Biological fermentation liquid automatic detection system, method and related products

Abstract

The present disclosure provides a biological fermentation liquid automatic detection system, method and related products. The biological fermentation liquid automatic detection system is provided with a sampling device for sampling the fermentation liquid in the fermentation tank and injecting the sampled fermentation liquid into the hole position of the sampling orifice plate; the sampling device is used to sample the fermentation liquid in the hole position of the sampling orifice plate to the hole position of the sampling orifice plate; the sampling area mechanical arm is used to move along the sampling area track, and is used to clamp and move the sampling orifice plate and the sampling orifice plate; the detection device is used to detect the fermentation liquid in the hole position of the sampling orifice plate; the detection area mechanical arm is used to move along the detection area track, and is used to clamp and move the sampling orifice plate; the conveying device is used to convey the sampling orifice plate between the sampling area and the detection area; the control device is connected to the sampling area mechanical arm, the detection area mechanical arm, the orifice plate warehouse, the refrigeration equipment, the conveying device, the sampling device, the sampling device and the detection device.

Description

Technical Field

[0001] The present disclosure relates to the technical field of automatic detection of biological fermentation liquid, and in particular to an automatic detection system, method and related products of biological fermentation liquid. Background Art

[0002] The fermentation laboratory mainly conducts biological experimental tests on biological fermentation liquids. Through biological experimental tests, various indicators of biological fermentation liquids can be obtained, and various indicators can be used to analyze biological fermentation liquids. In the process of biological experimental tests, it is necessary to sample and split the biological fermentation liquids, and transport the split biological fermentation liquids to the detection device for testing. Currently, the sampling, splitting, and transporting the split biological fermentation liquids to the detection device for testing are all done manually by the experimenter.

[0003] In this way, by manually operating each process of biological experiment detection, various laboratory accidents may occur, such as inaccurate measurement of sampling quality and sub-sampling quality, and spilling of fermentation liquid during the process of transporting the biological fermentation liquid after sub-sampling to the detection device, which will lead to low efficiency of biological experiment detection and inaccurate indicators of the biological fermentation liquid, ultimately affecting the analysis of the biological fermentation liquid. Summary of the invention

[0004] The present disclosure provides a biological fermentation liquid automatic detection system and method.

[0005] In a first aspect, the present disclosure provides a biological fermentation liquid automatic detection system, comprising: a sampling area, a detection area and a conveying area, wherein the sampling area is provided with at least one fermentation tank, a perforated plate bin, a refrigeration device, a sampling device, a sample dividing device, a sampling area mechanical arm and a sampling area track, the detection area is provided with a detection device, a detection area mechanical arm and a detection area track, the conveying area is located between the sampling area and the detection area, and the conveying area is provided with a conveying device, wherein:

[0006] The fermentation tank is used to contain the fermentation liquid;

[0007] The orifice plate bin is used to store sampling orifice plates that have not been sampled and sample-dividing orifice plates that have not been sampled;

[0008] The refrigeration equipment is used to store the sampling well plates that have been sampled and the sample dividing well plates that have been divided;

[0009] The sampling device is used to sample the fermentation liquid in the fermentation tank and inject the sampled fermentation liquid into the holes of the sampling orifice plate;

[0010] The sampling device is used to sample the fermentation liquid in the wells of the sampling well plate into the wells of the sampling well plate;

[0011] The sampling area mechanical arm is used to move along the sampling area track, and is used to clamp and move the sampling well plate and the sample dividing well plate;

[0012] The detection device is used to detect the fermentation liquid in the wells of the sampling well plate;

[0013] The detection zone mechanical arm is used to move along the detection zone track, and to clamp and move the sample dividing well plate;

[0014] A conveying device, used for conveying the sample dividing well plate between the sampling area and the detection area;

[0015] The control device is communicatively connected with the sampling area robot arm, the detection area robot arm, the orifice plate bin, the refrigeration equipment, the conveying device, the sampling device, the sample dividing device and the detection device.

[0016] In some optional embodiments, the sampling area robotic arm is used to take the sampling well plate from the well plate bin and move it to the sampling device to take samples from the fermentation tank, move the sampled sampling well plate to the sampling device, and take the sampling well plate from the refrigeration equipment or the well plate bin and move it to the sampling device to sample the fermentation liquid in the sampling well plate to the sampling well plate.

[0017] In some optional embodiments, the sampling area robot arm is also used to move the sample-separated well plate to the refrigeration device for refrigeration.

[0018] In some optional embodiments, the sampling area robotic arm is also used for:

[0019] The sample-separated well plate is moved to the conveying device, and then moved to the detection device through the conveying device and the detection area robot arm for detection; and

[0020] The sample dividing plate that has been transported from the detection area to the sampling area by the transport device and has completed the detection is moved to the refrigeration equipment for refrigeration.

[0021] In some optional embodiments, the detection zone robot arm is used to:

[0022] The conveying device conveys the samples from the sampling area to the detection area, and moves the sample separation plate to the detection device for detection. The sample separation plate after detection is moved from the detection device to the conveying device, and then moved to the refrigeration equipment via the conveying device and the sampling area robot arm for refrigeration.

[0023] In some optional embodiments, the conveying device includes: a transition servo module and / or a conveyor belt.

[0024] In some optional embodiments, the sample dividing well plate includes: a sample dividing well plate for detection.

[0025] In some optional embodiments, the sampling area robot arm is used to take the sampling well plate from the refrigeration equipment or the well plate warehouse and move it to the sampling device to sample the fermentation liquid in the sampling well plate to the sampling well plate, including:

[0026] In response to the sampling target being detection after sampling, determining whether there are vacant wells in the detection sample splitting well plate corresponding to the detection type of detection after sampling in the refrigeration device;

[0027] In response to determining that there are vacant wells, the sampling area robot arm takes a sample-dividing well plate with vacant wells corresponding to the test type to be tested after sample separation from the refrigeration device, and moves it to the sample-dividing device for sample separation;

[0028] In response to determining that there are no empty wells, the sampling area robot arm takes a sample separation well plate with empty wells corresponding to the test type to be tested after sample separation from the well plate warehouse, and moves it to the sample separation device for sample separation.

[0029] In some optional embodiments, the detection types of the detection after sample separation include: HT detection and HPLC detection.

[0030] In some optional embodiments, the detection device includes: an HT detection device and an HPLC detection device.

[0031] In some optional embodiments, the sampling well plate includes: a backup sampling well plate; and the sampling area robot arm is used to take the sampling well plate from the refrigeration equipment or the well plate warehouse and move it to the sampling device to sample the fermentation liquid in the sampling well plate to the sampling well plate, including:

[0032] In response to the sample splitting target being temporary storage after sample splitting, determining whether there are vacant wells in the backup sample splitting well plate in the refrigeration device;

[0033] In response to determining that there are vacant holes, the sampling area robot arm takes a backup sample separation plate with vacant holes from the refrigeration device and moves it to the sample separation device for sample separation;

[0034] In response to determining that there are no vacant wells, the sampling area robot arm takes a backup sample sorting well plate with vacant wells from the well plate bin and moves it to the sample sorting device for sample sorting.

[0035] In some optional embodiments, the biological fermentation liquid automatic detection system further includes:

[0036] The centrifuge is arranged in the detection area and is used for centrifuging the liquid in the sample-dividing well plate; the centrifugal balancing chamber is used for balancing the sample-dividing well plate.

[0037] In some optional embodiments, the detection zone robot arm is used to transport the conveying device from the sampling zone to the detection zone, and move the sample-dividing well plate after sample dividining to the detection device for detection, including:

[0038] The detection area robot arm is used for:

[0039] The conveying device transports the sample separation hole plate from the sampling area to the detection area, and the sample separation hole plate is moved to the centrifugal balancing bin for balancing;

[0040] Moving the balanced sample-dividing well plate to the centrifuge for centrifugation;

[0041] The centrifuged sample separation well plate is moved to the detection device for detection.

[0042] In some optional embodiments, the sampling well plate is provided with an identification code, and the biological fermentation liquid automatic detection system further comprises:

[0043] A first identity recognition device, disposed in the first identity recognition area and communicatively connected with the control device;

[0044] Preferably, the sample separation plate is provided with an identification code, and the biological fermentation liquid automatic detection system further comprises:

[0045] A second identity recognition device, disposed in the second identity recognition area and communicatively connected with the control device;

[0046] Preferably, the sample separation plate is provided with an identification code, and the biological fermentation liquid automatic detection system further comprises:

[0047] The third identity recognition device is arranged in the third identity recognition area and is communicatively connected with the control device.

[0048] In a second aspect, the present disclosure provides a method for automatically detecting a biological fermentation liquid, which is applied to the automatic detection system for a biological fermentation liquid described in any implementation manner of the first aspect, and the method comprises:

[0049] The sampling area robot moves the sample distribution plate to be tested to the conveying device;

[0050] The conveying device conveys the sample dividing plate to be detected from the sampling area to the detection area;

[0051] The detection zone robot moves the sample-dividing well plate to be detected from the conveying device to the detection device for detection, and moves the detected sample-dividing well plate from the detection device to the conveying device;

[0052] The conveying device conveys the detected sample dividing well plate from the detection area to the sampling area;

[0053] The sampling area robot moves the sample separation plate after detection to the refrigeration equipment for refrigeration.

[0054] In some optional embodiments, the sampling area robot moves the sample distribution plate to be detected to the conveying device, including:

[0055] The sampling area robot arm takes the sample distribution plate to be tested from the refrigeration equipment and moves it to the conveying device.

[0056] In some optional embodiments, the sampling area robot moves the sample distribution plate to be detected to the conveying device, including:

[0057] The sampling area robot moves the sampling well plate containing the fermentation liquid to be sampled to the original liquid area of ​​the sampling device;

[0058] The sampling area robot arm takes the sample separation orifice plate to be sampled from the refrigeration equipment or the orifice plate warehouse and moves it to the liquid separation area of ​​the sample separation device;

[0059] The sampling device samples the fermentation liquid in the sampling well plate to be sampled to the sampling well plate to be sampled;

[0060] The sampling area robot arm moves the sample-separated sample well plate as the sample-separated sample well plate to the conveying device.

[0061] In some optional embodiments, the sampling area robot moves the sampling well plate containing the fermentation liquid to be sampled to the original liquid area of ​​the sampling device, including:

[0062] The sampling area robot arm takes the sampling well plate containing the fermentation liquid from the refrigeration equipment, and moves the taken sampling well plate as the sampling well plate to be sampled to the original liquid area of ​​the sampling device.

[0063] In some optional embodiments, the sampling area robot moves the sampling well plate containing the fermentation liquid to be sampled to the original liquid area of ​​the sampling device, including:

[0064] The sampling area robot arm takes the sampling orifice plate to be sampled from the orifice plate bin and moves it to the sampling device;

[0065] The sampling device extracts fermentation liquid from each fermentation tank to be sampled and injects it into the corresponding target sampling hole position in the sampling hole plate;

[0066] The sampling area robot arm moves the sampled sampling well plate as the sampling well plate to be sampled to the raw liquid area of ​​the sampling device, and takes the sampled well plate to be sampled from the refrigeration equipment or the well plate warehouse and moves it to the raw liquid area of ​​the sampling device.

