Control method of sample access system and sample access system
By combining storage, delivery, and transport equipment, drones are used for sample transport, and the task sequence is optimized based on sample type and temperature tolerance. This solves the problem of low efficiency in sample storage and retrieval systems and achieves efficient biological sample management and temperature stability.
Patent Information
- Application Number
- CN202511046694.7
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-07-28
- Publication Date
- 2025-11-07
AI Technical Summary
Existing sample storage and retrieval systems are inefficient for storing, transporting, and handling biological samples, which is not conducive to the constant temperature preservation and rapid handling of biological samples.
By combining storage devices, delivery devices, and transfer devices, the execution sequence of outbound and inbound tasks is optimized through control methods. Drones are used for sample transfer, and the samples are sorted according to sample type and temperature tolerance. The number of transfer devices is set reasonably to improve efficiency.
It enables efficient storage, retrieval, and transportation of biological samples, ensures the stability of storage temperature, improves the extraction efficiency of operators, and reduces the impact of temperature fluctuations on samples.
Smart Images
Figure CN120903165A_ABST
Abstract
Description
TECHNICAL FIELD
[0001] The present application relates to the technical field of cryopreservation equipment, and particularly provides a control method of a sample access system and the sample access system. BACKGROUND
[0002] In recent years, due to the rapid development of the biological and pharmaceutical fields, the production and demand of biological samples are increasing. In production and experimental sites, a biological sample access system is usually built to meet the needs of low-temperature preservation of a large number of biological samples. The biological sample access system usually includes multiple storage devices. In actual use, biological samples are frequently transferred between multiple storage devices as needed, so as to be managed and quickly extracted.
[0003] However, the existing sample access system has low efficiency in storage, transfer and taking and placing of biological samples, which is not conducive to the constant temperature preservation and rapid taking and placing of biological samples.
[0004] Therefore, there is a need in the art for a new technical solution to solve the above problems. SUMMARY
[0005] The present application aims to solve the above technical problems, i.e., to solve the problem of low efficiency in storage, transfer and taking and placing of biological samples of the existing sample access system.
[0006] In a first aspect, the present application provides a control method of a sample access system, the sample access system comprising: a storage device, a delivery device and a transfer device, the storage device comprising a storage bin and a first interface communicating with the storage bin; the delivery device comprising a temporary storage bin and a second interface communicating with the temporary storage bin and a manual taking and placing opening; the transfer device being capable of transferring sample containers with the storage device and the delivery device through the first interface and the second interface respectively, and being capable of transferring sample containers between the storage device and the delivery device; the control method comprising: obtaining a task instruction; selectively executing an out-of-warehouse task and / or an in-warehouse task according to the task instruction; wherein, when the out-of-warehouse task is executed, the transfer device is controlled to move to the first interface; the out-of-warehouse sample is transferred from the storage device to the transfer device; the transfer device is controlled to move to the second interface; the out-of-warehouse sample is transferred from the transfer device to the delivery device; and / or when the in-warehouse task is executed, the transfer device is controlled to move to the second interface; the in-warehouse sample is transferred from the delivery device to the transfer device; the transfer device is controlled to move to the first interface; and the in-warehouse sample is transferred from the transfer device to the storage device.
[0007] In the preferred technical solutions of the control method, when the task instruction contains multiple out-of-warehouse tasks or multiple in-warehouse tasks, the control method further comprises: obtaining sample types of multiple out-of-warehouse samples; determining an out-of-warehouse sequence of the multiple out-of-warehouse samples according to the sample types of the multiple out-of-warehouse samples; and executing the multiple out-of-warehouse tasks in sequence according to the out-of-warehouse sequence; and / or when the multiple in-warehouse tasks are executed, the control method further comprises: obtaining sample types of multiple in-warehouse samples; determining an in-warehouse sequence of the multiple in-warehouse samples according to the sample types of the multiple in-warehouse samples; and executing the multiple in-warehouse tasks in sequence according to the in-warehouse sequence.
[0008] In the preferred technical solutions of the control method, the step of "determining an out-of-warehouse sequence of the multiple out-of-warehouse samples according to the sample types of the multiple out-of-warehouse samples" specifically comprises: determining temperature resistance of the out-of-warehouse samples according to the sample types of the out-of-warehouse samples; and determining the out-of-warehouse sequence of the multiple out-of-warehouse samples in sequence from high to low according to the temperature resistance of the out-of-warehouse samples; and / or the step of "determining an in-warehouse sequence of the multiple in-warehouse samples according to the sample types of the multiple in-warehouse samples" specifically comprises: determining temperature resistance of the in-warehouse samples according to the sample types of the in-warehouse samples; and determining the in-warehouse sequence of the multiple in-warehouse samples in sequence from low to high according to the temperature resistance of the in-warehouse samples.
[0009] In the preferred technical solutions of the control method, when the sample types of the multiple out-of-warehouse samples are the same, the control method further comprises: obtaining an order in which the multiple out-of-warehouse samples of the same sample type are stored in the storage device; and executing the multiple out-of-warehouse tasks in sequence according to the order in which the multiple out-of-warehouse samples of the same sample type are stored in the storage device; and / or when the sample types of the multiple in-warehouse samples are the same, the control method further comprises: obtaining an order in which the multiple in-warehouse samples of the same sample type are stored in the delivery device; and executing the multiple in-warehouse tasks in sequence according to the order in which the multiple in-warehouse samples of the same sample type are stored in the delivery device.
[0010] In the preferred technical solutions of the control method, when the task instruction contains the out-of-warehouse task and the in-warehouse task, the control method further comprises: preferentially executing the in-warehouse task.
