Method for controlling the entry and exit of an automated workstation and automated workstation

Abstract

The present application relates to the technical field of biological medical storage, and particularly provides a storage control method of an automatic workstation and the automatic workstation, aiming to solve the problem that the existing automatic equipment is provided with a separate taking and placing window for storing and taking biological samples, and the taking and placing of biological samples cannot be immediately performed when the electric door is damaged, causing the inconvenience of storage and taking. For this purpose, the storage control method of the present application comprises: judging whether the electric door on the cryopreservation bank with the specified number N can be normally started; and based on the judgment result of whether the electric door on the cryopreservation bank with the specified number N can be normally started, selectively controlling the electric door on the cryopreservation bank with the specified number N to be opened or the electric door on the cryopreservation bank with other number to be opened. The present application designs the cryopreservation banks to be in a connected state, and when the electric door on the cryopreservation bank with the specified number cannot be normally started, the taking and placing window on other cryopreservation bank can be used to take out or put in in time, and the use is more convenient.

Description

Technical Field

[0001] This invention relates to the field of biomedical storage technology, specifically providing an automated workstation inbound / outbound control method and an automated workstation. Background Technology

[0002] In the biomedical industry, automated ultra-low temperature equipment is needed to store biological samples for cryopreservation. Information needs to be recorded when biological samples enter and leave the warehouse in order to facilitate the management of cryopreserved biological samples.

[0003] In the existing technology, automated equipment is equipped with a separate retrieval window for storing and retrieving biological samples. An electric door is installed on the retrieval window. When the electric door is damaged, biological samples cannot be retrieved or placed immediately. The electric door needs to be repaired before the biological samples can be retrieved or placed. This makes it inconvenient to store and retrieve biological samples and affects the use of the equipment.

[0004] Therefore, the present invention needs to provide a new method for controlling the entry and exit of an automated workstation and an automated workstation to solve the above-mentioned technical problems. Summary of the Invention

[0005] The present invention aims to solve the above-mentioned technical problems, namely, that existing automated equipment is equipped with a separate retrieval window for storing and retrieving biological samples, and an electric door is installed on the retrieval window. When the electric door is damaged, biological samples cannot be retrieved or placed immediately, and the electric door needs to be repaired before they can be retrieved or placed. This causes inconvenience in storing and retrieving biological samples and affects normal use.

[0006] To this end, in a first aspect, the present invention provides an inbound / outbound control method for an automated workstation, the automated workstation comprising at least two interconnected cryopreservation units for storing biological samples, each cryopreservation unit having a retrieval / placement window equipped with an electric door, the inbound / outbound control method comprising:

[0007] Receive an instruction to open the retrieval window on the cryo-store with the specified number N;

[0008] Determine whether the electric door on the cryo-room with the specified number N can be started normally;

[0009] Based on the determination result of whether the electric door of the designated number N on the cryogenic storage can be started normally, the electric door of the designated number N on the cryogenic storage or the electric door of other numbered cryogenic storage can be selectively controlled to open.

[0010] By adopting the above technical solution, the present invention designs the cryopreservation facilities to be interconnected. When the electric door of a cryopreservation facility with a designated number fails to start properly, preventing the access window from opening, biological samples can be stored in or retrieved from the cryopreservation facility with the designated number through the access windows of other cryopreservation facilities. This increases the ways in which biological samples can enter and exit the facility, ensuring that biological samples can still enter and exit the facility normally even when the electric door of the cryopreservation facility with the designated number fails to start properly, making it more convenient to use.

[0011] In a specific implementation of the aforementioned automated workstation's inbound / outbound control method, the step of "selectively controlling the opening of the electric door on the frozen storage unit with the specified number N or the electric door on other numbered frozen storage units based on the judgment result of whether the electric door on the frozen storage unit with the specified number N can be started normally" specifically includes:

[0012] If the electric door on the cryo-cabin with designated number N can be started normally, then control the electric door on the cryo-cabin with designated number N to open; and / or

[0013] If the electric door on the cryopreservation cell with the specified number N fails to start normally, then the electric doors on the cryopreservation cells adjacent to the specified number N are checked one by one in order from nearest to farthest until it is determined that the electric door on the cryopreservation cell corresponding to one of the numbers can start normally, and the electric door on the cryopreservation cell corresponding to that number is controlled to open.

