CN112931486B - Control system of automatic storage equipment for deep hypothermia reproductive samples - Google Patents
Control system of automatic storage equipment for deep hypothermia reproductive samples Download PDFInfo
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- CN112931486B CN112931486B CN202110152579.3A CN202110152579A CN112931486B CN 112931486 B CN112931486 B CN 112931486B CN 202110152579 A CN202110152579 A CN 202110152579A CN 112931486 B CN112931486 B CN 112931486B
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- 230000002631 hypothermal effect Effects 0.000 title claims description 9
- 230000001850 reproductive effect Effects 0.000 title description 12
- IJGRMHOSHXDMSA-UHFFFAOYSA-N Atomic nitrogen Chemical compound N#N IJGRMHOSHXDMSA-UHFFFAOYSA-N 0.000 claims abstract description 116
- 239000007788 liquid Substances 0.000 claims abstract description 71
- 238000012546 transfer Methods 0.000 claims abstract description 68
- 229910052757 nitrogen Inorganic materials 0.000 claims abstract description 58
- 238000012360 testing method Methods 0.000 claims abstract description 58
- 238000005138 cryopreservation Methods 0.000 claims abstract description 31
- 230000000007 visual effect Effects 0.000 claims abstract description 3
- 230000007246 mechanism Effects 0.000 claims description 17
- 238000007710 freezing Methods 0.000 abstract description 9
- 230000008014 freezing Effects 0.000 abstract description 8
- 238000000034 method Methods 0.000 description 9
- 238000010586 diagram Methods 0.000 description 4
- 210000004602 germ cell Anatomy 0.000 description 3
- 238000005070 sampling Methods 0.000 description 2
- 238000013519 translation Methods 0.000 description 2
- 102000002322 Egg Proteins Human genes 0.000 description 1
- 108010000912 Egg Proteins Proteins 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008094 contradictory effect Effects 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 210000001161 mammalian embryo Anatomy 0.000 description 1
- 210000004681 ovum Anatomy 0.000 description 1
- 238000004801 process automation Methods 0.000 description 1
- 238000011160 research Methods 0.000 description 1
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01N—PRESERVATION OF BODIES OF HUMANS OR ANIMALS OR PLANTS OR PARTS THEREOF; BIOCIDES, e.g. AS DISINFECTANTS, AS PESTICIDES OR AS HERBICIDES; PEST REPELLANTS OR ATTRACTANTS; PLANT GROWTH REGULATORS
- A01N1/00—Preservation of bodies of humans or animals, or parts thereof
- A01N1/02—Preservation of living parts
- A01N1/0236—Mechanical aspects
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
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- General Health & Medical Sciences (AREA)
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- Zoology (AREA)
- Environmental Sciences (AREA)
- Automatic Analysis And Handling Materials Therefor (AREA)
Abstract
The invention belongs to the technical field of sample low-temperature storage equipment, and discloses a control system of deep low-temperature reproduction sample automatic storage equipment, which comprises the following components: the database is used for storing the coordinate information of the sample box, the number information of the sample box and the number information of the sample test tube; the processor is used for receiving and analyzing the user task instruction and generating an action control instruction; the scanner is used for scanning the label of the sample box, acquiring the number information of the sample box and sending the number information to the processor; the visual system is used for scanning the labels of the sample test tubes in the sample box, acquiring the number information of the sample test tubes and sending the number information to the processor; the access module is used for realizing the transfer operation of the sample box between the cryopreservation rack and the transfer position according to the action control instruction; and the transferring manipulator is used for grabbing the sample box to move between the outside of the liquid nitrogen tank and the transferring position according to the action control instruction and carrying out lifting operation on the freezing storage rack at the target position.
Description
Technical Field
The invention belongs to the technical field of sample low-temperature storage equipment, and particularly relates to a control system of automatic storage equipment for a deep low-temperature reproductive sample.
Background
In the biomedical field, germ cells such as sperm, ovum, embryo, etc. need to be preserved by freezing. At present, a sample box with a sample test tube is generally placed into a liquid nitrogen tank by a hospital or a research institution and the like manually, so that the efficiency is low and the risk in the storage process is high; secondly, in the existing storage mode, the position management is recorded by paper or Excel, and the searching is inconvenient.
Disclosure of Invention
In order to solve the above problems in the prior art, the present invention is directed to a control system for an automated storage device for deep hypothermia reproductive samples.