[0011] In the preferred technical solutions of the control method, the number of the storage devices and the number of the transfer devices are both set to multiple, and when the multiple out-of-warehouse tasks or the multiple in-warehouse tasks are executed, the control method further comprises: obtaining a number of the out-of-warehouse tasks or the in-warehouse tasks corresponding to the same storage device; and selectively increasing the number of the transfer devices according to the number of the out-of-warehouse tasks or the in-warehouse tasks.
[0012] In the preferred technical solutions of the control method, the step of "selectively increasing the number of the transfer devices according to the number of the delivery tasks or the storage tasks" specifically comprises: comparing the number of the delivery tasks or the storage tasks with a preset number; if the number of the delivery tasks or the storage tasks is greater than the preset number, increasing the number of the transfer devices; and / or if the number of the delivery tasks or the storage tasks is not greater than the preset number, not increasing the number of the transfer devices.
[0013] In the preferred technical solutions of the control method, the storage device comprises a first cryopreservation rack and a first grabbing device installed in the storage bin, and a first sealing door is further arranged on the first interface; the delivery device comprises a second cryopreservation rack and a second grabbing device installed in the temporary storage bin, and a second sealing door is further arranged on the second interface; the step of "transferring the delivery sample from the storage device to the transfer device" specifically comprises: controlling the first grabbing device to extract the delivery sample from the first cryopreservation rack; controlling the first sealing door to open; controlling the first grabbing device to transfer the delivery sample to the transfer device through the first interface; controlling the first grabbing device to return to the storage bin and close the first sealing door; and / or the step of "transferring the delivery sample from the transfer device to the delivery device" specifically comprises: controlling the second sealing door to open; controlling the second grabbing device to receive the delivery sample from the transfer device through the second interface; controlling the second grabbing device to return to the temporary storage bin and store the delivery sample to a corresponding position on the second cryopreservation rack; closing the second sealing door; and / or the step of "transferring the storage sample from the delivery device to the transfer device" specifically comprises: controlling the second grabbing device to extract the storage sample from the second cryopreservation rack; controlling the second sealing door to open; controlling the second grabbing device to transfer the storage sample to the transfer device through the second interface; controlling the second grabbing device to return to the temporary storage bin and close the second sealing door; and / or the step of "transferring the storage sample from the transfer device to the storage device" specifically comprises: controlling the first sealing door to open; controlling the first grabbing device to receive the storage sample from the transfer device through the first interface; controlling the first grabbing device to return to the storage bin and store the storage sample to a corresponding position on the first cryopreservation rack; and closing the first sealing door.
[0014] In the preferred technical solution of the control method, the transfer device is a drone, the storage device further comprises a first docking station capable of parking and charging the drone, and the first docking station is in communication with the storage bin through the first docking interface; and / or the delivery device further comprises a second docking station capable of parking and charging the drone, and the second docking station is in communication with the temporary storage bin through the second docking interface.
[0015] In a second aspect, the present application provides a sample access system comprising a controller configured to perform the above-mentioned control method.
[0016] In the above technical solution, the sample access system of the present application comprises a storage device, a delivery device and a transfer device. The storage device comprises a storage bin and a first docking interface in communication with the storage bin. The delivery device comprises a temporary storage bin, a second docking interface in communication with the temporary storage bin and a manual access opening. The transfer device can transfer sample containers between the storage device and the delivery device through the first docking interface and the second docking interface. The control method of the present application comprises: obtaining a task instruction; selectively performing an out-of-warehouse task and / or an in-warehouse task according to the task instruction; wherein, when performing the out-of-warehouse task, controlling the transfer device to move to the first docking interface; transferring the out-of-warehouse sample from the storage device to the transfer device; controlling the transfer device to move to the second docking interface; transferring the out-of-warehouse sample from the transfer device to the delivery device; and / or when performing the in-warehouse task, controlling the transfer device to move to the second docking interface; transferring the in-warehouse sample from the delivery device to the transfer device; controlling the transfer device to move to the first docking interface; and transferring the in-warehouse sample from the transfer device to the storage device. A large number of biological samples can be stored in the storage device to provide sufficient storage space and constant storage temperature, ensuring the stability of the biological characteristics of the samples. The manual access opening on the delivery device and the flexible placement of the delivery device can provide a fast delivery terminal in the application site of the biological samples, facilitating the quick extraction of the biological samples by the operator, while avoiding excessive temperature fluctuations of the storage device caused by frequent extraction and placement, ensuring the freezing effect. The transfer device and the coordinated control of the transfer device can improve the transfer efficiency of the biological samples.
[0017] Further, when the task instruction comprises a plurality of out-of-storage tasks or a plurality of in-of-storage tasks, in the execution of the plurality of out-of-storage tasks, the control method further comprises: obtaining sample types of the plurality of out-of-storage samples; determining an out-of-storage sequence of the plurality of out-of-storage samples according to the sample types of the plurality of out-of-storage samples; and executing the plurality of out-of-storage tasks in sequence according to the out-of-storage sequence; and / or in the execution of the plurality of in-of-storage tasks, the control method further comprises: obtaining sample types of the plurality of in-of-storage samples; determining an in-of-storage sequence of the plurality of in-of-storage samples according to the sample types of the plurality of in-of-storage samples; and executing the plurality of in-of-storage tasks in sequence according to the in-of-storage sequence. Through such a setting, the order of sample transportation can be graded according to the urgency of sample transportation when a plurality of transportation tasks are executed, so that the out-of-storage and in-of-storage sequences of biological samples are more reasonable and efficient.