[0014] When the above technical solution is adopted, if the electric door of the designated cryopreservation cell fails to start normally, the electric doors of other cryopreservation cells are checked in order from nearest to farthest to see if they can start normally. This is conducive to realizing entry and exit based on the principle of proximity, reducing the transfer time of biological samples, and improving work efficiency.

[0015] In a specific implementation of the aforementioned automated workstation's inbound / outbound control method, the step of "determining whether the electric doors on the frozen storage units adjacent to the designated number N can be started normally, in order from nearest to farthest" specifically includes:

[0016] The electric doors on the cryogenic storage units adjacent to the specified number N are determined one by one in a numbering order from nearest to farthest, formed by alternating formulas F = N + k and F = Nk; wherein the value of k is taken in ascending order.

[0017] Where F is the number of the frozen storage facility whose electric door needs to be determined to start normally;

[0018] k is a coefficient, with values ​​of 1, 2, 3, 4...n.

[0019] In a specific implementation of the aforementioned automated workstation inbound / outbound control method, the inbound / outbound control method further includes:

[0020] When the coefficient k has the same value, the electric door on the cryogenic storage unit numbered F=N+k is judged first to determine whether it can be opened normally, before the electric door on the cryogenic storage unit numbered F=Nk.

[0021] In a specific embodiment of the aforementioned automated workstation inbound / outbound control method, a display is installed on the frozen storage unit, and the inbound / outbound control method further includes:

[0022] If it is determined that no electrically operated door can be opened normally, then the display on the designated cryogenic storage unit will show a message indicating that no electrically operated door can be opened; and / or

[0023] If it is determined that the electric door of the cryogenic storage unit corresponding to one of the numbers can be started normally, then the display on the cryogenic storage unit with the specified number is controlled to display the number information.

[0024] In a specific implementation of the aforementioned automated workstation inbound / outbound control method, the inbound / outbound control method further includes:

[0025] Upon receiving an instruction to complete the inbound / outbound process, the electric door on the corresponding numbered cryogenic storage unit is controlled to close.

[0026] In a specific implementation of the inbound and outbound control method of the above-mentioned automated workstation, at least two frozen storage warehouses are arranged side by side in sequence, and at least two frozen storage warehouses are numbered sequentially from the first end to the last end according to Arabic numerals and pre-stored in the automated workstation.

[0027] In a specific embodiment of the above-mentioned automated workstation inbound / outbound control method, the automated workstation further includes a transfer mechanism that extends into each of the cryopreservation cells. The transfer mechanism is configured to transfer biological samples between the cryopreservation cells. The inbound / outbound control method further includes:

[0028] If the electric door on one of the cryopreservation banks corresponding to a certain number can be started normally, the transfer mechanism is controlled to start and transfer the biological sample between the cryopreservation bank with the specified number and the cryopreservation bank with that number.

[0029] In a specific implementation of the above-mentioned automated workstation inbound / outbound control method, the transfer mechanism includes a slide rail, a load platform, and a driver. The slide rail extends into each of the cryopreservation rooms, and the load platform is slidably connected to the slide rail. The load platform is used to place biological samples, and the driver drives the load platform to move along the trajectory of the slide rail.

[0030] In a second aspect, the present invention also provides an automated workstation, including a controller configured to execute an inbound / outbound control method for the automated workstation as described in any of the above technical solutions. Attached Figure Description

[0031] The preferred embodiments of the present invention are described below with reference to the accompanying drawings, in which:

[0032] Figure 1 This is a flowchart of the main steps of the automated workstation inbound / outbound control method provided by the present invention;

[0033] Figure 2 This is a detailed flowchart of the inbound and outbound control method for the automated workstation provided by the present invention. Detailed Implementation

[0034] Preferred embodiments of the present invention will now be described with reference to the accompanying drawings. Those skilled in the art should understand that these embodiments are merely illustrative of the technical principles of the present invention and are not intended to limit the scope of protection of the present invention. Those skilled in the art can make adjustments as needed to adapt to specific application scenarios.