[0067] In some optional embodiments, the sample dividing well plate comprises: a sample dividing well plate for detection; and

[0068] The sampling area robot arm takes the sample separation orifice plate to be sampled from the refrigeration equipment or the orifice plate warehouse and moves it to the liquid separation area of ​​the sample separation device, including:

[0069] In response to the sampling target being detection after sampling, determining whether there are vacant wells in the detection sample splitting well plate corresponding to the detection type of detection after sampling in the refrigeration device;

[0070] In response to determining that there are vacant wells, the sampling area robot arm takes a sample separation plate with vacant wells corresponding to the test type to be tested after sample separation from the refrigeration device, and moves it to the liquid separation area of ​​the sample separation device;

[0071] In response to determining that there are no empty wells, the sampling area robot arm takes a sample separation well plate with empty wells corresponding to the test type to be tested after sample separation from the well plate warehouse, and moves it to the liquid separation area of ​​the sample separation device.

[0072] In some optional embodiments, the sample splitting well plate includes a backup sample splitting well plate; and

[0073] Before the sampling area robot arm takes the sample distribution plate to be tested from the refrigeration device and moves it to the conveying device, the method further includes:

[0074] The sampling area robot moves the sampling well plate containing the fermentation liquid to be sampled to the original liquid area of ​​the sampling device;

[0075] In response to the sample splitting target being temporary storage after sample splitting, determining whether there are vacant wells in the backup sample splitting well plate in the refrigeration device;

[0076] In response to determining that there are vacant wells, the sampling area robot arm takes a backup sample separation well plate with vacant wells from the refrigeration device and moves it to the liquid separation area of ​​the sample separation device;

[0077] In response to determining that there are no vacant wells, the sampling area robot arm takes a backup sample separation well plate with vacant wells from the well plate bin and moves it to the liquid separation area of ​​the sample separation device;

[0078] The sampling device samples the fermentation liquid in the sampling well plate in the original liquid area to the backup sampling well plate in the liquid separation area;

[0079] The sampling area robot moves the sample-separated well plate to the refrigeration device for refrigeration.

[0080] In some optional embodiments, the biological fermentation liquid automatic detection system further includes:

[0081] A centrifuge, arranged in the detection area, for centrifuging the liquid in the sample well plate;

[0082] A centrifugal balancing chamber, used to balance the sample well plate; and

[0083] The detection zone robot moves the sample-dividing well plate to be detected from the conveying device to the detection device for detection, including:

[0084] The detection area robot moves the conveying device from the sample dividing plate to be detected to the centrifugal balancing bin for balancing;

[0085] The detection area robot moves the balanced sample separation plate to the centrifuge for centrifugation;

[0086] The detection area robot moves the centrifuged sample separation plate to the detection device for detection.

[0087] In some optional embodiments, the sampling well plate is provided with an identification code, and the biological fermentation liquid automatic detection system further comprises a first identification device provided in the first identification area and communicatively connected to the control device; and

[0088] The sampling area robot arm takes the sampling orifice plate to be sampled from the orifice plate bin and moves it to the sampling device, including:

[0089] The sampling area robot arm takes the sampling well plate to be sampled from the well plate bin, and places the sampling well plate to be sampled in the first identity recognition area corresponding to the first identity recognition device for identity recognition;

[0090] In response to the sampling well plate to be sampled being verified according to the identification information recognition result of the sampling well plate to be sampled, the sampling well plate to be sampled is moved to the sampling device.

[0091] In some optional embodiments, the sample sub-plate is provided with an identification code, and the biological fermentation liquid automatic detection system further comprises a second identification device provided in the second identification area and communicatively connected with the control device; and

[0092] The sampling area robot arm takes the sample separation orifice plate to be sampled from the refrigeration equipment or the orifice plate warehouse and moves it to the liquid separation area of ​​the sample separation device, including:

[0093] The sampling area robot arm takes the sample dividing well plate to be divided from the refrigerated device or the well plate bin, and places the sample dividing well plate to be divided in the second identity recognition area corresponding to the second identity recognition device for identity recognition;

[0094] In response to the verification of the sample dividing well plate to be divided according to the identification result of the sample dividing well plate, the sample dividing well plate to be divided is moved to the liquid dividing area of ​​the sample dividing device.

[0095] In some optional embodiments, the sample sub-plate is provided with an identification code, and the biological fermentation liquid automatic detection system further comprises a third identification device provided in the third identification area and communicatively connected with the control device; and

[0096] The detection area robot moves the centrifuged sample separation plate to the detection device for detection, including:

[0097] The detection area robot arm places the centrifuged sample separation well plate in the third identity recognition area corresponding to the third identity recognition device for identity recognition;

[0098] In response to the verification of the centrifuged sample dividing well plate according to the identification information recognition result of the centrifuged sample dividing well plate, the centrifuged sample dividing well plate is moved to the detection device for detection.

[0099] In a third aspect, the present disclosure provides a control device, comprising: one or more processors; a storage device on which one or more programs are stored, and when the one or more programs are executed by the one or more processors, the biological fermentation liquid automatic detection system described in any implementation manner in the first aspect implements the method described in any implementation manner in the second aspect.

[0100] In a fourth aspect, the present disclosure provides a computer-readable storage medium having a computer program stored thereon, wherein when the computer program is executed by one or more processors, the biological fermentation liquid automatic detection system described in any implementation manner in the first aspect implements the method described in any implementation manner in the second aspect.

[0101] In a fifth aspect, the present disclosure provides a computer program product, including a computer program / instruction, which, when executed by a processor, enables the automatic detection of the biological fermentation liquid described in any implementation manner in the first aspect to implement the method described in any implementation manner in the second aspect.

[0102] The present disclosure provides an automatic detection and method for biological fermentation liquid. In the automatic detection of biological fermentation liquid, a sampling area, a detection area and a conveying area are set. The sampling area is provided with at least one fermentation tank, a perforated plate bin, a refrigeration device, a sampling device, a sampling device, a sampling area mechanical arm and a sampling area track. The detection area is provided with a detection device, a detection area mechanical arm and a detection area track. The conveying area is located between the sampling area and the detection area. The conveying area is provided with a conveying device. The fermentation tank is used to contain fermentation liquid; the perforated plate bin is used to store sampling perforated plates that have not been sampled and sampling perforated plates that have not been sampled; the refrigeration device is used to store sampling perforated plates that have been sampled and sampling perforated plates that have been sampled; the sampling device is used to sample the fermentation liquid in the fermentation tank. The sampled fermentation liquid is injected into the holes of the sampling orifice plate; the sampling device is used to sample the fermentation liquid in the holes of the sampling orifice plate to the holes of the sampling orifice plate; the sampling area mechanical arm is used to move along the sampling area track, and is used to clamp and move the sampling orifice plate and the sampling orifice plate; the detection area track detection device is used to detect the fermentation liquid in the holes of the sampling orifice plate; the detection area mechanical arm is used to move along the detection area track, and is used to clamp and move the sampling orifice plate; the conveying device is used to transport the sampling orifice plate between the sampling area and the detection area; the control device is connected to the sampling area mechanical arm, the detection area mechanical arm, the orifice plate bin, the refrigeration equipment, the conveying device, the sampling device, the sampling device and the detection device. That is, through the setting of the above-mentioned biological fermentation liquid automatic detection system and by cooperating with the biological fermentation liquid automatic detection process, the automatic detection of the biological fermentation liquid can be realized, the detection efficiency of the biological fermentation liquid can be improved, and the labor cost can be reduced, thereby realizing an unmanned automatic detection laboratory. BRIEF DESCRIPTION OF THE DRAWINGS

[0103] Other features, objects and advantages of the present disclosure will become more apparent from the detailed description of non-limiting embodiments made with reference to the following drawings:

[0104] Figure 1 is an exemplary structural schematic diagram of an embodiment of a biological fermentation liquid automatic detection system according to the present disclosure;

[0105] Figure 2A is a flow chart of an embodiment of a method for automatically detecting a biological fermentation liquid according to the present disclosure;

[0106] Figure 2B is a decomposed flow chart of one embodiment of step 201 according to the present disclosure;

[0107] Figure 2C is a decomposed flow chart of one embodiment of step 2011 according to the present disclosure;

[0108] Figure 2D is a decomposed flow chart of one embodiment of step 2012 according to the present disclosure;

[0109] Figure 2E It is a flow chart of another embodiment of the method for automatic detection of biological fermentation liquid according to the present disclosure. DETAILED DESCRIPTION

[0110] The present disclosure is further described in detail below in conjunction with the accompanying drawings and embodiments. It is understood that the specific embodiments described herein are only used to explain the relevant invention, rather than to limit the invention. It is also necessary to explain that, for ease of description, only the parts related to the relevant invention are shown in the accompanying drawings.

[0111] It should be noted that, in the absence of conflict, the embodiments and features in the embodiments of the present disclosure may be combined with each other. The present disclosure will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0112] Please refer to Figure 1 , Figure 1 A structural schematic diagram of an embodiment of an automatic detection system for biological fermentation liquid according to the present disclosure is shown.

[0113] like Figure 1 As shown, the biological fermentation liquid automatic detection system 10 may include: a sampling area 110, a detection area 120 and a conveying area 130. The sampling area 110 is provided with at least one fermentation tank 1101, a perforated plate bin 1102, a refrigeration device 1103, a sampling device 1104, a sampling device 1105, a sampling area robot 1106 and a sampling area track 1107. The detection area 120 is provided with a detection device 1201, a detection area robot 1202 and a detection area track 1203. The conveying area 130 is located between the sampling area 110 and the detection area 120, and the conveying area 130 is provided with a conveying device 1301.

[0114] The fermentation tank 1101 is used to contain the fermentation liquid.

[0115] In this embodiment, Figure 1 Only one fermentation tank 1101 is shown, and a corresponding number of fermentation tanks 1101 can be provided according to actual needs, and each fermentation tank is used to contain fermentation liquid.

[0116] The well plate bin 1102 is used to store unsampled sampling well plates 140 and unsampled splitting well plates 150 .

[0117] In this embodiment, the sampling well plate 140 without sampling means that the sampling well plate 140 has not been subjected to the sampling operation, and none of its wells contains the fermentation liquid. The sampling well plate 150 without sampling means that the sampling well plate 150 has not been subjected to the sampling operation, and none of its wells contains the fermentation liquid.

[0118] The unsampled sampling well plate 140 and the unsampled splitting well plate 150 can be placed in different areas of the well plate bin 1102 respectively.