The technical scheme adopted by the invention is as follows:
a control system for an automated storage device for a cryogenic reproductive sample, comprising: the system comprises a storage and uncovering mechanism, a servo motor, a storage and uncovering module, a transfer manipulator, a processor, a database, a scanner and a vision system; wherein,
the database is used for storing the coordinate information of the sample box, the number information of the sample box and the number information of the sample test tube;
the processor is used for receiving and analyzing the user task instruction and generating an action control instruction;
the scanner is used for scanning the label of the sample box, acquiring the number information of the sample box and sending the number information to the processor;
the visual system is used for scanning the labels of the sample test tubes in the sample box, acquiring the number information of the sample test tubes and sending the number information to the processor;
the access cover opening mechanism is used for realizing the opening and closing operation of the liquid nitrogen tank according to the action control instruction;
the access module is used for realizing the transfer operation of the sample box between the cryopreservation rack and the transfer position according to the action control instruction;
the servo motor is used for transferring the target cryopreservation rack to a target position according to the action control instruction;
and the transferring manipulator is used for grabbing the sample box to move between the outside of the liquid nitrogen tank and the transferring position according to the action control instruction and carrying out lifting operation on the freezing storage rack at the target position.
As a further alternative to the control system of the automated storage facility for procreation samples at cryogenic temperatures, the database stores point coordinates of sample tubes at four vertices of each type of sample cassette, and the spacing of sample tubes in each type of sample cassette; the number information of the sample box comprises the type information of the sample box;
the processor is also used for automatically calculating the point location coordinates of other sample test tubes in the sample box according to the type of the sample box and the point location coordinates of the sample test tubes at the four top points of the sample box.
As a further alternative to the control system of the automated storage device for deep hypothermia reproductive samples, the vision system is disposed directly above the mouth of the liquid nitrogen tank.
As a further alternative to the control system of the automated storage device for deep hypothermia reproductive samples, the scanner scans the sample cartridge during transfer of the sample cartridge by the transfer robot.
As a further alternative of the control system of the deep hypothermia reproductive sample automatic storage device, the processor is further configured to determine whether the serial number information of the sample test tube is serial number information of the test tube to be sampled, and when the serial number information of the test tube to be sampled is determined, a selecting control instruction is generated to control the transfer manipulator to grab the sample test tube to move between sample boxes at the selecting position.
As a further alternative of the control system of the deep low temperature reproductive sample automatic storage device, the processor is further configured to generate a control instruction when the number information of the obtained sample test tube is judged not to be the number information of the sample test tube to be sampled, control the transfer manipulator to lift the cryopreservation rack, control the access module to put the sample box of the sample test tube back to the original place, control the update database, and reacquire the storage coordinate information of the sample test tube to be sampled.
As a further alternative to the control system of the automated storage device for the cryogenic reproduction samples, further comprising:
the liquid level sensor is used for acquiring liquid level information of liquid nitrogen in the liquid nitrogen tank and sending the liquid level information to the processor;
the processor is also used for judging whether liquid nitrogen needs to be added or not according to the liquid level information, and producing a liquid nitrogen adding control instruction when the liquid nitrogen needs to be added;
and the liquid nitrogen adding device is used for adding liquid nitrogen into the liquid nitrogen tank according to the liquid nitrogen adding control instruction.
As a further alternative to the control system of the automated storage device for cryogenic reproductive samples, the processor is further configured to generate a vent command to control the opening of a vent valve above the liquid nitrogen tank upon addition of liquid nitrogen to the liquid nitrogen tank.
