the capacitor C2 trims the edge response, and the triode used in the signal amplification unit in this embodiment has a low frequency response, so that it is not necessary to consider additional frequency compensation in the signal amplification unit.
The output voltage signal of the signal amplification unit is V01.
In the signal filtering unit, the resistance values of the resistors R15-R24 and the capacitance values of the capacitors C10-C11 are set according to the filtering requirement.
In this embodiment, a set of values of the resistances of the resistors R11 to R20 and the capacitances of the capacitors C5 to C11 is preferred, where the resistance of the resistor R11 is 100k Ω, the resistance of the resistor R12 is 66.5k Ω, the resistance of the resistor R13 is 66.5k Ω, the resistance of the resistor R14 is 66.5k Ω, the resistance of the resistor R15 is 66.5k Ω, the resistance of the resistor R16 is 75k Ω, the resistance of the resistor R17 is 75k Ω, the resistance of the resistor R18 is 75k Ω, the resistance of the resistor R19 is 75k Ω, the resistance of the resistor R20 is 100k Ω, the capacitance of the capacitor C5 is 5.161nF, the capacitance of the capacitor C6 is 35.05nF, the capacitance of the capacitor C7 is 10nF, the capacitance of the capacitor C8 is 3.251nF, the capacitance of the capacitor C9 is 12.03nF, the capacitance of the capacitor C10 is 10nF, and the capacitance of the capacitor C11 is 3262 zxft.
Because the signals collected by the vibration sensor are weak voltage signals, the signal amplification unit amplifies the current I0 output by the vibration sensor through the integrated operational amplifier A1-A2, the capacitors C1-C4, the triodes VT1-VT4 and the resistors R1-R10, and the signal amplification unit formed by the integrated operational amplifier A1-A2, the capacitors C1-C4, the triodes VT1-VT4 and the resistors R1-R10 has drift of only 1.25 muV/DEG C, drift within 2 muV, 100pA bias current and noise of 2.25nV within a bandwidth of 0.1Hz to 10 Hz. The signal filtering unit uses resistors R11-R20, capacitors C5-C11 and integrated operational amplifiers A3-A6 to filter the amplified electric signals, so that the vibration detection precision is improved.
The invention provides an automatic assay device based on an intelligent control system. The upper computer control system mainly controls the whole device; the mechanical arm main body is the 'body' of the whole device and controls the movement of the whole device; the vision recognition system is the 'eye' of the device, and the accurate position of the target test tube is determined through the vision recognition system; the end executing device is an executing component of the whole device, and realizes the last step of operation, sucking in and discharging the target assay reagent. The test efficiency and accuracy of the whole automatic test device are closely related to the above parts, one of the parts is not necessary, the above parts are pulled to move the whole body, and the stability of the whole system can be ensured only if each part works normally. The device adopts open control, and can realize the work of mechanical arm movement, test tube identification, reagent suction and discharge, man-machine interaction and the like.
Finally, it should be noted that the above embodiments are only used for illustrating the technical solutions of the present invention and are not limited. Although the present invention has been described in detail with reference to the embodiments, it will be understood by those skilled in the art that various changes may be made and equivalents may be substituted without departing from the spirit and scope of the invention as defined in the appended claims.
Claims (5)
1. An automatic testing device based on an intelligent control system is characterized by comprising a mechanical arm main body (1), an end effector (2), an air pump (3), a test tube rack (4), an upper computer control system (5) and a visual identification system; the test tube rack (4) is used for fixing test tubes, the vision recognition system is arranged on the mechanical arm main body (1) and is used for providing coordinates of target test tubes and transmitting the coordinates to the upper computer control system (5), the output end of the upper computer control system (5) is connected with the input end of the mechanical arm main body (1), the upper computer control system (5) sends a first control instruction to the mechanical arm main body (1) according to the received coordinates of the target test tubes to control the mechanical arm main body (1) to move to the target test tube position, the output end of the upper computer control system (5) is further connected with the input end of the air pump (3), the end effector (2) is installed at the tail end of the mechanical arm main body (1), the end effector (2) is used for discharging and sucking a reagent to be assayed which is arranged in the test tubes on the test tube rack (4), the end effector (2) is connected with the air pump (3), after the mechanical arm main body (1) moves to the target test tube position, the upper computer control system (5) sends a second control instruction to the air pump (3) to control the end effector (2) to control the positive and the negative end effector (4) to control the lower test tube rack (4), and the air pressure actuator (2) controls the lower test tube rack (4);
the mechanical arm main body (1) comprises a first servo motor (13), a second servo motor (6), a large arm (7), a third servo motor (8), a small arm (9) and a linkage joint (10); the end effector (2) comprises an injector (11) and a camera (12); the first servo motor (13) is fixedly arranged on a working platform, the second servo motor (6) is directly connected with the first servo motor (13), one end of the large arm (7) is connected with the second servo motor (6), the other end of the large arm (7) is connected with the third servo motor (8), one end of the small arm (9) is connected with the third servo motor (8), the other end of the small arm (9) is connected with one end of the linkage joint (10), the injector (11) is arranged at the other end of the linkage joint (10), a camera (12) is arranged on one side of the injector (11), the first servo motor (13) controls the large arm (7) to rotate left and right, the second servo motor (6) controls the large arm (7) to rotate back and forth, and the third servo motor (8) controls the injector (11) to move up and down;
the vision recognition system provides coordinates of a target tube, comprising the steps of:
step 1: graying, smoothing, binarizing, extracting a contour and generating a central point from an image acquired by the camera (12), establishing a rectangular coordinate system uov with pixels as a unit, respectively representing the column number and the row number of the pixel in an array by the coordinate (u, v) of each pixel, and establishing a rectangular coordinate system XO of a physical unit 1 Y, representing the position of the image point, and using the rectangular coordinate system XO 1 The origin of Y is fixed on the principal point of the camera, wherein the x axis is parallel to the u axis, the Y axis is parallel to the v axis, and the origin of the uov coordinate system is fixed on the XO 1 The upper left corner of the Y coordinate system is set with O 1 The coordinate in the uov coordinate system is (u) 0 ，v 0 ) And the physical size of each pixel in the directions of the x axis and the y axis is dx, dy, then the coordinates of any one pixel in the image under two coordinate systems have the following relationship:
x=(u-u 0 )dx，y=-(v-v 0 )dy，
conversion to matrix form is:
and 2, step: setting ABCD as a rectangle fitted with the central point of the peripheral test tube obtained by image processing, setting O point as the middle point of the rectangle, establishing a rectangular coordinate system by taking the O point as the origin, wherein the x axis is parallel to the length of the rectangle, and the y axis is parallel to the width of the rectangle; let A 'B' C 'D' be the outer frame of the image collected by the camera (12),
is a midpoint thereof, the rotation angle θ of the test tube rack (4) relative to the camera (12) can be obtained by calculating the slope of a line AB or the slope of a line CD;
and step 3: in the plane image of test-tube rack (4), use the central point of rectangle to establish rectangular coordinate system as the original point, the horizontal interval and the longitudinal separation distance of the centre of a circle of two adjacent test tubes all are delta, establish the a row b row of No. d test tube on the test-tube rack, wherein, the 0 th row of the first row of test tube rack (4) top, the left most one of test-tube rack (4) is listed as 0 th row, and a, b are the integer, establish test-tube rack (4) are totally 6 rows 3, and the test tube with the first test tube of No. 1 in test-tube rack (4) upper left corner, turn right according to following earlier from a left side, from the top down sequences in proper order again, then, the position P of No. d test tube:
and 4, step 4: and converting the position of the test tube No. d from a plane coordinate system to a camera coordinate system to finally obtain a coordinate P 'of the test tube P in the camera coordinate, wherein the coordinate P' is the coordinate of the target test tube.
2. The automatic testing device based on intelligent control system according to claim 1, wherein in step 1, the steps of graying, smoothing, binarizing, extracting contour and generating center point of the image collected by the camera (12) comprise the following steps:
step 11: converting the color image collected by the camera (12) into a gray image;
step 12: in the process of smoothing the gray level image, gaussian blur is applied to the image to remove noise, and the identification degree of a pseudo edge is reduced;
step 13: in the process of carrying out binarization processing on the smoothed image, firstly, finding out the maximum value and the minimum value of all pixels in the image, then taking a central point as a threshold value, setting the pixels lower than the threshold value as black, and setting the pixels higher than or equal to the threshold value as white;
step 14: in the process of extracting the contour of the image after the binarization processing and generating the central point, firstly, the image is subjected to Gaussian blur, secondly, the gradient amplitude and the direction are calculated, secondly, non-maximum suppression is carried out, secondly, a high threshold and a low threshold are used for distinguishing edge pixels, and finally, hysteresis boundary tracking is carried out.
3. An intelligent control system based automatic assay device according to claim 2, wherein in step 2, the rotation angle θ of the test tube rack (4) relative to the camera (12) can be obtained by calculating the slope of line AB or the slope of line CD, comprising the following steps:
step 21: let the coordinate of point A in the image coordinate system be (x) a ，y a ) The coordinate of the point B is (x) b ，y b ) The coordinate of the point C is (x) c ，y c ) The coordinate of the D point is (x) d ，y d ) The slope of the length AB of the rectangle in which the test tube is located is k AB Slope of wide CD is k CD The length AB of the inner frame is inclined at an angle theta relative to the length A 'B' of the outer frame AB， The width CD of the inner frame is inclined at an angle theta to the width C 'D' of the outer frame CD Then, the first step is executed,
step 22: take the angle of inclination theta AB And theta CD Average value of (d):
4. the intelligent control system based automatic testing device according to claim 3, wherein in the step 4, the step of converting the position of the test tube with the number d from the plane coordinate system to the camera coordinate system to finally obtain the coordinate P' of P in the camera coordinate system comprises the following steps:
step 41: introducing a rotation matrix R from a rotation angle theta of the test tube rack (4) relative to the camera (12):
step 42: the coordinate P is rotated to obtain P', then,
step 43: adding the offset (x) of the test tube rack plane coordinate system relative to the camera coordinate system o ，y o ) Obtaining the coordinate P '' of the final P in the camera coordinate:
5. the automatic testing device based on the intelligent control system according to claim 4, wherein the air pump (3) is used to drive the syringe (11), the air pump (3) generates positive pressure and negative pressure corresponding to the liquid discharged and sucked by the syringe (11), respectively, when the air pump (3) is closed, the syringe (11) does not suck and discharge the reagent in the test tube, the amount of the reagent sucked or discharged is proportional to the opening time of the air pump (3), and the liquid amount sucked and discharged is Y, the time is T, the constant K and the pressure coefficient P are set,
(ii) a Wherein, P is positive number, the liquid is discharged, and P is negative number, the liquid is sucked.
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