[0119] For example, a sampling well plate area and a sample dividing well plate area may be provided in the well plate bin 1102 , the sampling well plate 140 that has not been sampled may be placed in the sampling well plate area, and the sample dividing well plate 150 that has not been sampled may be placed in the sample dividing well plate area.

[0120] The well plate magazine 1102 can store at least one unsampled sampling well plate 140 and at least one unsampled splitting well plate 150 .

[0121] The sampling orifice plate 140 has at least one hole, and the hole is used to contain the fermentation liquid, and different holes are isolated from each other. Optionally, the holes of the sampling orifice plate 140 can be arranged in a regular pattern, for example, in an array in two vertical directions, or in a circular or arc arrangement around a central point.

[0122] In order to ensure that the fermentation liquid obtained by the sampling well plate 140 is not contaminated by external bacteria, a sealed well cover, such as a silica gel cover, may be provided above the wells of the sampling well plate 140 .

[0123] Similarly, the sample-dividing well plate 150 has at least one well for containing liquid, and different wells are isolated from each other. Optionally, the wells of the sample-dividing well plate 150 can be arranged in a regular pattern, for example, in an array in two vertical directions, or in a circular or arc shape around a center point.

[0124] In order to ensure that the fermented liquid separated by the sample separation plate 150 is not contaminated by external bacteria, a sealed well cover, such as a silica gel cover, may be provided above the wells of the sample separation plate 150 .

[0125] In some optional embodiments, the number of wells in the sample splitting well plate 150 may be greater than the number of wells in the sampling well plate 140. For example, the number of wells in the sample splitting well plate 150 may be an integer multiple of the number of wells in the sampling well plate 140 that is greater than 1. For example, the sampling well plate 140 may be a 48-well plate with 6 rows and 8 columns or 8 rows and 6 columns, while the sample splitting well plate 150 may be a 96-well plate with 12 rows and 8 columns or 8 rows and 12 columns, so that each well in the sampling well plate 140 can be split at least twice.

[0126] The refrigeration device 1103 is used to store the sampled sampling well plate 140 and the sampled dividing well plate 150, so as to ensure that the fermentation liquid in the sampled well plate 140 and the sampled dividing well plate 150 is at a suitable temperature and will not breed bacteria and contaminate the fermentation liquid due to too high temperature.

[0127] In this embodiment, the sampling well plate 140 that has been sampled means that the sampling well plate 140 has been subjected to at least one sampling operation, and at least one well position thereof contains fermentation liquid. The sampling well plate 150 that has been sampled means that the sampling well plate 150 has been subjected to at least one sampling operation, and at least one well position thereof contains fermentation liquid.

[0128] The sampling well plate 140 that has already taken samples and the sample dividing well plate 150 that has already divided samples can be placed in different areas of the cold storage device 1103 respectively.

[0129] For example, a sampling orifice plate area and a sample dividing orifice plate area may be provided in the refrigeration device 1103. The sampling orifice plate 140 that has been sampled may be placed in the sampling orifice plate area, and the sample dividing orifice plate 150 that has been divided may be placed in the sample dividing orifice plate area.

[0130] The cold storage device 1103 can store at least one sampling well plate 140 from which samples have been taken and at least one sample dividing well plate 150 from which samples have been divided.

[0131] The sampling device 1104 is used to sample the fermentation liquid in the fermentation tank 1101 and inject the sampled fermentation liquid into the holes of the sampling orifice plate 140 .

[0132] Optionally, a sampling tube may be provided inside each fermentation tank 1101 , and the sampling tube may connect the inside and the outside of the fermentation tank 1101 , and the fermentation liquid in the fermentation tank 1101 may be sampled through the sampling tube.

[0133] Optionally, a stirring paddle may be provided inside the fermentation tank 1101 to stir the fermentation liquid inside the fermentation tank 1101 so as to keep the concentration of the fermentation liquid inside the fermentation tank 1101 uniform. In this way, the fermentation liquid sampled by the sampling tube is taken out in a fully liquid state in a mixed state.

[0134] Optionally, the outside of each fermentation tank 1101 may be provided with a valve assembly, a peristaltic pump and a sampling syringe.

[0135] The sampling tubes of each fermentation tank 1101 are sequentially connected to the corresponding valve assembly, peristaltic pump and sampling syringe through pipelines. Here, the so-called connection means that liquid can flow through.

[0136] Each valve assembly may include a fermentation liquid valve, an air valve and a cleaning liquid valve. One end of each fermentation liquid valve, air valve and cleaning liquid valve is connected to a corresponding peristaltic pump, and the other end is connected to a sampling tube, a clean air source and a cleaning liquid container of a corresponding fermentation tank 1101.

[0137] The cleaning liquid container contains cleaning liquid, which can be various liquids with sterilization and disinfection functions, such as alcohol, hydrogen peroxide, etc., which is not specifically limited in the present disclosure. The cleaning liquid container can be, for example, a glass container, a stainless steel container, a polypropylene container, etc.

[0138] The sampling device 1104 may also be provided with a sampling assembly robot, a sampling syringe support and a syringe support moving assembly. The syringe support is used to accommodate the sampling syringes corresponding to each fermentation tank, and the sampling syringe support may be provided with corresponding accommodating holes, and each sampling syringe may be accommodated in a different accommodating hole. The accommodating holes of the sampling syringe support are isolated from each other. Optionally, the accommodating holes of the sampling syringe support may be arranged in a regular pattern, for example, in an array arrangement in two vertical directions, or in an array arrangement staggered in two vertical directions.

[0139] The top of each sampling syringe may be provided with a pressing pad, and the bottom may be provided with a needle. Each sampling syringe may be vertically placed in the receiving hole of the sampling syringe support with the needle facing downward.

[0140] The syringe support moving assembly is used to move the sampling syringe support in a plane and up and down. The sampling syringe support is fixed to the sampling syringe support moving assembly. Specifically, the sampling syringe support moving assembly may include a first stepper motor, a first slider fixedly connected to the first stepper motor, and a first track matching the first slider, a second stepper motor, a second slider fixedly connected to the second stepper motor, and a second track matching the second slider. Wherein:

[0141] The first stepper motor can drive the first slider to move along the first track under the control of the pulse signal. The second stepper motor can drive the second slider to move along the second track under the control of the pulse signal.

[0142] The extension direction of the first track is parallel to the horizontal plane, and the extension direction of the second track may be perpendicular to the horizontal plane.

[0143] The sampling syringe holder can be fixed to the second slider, so that under the control of the pulse signal, the second stepper motor can drive the second slider and the sampling syringe holder to move along the extension direction of the second track, that is, perpendicular to the horizontal plane, so that the sampling syringe holder can be moved up and down.

[0144] The bottom of the second track is fixed to the first slider, so that under the control of the pulse signal, the first stepper motor can drive the first slider, the second track, the second slider and the sampling syringe holder along the extension direction of the first track, that is, movement in the horizontal plane (for example, movement in the front and back direction), that is, the horizontal plane movement of the sampling syringe holder (for example, movement in the front and back direction) can be realized.

[0145] By combining the above-mentioned stepping motors, sliders and tracks, the up-and-down and forward-and-backward movements of the sampling syringe bracket can be realized.

[0146] The sampling assembly robot is used to move above the sampling syringe bracket and press the pressing pad of the sampling syringe, so that the sampling syringe moves downward until the needle pierces the hole cover of the sampling well plate 140 and enters the hole position, so that the fermentation liquid in the sampling syringe can be injected into the hole position of the sampling well plate 140.

[0147] It should be noted that the sampling and assembly robot may be any robot that has the functions of moving in the horizontal direction and assembling in the vertical direction.

[0148] In some optional embodiments, the sampling assembly robot may be a selective compliance assembly robot arm (SCARA) for plane positioning and vertical assembly.

[0149] In some optional embodiments, the sampling device 1104 may also be provided with a sampling area electronic balance, which is used to weigh the mass during the sampling process. The sampling area electronic balance may send the weighed mass data to the control device 160. A sampling position may be provided above the sampling area electronic balance, which is the position where the sampling orifice plate 140 is located during sampling.

[0150] The sampling device 1105 is used to sample the fermentation liquid in the wells of the sampling well plate 140 into the wells of the sampling well plate 150 .

[0151] Optionally, the sample dividing device 1105 may be provided with a sample dividing assembly robot, N sample dividing syringes, a sample dividing syringe support, N syringe pumps and a syringe feeding device, where N is a positive integer.

[0152] The sampling assembly robot includes a robot body, an upper arm and a lower arm. The upper arm and the lower arm of the sampling assembly robot can rotate horizontally on a horizontal plane. The sampling syringe bracket is used to accommodate the sampling syringe. The sampling syringe bracket is fixedly arranged on the lower arm of the sampling assembly robot. Each sampling syringe is provided with a pressing pad on the top and a needle on the bottom, and the needle is placed vertically downward in the receiving hole of the sampling syringe bracket. N syringe pumps are fixedly arranged on the lower arm of the sampling assembly robot. Each syringe pump corresponds to each sampling syringe one by one and the output end is connected to the corresponding sampling syringe through a pipeline. The syringe pump is used to provide power so that the needle of the corresponding sampling syringe extracts the fermentation liquid from the hole position of the sampling orifice plate 140. The syringe feeding device is fixedly arranged on the lower arm of the sampling assembly robot, and is used to press the pressing pad on the top of the sampling syringe so that the sampling syringe moves downward until the needle is located in the hole position of the sampling orifice plate 140 or the sampling orifice plate 150. The sampling assembly robot is used to move each syringe pump, the sampling syringe bracket and the syringe feeding device in a plane and up and down.

[0153] For example, the wrist rotary shaft at the front end of the small arm of the sampling assembly robot drives the up-down and rotational movement of the sampling syringe holder, so that the injection feeding device, the pressing pad of the sampling syringe in the sampling syringe holder and the horizontal point of the designated hole position in the sampling well plate 140 form a straight line along the Z axis, so that the pressing pad of the sampling syringe can be contacted and pressed by the downward feeding movement of the sampling syringe holder, and the sampling syringe moves downward and the needle enters the designated hole position of the sampling well plate 140. After the corresponding injection pump is turned on, the fermentation liquid can be extracted from the hole position of the sampling well plate 140 to the sampling syringe, and then injected into the hole position of the sampling well plate 150 through the sampling syringe.

[0154] The sampling area robot arm 1106 is used to move along the sampling area track 1107 , and to clamp and move the sampling well plate 140 and the sample dividing well plate 150 .

[0155] The detection device 1201 is used to detect the fermentation liquid in the wells of the sample distribution well plate 150 .

[0156] The detection zone robot arm 1202 is used to move along the detection zone track 1203 , and to clamp and move the sample dividing well plate 150 .

[0157] The transport device 1301 is used to transport the sample dividing plate 150 between the sampling area 110 and the detection area 120 .

[0158] The control device 160 is communicatively connected with the sampling area robot 1106 , the detection area robot 1202 , the orifice plate bin 1102 , the refrigeration device 1103 , the conveying device 1301 , the sampling device 1104 , the sample dividing device 1105 and the detection device 1201 .