[0035] It should be noted that in the description of this invention, terms such as "upper," "lower," "inner," and "outer," which indicate direction or positional relationships, are based on the direction or positional relationships shown in the accompanying drawings. These are used merely for ease of description and do not indicate or imply that the relevant devices or elements must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention. Furthermore, ordinal numbers such as "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0036] Furthermore, it should be noted that, in the description of this invention, unless otherwise explicitly specified and limited, the terms "installation" and "connection" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0037] Existing automated equipment is equipped with a separate retrieval window for storing and retrieving biological samples. The retrieval window is equipped with an electric door. When the electric door is damaged, biological samples cannot be retrieved or placed. The electric door needs to be repaired before the samples can be retrieved or placed. This makes it inconvenient to store and retrieve biological samples and affects normal use.

[0038] To solve the above technical problems, first refer to Figure 1This invention provides an automated workstation comprising at least two interconnected cryopreservation units for storing biological samples. Each cryopreservation unit has a retrieval window equipped with an electric door, and a display screen is mounted on each cryopreservation unit. The automated workstation also includes a transfer mechanism extending into each cryopreservation unit, configured to transfer biological samples between the units.

[0039] Specifically, the transfer mechanism includes a slide rail, a loading stage, and a actuator. The slide rail extends into each cryopreservation unit and is fixed inside the unit by a support frame. The loading stage is slidably connected to the slide rail, and biological samples are placed on it. The actuator moves the loading stage along the track of the slide rail. The actuator includes a motor, a rack, and a gear. The motor is fixed to the end of the loading stage, and a gear meshing with the rack is fixed to the motor's output shaft. The rack is located on one side of the slide rail and is fixedly connected to the support frame. During operation, the motor starts, driving the gear to rotate. The gear and rack work together to move the loading stage along the track of the slide rail, thus transferring biological samples between the cryopreservation units.

[0040] In addition, each cryopreservation facility is equipped with robotic arms for placing biological samples on or removing them from the loading platform for transfer to other locations. Since the robotic arms used for transferring biological samples are prior art known to those skilled in the art, they will not be described in detail here.

[0041] In addition, the present invention also provides an inbound / outbound control method for an automated workstation, the inbound / outbound control method comprising:

[0042] S1, receive the instruction to open the retrieval window on the cryopreservation cell with the specified number N;

[0043] S2, determine whether the electric door on the specified number N of the cryogenic storage can be started normally;

[0044] S3, based on the judgment result of whether the electric door on the designated number N of the cryogenic storage can be started normally, selectively control the electric door on the designated number N of the cryogenic storage or the electric door on other numbered cryogenic storages to open.

[0045] Specifically, at least two cryopreservation cells are arranged side-by-side in sequence, and these cells are numbered sequentially from one end to the other using Arabic numerals and pre-stored in the automated workstation, with the smallest number being 1. For example, when there are five cryopreservation cells, they are numbered 1, 2, 3, 4, and 5 from one end to the other. Numbering each cryopreservation cell facilitates automatic identification of each cell to determine whether the electric door on that cell can be started normally.

[0046] In one embodiment, see Figure 2Step S3, which involves "selectively controlling the opening of the electric door on the designated cryopreservation cell N or the electric door on other cryopreservation cell numbers based on the determination result of whether the electric door on the designated cryopreservation cell N can be started normally," specifically includes:

[0047] S31, If ​​the electric door on the designated freezer N can be started normally, then control the electric door on the designated freezer N to open.

[0048] In the above steps, the electric door on the cryopreservation cell with the specified number N can be started normally, indicating that it can be opened or closed normally. Therefore, biological samples in this cryopreservation cell do not need to go through other cryopreservation cells for entry and exit, so there is no need to judge whether the electric doors on other cryopreservation cells can be started normally.