[0018] Further, the control method further comprises: determining the temperature resistance of the out-of-storage samples according to the sample types of the out-of-storage samples; determining the out-of-storage sequence of the plurality of out-of-storage samples in the order from high to low according to the temperature resistance of the out-of-storage samples; and / or determining the temperature resistance of the in-of-storage samples according to the sample types of the in-of-storage samples; determining the in-of-storage sequence of the plurality of in-of-storage samples in the order from low to high according to the temperature resistance of the in-of-storage samples. Through such a setting, the biological samples can be sorted according to the temperature resistance, the out-of-storage tasks are executed in sequence according to the order from high to low, the in-of-storage tasks are executed in sequence according to the order from low to high, the time of biological samples with low temperature resistance outside the storage device is reduced as much as possible, and the stability of the biological characteristics is ensured.
[0019] Further, when the sample types of the plurality of out-of-storage samples are the same, the control method further comprises: obtaining the order in which the plurality of out-of-storage samples with the same sample type are stored in the storage device; and executing the plurality of out-of-storage tasks in sequence according to the order in which the out-of-storage samples are stored in the storage device; and / or when the sample types of the plurality of in-of-storage samples are the same, the control method further comprises: obtaining the order in which the plurality of in-of-storage samples with the same sample type are stored in the delivery device; and executing the plurality of in-of-storage tasks in sequence according to the order in which the in-of-storage samples are stored in the delivery device. Through such a setting, the storage time of a plurality of biological samples of the same type in the storage device can not differ too much, and the activity of each biological sample is ensured.
[0020] Further, when the task instruction comprises out-of-storage tasks and in-of-storage tasks, the control method further comprises: preferentially executing the in-of-storage tasks. By preferentially storing the biological samples in the delivery device, the exposure and storage time of the biological samples outside the storage device is reduced as much as possible, and the storage time of the biological samples in the storage device is increased to ensure optimal cryopreservation effect and biological activity.
[0021] Further, the number of the storage devices and the transfer devices are both provided with multiple sets, when multiple outbound tasks or multiple inbound tasks are executed, the control method further comprises: obtaining the number of the outbound tasks or the inbound tasks corresponding to the same storage device; selectively increasing the number of the transfer devices according to the number of the outbound tasks or the inbound tasks.
[0022] Further, the control method further comprises: comparing the number of the outbound tasks or the inbound tasks with a preset number; if the number of the outbound tasks or the inbound tasks is greater than the preset number, increasing the number of the transfer devices; and / or if the number of the outbound tasks or the inbound tasks is not greater than the preset number, not increasing the number of the transfer devices. By reasonably setting the preset number to match the carrying capacity of a single transfer device, the number of the transfer devices is increased when the number of the outbound tasks is large to improve the transfer efficiency, and the existing number of the transfer devices is kept when the number of the outbound tasks is small, so that the energy consumption is saved to the maximum extent and unnecessary waste is reduced.
[0023] Further, the storage device of the present application comprises a first cryopreservation rack and a first grabbing device installed in the storage bin, and a first sealing door is further arranged on the first interface; the delivery device comprises a second cryopreservation rack and a second grabbing device installed in the temporary storage bin, and a second sealing door is further arranged on the second interface; the step of "transferring the outbound sample from the storage device to the transfer device" specifically comprises: controlling the first grabbing device to extract the outbound sample from the first cryopreservation rack; controlling the first sealing door to open; controlling the first grabbing device to transfer the outbound sample to the transfer device through the first interface; controlling the first grabbing device to return to the storage bin and close the first sealing door; and / or the step of "transferring the outbound sample from the transfer device to the delivery device" specifically comprises: controlling the second sealing door to open; controlling the second grabbing device to receive the outbound sample from the transfer device through the second interface; controlling the second grabbing device to return to the temporary storage bin and store the outbound sample in the corresponding position on the second cryopreservation rack; closing the second sealing door; and / or the step of "transferring the inbound sample from the delivery device to the transfer device" specifically comprises: controlling the second grabbing device to extract the inbound sample from the second cryopreservation rack; controlling the second sealing door to open; controlling the second grabbing device to transfer the inbound sample to the transfer device through the second interface; controlling the second grabbing device to return to the temporary storage bin and close the second sealing door; and / or the step of "transferring the inbound sample from the transfer device to the storage device" specifically comprises: controlling the first sealing door to open; controlling the first grabbing device to receive the inbound sample from the transfer device through the first interface; controlling the first grabbing device to return to the storage bin and store the inbound sample in the corresponding position on the first cryopreservation rack; and closing the first sealing door. The first grabbing device realizes the picking, storing and transferring of the target biological sample in the storage device; the first sealing door can isolate the storage bin from the external space to achieve the purpose of cold preservation; the second grabbing device realizes the picking, storing and transferring of the target biological sample in the delivery device, and the second sealing door can isolate the temporary storage bin from the external space to achieve the purpose of cold preservation.
[0024] Further, the transfer device of the present application is arranged as a drone, the storage device further comprises a first interface bin capable of parking the drone and charging the drone, and the first interface bin is in communication with the storage bin through the first interface; and / or the delivery device further comprises a second interface bin capable of parking the drone and charging the drone, and the second interface bin is in communication with the temporary storage bin through the second interface. Through such an arrangement, a special space is provided for the transfer, parking and charging of the drone.