[0159] The control device 160 is used to execute locally stored or remotely from a host computer ( Figure 1 The control device 160 receives the biological fermentation liquid automatic sampling, sampling or detection instructions, decomposes the biological fermentation liquid automatic sampling, sampling or detection instructions, and sends them to the sampling area robot 1106, the detection area robot 1202, the orifice plate bin 1102, the refrigeration equipment 1103, the conveying device 1301, the sampling device 1104, the sampling device 1105 or the corresponding equipment in the detection device 1201 that need to perform the corresponding operation for execution. For example, the control device 160 can send instructions to the sampling area robot 1106 to control the sampling area robot 1106 to move along the sampling area track 1107, and to clamp and move the sampling orifice plate 140 and the sampling orifice plate 150. It can also send instructions to the detection area robot 1202 to control the detection area robot 1202 to move along the detection area track 1203, and to clamp and move the sampling orifice plate 150. Instructions can also be sent to the orifice plate bin 1102 to control the orifice plate bin 1102 to open or close, and instructions can also be sent to the refrigeration device 1103 to control the refrigeration device 1103 to open or close. Instructions can also be sent to the conveying device 1301 to control the conveying device 1301 to transport the sample-dividing orifice plate 150 between the sampling area 110 and the detection area 120. Instructions can also be sent to the sampling device 1104 to control the sampling device 1104 to sample the fermentation liquid in the fermenter 1101 and inject the sampled fermentation liquid into the wells of the sampling orifice plate 140. Instructions can also be sent to the sampling device 1105 to control the sampling device 1105 to sample the fermentation liquid in the wells of the sampling orifice plate 140 into the wells of the sampling orifice plate 150. Instructions can also be sent to the detection device 1201 to control the detection device 1201 to detect the fermentation liquid in the wells of the sampling orifice plate 150, etc.

[0160] The control device 160 may be any electronic device with logic operation, data storage and data communication functions. For example, the control device 160 may be a separately set controller, such as a programmable logic controller (PLC), a single-chip microcomputer, an industrial control machine, a desktop computer, a laptop computer, a server, etc.; or it may be a device composed of other electronic devices with input / output ports and operation control functions. For example, the control device 160 may include but is not limited to the following devices: FPGA (Field Programmable Gate Array), ASIC (Application Specific Integrated Circuit), central processing unit (CPU), etc.

[0161] In some optional embodiments, the sampling area robot 1106 is used to take the sampling well plate 140 from the well plate bin 1102 and move it to the sampling device 1104 to sample from the fermenter 1101, then move the sampled sampling well plate 140 to the sampling device 1105, and then take the sampling well plate 150 from the refrigeration equipment 1103 or the well plate bin 1102 and move it to the sampling device 1105 to sample the fermentation liquid in the sampling well plate 140 to the sampling well plate 150. Thus, the process of direct sampling after sampling is realized.

[0162] Specifically, the above-mentioned process of direct sampling after sampling can be carried out as follows: first, the sampling area robot arm 1106 can take the unsampled sampling orifice plate 140 from the orifice plate bin 1102, then, the sampling area robot arm 1106 moves along the sampling area track to move the unsampled sampling orifice plate 140 to the sampling device 1104 and place the sampling orifice plate 140 at the sampling device 1104, then, the fermentation liquid in the fermentation tank 1101 is sampled, and the fermentation liquid enters the hole position of the sampling orifice plate 140, and then, the fermentation liquid is sampled. After the sampling operation is completed, the sampling area robot 1106 moves along the sampling area track again to move the sampling well plate 140 to the sampling device 1105 and place the sampling well plate 140 at the sampling device 1105, and the sampling area robot 1106 takes the sampling well plate 150 from the refrigeration equipment 1103 or the well plate warehouse 1102 and moves it along the sampling area track to the sampling device and places the sampling well plate 150 at the sampling device 1105, and finally, the fermentation liquid in the sampling well plate 140 is sampled to the sampling well plate 150.

[0163] Optionally, the sampling area robot 1106 can also be used to move the sample-dividing well plate 150 after the fermentation liquid in the sampling well plate 140 is divided into the sample-dividing well plate 150 to the refrigeration device 1103 for refrigeration, so as to timely refrigerate the fermentation liquid in the sample-dividing well plate 150. That is, after the sample-dividing operation is completed, if the fermentation liquid in the sample-dividing well plate 150 does not need to be tested immediately, the sampling area robot 1106 can also move the sample-dividing well plate 150 after the sample-dividing well plate 150 for refrigeration. If other operations (such as testing operations) need to be performed on the fermentation liquid in the sample-dividing well plate 150 later, it can be taken from the refrigeration device 1103.

[0164] Optionally, the sampling area robot 1106 can also be used to move the sample-dividing plate 150 after the fermentation liquid in the sampling well plate 140 is divided into the sample-dividing plate 150 to the conveying device 1301, and move it to the detection device 1201 for detection via the conveying device 1301 and the detection area robot 1202 respectively, and move the sample-dividing plate 150 that has been transported from the detection area 120 to the sampling area 110 by the conveying device 1301 to the refrigeration equipment 1103 for refrigeration. That is, after the sampling operation is completed, if it is necessary to detect the fermentation liquid in the sampling well plate 150, the sampling area robot 1106 can also move the sample-separated sampling well plate 150 to the conveying device 1301, and move it to the detection device 1201 for detection via the conveying device 1301 and the detection area robot 1202 respectively. After the detection is completed, the conveying device 1301 transports the sample-separating well plate 150 from the detection area 120 to the sampling area 110, and the sample-separating well plate 150 that has completed the detection is moved to the refrigeration equipment 1103 for refrigeration.

[0165] In some optional embodiments, the transport device 1301 may include: a transition servo module and / or a conveyor belt, which is used to transport the sample dividing well plate 150 between the sampling area 110 and the detection area 120.

[0166] In some optional embodiments, the sample dividing well plate 150 may include a sample dividing well plate for detection.

[0167] Here, the sample separation plate for detection may refer to the sample separation plate that the detection device 1201 needs to use when performing fermentation liquid detection.

[0168] In some optional embodiments, the detection types after sample splitting may include HT (biochemical analysis) detection and HPLC (high performance liquid chromatography) detection.

[0169] HT testing can be used for biochemical analysis of sugars, nitrogen, phosphorus, organic acids (e.g., acetic acid), glycerol, ethanol, etc. in the fermentation broth. HPLC testing is used for liquid chromatography testing, mainly for detecting the concentrations of metabolites, products, and substrates in the fermentation broth.

[0170] Here, different detection types may correspond to different detection sample sub-plates, for example, HT detection corresponds to an HT detection sample sub-plate, and HPLC detection corresponds to an HPLC detection sample sub-plate.

[0171] Based on the optional implementation of the above detection sample splitting plate, optionally, the sampling area robot arm 1106 is used to take the sample splitting plate 150 from the refrigeration device 1103 or the plate bin 1102 and move it to the sampling device 1105 to split the fermentation liquid in the sampling plate 140 into the sample splitting plate 150, which can be performed as follows:

[0172] First, in response to the sampling target being detection after sampling, it is determined whether there are any vacant wells in the detection sampling well plate corresponding to the detection type of detection after sampling in the refrigeration device 1103 .

[0173] That is, here, the sampling target can be determined by the control device 160 after solving the automatic sampling instruction. The sampling target may include post-sampling detection. Among them, post-sampling detection refers to the direct detection of the fermented liquid in the sampling well plate 150 after the sampling operation is completed. If the sampling target is determined to be post-sampling detection, the corresponding detection well plate will be different due to the different detection types. Therefore, the control device 160 can first determine the detection type of post-sampling detection based on the solution result of the automatic sampling instruction. For example, the detection type of post-sampling detection can be HT detection or HPLC detection. Then, it is determined whether there are vacant holes in the detection well plate corresponding to the detection type of post-sampling detection in the refrigeration equipment 1103. For example, when the detection type of post-sampling detection is HT detection, it is determined whether there are vacant holes in the detection well plate for HT detection in the refrigeration equipment 1103, and when the detection type of post-sampling detection is HPLC detection, it is determined whether there are vacant holes in the detection well plate for HPLC detection in the refrigeration equipment 1103.

[0174] If it is determined that there are vacant wells, the sampling area robot arm 1106 takes the sample separation plate with vacant wells corresponding to the test type after sample separation from the refrigeration equipment 1103, and moves it to the sample separation device 1105 for sample separation.

[0175] If it is determined that there are no empty wells, the sampling area robot arm 1106 takes a detection sample-dividing well plate with empty wells corresponding to the detection type to be detected after sample-dividing from the well plate bin 1102, and moves it to the sample-dividing device 1105 for sample-dividing. For example, in response to the detection sample-dividing well plate of the HT detection type having empty wells, the sampling area robot arm 1106 takes a detection sample-dividing well plate with empty wells corresponding to the detection type to be detected after sample-dividing from the refrigeration device 1103, and moves it to the sample-dividing device 1105 for sample-dividing.

[0176] In response to the fact that there are empty wells on the sample separation plate for HPLC detection type, the sampling area robot 1106 takes the sample separation plate with empty wells and the detection type corresponding to the HPLC detection type after sampling from the refrigeration device 1103, and moves it to the sample separation device 1105 for sampling.

[0177] For example, in response to the HT detection type sample splitting well plate having no vacant wells, the sampling area robot arm 1106 takes a sample splitting well plate with vacant wells from the well plate bin 1102, and the detection type to be detected after sample splitting is the HT detection type, and moves it to the sample splitting device 1105 for sample splitting. In response to the HPLC detection type sample splitting well plate having no vacant wells, the sampling area robot arm 1106 takes a sample splitting well plate with vacant wells from the well plate bin 1102, and the detection type to be detected after sample splitting is the HPLC detection type, and moves it to the sample splitting device 1105 for sample splitting.

[0178] By adopting the above optional implementation mode, the utilization rate of the sample separation plates for detection in the refrigeration device 1103 can be improved by preferentially taking the sample separation plates with vacant wells and corresponding to the detection types to be detected after sample separation from the refrigeration device 1103 for sample separation.

[0179] In some optional embodiments, the sample dividing well plate 150 may further include a backup sample dividing well plate.

[0180] Here, the backup sample plate is used for retesting after problems occur in other samples or for manual testing of the biomass content of the fermentation broth.

[0181] In some optional embodiments, the sampling area robot arm 1106 is used to take the sub-sample well plate 150 from the refrigeration device 1103 or the well plate bin 1102 and move it to the sub-sample device 1105 to sample the fermentation liquid in the sampling well plate 140 to the sub-sample well plate 150, which can be performed as follows:

[0182] First, in response to the sample sorting target being temporary storage after sample sorting, it is determined whether there are vacant wells in the backup sample sorting well plate in the refrigeration device 1103 .