[0049] S32, if the electric door on the cryopreservation cell with the specified number N fails to start normally, then check the electric doors on the cryopreservation cells adjacent to the specified number N one by one in order from near to far, until it is determined that the electric door on the cryopreservation cell corresponding to one of the numbers can start normally, and control the electric door on the cryopreservation cell corresponding to that number to open.

[0050] In the above embodiments, after the cryopreservation banks are arranged side by side, the distances of other cryopreservation banks from the designated cryopreservation bank are not the same. Therefore, when the electric door of the designated cryopreservation bank cannot be started normally, the present invention judges whether the electric doors of other cryopreservation banks can be started normally in order from near to far. This is beneficial to realize entry and exit based on the principle of proximity, reduce the transfer time of biological samples, and improve work efficiency.

[0051] In one embodiment, the step of "determining whether the electric doors on the cryogenic storage units adjacent to the specified number N can be started normally, in order from nearest to farthest" specifically includes:

[0052] Using the formulas F=N+k and F=Nk, we sequentially determine whether the electric doors on the cryogenic storage units adjacent to the specified number N can be started normally, with the value of k taken in ascending order.

[0053] Where F is the number of the frozen storage facility whose electric door needs to be determined to start normally;

[0054] N is the designated number;

[0055] k is a coefficient, with values ​​of 1, 2, 3, 4...n.

[0056] In the above embodiments, since the cryopreservation banks are numbered starting from the Arabic numeral 1, the value of F is greater than zero. When the value of F is equal to zero or greater than the total number of cryopreservation banks, it indicates that the judgment on that side has been completed, and there are no other cryopreservation banks to be judged. In addition, when multiple cryopreservation banks are distributed side by side, if the cryopreservation bank with the specified number N is located in the middle instead of on both sides, there are adjacent cryopreservation banks on both sides of the cryopreservation bank with the specified number N. Therefore, by alternately judging according to the formula F = N + k and the formula F = Nk, the cryopreservation banks adjacent to both sides of the cryopreservation bank with the specified number N can be taken into account. This avoids the problem of low work efficiency caused by the increased transfer distance of biological samples when judging only one side.

[0057] For example, if there are 10 cryogenic storage units and the value of the assigned number N is 5, then when the electric door of cryogenic storage unit number 5 fails to start normally, the system will perform a judgment from near to far using the formulas F = N + k and F = Nk alternately. First, if k is set to 1, the system will judge the electric doors of cryogenic storage units numbered 6 and 4 that are adjacent to number 5. If they fail to start normally, the system will judge the electric doors of cryogenic storage units numbered 7 and 3 that are next to number 5, using the formula with k set to 2. If they still fail to start normally, the system will judge the electric doors of cryogenic storage units numbered 8 and 2 that are further away from number 5, using the formula with k set to 3. The judgment will continue until an electric door that can start normally is found. At this point, the electric door of the cryogenic storage unit corresponding to that number can be opened.

[0058] In one embodiment, the inbound / outbound control method further includes:

[0059] When the coefficient k has the same value, the electric door on the cryogenic storage unit numbered F=N+k is judged first to determine whether it can be opened normally, before the electric door on the cryogenic storage unit numbered F=Nk.

[0060] For example, when N is designated as 5 and the coefficient k is 1, the electric door of the cryogenic storage unit corresponding to F6 is judged before the electric door of the cryogenic storage unit corresponding to F4. When the coefficient k is 2, the electric door of the cryogenic storage unit corresponding to F7 is judged before the electric door of the cryogenic storage unit corresponding to F3. This ensures that the cryogenic storage units adjacent to each other are judged in order from nearest to farthest, making the judgment more accurate.

[0061] Of course, it is understandable that, when the coefficient k has the same value, the above description of the judgment order of the electric doors on the cryogenic storage rooms numbered F=N+k and F=Nk is only an example. It is also possible that the judgment of the electric door on the cryogenic storage room numbered F=Nk takes precedence over the judgment of the electric door on the cryogenic storage room numbered F=N+k, which is also within the protection scope of this invention.