[0025] In addition, the sample access system provided by the application based on the above-mentioned control method further has the technical effects of the above-mentioned control method, and compared with the sample access system before the improvement, the sample access system of the application realizes efficient access and transfer of biological samples, which is beneficial to the rapid extraction of the operator and ensures the relative stability of the storage temperature. BRIEF DESCRIPTION OF DRAWINGS
[0026] The preferred embodiments of the application will be described below with reference to the accompanying drawings, in which:
[0027] Figure 1 is a structural diagram of the storage device of the application Figure 1 ;
[0028] Figure 2 is a structural diagram of the storage device of the application Figure 2 ;
[0029] Figure 3 is a structural diagram of the delivery device of the application Figure 1 ;
[0030] Figure 4 is a structural diagram of the delivery device of the application Figure 2 ;
[0031] Figure 5 is a flowchart of the control method of the sample access system of the application
[0032] Figure 6 is a flowchart of the first embodiment of the control method of the sample access system of the application
[0033] Figure 7 is a flowchart of the second embodiment of the control method of the sample access system of the application
[0034] Figure 8 is a flowchart of the third embodiment of the control method of the sample access system of the application
[0035] Figure 9 is a flowchart of the fourth embodiment of the control method of the sample access system of the application
[0036] Figure 10 is a flowchart of the fifth embodiment of the control method of the sample access system of the application
[0037] Figure 11 is a flowchart of the sixth embodiment of the control method of the sample access system of the application
[0038] List of reference signs:
[0039] 1, storage device; 11, storage bin; 12, first interface; 13, first sealing door; 14, first interface bin; 15, first cryogenic storage rack; 16, first grabbing device; 2, delivery device; 21, temporary storage bin; 22, second interface; 23, second sealing door; 24, second interface bin; 25, second cryogenic storage rack; 26, second grabbing device; 27, manual taking and placing opening; 3, unmanned aerial vehicle. DETAILED DESCRIPTION
[0040] The preferred embodiments of the present application will be described below with reference to the accompanying drawings. Those skilled in the art should understand that these embodiments are only used to explain the technical principles of the present application, and are not intended to limit the protection scope of the present application.
[0041] It should be noted that in the description of the present application, the terms "inner", "outer", "top", and the like indicating the direction or positional relationship are based on the direction or positional relationship shown in the drawings, which is only for the convenience of description, and does not indicate or imply that the device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present application.
[0042] In addition, it should also be noted that in the description of the present application, unless otherwise explicitly specified and limited, the terms "set", "install", "connect" should be understood broadly, and those skilled in the art can understand the specific meaning of the above terms in the present application according to the specific circumstances. In addition, the terms "first", "second" are only for the purpose of description, and cannot be understood as indicating or implying relative importance.
[0043] Based on the problem that the existing sample access system for biological samples has a large space for improvement in storage, transfer and taking and placing efficiency, the present application provides a control method of a sample access system and a sample access system. By setting a storage device, a delivery device and a transfer device, the storage device can store biological samples in a centralized manner; the delivery device can be placed flexibly in various application sites for temporary storage of biological samples, so that the operator can quickly extract; the transfer device can transfer biological samples between the storage device and the delivery device to automatically transfer the biological samples to be taken to the delivery device, and can transfer the biological samples not used back to the storage device for storage; the control method of the warehouse effectively improves the storage, transfer and taking and placing efficiency of the sample access system for biological samples.
[0044] Specifically, to meet the demand for cryopreservation of large quantities of biological samples, biological sample storage and retrieval systems are typically built in production and experimental sites. These systems usually include multiple storage devices capable of providing cryopreservation environments at low or ultra-low temperatures to maintain the biological activity of the samples. In actual use, biological samples are frequently transferred between multiple storage devices as needed for coordinated management and rapid retrieval.
[0045] However, existing sample storage and retrieval systems are inefficient in storing, transporting, and handling biological samples, which is not conducive to the constant temperature preservation and rapid handling of biological samples.
[0046] For example, storage devices are usually placed in large storage warehouses and have high requirements for conditions such as temperature and humidity. However, the application sites of biological samples (such as laboratories and medical rooms) are usually far away from the storage warehouses, making it inconvenient for on-site operators to access them at any time. At the same time, frequent switching of storage devices can also lead to the loss of cold energy, affecting the cryopreservation effect of other biological samples and thus affecting biological activity.
[0047] Based on this, such as Figures 1 to 4 As shown, the sample storage and retrieval system of the present invention includes a storage device 1, a delivery device 2, and a transfer device. The storage device 1 is provided with a storage compartment 11, which is cooled by a refrigeration system for low-temperature preservation of biological samples. The storage device 1 is also provided with a first interface 12 for connecting the storage compartment 11 with the external space to facilitate the entry and exit of biological samples. A first sealing door 13 is also provided on the first interface 12 to prevent heat exchange between the storage compartment 11 and the outside, so that the storage compartment 11 maintains a low-temperature or ultra-low-temperature storage environment.
[0048] like Figure 1 and Figure 2 As shown, storage device 1 can be configured as a single unit with an independent cooling system, or multiple storage devices 1 can be combined to share a single cooling system to save energy. Typically, multiple storage devices 1 are placed in a large storage warehouse to achieve centralized storage of biological samples.
[0049] like Figure 3 and Figure 4 As shown, the delivery device 2 has a similar structure to the storage device 1, and is equipped with a temporary storage compartment 21. The temporary storage compartment 21 also has an independent cooling system, which can store the biological samples to be retrieved. The delivery device 2 is provided with a second interface 22 for connecting the temporary storage compartment 21 to the external space, facilitating the entry and exit of biological samples. Unlike the storage device 1, the delivery device 2 is also provided with a manual retrieval port 27, through which operators can quickly extract biological samples.