[0183] Here, the sampling target can be determined by solving the automatic sampling instruction by the control device 160. The sampling target can also include temporary storage after sampling. Among them, temporary storage after sampling means that the fermentation liquid in the sampling well plate 150 after the sampling operation is completed does not need to be tested, but is placed in the refrigeration device 1103 for temporary storage. If the sampling target is determined to be temporary storage after sampling, the control device 160 can first determine whether there are vacant wells in the backup sampling well plate in the refrigeration device 1103.

[0184] Secondly, if it is determined that there are vacant wells, the sampling area robot arm 1106 takes the backup sample dividing plate with vacant wells from the refrigerating device 1103 and moves it to the sample dividing device 1105 for sample dividing. In response to determining that there are no vacant wells, the sampling area robot arm 1106 takes the backup sample dividing well plate with vacant wells from the well plate bin 1102 and moves it to the sample dividing device 1105 for sample dividing. In response to the backup sample dividing well plate in the refrigerating device 1103 having vacant wells, the sampling area robot arm 1106 takes the backup sample dividing well plate with vacant wells from the refrigerating device 1103 and moves it to the sample dividing device 1105 for sample dividing. In response to the backup sample dividing well plate in the refrigerating device 1103 having no vacant wells, the sampling area robot arm 1106 takes the backup sample dividing well plate with vacant wells from the well plate bin 1102 and moves it to the sample dividing device 1105 for sample dividing.

[0185] By adopting the above optional implementation mode, the utilization rate of the backup sample dividing well plates in the refrigerating device 1103 can be improved by preferentially taking out the existing backup sample dividing well plates from the refrigerating device 1103 for sample dividing.

[0186] In some optional embodiments, the detection device 1201 can be a HT detection device and a HPLC detection device.

[0187] Here, the HT detection device can be used to perform HT detection on the fermentation broth, and the HPLC detection device can be used to perform HPLC detection on the fermentation broth.

[0188] As an example, the HT detection device may be CEDEX HT (Roche biochemical analyzer).

[0189] In some optional embodiments, the detection area robot 1202 is used to transport the conveying device 1301 from the sampling area 110 to the detection area 120, move the sample separation plate 150 after sample separation to the detection device 1201 for detection, and then move the sample separation plate 150 after detection from the detection device 1201 to the conveying device 1301, and move it to the refrigeration equipment 1103 for refrigeration via the conveying device 1301 and the sampling area robot 1106 respectively.

[0190] In some optional embodiments, the biological fermentation liquid automatic detection system further includes a centrifuge 1204 and a centrifugal balancing chamber 1205 disposed in the detection area 120. The centrifuge 1204 is used to centrifuge the liquid in the sample-dividing well plate 150, and the centrifugal balancing chamber 1205 is used to balance the sample-dividing well plate 150.

[0191] Based on the optional implementation of the above-mentioned centrifuge 1204 and the centrifugal balancing chamber 1205, optionally, the detection area robot 1202 is used to transport the conveying device 1301 from the sampling area 110 to the detection area 120, and move the sample dividing plate 150 after sample dividing to the detection device 1201 for detection. It can be: the detection area robot 1202 is used to transport the conveying device 1301 from the sampling area 110 to the detection area 120, and move the sample dividing plate 150 after sample dividing to the centrifugal balancing chamber 1205 for balancing, and then move the balanced sample dividing plate 150 to the centrifuge 1204 for centrifugation, and finally move the sample dividing plate 150 after centrifugation to the detection device 1201 for detection.

[0192] In some optional embodiments, the sampling well plate 140 may be provided with an identity identification code, for example, the identity identification code may be pasted on the side wall of the sampling well plate 140. The identity identification code may be, for example, a barcode or a QR code. Accordingly, the biological fermentation liquid automatic detection system may further include a first identity identification device 170. The area where the first identity identification device 170 is located is the first identity identification area. The first identity identification device 170 is in communication connection with the control device 160. The control device 160 may send an instruction to the first identity identification device 170, so that the first identity identification device 170 performs an identity information collection operation (for example, scanning a code or taking a photo, etc.), and feeds back the collected identity information (for example, a scanning result or a photo, etc.) to the control device 160. As an example, the first identity identification device 170 may be a barcode scanning gun, a camera, etc. Then, the control device 160 may identify the identity information recognition result of the sampling well plate 140 according to the identity information fed back by the first identity identification device 170.

[0193] In some optional embodiments, the sample sub-plate 150 may be provided with an identity identification code, for example, the identity identification code may be pasted on the side wall of the sample sub-plate 150. The identity identification code may be, for example, a barcode or a QR code. Accordingly, the biological fermentation liquid automatic detection system may further include a second identity identification device 180. The area in which the second identity identification device 180 is provided is a second identity identification area. The second identity identification device 180 is in communication connection with the control device 160. The control device 160 may send an instruction to the second identity identification device 180, so that the second identity identification device 180 performs an identity information collection operation (for example, scanning a code or taking a photo, etc.), and feeds back the collected identity information (for example, a scanning result or a photo, etc.) to the control device 160. As an example, the second identity identification device 180 may be a barcode scanning gun, a camera, etc. Then, the control device 160 may identify the identity information recognition result of the sample sub-plate 150 according to the identity information fed back by the second identity identification device 180.

[0194] In some optional embodiments, the sample sub-plate 150 may be provided with an identity identification code, for example, the identity identification code may be pasted on the side wall of the sample sub-plate 150. The identity identification code may be, for example, a barcode or a QR code. Accordingly, the biological fermentation liquid automatic detection system may further include a third identity identification device 190. The area in which the third identity identification device 190 is provided is a third identity identification area. The third identity identification device 190 is in communication connection with the control device 160. The control device 160 may send an instruction to the third identity identification device 190, so that the third identity identification device 190 performs an identity information collection operation (e.g., scanning a code or taking a photo, etc.), and feeds back the collected identity information (e.g., a scanning result or a photo, etc.) to the control device 160. As an example, the third identity identification device 190 may be a barcode scanning gun, a camera, etc. Then, the control device 160 may identify the identity information recognition result of the sample sub-plate 150 according to the identity information fed back by the third identity identification device 190.

[0195] Here, the second identification device 180 and the third identification device 190 can be used to identify the sample dividing well plate 150 at different stages. For example, the second identification device 180 can be used to identify the sample dividing well plate 150 after the sampling area robot 1106 takes the sample dividing well plate 150 from the refrigeration device 1103 or the well plate bin 1102, and the third identification device 190 can be used to identify the sample dividing well plate 150 after centrifugation.

[0196] Reference below Figure 2A . Figure 2A The process 200 of the automatic detection method of biological fermentation liquid according to the present disclosure is shown, and the method can be applied to Figure 1 The biological fermentation broth automatic detection system shown.

[0197] like Figure 2A As shown, the process 200 of the biological fermentation liquid automatic detection method includes steps 201 to 205:

[0198] Step 201: The sampling area robot moves the sample distribution plate to be tested to the conveying device.

[0199] It should be noted that each step of the process 200 corresponds to the control device 160 executing a locally stored or remotely received data from a host computer ( Figure 1The control device 160 receives the biological fermentation liquid automatic detection instruction, decomposes the biological fermentation liquid automatic detection instruction to obtain the corresponding instructions executed by different devices in the biological fermentation liquid automatic detection system, and sends the decomposed instructions to the sampling area robot 1106, the detection area robot 1202, the orifice plate bin 1102, the refrigeration equipment 1103, the conveying device 1301, the sampling device 1104, the sample separation device 1105 and the detection device 1201 in the biological fermentation liquid automatic detection system that needs to execute the corresponding instructions for execution. That is, the sampling area robot 1106, the detection area robot 1202, the orifice plate bin 1102, the refrigeration equipment 1103, the conveying device 1301, the sampling device 1104, the sample separation device 1105 and the detection device 1201 involved in each step of the process 200 are all under the control of the control device 160, and perform the corresponding operations according to the execution order in the process 200.

[0200] Here, the sample sub-plate 150 to be detected refers to the sample sub-plate 150 to be detected obtained after the biological fermentation liquid automatic detection instruction is decomposed.

[0201] In some optional embodiments, the sampling area robot 1106 can take the sample distribution plate 150 to be tested from the refrigeration device 1103 and move it to the conveying device 1301.

[0202] It should be noted that, here, the sample dividing well plate 150 to be tested taken from the refrigerating device 1103 by the sampling area robot arm 1106 can be a sample dividing well plate 150 that has been pre-sampled and stored in the refrigerating device 1103 .

[0203] In some optional embodiments, the sampling area robot 1106 can also separate the samples from the sampling well plate 140 into the sample separation well plate 150 after completing the sample separation operation, and then move the sample separation well plate 150 after the sample separation to the conveying device 1301, that is, step 201 can also specifically include the following steps: Figure 2B Steps 2011 to 2014 are shown:

[0204] Step 2011: The sampling area robot moves the sampling well plate containing the fermentation liquid to be sampled to the original liquid area of ​​the sampling device.

[0205] Here, the sampling well plate 140 containing the fermentation liquid to be sampled may refer to the well plate 140 that has been subjected to sampling operation from the fermentation tank, and the fermentation liquid to be sampled is already contained in different wells of the sampling well plate 140 .

[0206] Here, the raw liquid area of ​​the sampling device 1105 is used to accommodate the sampling well plate 140 containing the fermentation liquid to be sampled.

[0207] In some optional embodiments, step 2011 may be performed as follows: the sampling area robot 1106 may take the sampling well plate 140 containing the fermentation liquid from the refrigeration device 1103, and move the taken sampling well plate 140 as the sampling well plate to be sampled to the original liquid area of ​​the sampling device.

[0208] Here, after the sampling operation is performed on the sampling well plate 140, the sampling well plate 140 containing the fermentation liquid can be stored in the refrigeration device 1103. When testing is required, the sampling area robot arm 1106 can take the sampling well plate 140 containing the fermentation liquid from the refrigeration device 1103, and then move the taken sampling well plate 140 as the sampling well plate 140 to be sampled to the original liquid area of ​​the sampling device 1105 for sampling.

[0209] It should be noted that, in the process of taking the sampling well plate 140 containing the fermentation liquid to be sampled from the refrigeration device 1103, in order to prevent the sampling well plate 140 containing the fermentation liquid to be sampled from being taken and placed (for example, the sampling well plate 150, etc.), in some optional embodiments, the sampling well plate 140 containing the fermentation liquid to be sampled can be provided with an identity identification code, and the biological fermentation liquid automatic detection system 10 can also include a first identity identification device 170 provided in the first identity identification area and communicatively connected to the control device 160. Accordingly, in step 2011, the sampling area robot 1106 moves the sampling well plate 140 containing the fermentation liquid to be sampled to the raw liquid area of ​​the sampling device 1105, which can be performed as follows:

[0210] First, the sampling well plate 140 containing the fermentation liquid to be sampled is placed in the first identity recognition area corresponding to the first identity recognition device 170 for identity recognition.