[0062] In one embodiment, the inbound / outbound control method further includes:

[0063] If it is determined that there is no electric door that can be started normally, the display on the freezer with the specified number will show a message indicating that no electric door can be opened.

[0064] In the above embodiments, if there is no electric door that can be started normally, the display screen will directly show a prompt message, which helps staff understand the situation and take appropriate action.

[0065] In one embodiment, the inbound / outbound control method further includes:

[0066] If it is determined that the electric door of one of the cryogenic storage units with a specific number can start normally, then the display on the cryogenic storage unit with that specific number will be controlled to display that number information.

[0067] In the above embodiment, the display shows the number of the cold storage room whose electric door can be opened, which helps staff understand the situation.

[0068] In one embodiment, the inbound / outbound control method further includes:

[0069] Upon receiving an instruction to complete the inbound / outbound process, the electric door on the corresponding numbered cryogenic storage unit is controlled to close.

[0070] In one embodiment, the inbound / outbound control method further includes:

[0071] If the electric door on one of the cryopreservation banks corresponding to a certain number can be started normally, the transfer mechanism is controlled to start and transfer the biological sample between the cryopreservation bank with the specified number and the cryopreservation bank with that number.

[0072] This invention uses the removal of biological samples as an example to illustrate the concept, specifying the removal of biological samples from cryopreservation facility numbered 5.

[0073] Receive the instruction to open the retrieval window on the specified cryogenic storage unit number 5;

[0074] Determine whether the electric door on the designated cryogenic storage unit 5 can be started normally;

[0075] In the event that the system cannot start normally, the electric door of the cryogenic storage unit with the number F6, which has a selection coefficient k of 1, is judged.

[0076] If the electric door on cryopreservation cell number 6 fails to start normally, the electric door on cryopreservation cell number 4 (where the selection coefficient k is 1) is evaluated. If the electric door corresponding to this number can be opened, the display on cryopreservation cell number 5 will show that the electric door on cryopreservation cell number 4 is open. At the same time, the electric door on cryopreservation cell number 4 is opened. The biological sample in cryopreservation cell number 5 is placed on the loading platform and moved along the slide rail under the drive of the actuator to be transported into cryopreservation cell number 4. After being transported into cryopreservation cell number 4, the biological sample is sent out from the pick-up and drop-off window by the robotic arm, realizing the unloading. After the unloading is completed, the electric door is controlled to close.

[0077] In a second aspect, the present invention also provides an automated workstation, including a controller configured to execute an inbound / outbound control method for the automated workstation as described in any of the above technical solutions.

[0078] In the various embodiments and extended embodiments described above, the present invention designs the cryopreservation facilities to be interconnected. When the electric door of a cryopreservation facility with a specified number fails to start properly, preventing the access window from opening, biological samples can be stored in or retrieved from the cryopreservation facility with the specified number through the access windows of other cryopreservation facilities. This increases the ways in which biological samples can be stored and retrieved, ensuring that biological samples can still be stored and retrieved normally even when the electric door of the cryopreservation facility with the specified number fails to start properly, making it more convenient to use.

[0079] The technical solution of the present invention has been described above with reference to the preferred embodiments shown in the accompanying drawings. However, it will be readily understood by those skilled in the art that the scope of protection of the present invention is obviously not limited to these specific embodiments. Without departing from the principles of the present invention, those skilled in the art can make equivalent changes or substitutions to the relevant technical features, and the technical solutions after such changes or substitutions will all fall within the scope of protection of the present invention.