[0050] The mobile and placement of the delivery device 2 is flexible, and the delivery device 2 can be directly placed in a laboratory or a medical room and the like. Taking the storage and transportation of experimental biological samples as an example, since the laboratory is usually far away from the storage device 1 and may cross floors or buildings, it is inconvenient to extract the biological samples. The delivery device 2 is directly placed in the laboratory, so that the operator can store a plurality of biological samples for experiments in the delivery device 2 at one time, and the biological samples can be taken at any time. After the test is completed, the biological samples that are not used up can be placed back to the storage device 1, so that the operator does not need to frequently extract the samples from the storage device 1, time and energy are saved, the storage and extraction efficiency is improved, the loss of cold energy caused by frequent opening and closing of the storage device 1 is avoided, and the freezing effect of other biological samples is ensured.
[0051] The transportation device can be used as a carrier of the biological samples to move between the storage device 1 and the delivery device 2, so as to realize the rapid transportation of the biological samples. For example, the transportation device can be flexibly set as an AGV, a robot or a drone 3 and the like. Preferably, the transportation device is set as the drone 3. Compared with other carriers, the drone 3 has obvious advantages in transportation efficiency, transportation cost and space adaptability, and the transportation requirement can be met by simply modifying the civil drone 3.
[0052] In order to facilitate the docking and parking of the drone 3 on the storage device 1 and the delivery device 2, the first docking compartment 14 is further arranged on the storage device 1, so that the first docking compartment 14 can park the drone 3 and charge the drone 3. The first docking compartment 14 is in communication with the storage compartment 11 through the first docking interface 12, and the drone 3 completes the docking of the biological samples with the storage compartment 11 through the first docking interface 12. Preferably, a first top cover can be further arranged on the top of the first docking compartment 14 to close the first docking compartment 14.
[0053] Similarly, the second docking compartment 24 is further arranged on the delivery device 2, so that the second docking compartment 24 can park the drone 3 and charge the drone 3. The second docking compartment 24 is in communication with the temporary storage compartment 21 through the second docking interface 22, and the drone 3 completes the docking of the biological samples with the temporary storage compartment 21 through the second docking interface 22. Preferably, a second top cover can be further arranged on the top of the second docking compartment 24 to close the second docking compartment 24.
[0054] For example, Figure 1As shown, the storage bin 11 is also provided with a first freezing rack 15 and a first grabbing device 16, and the biological samples are usually placed on the first freezing rack 15 in a certain order, and the first grabbing device 16 can extract the samples for delivery according to the task instruction for delivery, and deliver the samples for delivery to the unmanned aerial vehicle 3 through the first transfer interface 12; when the samples for storage are received, the first grabbing device 16 can extend into the first transfer bin 14 and receive the samples for storage from the unmanned aerial vehicle 3, and place the samples for storage on the first freezing rack 15.
[0055] As shown in Figure 3 , the temporary storage bin 21 is also provided with a second freezing rack 25 and a second grabbing device 26, and the biological samples after delivery are placed on the second freezing rack 25 in a certain order, and the second grabbing device 26 can extend into the second transfer bin 24 and receive the samples for delivery from the unmanned aerial vehicle 3, and place the samples for delivery on the corresponding position on the second freezing rack 25; when the samples for storage are received, the second grabbing device 26 can extract the samples for storage from the second freezing rack 25 according to the task instruction for storage, and deliver the samples for storage to the unmanned aerial vehicle 3 through the second transfer interface 22.
[0056] Exemplarily, in actual application, the first grabbing device 16 and the second grabbing device 26 can be flexibly provided as a mechanical hand or a shovel disc, as long as the freezing box can be extracted and placed, and correspondingly, the unmanned aerial vehicle 3 is provided with a limiting structure of the freezing box, such as a limiting disc, a limiting groove, etc., as long as the freezing box can be loaded and limited to prevent the freezing box from falling.
[0057] It should be noted that the first grabbing device 16, the second grabbing device 26, the first sealing door 13, the second sealing door 23, and the unmanned aerial vehicle 3 are all controlled by the central controller of the storage and access system to coordinate one or more different transfer tasks, maximize the transport capacity, and improve the transfer and storage efficiency.
[0058] Preferably, as shown in Figure 5 , based on the above structure and function, the control method of the sample storage and access system provided by the application comprises:
[0059] S1000: obtaining a task instruction;
[0060] S2000: selectively executing a delivery task and / or a storage task according to the task instruction;
[0061] As shown in Figure 6 , when the delivery task is executed,
[0062] S2110: controlling the transfer equipment to move to the first transfer interface;
[0063] S2120: Transfer outbound samples from storage devices to transfer devices;
[0064] S2130: Control the transfer equipment to move to the second interface;
[0065] S2140: Transfer outbound samples from the transfer equipment to the delivery equipment;
[0066] like Figure 7 As shown, when executing the inbound task,
[0067] S2210: Control the transfer equipment to move to the second interface;
[0068] S2220: Transfer the incoming samples from the delivery equipment to the transfer equipment;
[0069] S2230: Control the transfer equipment to move to the first interface;
[0070] S2240: Transfer the incoming samples from the transfer equipment to the storage equipment.
[0071] Task instructions can be input by operators based on sample requirements, including the quantity and type of samples. In practical applications, task instructions can include one or more inbound tasks, one or more outbound tasks, or both. The central controller will control the corresponding equipment to perform the appropriate operations based on the number and type of tasks.