The invention has the beneficial effects that:
when the processor needs to be stored in the sample box according to a user instruction, generating an action control instruction, and controlling the access cover opening mechanism to open the liquid nitrogen tank; controlling a transfer manipulator to grab the sample box to be stored from the outside of the liquid nitrogen tank, controlling a scanner to scan a label of the sample box to be stored, and storing the number information of the sample box to be stored in a database; then controlling the transfer manipulator to move the sample box to be stored to the transfer position of the access module; controlling a vision system to scan the labels of the sample test tubes in the sample box to be stored, and storing the number information of the sample test tubes into a database; controlling a servo motor to move the target cryopreservation rack to a target position, then controlling a transfer manipulator to lift the target cryopreservation rack to a corresponding position, feeding coordinate information of the corresponding position back to a processor by the transfer manipulator, storing the coordinate information of the corresponding position in a database by the processor, and associating the serial number information of the sample box to be stored, the serial number information of the sample test tube in the sample box to be stored and the coordinate information of the corresponding position; the control access module is used for placing the sample box to be stored at the transfer position into the target cryopreservation frame, and then controlling the transfer manipulator to put down the cryopreservation frame; then controlling a servo motor to transfer the target cryopreservation rack to the original position, and repeating the operation until the automatic storage operation of all the sample boxes to be stored is completed;
when the processor needs to pick a tube and take a box according to a user instruction, a target cryopreservation frame where a target sample test tube is located and a target sample box where the target sample test tube is located are found out according to the serial number information of the sample test tube needing to be taken out, an action control instruction is generated, and the access and cover opening mechanism is controlled to open the liquid nitrogen tank; controlling the transfer manipulator to place the sample box to be loaded into the transfer position of the access module; controlling a servo motor to move the target cryopreservation rack to a target position, and then controlling a transfer manipulator to lift the target cryopreservation rack until the target sample box is located at a corresponding position; the control access module transfers the target sample box to a transfer position, and then controls the transfer manipulator to put down the target cryopreservation rack; then controlling the transfer manipulator to place the target sample test tube into a sample box to be loaded at the transfer position; after all target sample test tubes are placed into a sample box to be filled, controlling a sample transfer manipulator to lift a target cryopreservation frame, then controlling an access module to place the target sample box into the cryopreservation frame, putting down the target cryopreservation frame by the transfer manipulator, then controlling the transfer manipulator to transfer the sample box to be filled out of a liquid nitrogen tank, and controlling an access cover opening mechanism to close the liquid nitrogen tank to finish automatic operation of picking the tubes and taking the boxes;
the coordinate information of the sample box, the number information of the sample box and the number information of the sample test tube are stored in the database and are associated, when the sample box is taken and placed, the processor automatically calls the coordinate information of the sample box from the database, the position finding is automatically completed, and the method is very convenient.
Drawings
Fig. 1 is a block schematic diagram of a control system of an automated storage device for deep hypothermia reproductive samples in an embodiment of the present invention.
Fig. 2 is a schematic diagram of an automated storage device for a procreation sample at cryogenic temperatures in an embodiment.
Fig. 3 is a schematic structural diagram of an access module in a control system of an automated storage device for deep hypothermia reproductive samples according to an embodiment of the present invention.
Fig. 4 is a schematic diagram of point location coordinate calibration.
In the figure: 10-a database; 20-a processor; 30-a scanner; 40-a vision system; 50-access cover opening mechanism; 60-an access module; 61-a fixed mount; 62-a lifting frame; 63-shovel plate; 64-a translation assembly; 65-a lifting mechanism; 70-a servo motor; 80-a transfer robot; 90-freezing and storing the shelves; 100-a liquid level sensor; 110-liquid nitrogen adding device; 120-exhaust valve.
Detailed Description
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the present invention will be briefly described below with reference to the accompanying drawings and the embodiments or the description in the prior art, it is obvious that the following description of the structure of the drawings is only some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.
The technical solution provided by the present invention will be described in detail by way of embodiments with reference to the accompanying drawings. It should be noted that the description of the embodiments is provided to help understanding of the present invention, but the present invention is not limited thereto.
In some instances, some embodiments are not described or not in detail, as they are conventional or customary in the art.
Furthermore, the technical features described herein, or the steps of all methods or processes disclosed, may be combined in any suitable manner in one or more embodiments, in addition to the mutually exclusive features and/or steps. It will be readily appreciated by those of skill in the art that the order of the steps or operations of the methods associated with the embodiments provided herein may be varied. Any order in the drawings and examples is for illustrative purposes only and does not imply that a certain order is required unless explicitly stated to be required.
The numbering of the components as such, e.g., "first", "second", etc., is used herein only to distinguish the objects as described, and does not have any sequential or technical meaning. The terms "connected" and "coupled" when used in this application, encompass both direct and indirect connections (and couplings) where appropriate and where not necessary contradictory.
As shown in fig. 1 and 2, the control system of the automated storage device for the procreation sample at cryogenic temperature of this embodiment includes: the system comprises an access uncovering mechanism 50, a servo motor 70, an access module 60, a transfer manipulator 80, a processor 20, a database 10, a scanner 30 and a vision system 40; the access and cover opening mechanism 50, the servo motor 70, the access module 60, the transfer robot 80, the database 10, the scanner 30 and the vision system 40 are all connected to the processor 20.