[0211] For example, the first identity recognition device 170 may be a barcode scanner or a camera. Accordingly, the identity recognition is performed on the sampling well plate 140 containing the fermentation liquid to be sampled, and the barcode scanning result of the barcode scanner can be used as the identity information recognition result, or the identity information recognition result can be obtained by performing image recognition on the image taken by the camera.

[0212] The control device 160 may send a command to the first identity recognition device 170, so that the first identity recognition device 170 performs an identity information collection operation (e.g., scanning a code or taking a photo, etc.), and feeds back the collected identity information (e.g., a code scanning result or a photo, etc.) to the control device 160. Then, the control device 160 may perform identification based on the identity information fed back by the first identity recognition device 170 to obtain an identity information identification result of the sampling well plate 140 containing the fermentation liquid to be sampled.

[0213] Then, the sampling well plate 140 containing the fermentation liquid may be verified according to the identification information recognition result of the sampling well plate 140 containing the fermentation liquid to be sampled.

[0214] If the verification is passed, the sampling well plate 140 containing the fermentation liquid to be sampled is moved to the original liquid area of ​​the sampling device 1105 .

[0215] It should be noted that a preset verification method can be used here to verify the sampling well plate 140 to be divided according to the identity recognition result of the sampling well plate 140 to be divided. For example, the identity information recognition result can be a string text, and whether the character at a specified position (for example, the first 5 characters) in the identity information recognition result is a specified character used to characterize the sampling well plate 140 to be divided can be determined to determine whether the sampling well plate 140 to be divided has been verified.

[0216] Optionally, if the verification fails, the sampling plate 140 containing the fermentation liquid to be sampled can be placed in a waiting area (a specific area in the biological fermentation liquid automatic detection system 10, Figure 1 ), and generates and outputs a prompt message indicating that the object grabbed by the sampling area robot arm 1106 is not the sampling well plate 140 containing the fermentation liquid to be sampled, so that the staff can perform troubleshooting.

[0217] Through the above-mentioned pre-verification process of the sampling well plate 140 containing the fermentation liquid to be sampled, it is possible to avoid placing other objects other than the sampling well plate at the sampling position for sampling, thereby achieving a fool-proof effect in the sampling process.

[0218] In some optional embodiments, step 2011 may also be performed as follows: the sampling area robot arm takes the sampling well plate 140 from the well plate bin 1102 for sampling, and after the sampling operation is completed, directly moves the sampling well plate 140 to the raw liquid area of ​​the sampling device 1105 for sampling. Specifically, step 2011 may specifically include the following steps: Figure 2C Steps 20111 to 20113 shown:

[0219] Step 20111, the sampling area robot arm takes the sampling orifice plate to be sampled from the orifice plate bin and moves it to the sampling device.

[0220] Here, the well plate bin 1102 stores the sampling well plates 140 that have not been sampled, that is, each well of the sampling well plates 140 does not contain fermentation liquid.

[0221] The sampling area robot arm 1106 can take the sampling orifice plate 140 to be sampled from the orifice plate bin 1102 and move it to the sampling device 1104 .

[0222] In the process of taking the sampling well plate 140 to be sampled from the well plate bin 1102, in order to prevent the sampling well plate 140 to be sampled from being taken and placed (for example, the sampling well plate 150, etc.), in some optional embodiments, the sampling well plate 140 to be sampled can be provided with an identity identification code, and the biological fermentation liquid automatic detection system 10 can also include a first identity identification device 170 provided in the first identity identification area and communicatively connected to the control device 160. Accordingly, step 2011, the sampling area robot 1106 takes the sampling well plate 140 to be sampled from the well plate bin 1102 and moves it to the sampling device 1104, can be performed as follows:

[0223] First, the sampling well plate 140 to be sampled is placed in the first identity recognition area corresponding to the first identity recognition device 170 for identity recognition.

[0224] For example, the first identification device 170 may be a barcode scanner or a camera. Accordingly, the sampling plate 140 to be sampled may be identified by using the barcode scanning result of the barcode scanner as the identification result, or by performing image recognition on the image taken by the camera to obtain the identification result.

[0225] The control device 160 may send a command to the first identity recognition device 170, so that the first identity recognition device 170 performs an identity information collection operation (e.g., scanning a code or taking a photo, etc.), and feeds back the collected identity information (e.g., a code scanning result or a photo, etc.) to the control device 160. Then, the control device 160 may perform identification based on the identity information fed back by the first identity recognition device 170 to obtain an identity information identification result of the sampling well plate 140 to be sampled.

[0226] Then, the sampling well plate 140 to be sampled may be verified according to the identification information recognition result of the sampling well plate 140 to be sampled.

[0227] If the verification is passed, the sampling orifice plate 140 to be sampled is moved to the sampling device 1104 .

[0228] It should be noted that a preset verification method can be used here to verify the sampling well plate 140 to be sampled according to the identity recognition result of the sampling well plate 140 to be sampled. For example, the identity information recognition result can be a string text, and whether the character at a specified position (for example, the first 5 characters) in the identity information recognition result is a specified character used to represent the sampling well plate 140 to be sampled can be determined to determine whether the sampling well plate 140 to be sampled has been verified.

[0229] Optionally, if the verification fails, the sampling plate 140 to be sampled can be placed in a waiting area (a specific area in the biological fermentation liquid automatic detection system 10, Figure 1 ), and generates and outputs a prompt message indicating that the object grabbed by the sampling area robot arm 1106 is not the sampling orifice plate 140 to be sampled, so that the staff can perform troubleshooting.

[0230] Through the above-mentioned pre-verification process of the sampling hole plate 140 to be sampled, it is possible to avoid placing other objects that are not sampling hole plates into the sampling position for sampling, thereby achieving a fool-proof effect in the sampling process.

[0231] Step 20112: The sampling device extracts fermentation liquid from each fermentation tank to be sampled and injects it into the corresponding target sampling hole position in the sampling hole plate.

[0232] In this embodiment, since there are multiple holes in the sampling hole plate 140 , in order to improve the sampling efficiency, samples can be taken from at least one fermentation tank each time and injected into different holes in the sampling hole plate 140 .

[0233] The sampling device 1104 can extract fermentation liquid from each fermentation tank to be sampled and inject it into the corresponding target sampling hole position in the sampling hole plate when receiving the biological fermentation liquid automatic sampling instruction. Among them, the biological fermentation liquid automatic sampling instruction can be used to indicate which fermentation tanks of the biological fermentation liquid automatic detection system need to be sampled for this sampling, and the sampled fermentation tank is the fermentation tank to be sampled. It is also used to indicate the quality of the specific sampled fermentation liquid from each fermentation tank to be sampled, and it is also used to indicate which specific hole position in the sampling hole plate 140 the fermentation liquid sampled from each fermentation tank to be sampled needs to be injected. Therefore, the biological fermentation liquid automatic sampling instruction can include N sampling instructions, each sampling instruction includes: the fermentation tank to be sampled identification, the target sampling quality and the target hole position identification. N is a natural number. Among them, the target hole position identification is used to indicate the specific hole position where the fermentation liquid needs to be injected, that is, the target hole position.

[0234] It should be noted that the sampling order between different fermentation tanks to be sampled may be specified in the biological fermentation liquid automatic sampling instruction, or it may not be specified. If the sampling order is specified, in step 20112, the fermentation tank sampling operation may be performed according to the specified sampling order between different fermentation tanks to be sampled; conversely, if the sampling order is not specified, the sampling order between different fermentation tanks to be sampled may not be fixed.

[0235] Step 20113, the sampling area robot moves the sampled sampling well plate as the sampling well plate to be sampled to the raw liquid area of ​​the sampling device, and takes the sampled well plate to be sampled from the refrigeration equipment or well plate warehouse and moves it to the raw liquid area of ​​the sampling device.

[0236] The sampling area robot 1106 can move the sampled sampling well plate 140 as the sampling well plate 140 to be sampled from the sampling device 1104 along the sampling area track to the original liquid area of ​​the sampling device 1105, and then place the sampling well plate 140 to be sampled in the original liquid area of ​​the sampling device 1105 to wait for sampling.

[0237] Through the optional implementation of the above steps 20111 to 20113, it is possible to realize automatic sampling and then prepare the sampling plate for the subsequent sampling operation. Then, the process can go to step 2012 to continue.

[0238] Step 2012: The sampling area robot arm takes the sample separation orifice plate to be sampled from the refrigeration equipment or the orifice plate warehouse and moves it to the liquid separation area of ​​the sample separation device.

[0239] After step 2011, the sampling area robot arm 1106 moves the sampling well plate 140 to be sampled to the original liquid area of ​​the sampling device 1105.

[0240] In this step, the sampling area robot arm 1106 takes the sample separation orifice plate 150 to be sampled from the refrigeration equipment 1103 or the orifice plate warehouse 1102 and moves it to the liquid separation area of ​​the sample separation device 1105.

[0241] Here, the liquid separation area of ​​the sample separation device 1105 is used to place the sampling area robot arm 1106 to take the sample separation well plate 150 to be sampled from the refrigeration equipment 1103 or the well plate warehouse 1102.

[0242] In the process of taking the sample-dividing orifice plate 150 to be sampled from the refrigerating device 1103 or the orifice plate bin 1102, in order to prevent the sample-dividing orifice plate 150 to be sampled from being taken and placed (for example, the sampling orifice plate 140, etc.), in some optional embodiments, the sample-dividing orifice plate 150 to be sampled can be provided with an identity identification code, and the biological fermentation liquid automatic detection system 10 can also include a second identity identification device 180 arranged in the second identity identification area and communicatively connected to the control device 160. Accordingly, in step 2012, the sampling area robot 1106 takes the sample-dividing orifice plate 150 to be sampled from the refrigerating device 1103 or the orifice plate bin 1102 and moves it to the liquid separation area of ​​the sample separation device 1105, which can be performed as follows:

[0243] First, the sample dividing plate 150 to be divided is placed in the second identity recognition area corresponding to the second identity recognition device 180 for identity recognition.

[0244] For example, the second identification device 180 can be a barcode scanner or a camera. Accordingly, the identification of the sample separation plate 150 to be separated can be performed by using the barcode scanning result of the barcode scanner as the identification information result, or by performing image recognition on the image taken by the camera to obtain the identification information result.

[0245] The control device 160 may send a command to the second identity recognition device 180, so that the second identity recognition device 180 performs an identity information collection operation (e.g., scanning a code or taking a photo, etc.), and feeds back the collected identity information (e.g., a code scanning result or a photo, etc.) to the control device 160. Then, the control device 160 may perform identification based on the identity information fed back by the second identity recognition device 180 to obtain an identity information identification result of the sample separation well plate 150 to be separated.

[0246] Then, the sample dividing well plate 150 for dividing the samples may be verified according to the identification information recognition result of the sample dividing well plate 150 to be divided.

[0247] If the verification is passed, the sample separation plate 150 to be sampled is moved to the liquid separation area of ​​the sample separation device 1105 .