[0072] Preferably, such as Figure 8 As shown, when a task instruction contains multiple outbound tasks or multiple inbound tasks, the control method of the present invention further includes the following when executing multiple outbound tasks:
[0073] S2110: Obtain the sample type of multiple outbound samples;
[0074] S2120: Determine the outbound order of multiple outbound samples based on their sample types;
[0075] S2130: Execute multiple outbound tasks sequentially according to the outbound order;
[0076] like Figure 9 As shown, when executing multiple inbound tasks, the control method of the present invention further includes:
[0077] S2210: Obtain the sample type of multiple inbound samples;
[0078] S2220: Determine the entry order of multiple samples based on their sample types;
[0079] S2230: Execute multiple inbound tasks sequentially according to the inbound order.
[0080] Exemplarily, in actual application, multiple different types of samples often need to be delivered or received at the same time, and the transfer capacity of the unmanned aerial vehicle 3 is limited and cannot complete the transfer of multiple cryopreservation boxes at one time. At this time, the types of multiple samples need to be identified to determine the urgency of the sample transfer, and the transfer order is determined according to the urgency, for example, samples that need to be used urgently are arranged in front, and samples that do not need to be used urgently are arranged in back.
[0081] Or according to the high temperature resistance of the biological sample to determine the transfer order. Specifically, although the delivery device 2 can also realize low temperature or ultralow temperature preservation, the temperature and humidity will fluctuate during the frequent opening of the door by the operator to take samples, which will still have a certain impact on the cryopreservation effect of the biological sample relative to the constant temperature and humidity environment of the storage device 1. Therefore, the biological samples can also be sorted according to their tolerance to temperature rise, so that the delivery and reception order of the biological samples is more reasonable and efficient.
[0082] In this application, a preferred embodiment for determining the transfer order is provided, that is, the delivery and reception order is determined according to the temperature rise tolerance of the sample.
[0083] Preferably, the step of "determining the delivery order of the multiple delivery samples according to the sample types of the multiple delivery samples" specifically comprises:
[0084] S2121: determining the temperature rise tolerance of the delivery sample according to the sample type of the delivery sample;
[0085] S2122: determining the delivery order of the multiple delivery samples in the order from high to low according to the temperature rise tolerance of the delivery sample;
[0086] The step of "determining the delivery order of the multiple delivery samples according to the sample types of the multiple delivery samples" specifically comprises:
[0087] S2221: determining the temperature rise tolerance of the delivery sample according to the sample type of the delivery sample;
[0088] S2222: determining the delivery order of the multiple delivery samples in the order from high to low according to the temperature rise tolerance of the delivery sample.
[0089] Specifically, according to the temperature rise tolerance, the system roughly divides all biological samples into three categories, the first category is a living sample such as cells, blood products, and strains with low temperature rise tolerance, which needs to be exposed to a non-cryopreservation environment as little as possible; the second category is a sample such as a small molecule compound with high temperature rise tolerance, which can stay in a non-cryopreservation environment for a certain period of time; and the third category is other biological samples, whose temperature rise tolerance is between the first and second categories.
[0090] When multiple biological samples need to be taken out, the system will arrange the second type of samples in the front, the third type of samples in the middle, and the first type of samples in the back; when multiple biological samples need to be stored, the system will arrange the first type of samples in the front, the third type of samples in the middle, and the second type of samples in the back.
[0091] According to the temperature tolerance of the biological samples, the out-of-warehouse tasks are executed in order from high to low tolerance, and the in-warehouse tasks are executed in order from low to high tolerance, so as to minimize the exposure and storage time of biological samples with low temperature tolerance outside the storage device, and ensure the stability of their biological activity.
[0092] In actual application, when the system identifies that multiple biological samples belong to the same type and their number exceeds the single transfer number of the unmanned aerial vehicle 3, the multiple biological samples of the same type need to be sorted.
[0093] Preferably, as shown in Figure 10 When the sample types of multiple out-of-warehouse samples are the same, the control method of the application further includes:
[0094] S2140: obtaining the order of storing the multiple out-of-warehouse samples of the same type into the storage device;
[0095] S2150: executing the multiple out-of-warehouse tasks in order according to the order of storing the out-of-warehouse samples into the storage device;
[0096] As shown in Figure 11 When the sample types of multiple in-warehouse samples are the same, the control method of the application further includes:
[0097] S2240: obtaining the order of storing the multiple in-warehouse samples of the same type into the delivery device;
[0098] S2250: executing the multiple in-warehouse tasks in order according to the order of storing the in-warehouse samples into the delivery device.
[0099] In summary, whether it is out-of-warehouse or in-warehouse, multiple biological samples of the same type are transferred according to the first-in-first-out principle, so that the storage time of multiple biological samples of the same type outside the storage device will not differ too much, and the stable biological activity of each biological sample is ensured.
[0100] In addition, during the transfer process, there may be a situation where biological samples need to be taken out and biological samples need to be stored at the same time.
[0101] In this case, when the task instruction contains both an out-of-warehouse task and an in-warehouse task, the control method of the application further includes:
[0102] The in-warehouse task is executed preferentially.
[0103] By prioritizing the storage of biological samples in the delivery device 2, the exposure and storage time of the biological samples outside the storage device 1 is minimized, and the storage time of the biological samples in the storage device 1 is increased to ensure optimal cryopreservation effect and biological activity.
[0104] Generally, the number of transport tasks in the same time period is moderate, and only one UAV 3 is needed to transport between the storage device 1 and the delivery device 2. However, when the number of transport tasks is large, the transport capacity of a single UAV 3 cannot meet the demand.