The database 10 is used for storing the coordinate information of the sample box, the number information of the sample box and the number information of the sample test tube; these information are obtained when storing the germ cell sample, specifically, when storing the germ cell sample, the serial number information of the sample box is obtained by scanning the label of the sample box through the scanner 30, then the serial number information of each sample tube is obtained by scanning the label of each sample tube in the sample box through the vision system 40, then the angular position information of the freezing rack 90 is obtained through the rotation angle of the servo motor 70, and the radial position information of the freezing rack 90 and the position information of each storage cavity in the freezing rack 90 are obtained through the transfer manipulator 80, the angular position information, the radial position information and the position information of each storage cavity of the freezing rack 90 form the coordinate information of the sample box, for example, the position of the sample box at the angle of 15 degrees, the third circle and the second layer, and the position is stored in the database 10 in association with the serial number information of the sample box and the serial number information of the sample tube, for example, sample tube number S0001, sample cartridge number H0001, angle 15 °, third turn, second tier position.
After receiving the user task instruction, the processor 20 analyzes the user task instruction, defines a specific task, generates a specific action control instruction, controls the related mechanisms and devices to execute full-process automation operations, and specifically describes the following steps by taking sample box storage, tube picking and sample box taking as examples:
(I) storage sample box
When the processor 20 receives the task instruction of the user as a storage sample box, a first action control instruction is generated, and the first action control instruction is sent to the access uncovering mechanism 50, the access module 60, the servo motor 70, the scanner 30, the vision system 40 and the transfer manipulator 80 respectively, and the specific process is as follows:
the access uncovering mechanism 50 opens the liquid nitrogen tank according to the first action control instruction;
the servo motor 70 transfers the target cryopreservation rack 90 to a target position according to the first action control instruction, and feeds back target position information to the processor 20;
the transfer manipulator 80 first grasps the sample box to be stored outside the liquid nitrogen tank according to the first action control instruction, moves the sample box to the transfer position of the access module 60, lifts up the target cryopreservation frame 90 at the target position, feeds back the lifting position information of the target cryopreservation frame 90 to the processor 20, and puts down the target cryopreservation frame 90 after the sample box to be stored is put into the target cryopreservation frame 90;
the scanner 30 scans the sample box to be stored in the process of transferring the sample box to be stored by the transfer manipulator 80 according to the first action control instruction, obtains the number information of the sample box to be stored, and sends the number information to the processor 20;
the vision system 40 shoots the labels of the sample test tubes in the sample box to be stored after the transfer manipulator 80 puts the sample box to be stored in the middle position according to the first action control instruction, obtains the serial number information of the sample test tubes, and feeds the serial number information back to the processor 20;
the access module 60 pushes the sample box to be stored at the transfer position into the storage cavity of the cryopreservation rack 90 after the transfer manipulator 80 lifts up the target cryopreservation rack 90 according to the first action control instruction.
The processor 20 manages and stores the number information of the sample tubes, the number information of the sample boxes and the position information of the sample boxes in the database 10, so as to facilitate the subsequent automatic calling. The position information of the sample box is composed of target position information fed back by the servo motor 70 and lifting position information of the target cryopreservation frame 90 fed back by the transfer manipulator 80.
(II) picking the tube and taking out the sample box
When the processor 20 receives the task instruction of the user and takes out the sample box, a second action control instruction is generated and sent to the access uncovering mechanism 50, the access module 60, the servo motor 70, the vision system 40 and the transfer manipulator 80 respectively, and the specific process is as follows:
the servo motor 70 transfers the cryopreservation rack 90 where the target sample box is located to the target position according to the position information of the target sample box contained in the second action control instruction;
the access uncovering mechanism 50 opens the liquid nitrogen tank according to a second action control instruction;
the transfer manipulator 80 transfers the sample box to be stored in the sample outside the liquid nitrogen tank to a transfer position according to the second action control instruction, and lifts the cryopreservation rack 90 where the target sample box is located to a corresponding position according to the position information of the target sample box contained in the second action control instruction;
the access module 60 takes out the target sample box after the transfer manipulator 80 lifts the target cryopreservation frame 90 according to the second action control instruction, and moves the target sample box to the tube picking position;
the vision system 40 shoots the label of the sample test tube in the target sample box when the target sample box is located at the tube picking position according to the second action control instruction, obtains the number information of the sample test tube, and feeds the number information back to the processor 20;
the processor 20 judges whether the number information of the sample test tube in the target sample box is compared with the number information to be taken, judges whether the sampling is correct, generates a tube picking control instruction when the sampling is correct, controls the transfer manipulator 80 to transfer the target sample test tube in the target sample box to the sample box to be stored in the sample, and transfers the sample box to the outside of the liquid nitrogen tank; and finishing the operation of automatically picking the tube and taking out the sample box.