[0248] It should be noted that a preset verification method can be used here to verify the sample-dividing well plate 150 to be divided according to the identity recognition result of the sample-dividing well plate 150 to be divided. For example, the identity information recognition result can be a string text, and whether the character at a specified position (for example, the first 5 characters) in the identity information recognition result is a specified character used to characterize the sample-dividing well plate 150 to be divided can be determined to determine whether the sample-dividing well plate 150 to be divided has been verified.

[0249] Optionally, if the verification fails, the sample-dividing plate 150 to be divided can be placed in a waiting area (a specific area in the biological fermentation liquid automatic detection system 10, Figure 1 ), and generates and outputs a prompt message indicating that the object grabbed by the sampling area robot arm 1106 is not the sample separation plate 150 to be sampled, so that the staff can perform troubleshooting.

[0250] By means of the above-mentioned pre-verification process of the sample dividing plate 150 to be divided, it is possible to avoid placing other objects other than the sample dividing plate to be divided into the liquid dividing area for sample dividing, thereby achieving a fool-proof effect in the sample dividing process.

[0251] In some optional embodiments, the sample dividing plate 150 may include a sample dividing plate for detection. Accordingly, the step 2012 of taking the sample dividing plate to be divided may specifically include: Figure 2D Steps 20121 to 20123 shown:

[0252] Step 20121, in response to the sampling target being detection after sampling, determining whether there are any vacant wells in the sampling plate for detection corresponding to the detection type of detection after sampling in the refrigeration equipment.

[0253] In some optional embodiments, the detection type of the detection after the sample separation can include HT detection and HPLC detection. Different detection types can correspond to different detection sample separation well plates, for example, HT detection corresponds to a detection sample separation well plate for HT detection, and HPLC detection corresponds to a detection sample separation well plate for HPLC detection.

[0254] Here, the sampling target can be determined by the control device 160 after solving the automatic sampling instruction. The sampling target may include post-sampling detection. Wherein, post-sampling detection refers to the direct detection of the fermented liquid in the sampling well plate 150 after the sampling operation is completed. If the sampling target is determined to be post-sampling detection, the corresponding detection well plate will be different due to the different detection types. Therefore, the control device 160 can first determine the detection type of post-sampling detection according to the solution result of the automatic sampling instruction. For example, the detection type of post-sampling detection can be HT detection or HPLC detection. Then, it is determined whether there are vacant holes in the detection well plate corresponding to the detection type of post-sampling detection in the refrigeration equipment 1103. For example, when the detection type of post-sampling detection is HT detection, it is determined whether there are vacant holes in the detection well plate for HT detection in the refrigeration equipment 1103, and when the detection type of post-sampling detection is HPLC detection, it is determined whether there are vacant holes in the detection well plate for HPLC detection in the refrigeration equipment 1103.

[0255] Step 20122, in response to determining that there are vacant wells, the sampling area robot arm takes a test sample separation plate with vacant wells corresponding to the test type to be tested after sample separation from the refrigeration device, and moves it to the liquid separation area of ​​the sample separation device.

[0256] For example, when the detection type after sample splitting is HT detection, in response to the HT detection type detection sample splitting well plate having vacant wells, the sampling area robot 1106 takes the detection sample splitting well plate with vacant wells corresponding to the HT detection type after sample splitting from the refrigerating device 1103, and moves it to the liquid separation area of ​​the sample splitting device 1105. When the detection type after sample splitting is HPLC detection, in response to the HPLC detection type detection sample splitting well plate having vacant wells, the sampling area robot 1106 takes the detection sample splitting well plate with vacant wells corresponding to the HPLC detection type after sample splitting from the refrigerating device 1103, and moves it to the liquid separation area of ​​the sample splitting device 1105.

[0257] Step 20123, in response to determining that there are no empty wells, the sampling area robot arm takes a test sample separation well plate with empty wells corresponding to the test type after sample separation from the well plate bin, and moves it to the liquid separation area of ​​the sample separation device.

[0258] For example, when the detection type after sample splitting is HT detection, in response to the detection type of HT detection type, the detection sample splitting well plate has no vacant wells, the sampling area robot 1106 takes the detection sample splitting well plate with vacant wells from the well plate bin 1102, and moves it to the liquid separation area of ​​the sample splitting device 1105. When the detection type after sample splitting is HPLC detection, in response to the detection type of HPLC detection type, the detection sample splitting well plate has no vacant wells, the sampling area robot 1106 takes the detection sample splitting well plate with vacant wells from the well plate bin 1102, and moves it to the liquid separation area of ​​the sample splitting device 1105.

[0259] Through the optional implementation of the above-mentioned steps 20121 to 20123, the utilization rate of the holes of the detection hole plate in the refrigeration equipment 1103 can be improved.

[0260] Step 2013: the sampling device samples the fermentation liquid in the sampling well plate to be sampled into the sampling well plate to be sampled.

[0261] After step 2012, the sampling area robot arm 1106 takes the sample separation well plate to be sampled from the refrigeration equipment 1103 or the well plate warehouse 1102 and moves it to the liquid separation area of ​​the sample separation device.

[0262] In this step, the sampling device 1105 can sample the fermentation liquid in the sampling well plate 140 to be sampled into the sampling well plate 150 to be sampled when receiving the automatic sampling instruction of the biological fermentation liquid.

[0263] Here, the biological fermentation liquid automatic sampling instruction can be used to indicate which sampling holes of the sampling hole plate 140 to be sampled in the biological fermentation liquid automatic detection system need to be sampled from this sampling, the volume of the fermentation liquid to be sampled from each sampling hole, and which sampling syringe to inject the sampled fermentation liquid into, and also to indicate how much volume of liquid in which specific sampling syringe of each sampling syringe is injected into which specific liquid separation hole position in the sampling hole plate 150. Therefore, the biological fermentation liquid automatic sampling instruction may include a sampling instruction for the sampling hole plate 140 to be sampled and a sampling instruction for the sampling hole plate 150 to be sampled. Among them, the sampling instruction for the sampling hole plate 140 to be sampled includes the sampling hole plate identifier of the sampling hole plate 140 to be sampled and Q sampling instructions, Q is a natural number, and each sampling instruction includes: a target sampling hole position identifier, a target sampling capacity, and a first sampling syringe identifier. Each sampling instruction is used to instruct the first sampling syringe indicated by the first sampling syringe identifier to sample a target sampling volume of liquid from the target sampling well position indicated by the target sampling well position identifier in the sampling well plate. The sampling instruction includes a sampling well plate identifier and F sampling instructions, where F is a natural number, and each sampling instruction includes: a target sampling well position identifier, a target sampling volume, and a second sampling syringe identifier. The sampling instruction is used to instruct the second sampling syringe indicated by the second sampling syringe identifier to inject (or, dispense) a target sampling volume of liquid into the target sampling well position indicated by the target sampling well position identifier in the sampling well plate.

[0264] In step 2014, the sampling area robot moves the sample-separated sample well plate as the sample-separated sample well plate to the conveying device.

[0265] After step 2013, the sampling device samples the fermentation liquid in the sampling well plate to be sampled to the sampling well plate to be sampled. In this step, the sampling area robot arm 1106 can use the sampled sampling well plate 150 as the conveying device 1301 of the sampling well plate 150 to be tested.

[0266] In some optional embodiments, the sample dividing plate may include a backup sample dividing plate. In the above optional embodiment of step 201: before the sampling area robot arm 1106 takes the sample dividing plate 150 to be detected from the refrigeration device 1103 and moves it to the conveying device 1301, the above automatic detection method 200 of the biological fermentation liquid may also include the following steps: Figure 2E Steps 201' to 205' are shown as follows:

[0267] Step 201 ′: the sampling area robot arm 1106 moves the sampling well plate 140 containing the fermentation liquid to be sampled to the original liquid area of ​​the sampling device 1105 .

[0268] Step 202 ′, in response to the sample sorting target being temporary storage after sample sorting, determining whether there are any vacant wells in the backup sample sorting well plate in the refrigerating device 1103 .

[0269] Here, the sampling target can be determined by solving the automatic sampling instruction by the control device 160. The sampling target can also include temporary storage after sampling. Among them, temporary storage after sampling means that the fermentation liquid in the sampling well plate 150 after the sampling operation is completed does not need to be tested, but is placed in the refrigeration device 1103 for temporary storage. If the sampling target is determined to be temporary storage after sampling, the control device 160 can first determine whether there are vacant wells in the backup sampling well plate in the refrigeration device 1103.

[0270] If it is determined that there is a vacant hole, go to step 203' for execution.

[0271] If it is determined that there is no vacant hole, the process goes to step 204 ′.

[0272] Step 203 ′: the sampling area robot arm 1106 takes a backup sample separation plate with vacant wells from the refrigeration device and moves it to the liquid separation area of ​​the sample separation device 1105 .

[0273] After executing step 203', go to step 205' for execution.

[0274] Step 204 ′: the sampling area robot arm 1106 takes a backup sample separation well plate with vacant wells from the well plate bin and moves it to the liquid separation area of ​​the sample separation device 1105 .

[0275] After executing step 204', go to step 205' for execution.

[0276] Step 205', the sampling device 1105 samples the fermentation liquid in the sampling well plate 140 in the raw liquid area to the backup sampling well plate in the liquid separation area, and the sampling area robot 1106 moves the sampled sampling well plate 150 to the refrigeration equipment 1103 for refrigeration.

[0277] By adopting the optional implementation of the above steps 201 ′ to 205 ′, the utilization rate of the backup sample sorting well plates in the refrigeration device 1103 can be improved by preferentially taking the backup sample sorting well plates with vacant wells from the refrigeration device 1103 for sample sorting.

[0278] Step 202: The transport device transports the sample distribution plate to be tested from the sampling area to the testing area.

[0279] When receiving a transport instruction for the sample dividing well plate 150 , the transport device 1301 can transport the sample dividing well plate 150 between the sampling area 110 and the detection area 120 .

[0280] Here, the transport device 1301 can transport the sample distribution plate to be detected from the sampling area to the detection area.

[0281] Step 203: the detection zone robot moves the sample separation plate to be detected from the conveying device to the detection device for detection, and moves the detected sample separation plate from the detection device to the conveying device.

[0282] After step 202, the sample dividing plate to be tested is placed in the detection area. In this step, the detection area robot 1202 can move the sample dividing plate 150 to be tested from the conveying device 1301 to the detection device 1201 for testing, and after the detection is completed, move the tested sample dividing plate 150 from the detection device 1201 to the conveying device 1301.

[0283] In some optional embodiments, the biological fermentation liquid automatic detection system may further include a centrifuge 1204 and a centrifugal balancing chamber 1205 disposed in the detection area 120. The centrifuge 1204 is used to centrifuge the liquid in the sample-dividing well plate 150. The centrifugal balancing chamber 1205 is used to balance the sample-dividing well plate 150. Accordingly, in step 203, the detection area robot 1202 moves the sample-dividing well plate 150 to be detected from the conveying device 1301 to the detection device 1201 for detection, which may be performed as follows:

[0284] First, the detection area robot 1202 moves the conveying device 1301 from the sample distribution plate 150 to be detected to the centrifugal balancing chamber 1205 for balancing.