Claims

1. A method for controlling the inbound and outbound operations of an automated workstation, characterized in that, The automated workstation includes at least two interconnected cryopreservation units for storing biological samples. Each cryopreservation unit has a retrieval window with an electric door. The entry / exit control method includes: Receive an instruction to open the retrieval window on the cryo-store with the specified number N; Determine whether the electric door on the cryo-room with the specified number N can be started normally; Based on the determination result of whether the electric door on the cryo-warehouse with the specified number N can be started normally, the electric door on the cryo-warehouse with the specified number N or the electric door on the cryo-warehouse with other numbers can be selectively controlled to open. The step of "selectively controlling the opening of the electric door on the cryopreservation cell with the specified number N or the electric door on other cryopreservation cells based on the determination result of whether the electric door on the cryopreservation cell with the specified number N can be started normally" specifically includes: If the electric door on the cryopreservation cell with the specified number N fails to start normally, then the electric doors on the cryopreservation cells adjacent to the specified number N are checked one by one in order from nearest to farthest until it is determined that the electric door on the cryopreservation cell corresponding to one of the numbers can start normally, and the electric door on the cryopreservation cell corresponding to that number is controlled to open.

2. The inbound / outbound control method for an automated workstation according to claim 1, characterized in that, The step of "selectively controlling the opening of the electric door on the cryopreservation cell with the specified number N or the electric door on other cryopreservation cells based on the determination result of whether the electric door on the cryopreservation cell with the specified number N can be started normally" further includes: If the electric door on the cryo-room with the specified number N can be started normally, then control the electric door on the cryo-room with the specified number N to open.

3. The inbound / outbound control method for an automated workstation according to claim 2, characterized in that, The step of "determining whether the electric doors on the cryogenic storage units adjacent to the designated number N can be started normally, in order from nearest to farthest" specifically includes: The electric doors on the cryogenic storage units adjacent to the specified number N are checked one by one according to the alternating numbering order formed by formulas F=N+k and F=Nk, from nearest to farthest; wherein the value of k is taken in ascending order. Where F is the number of the frozen storage facility whose electric door needs to be determined to start normally; k is a coefficient, with values ​​of 1, 2, 3, 4...n.

4. The inbound / outbound control method for an automated workstation according to claim 3, characterized in that, The inbound and outbound control method also includes: When the coefficient k has the same value, the electric door on the cryopreservation cell numbered F=N+k is judged first to determine whether it can be opened normally, before the electric door on the cryopreservation cell numbered F=Nk.

5. The inbound / outbound control method for an automated workstation according to claim 2, characterized in that, The cryopreservation room is equipped with a display, and the inbound / outbound control method further includes: If it is determined that no electrically operated door can be opened normally, then the display on the designated cryogenic storage unit will show a message indicating that no electrically operated door can be opened; and / or If it is determined that the electric door of the cryogenic storage unit corresponding to one of the numbers can be started normally, then the display on the cryogenic storage unit with the specified number is controlled to display the number information.

6. The inbound / outbound control method for an automated workstation according to claim 1, characterized in that, The inbound and outbound control method also includes: Upon receiving an instruction to complete the inbound / outbound process, the electric door on the corresponding numbered cryogenic storage unit is controlled to close.

7. The inbound / outbound control method for an automated workstation according to claim 1, characterized in that, At least two cryopreservation cells are arranged side by side in sequence, and the two cryopreservation cells are numbered sequentially from the first to the last in the order of Arabic numerals and pre-stored in the automated workstation.

8. The method for controlling the entry and exit of an automated workstation according to any one of claims 1-7, characterized in that, The automated workstation also includes a transfer mechanism that extends into each of the cryopreservation cells. The transfer mechanism is configured to transfer biological samples between the cryopreservation cells. The in / out control method further includes: If the electric door on one of the cryopreservation banks corresponding to a certain number can be started normally, the transfer mechanism is controlled to start and transfer the biological sample between the cryopreservation bank with the specified number and the cryopreservation bank with that number.

9. The inbound / outbound control method for an automated workstation according to claim 8, characterized in that, The transfer mechanism includes a slide rail, a load stage, and a driver. The slide rail extends into each of the cryopreservation chambers, and the load stage is slidably connected to the slide rail. The load stage is used to place biological samples, and the driver drives the load stage to move along the trajectory of the slide rail.

10. An automated workstation, comprising a controller, characterized in that, The controller is configured to perform the inbound / outbound control method of the automated workstation as described in any one of claims 1-9.

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