If, when this treater 20 judges the sample error, just generate control command, control transfer manipulator 80 will freeze and deposit frame 90 and lift to control access module 60 and put back the original place with the target sample box that this sample test tube belongs to, control update database 10 simultaneously, reacquire the storage coordinate information of this test tube of waiting to sample.
It can be understood that the transfer position has a plurality of areas for temporarily storing the sample boxes, as shown in fig. 3, the access module 60 includes a fixing frame 61, a lifting frame 62, and a plurality of shovel plates 63 arranged on the lifting frame 62 side by side, a sample box positioning space is formed on the shovel plates 63, and the sample box positioning space is used for temporarily storing the sample boxes; each shovel plate 63 is connected with a translation assembly 64 for driving the shovel plate to extend to the freezing rack 90; the lifting frame 62 is provided with a pipe picking position and a transfer position, and the lifting frame 62 is connected with a lifting mechanism 65 for driving the lifting frame to slide in a reciprocating manner at the pipe picking position and the transfer position.
The label of the sample box and the label of the sample test tube both contain optically recognizable number information such as a bar code or a two-dimensional code.
In one embodiment, the database stores point location coordinates of sample tubes at four vertices of each type of sample cartridge, and a distance between sample tubes in each type of sample cartridge; the number information of the sample box comprises the type information of the sample box; the processor is also used for automatically calculating the point location coordinates of the sample test tubes at other positions in the sample box according to the type of the sample box and the point location coordinates of the sample test tubes at the four top points of the sample box. The algorithm principle is as follows:
assuming that the sample box is placed as shown in fig. 4 in the XY axis coordinate system of the transfer manipulator 80, the sample box has a test tubes along the X direction, and the sample box has b test tubes along the Y direction, point coordinates of the sample test tubes at four vertices of the sample box of different types are obtained by calibration in manual or other manners as follows:
point P1 is coordinated as P1(x1, y 1);
point P2 is coordinated as P2(x2, y 2);
point P3 is coordinated as P3(x3, y 3);
point P4 is coordinated as P4(x4, y 4);
these point location coordinates and, for a, the value of the value box b are stored in a database.
The X direction has a test tubes, namely the spacing is a-1, and the Y direction has b test tubes, namely the spacing is b-1.
This makes it possible to obtain:
x pitch in the direction from point P1 to point P2: x (P1-P2) ═ P2(X2) -P1 (X1))/(b-1);
x pitch in the direction from point P1 to point P3: x (P1-P3) ═ P3(X3) -P1 (X1))/(a-1);
y pitch in the direction from point P1 to point P2: y (P1-P2) ═ P2(Y2) -P1 (Y1))/(b-1);
y pitch in the direction from point P1 to point P3: y (P1-P3) ═ P3(Y3) -P1 (Y1))/(a-1);
the coordinates of any P (m, n) point are given by the following formula:
p (m, n) point X coordinate: x (m, n) ═ P1(X1) + X (P1-P3) × X (P1-P2) × n;
p (m, n) point Y coordinate: y (m, n) ═ P1(Y1) + Y (P1-P3) × m + Y (P1-P2) × n.
Therefore, each sample box only needs to calibrate four point coordinates manually, and a point coordinates need not be calibrated, so that the workload of manually calibrating the point coordinates is greatly reduced.
In one embodiment, the vision system 40 is arranged right above the opening of the liquid nitrogen tank, so that the sample box can be prevented from being moved to the lower part of the vision system 40 by the transfer manipulator 80, the procedure is simpler and smoother, and the operation efficiency is improved.
In one embodiment, the scanner 30 scans the sample cartridge during the transfer of the sample cartridge by the transfer robot 80, thereby reducing the movement path of the transfer robot 80 and increasing efficiency.
