【作者】 王凯；

【导师】 张立勋； 王劲松；

【作者基本信息】 哈尔滨工程大学 ， 机械（专业学位）， 2024， 硕士

【摘要】 全实验室自动化受到了医疗科研机构和公司的广泛关注,其先进性为医学检验实验室的工作带来了巨大的发展。作为全实验室自动化系统中组成之一的血样检验流水线,包含血样自动仓储系统和离心系统等多个关键设备。由于运输和安装过程中存在误差,血样自动仓储系统内托盘存储位的空间位置不确定,血样转运托盘无法准确的取走或送出采血管托盘,需要对系统仓储区所有托盘存储位的空间位置进行标定。离心系统内有装卸机械手作业,由于离心机离心作业后转子吊篮的水平度难以保证,影响机械手的取出作业,需要对其水平度进行标定。本文针对血样检验流水线关键设备的自动标定问题,提出了一种基于激光测距传感器的自动标定方法,具体工作如下:首先,分析血样检验流水线关键设备的结构特点及具体的指标要求,综合考虑成本及使用环境等因素设计血样自动仓储系统和离心系统的自动标定系统方案。对于血样自动仓储系统,有多单元拼接使用的可能,需要设计通用性的存储位置自动测量标定方案和自动标定算法,进而计算出仓储单元格的空间位置坐标,满足不同情况下的仓储系统自动标定;对于离心系统的自动标定,采用电机转动带动传感器,读取点集数据,基于改进的迭代重加权最小二乘法将其拟合成平面,进而计算出标定平面的倾斜情况。其次,确定血样自动仓储系统的自动标定动作流程,建立仓储系统和离心系统的自动标定仿真模型,并进行仿真分析,理论上验证自动标定方案的可行性与合理性。之后,建立血样自动仓储系统取送采血管托盘的时序仿真模型并进行分析;对血样自动仓储系统存储采血管托盘时的托盘存储位选取问题进行分析,建立仓储系统仓储规则的数学模型,考虑采血管托盘的血样数量和不同血样的复检率等出库影响因素,基于贪心算法优化仓储规则;建立无刷直流电机的数学模型,设计电机的控制器并进行仿真分析,验证电机的输出跟随特性满足使用要求。最后,设计系统的ARM控制程序,搭建血样自动仓储系统和离心系统的实验样机,进行血样自动仓储系统的位置坐标自动标定实验和离心系统的转子吊篮倾斜情况自动标定测量实验,验证系统的自动标定满足设计要求,对自动标定后血样自动仓储系统存取采血管托盘作业的稳定性进行实验验证。更多还原

【Abstract】 Total laboratory automation has received a lot of attention from medical research institutes and companies,and its advancement has brought great development to the work of medical testing laboratories.As one of the components of the total laboratory automation system,the blood sample testing line contains several important equipments such as blood sample automatic storage system and centrifugal system.Due to errors in the transport and installation process,the spatial location of the tray storage space in the blood sample automatic storage system is uncertain,the blood sample transfer tray can not accurately pick up or send out the blood collection tube tray,the need to calibrate the spatial location of all the tray storage space in the storage area of the system.Centrifugal system within the loading and unloading robot operation,due to centrifuge centrifugal operation after the rotor basket level is difficult to ensure,affecting the robot to take out the operation,the need to calibrate its level.In this paper,for the automatic calibration of the important equipment of the blood sample testing assembly line,an automatic calibration method based on laser ranging sensor is proposed,and the specific work is as follows:First of all,the analysis of the structural characteristics of the important equipment of the blood sample testing line and the specific index requirements,taking into account the cost and the use of environmental factors such as the design of automatic storage system for blood samples and centrifugal system of the automatic calibration system scheme.For the automatic storage system of blood samples,there is the possibility of splicing the use of multiple units,and it is necessary to design a universal automatic measurement and calibration scheme and automatic calibration algorithms for the storage position,and then calculate the spatial position coordinates of the storage cell,so as to satisfy the automatic calibration of the storage system in different situations;for the automatic calibration of centrifugal system,it adopts a motor rotation to drive the sensors,reads the data of the point set,and then fits them into a plane based on an improved iterative reweighted least squares method,which can be used for the automatic calibration of the centrifugal system.multiplication method to fit it into a plane,and then calculate the inclination of the calibration plane.Secondly,the automatic calibration action process of the blood sample automatic storage system is determined,the automatic calibration simulation model of the storage system and centrifugal system is established and simulation analysis is carried out to theoretically verify the feasibility and reasonableness of the automatic calibration scheme.After that,the time sequence simulation model of blood sample automatic storage system for picking up and delivering blood sampling trays is established and analysed;the problem of selecting the tray storage position when storing blood sampling trays in the blood sample automatic storage system is analysed,and the mathematical model of storage rules of the storage system is established,and the storage rules are optimized based on the greedy algorithm by taking into consideration of the number of blood samples of blood sampling trays,the reinspection rate of different blood samples and other influencing factors of the outflow of the warehouse;a brushless The mathematical model of the brushless DC motor is established,the controller of the motor is designed and simulated to verify that the output following characteristics of the motor meet the requirements.Finally,the ARM control program of the system is designed,the experimental prototypes of blood sample automatic storage system and centrifugal system are constructed,and the automatic calibration experiments of the position coordinates of the blood sample automatic storage system and the automatic calibration measurement experiments of the centrifugal system for the tilting of the rotor basket are carried out,to verify that the automatic calibration of the system meets the design requirements,and to experimentally verify the stability of the automatic storage system of the blood sample for accessing the blood-collecting tube trays after the automatic calibration.The stability of the blood sample automatic storage system after automatic calibration is experimentally verified.更多还原