[0105] Preferably, the sample access system of the present application includes multiple UAVs 3, so that each storage device 1 corresponds to at least one UAV 3. When the UAV 3 has a task, it performs the transport task, and when it has no task, it can stop in the first transfer warehouse 14 to charge.
[0106] When the number of transport tasks in the same time period is large or suddenly increases, the control method of the present application further includes:
[0107] Obtaining the number of out-of-storage tasks or in-storage tasks corresponding to the same storage device;
[0108] According to the number of out-of-storage tasks or in-storage tasks, selectively increasing the number of transport devices.
[0109] Further preferably, the step of "selectively increasing the number of transport devices according to the number of out-of-storage tasks or in-storage tasks" specifically includes:
[0110] Comparing the number of out-of-storage tasks or in-storage tasks with a preset number;
[0111] If the number of out-of-storage tasks or in-storage tasks is greater than the preset number, the number of transport devices is increased;
[0112] If the number of out-of-storage tasks or in-storage tasks is not greater than the preset number, the number of transport devices is not increased.
[0113] By reasonably setting the preset number to match the transport capacity of a single transport device, the number of transport devices can be increased when the number of transport tasks is large to improve transport efficiency, and the existing number of transport devices can be maintained when the number of transport tasks is small, thereby maximizing energy saving and reducing unnecessary waste.
[0114] Illustratively, the preset number can be set to any value as needed, and the present application preferably sets it to 50. That is, when the number of transport tasks exceeds 50, one UAV 3 is added to assist.
[0115] As for the selection of the assisting UAV, it is selected according to the task status and power of other UAVs, and preferably the UAV that has no task and sufficient power.
[0116] Regarding the handover step of the UAV and the storage device or the delivery device, preferably,
[0117] The step of "handing over the outbound sample from the storage device to the transfer device" specifically comprises:
[0118] controlling the first grabbing device to extract the outbound sample from the first cryo rack;
[0119] controlling the first sealing door to open;
[0120] controlling the first grabbing device to hand over the outbound sample to the transfer device through the first handover interface;
[0121] controlling the first grabbing device to return to the storage compartment and close the first sealing door;
[0122] The step of "handing over the inbound sample from the delivery device to the transfer device" specifically comprises:
[0123] controlling the second sealing door to open;
[0124] controlling the second grabbing device to receive the inbound sample from the transfer device through the second handover interface;
[0125] controlling the second grabbing device to return to the temporary storage compartment and store the inbound sample to the corresponding position on the second cryo rack;
[0126] closing the second sealing door;
[0127] The step of "handing over the inbound sample from the delivery device to the transfer device" specifically comprises:
[0128] controlling the second grabbing device to extract the inbound sample from the second cryo rack;
[0129] controlling the second sealing door to open;
[0130] controlling the second grabbing device to hand over the inbound sample to the transfer device through the second handover interface;
[0131] controlling the second grabbing device to return to the temporary storage compartment and close the second sealing door;
[0132] The step of "handing over the inbound sample from the delivery device to the transfer device" specifically comprises:
[0133] controlling the first sealing door to open;
[0134] controlling the first grabbing device to receive the inbound sample from the transfer device through the first handover interface;
[0135] controlling the first grabbing device to return to the storage compartment and store the inbound sample to the corresponding position on the first cryo rack;
[0136] The first sealing door is closed.
[0137] In addition, the sample access system provided by the application on the basis of the control method has the technical effects of the control method, and compared with the sample access system before the improvement, the sample access system of the application realizes efficient access and transfer of biological samples, which is beneficial to the rapid extraction of the operator and ensures the relative stability of the storage temperature.
[0138] So far, the technical solutions of the application have been described in combination with the preferred embodiments shown in the drawings, but those skilled in the art can easily understand that the protection scope of the application is obviously not limited to these specific embodiments. Those skilled in the art can make equivalent changes or replacements to the related technical features without departing from the principles of the application, and the technical solutions after the changes or replacements will fall within the protection scope of the application.
Claims
1. A control method of a sample access system, characterized by, The sample access system comprises a storage device (1), a delivery device (2) and a transfer device, the storage device (1) comprises a storage bin (11) and a first interface (12) in communication with the storage bin (11); the delivery device (2) comprises a temporary storage bin (21) and a second interface (22) and a manual taking and placing opening (27) in communication with the temporary storage bin (21); the transfer device can exchange sample containers with the storage device (1) and the delivery device (2) through the first interface (12) and the second interface (22) respectively, and can transfer sample containers between the storage device (1) and the delivery device (2); the control method of the present application comprises: obtaining a task instruction; selectively executing an out-of-warehouse task and / or an in-warehouse task according to the task instruction; wherein, when the out-of-warehouse task is executed, the transfer device is controlled to move to the first interface (12); the out-of-warehouse sample is transferred from the storage device (1) to the transfer device; the transfer device is controlled to move to the second interface (22); the out-of-warehouse sample is transferred from the transfer device to the delivery device (2); and / or when the in-warehouse task is executed, the transfer device is controlled to move to the second interface (22); the in-warehouse sample is transferred from the delivery device (2) to the transfer device; the transfer device is controlled to move to the first interface (12); the in-warehouse sample is transferred from the transfer device to the storage device (1).