In one embodiment, further comprising: the liquid level sensor 100 is used for acquiring liquid level information of liquid nitrogen in the liquid nitrogen tank and sending the liquid level information to the processor 20; the processor 20 is further configured to determine whether liquid nitrogen needs to be added according to the liquid level information, and generate a liquid nitrogen adding control instruction when it is determined that liquid nitrogen needs to be added; the liquid nitrogen adding device 110 is used for adding liquid nitrogen into the liquid nitrogen tank according to the liquid nitrogen adding control instruction; thereby realize adding liquid nitrogen voluntarily, avoid artifical hourglass to add the problem that leads to the sample to destroy.
In one embodiment, the processor 20 is further configured to generate a vent instruction when adding liquid nitrogen into the liquid nitrogen tank, and control the vent valve 120 above the liquid nitrogen tank to open, so as to automatically squeeze out moisture in the liquid nitrogen tank.
The invention is not limited to the above alternative embodiments, and any other various forms of products can be obtained by anyone in the light of the present invention, but any changes in shape or structure thereof, which fall within the scope of the present invention as defined in the claims, fall within the scope of the present invention.
Claims (7)
1. Control system of deep hypothermia reproduction sample automated storage device, characterized by comprising: the system comprises a storing and taking uncapping mechanism, a servo motor, a storing and taking module, a transferring manipulator, a processor, a database, a scanner and a vision system; wherein,
the database is used for storing the coordinate information of the sample box, the number information of the sample box and the number information of the sample test tube;
the processor is used for receiving and analyzing the user task instruction and generating an action control instruction;
the scanner is used for scanning the label of the sample box, acquiring the number information of the sample box and sending the number information to the processor;
the visual system is used for scanning the labels of the sample test tubes in the sample box, acquiring the number information of the sample test tubes and sending the number information to the processor;
the access cover opening mechanism is used for realizing the opening and closing operation of the liquid nitrogen tank according to the action control instruction;
the access module is used for realizing the transfer operation of the sample box between the cryopreservation rack and the transfer position according to the action control instruction;
the servo motor is used for transferring the target cryopreservation rack to a target position according to the action control instruction;
the transfer manipulator is used for grabbing the sample box to move between the outside of the liquid nitrogen tank and a transfer position according to the action control instruction and carrying out lifting operation on the cryopreservation rack at the target position;
the database stores point location coordinates of sample test tubes at four top points of each type of sample box and the space between the sample test tubes in each type of sample box; the number information of the sample box comprises the type information of the sample box;
the processor is also used for automatically calculating the point location coordinates of other sample test tubes in the sample box according to the type of the sample box and the point location coordinates of the sample test tubes at the four top points of the sample box.
2. The control system of the automated cryogenic reproduction specimen storage device of claim 1, wherein the vision system is disposed directly above a tank opening of the liquid nitrogen tank.
3. The control system of the automated cryogenic reproduction sample storage device of claim 1, wherein the scanner scans the sample cartridge during transfer of the sample cartridge by the transfer robot.
4. The control system of the automated storage device for the procreation sample at cryogenic temperature according to claim 1, wherein the processor is further configured to determine whether the serial number information of the sample test tube is the serial number information of the test tube to be sampled, and when the serial number information of the test tube to be sampled is determined, generate a tube picking control instruction to control the transfer manipulator to grab the sample test tube and move between the sample boxes at the tube picking position.
5. The control system of the automated storage device for the procreation sample at cryogenic temperature according to claim 1, wherein the processor is further configured to generate a control command when the obtained number information of the sample test tube is not the number information of the test tube to be sampled, control the transfer manipulator to lift the cryopreservation rack, control the access module to replace the sample box storing the sample test tube, control the update database, and reacquire the storage coordinate information of the test tube to be sampled.
6. The control system of an automated cryogenic reproduction specimen storage device of claim 1, further comprising:
the liquid level sensor is used for acquiring liquid level information of liquid nitrogen in the liquid nitrogen tank and sending the liquid level information to the processor;
the processor is also used for judging whether liquid nitrogen needs to be added or not according to the liquid level information, and producing a liquid nitrogen adding control instruction when the liquid nitrogen needs to be added;
and the liquid nitrogen adding device is used for adding liquid nitrogen into the liquid nitrogen tank according to the liquid nitrogen adding control instruction.
7. The control system of the automated cryogenic reproduction specimen storage device of claim 6, wherein the processor is further configured to generate a vent instruction to control a vent valve above the liquid nitrogen tank to open when liquid nitrogen is added to the liquid nitrogen tank.
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| CN114926056A (en) * | 2022-05-31 | 2022-08-19 | 青岛中康原能细胞生物科技有限公司 | Cell storage information determination method, device, equipment and storage medium |
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