2. The control method according to claim 1, characterized by, When the task instruction contains multiple out-of-warehouse tasks or multiple in-warehouse tasks, when multiple out-of-warehouse tasks are executed, the control method of the present application further comprises: obtaining the sample types of multiple out-of-warehouse samples; determining the out-of-warehouse order of multiple out-of-warehouse samples according to the sample types of multiple out-of-warehouse samples; sequentially executing multiple out-of-warehouse tasks according to the out-of-warehouse order; and / or when multiple in-warehouse tasks are executed, the control method of the present application further comprises: obtaining the sample types of multiple in-warehouse samples; determining the in-warehouse order of multiple in-warehouse samples according to the sample types of multiple in-warehouse samples; sequentially executing multiple in-warehouse tasks according to the in-warehouse order.
3. The control method according to claim 2, characterized by, The step of "determining the out-of-warehouse order of multiple out-of-warehouse samples according to the sample types of multiple out-of-warehouse samples" specifically comprises: determining the temperature resistance of the out-of-warehouse sample according to the sample type of the out-of-warehouse sample; determining the out-of-warehouse order of multiple out-of-warehouse samples in the order from high to low according to the temperature resistance of the out-of-warehouse sample; and / or The step of "determining the in-warehouse order of multiple in-warehouse samples according to the sample types of multiple in-warehouse samples" specifically comprises: determining the temperature resistance of the in-warehouse sample according to the sample type of the in-warehouse sample; determining the in-warehouse order of multiple in-warehouse samples in the order from low to high according to the temperature resistance of the in-warehouse sample.
4. The control method according to claim 2, characterized by, When the sample types of multiple out-of-warehouse samples are the same, the control method of the present application further comprises: obtaining the order of multiple out-of-warehouse samples with the same sample type stored in the storage device (1); sequentially executing multiple out-of-warehouse tasks according to the order of multiple out-of-warehouse samples stored in the storage device (1); and / or When the sample types of the multiple storage samples are the same, the control method further comprises: obtaining the order in which the multiple storage samples of the same sample type are stored in the delivery device (2); sequentially executing the multiple storage tasks according to the order in which the storage samples are stored in the delivery device (2).
5. The control method according to claim 1, characterized by, When the task instruction simultaneously comprises the storage task and the storage task, the control method further comprises: preferentially executing the storage task.
6. The control method according to claim 1, characterized by, The number of the storage device (1) and the transfer device is set to multiple, and when multiple storage tasks or multiple storage tasks are executed, the control method further comprises: obtaining the number of the storage task or the storage task corresponding to the same storage device (1); according to the number of the storage task or the storage task, selectively increasing the number of the transfer device.
7. The control method according to claim 6, characterized by, The step of "according to the number of the storage task or the storage task, selectively increasing the number of the transfer device" specifically comprises: comparing the number of the storage task or the storage task with a preset number; if the number of the storage task or the storage task is greater than the preset number, the number of the transfer device is increased; and / or if the number of the storage task or the storage task is not greater than the preset number, the number of the transfer device is not increased.
8. The control method according to claim 1, characterized by, The storage device (1) comprises a first cryopreservation rack (15) and a first grabbing device (16) installed in the storage bin (11), and the first interface (12) is further provided with a first sealing door (13); the delivery device (2) comprises a second cryopreservation rack (25) and a second grabbing device installed in the temporary storage bin (21), and the second interface (22) is further provided with a second sealing door (23); The step of "transferring the storage sample from the storage device (1) to the transfer device" specifically comprises: controlling the first grabbing device (16) to extract the storage sample from the first cryopreservation rack (15); controlling the first sealing door (13) to open; controlling the first grabbing device (16) to transfer the storage sample to the transfer device through the first interface (12); controlling the first grabbing device (16) to return to the storage bin (11) and closing the first sealing door (13); and / or The step of "transferring the storage sample from the transfer device to the delivery device (2)" specifically comprises: controlling the second sealing door (23) to open; controlling the second grabbing device (26) to receive the storage sample from the transfer device through the second interface (22); controlling the second grabbing device (26) to return to the temporary storage bin (21) and store the storage sample on the corresponding position of the second cryopreservation rack (25); closing the second sealing door (23); and / or The step of "transferring the storage sample from the transfer device to the delivery device (2)" specifically comprises: controlling the second grabbing device (26) to extract the storage sample from the second cryopreservation rack (25); controlling the second sealing door (23) to open; controlling the second grabbing device (26) to receive the storage sample from the transfer device through the second interface (22); controlling the second grabbing device (26) to return to the temporary storage bin (21) and store the storage sample on the corresponding position of the second cryopreservation rack (25); closing the second sealing door (23); and / or controlling the second gripping device (26) to transfer the sample to the transfer device through the second interface (22); controlling the second gripping device (26) to return to the temporary storage compartment (21) and close the second sealing door (23); and / or the step of "transferring the sample to the storage device (1) from the transfer device" specifically comprises: controlling the first sealing door (13) to open; controlling the first gripping device (16) to receive the sample from the transfer device through the first interface (12); controlling the first gripping device (16) to return to the storage compartment (11) and store the sample to the corresponding position on the first cryogenic shelf (15); controlling the first sealing door (13) to close.
9. The control method according to any one of claims 1 to 8, characterized by, the transfer device is configured as a drone (3), the storage device (1) further comprises a first interface compartment (14) capable of parking and charging the drone (3), the first interface compartment (14) is in communication with the storage compartment (11) through the first interface (12); and / or the delivery device (2) further comprises a second interface compartment (24) capable of parking and charging the drone (3), the second interface compartment (24) is in communication with the temporary storage compartment (21) through the second interface (22).
10. A sample access system, characterized by, the sample access system comprises a controller configured to perform the control method of any one of claims 1 to 9.