[0285] Then, the detection area robot arm 1202 moves the balanced sample distribution plate 150 to the centrifuge 1204 for centrifugation.

[0286] Finally, the detection area robot 1202 moves the centrifuged sample separation plate 150 to the detection device 1201 for detection.

[0287] In the process of moving the centrifuged sample-dividing plate 150 to the detection device 1201 for detection, in order to prevent the sample-dividing plate 150 that is not centrifuged from being taken and placed (for example, the sampling plate 140, etc. is taken and placed), in some optional embodiments, the centrifuged sample-dividing plate 150 may be provided with an identity identification code, and the biological fermentation liquid automatic detection system 10 may further include a third identity identification device 190 that is provided in the third identity identification area and is communicatively connected to the control device 160. Accordingly, the detection area robot 1202 moves the centrifuged sample-dividing plate 150 to the detection device 1201 for detection, which may be performed as follows:

[0288] First, the centrifuged sample separation plate 150 is placed in the third identity recognition area corresponding to the third identity recognition device 190 for identity recognition.

[0289] For example, the third identification device 190 can be a barcode scanner or a camera. Accordingly, the identification of the sample plate 150 after centrifugation can be performed by using the barcode scanner's scanning result as the identification information result, or by performing image recognition on the image taken by the camera to obtain the identification information result.

[0290] The control device 160 may send a command to the third identity recognition device 190, so that the third identity recognition device 190 performs an identity information collection operation (e.g., scanning a code or taking a photo, etc.), and feeds back the collected identity information (e.g., a code scanning result or a photo, etc.) to the control device 160. Then, the control device 160 may perform identification based on the identity information fed back by the third identity recognition device 190 to obtain an identity information identification result of the sample sub-plate 150 after centrifugation.

[0291] Then, the centrifuged sample dividing well plate 150 may be verified according to the identification information recognition result of the centrifuged sample dividing well plate 150 .

[0292] If the verification is passed, the sample separation plate 150 after centrifugation is moved to the detection device 1201 for detection.

[0293] It should be noted that a preset verification method can be used here to verify the centrifuged sample sub-plate 150 according to the identity recognition result of the centrifuged sample sub-plate 150. For example, the identity information recognition result can be a string text, and whether the centrifuged sample sub-plate 150 is verified can be determined by determining whether the character at a specified position (for example, the first 5 characters) in the identity information recognition result is a specified character used to characterize the centrifuged sample sub-plate 150.

[0294] Optionally, if the verification fails, the centrifuged sample plate 150 can be placed in a waiting area (a specific area in the biological fermentation liquid automatic detection system 10, Figure 1 ), and generates and outputs a prompt message indicating that the object grabbed by the detection zone robot arm 1202 is not the sample separation plate 150 after centrifugation, so that the staff can perform troubleshooting.

[0295] Through the above-mentioned pre-verification process of the centrifuged sample dividing well plate 150, it is possible to avoid placing other items other than the centrifuged sample dividing well plate 150 into the detection device 1201 for detection, thereby achieving a fool-proof effect in the detection process.

[0296] Step 204: The transport device transports the tested sample separation well plate from the detection area to the sampling area.

[0297] When receiving a transport instruction for the sample dividing well plate 150 , the transport device 1301 can transport the sample dividing well plate 150 after detection from the detection area to the sampling area.

[0298] Step 205: The sampling area robot moves the sample separation plate after detection to a refrigeration device for refrigeration.

[0299] The sampling area robot arm 1106 moves the sample dividing plate 150 after detection along the sampling area track to the refrigeration device 1103 for refrigeration to wait for the next detection operation.

[0300] As another aspect, the present disclosure further provides a control device, comprising: one or more processors; a storage device having one or more programs stored thereon, wherein when the one or more programs are executed by the one or more processors, Figure 1 The embodiment and its optional implementation methods described in the embodiment are as follows: Figure 2A and the methods described in its optional embodiments.

[0301] As another aspect, the present disclosure further provides a computer-readable storage medium having a computer program stored thereon, wherein when the computer program is executed by one or more processors, Figure 1 The biological fermentation liquid automatic detection system described in the embodiment shown and its optional implementation mode is implemented as follows Figure 2A and the methods described in its optional embodiments.

[0302] As another aspect, the present disclosure further provides a computer program product, including a computer program / instruction, which, when executed by a processor, enables Figure 1 The biological fermentation liquid automatic detection system described in the embodiment shown and its optional implementation mode is implemented as follows Figure 2A and the methods described in its optional embodiments.

[0303] The flow chart and block diagram in the accompanying drawings illustrate the possible architecture, function and operation of the system, method and computer program product according to various embodiments of the present disclosure. In this regard, each square box in the flow chart or block diagram can represent a module, a program segment or a part of a code, and the module, the program segment or a part of the code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some implementations as replacements, the functions marked in the square box can also occur in a sequence different from that marked in the accompanying drawings. For example, two square boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each square box in the block diagram and / or flow chart, and the combination of the square boxes in the block diagram and / or flow chart can be implemented with a dedicated hardware-based system that performs a specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.

[0304] The above description is only a preferred embodiment of the present disclosure and an explanation of the technical principles used. Those skilled in the art should understand that the scope of the invention involved in the present disclosure is not limited to the technical solution formed by a specific combination of the above technical features, but should also cover other technical solutions formed by any combination of the above technical features or their equivalent features without departing from the above invention concept. For example, the above features are replaced with the technical features with similar functions disclosed in the present disclosure (but not limited to) by each other.

Claims

1. A biological fermentation liquid automatic detection system, comprising a sampling area, a detection area and a conveying area, wherein the sampling area is provided with at least one fermentation tank, a perforated plate bin, a refrigeration device, a sampling device, a sample dividing device, a sampling area mechanical arm and a sampling area track, the detection area is provided with a detection device, a detection area mechanical arm and a detection area track, the conveying area is located between the sampling area and the detection area, and the conveying area is provided with a conveying device, wherein: The fermentation tank is used to contain the fermentation liquid; The orifice plate bin is used to store sampling orifice plates that have not been sampled and sample-dividing orifice plates that have not been sampled; The refrigeration equipment is used to store the sampling well plates that have been sampled and the sample dividing well plates that have been divided; The sampling device is used to sample the fermentation liquid in the fermentation tank and inject the sampled fermentation liquid into the holes of the sampling orifice plate; The sampling device is used to sample the fermentation liquid in the wells of the sampling well plate into the wells of the sampling well plate; The sampling area mechanical arm is used to move along the sampling area track, and is used to clamp and move the sampling well plate and the sample dividing well plate; The detection device is used to detect the fermentation liquid in the wells of the sampling well plate; The detection zone mechanical arm is used to move along the detection zone track, and to clamp and move the sample dividing well plate; A conveying device, used for conveying the sample dividing well plate between the sampling area and the detection area; The control device is communicatively connected with the sampling area robot arm, the detection area robot arm, the orifice plate bin, the refrigeration equipment, the conveying device, the sampling device, the sample dividing device and the detection device.

2. The biological fermentation liquid automatic detection system according to claim 1, wherein: The sampling area robotic arm is used to take the sampling well plate from the well plate bin and move it to the sampling device to sample from the fermenter, move the sampled sampling well plate to the sampling device, and take the sampling well plate from the refrigeration equipment or the well plate bin and move it to the sampling device to sample the fermentation liquid in the sampling well plate to the sampling well plate.

3. The biological fermentation liquid automatic detection system according to claim 2, wherein: The sampling area robot arm is also used to move the sample separation plate after sample separation to the refrigeration equipment for refrigeration.

4. The biological fermentation liquid automatic detection system according to claim 2, wherein: The sampling area mechanical arm is also used for: The sample-separated well plate is moved to the conveying device, and then moved to the detection device through the conveying device and the detection area robot arm for detection; and The sample dividing plate that has been transported from the detection area to the sampling area by the transport device and has completed the detection is moved to the refrigeration equipment for refrigeration.

5. The biological fermentation liquid automatic detection system according to claim 4, wherein: The detection area robot arm is used for: The conveying device conveys the samples from the sampling area to the detection area, and moves the sample separation plate to the detection device for detection. The sample separation plate after detection is moved from the detection device to the conveying device, and then moved to the refrigeration equipment via the conveying device and the sampling area robot arm for refrigeration.

6. The biological fermentation liquid automatic detection system according to claim 1, wherein: The conveying device includes: a transition servo module and / or a conveyor belt.

7. The biological fermentation liquid automatic detection system according to claim 4, wherein: The sample dividing well plate comprises: a sample dividing well plate for detection.

8. The biological fermentation liquid automatic detection system according to claim 7, wherein: The sampling area robot arm is used to take the sampling well plate from the refrigeration equipment or the well plate warehouse and move it to the sampling device to sample the fermentation liquid in the sampling well plate to the sampling well plate, including: In response to the sampling target being detection after sampling, determining whether there are vacant wells in the detection sample splitting well plate corresponding to the detection type of detection after sampling in the refrigeration device; In response to determining that there are vacant wells, the sampling area robot arm takes a sample-dividing well plate with vacant wells corresponding to the test type to be tested after sample separation from the refrigeration device, and moves it to the sample-dividing device for sample separation; In response to determining that there are no empty wells, the sampling area robot arm takes a sample separation well plate with empty wells corresponding to the test type to be tested after sample separation from the well plate warehouse, and moves it to the sample separation device for sample separation.

9. The biological fermentation liquid automatic detection system according to claim 8, wherein: The detection types after the sample separation include: HT detection and HPLC detection.

10. The biological fermentation liquid automatic detection system according to claim 9, wherein: The detection device comprises: an HT detection device and an HPLC detection device.

11. The biological fermentation liquid automatic detection system according to claim 3, wherein: The sample dividing well plate comprises: a backup sample dividing well plate; and The sampling area robot arm is used to take the sampling well plate from the refrigeration equipment or the well plate warehouse and move it to the sampling device to sample the fermentation liquid in the sampling well plate to the sampling well plate, including: In response to the sample splitting target being temporary storage after sample splitting, determining whether there are vacant wells in the backup sample splitting well plate in the refrigeration device; In response to determining that there are vacant holes, the sampling area robot arm takes a backup sample separation plate with vacant holes from the refrigeration device and moves it to the sample separation device for sample separation; In response to determining that there are no vacant wells, the sampling area robot arm takes a backup sample sorting well plate with vacant wells from the well plate bin and moves it to the sample sorting device for sample sorting.

12. The biological fermentation liquid automatic detection system according to claim 5, wherein: The biological fermentation liquid automatic detection system also includes: A centrifuge, arranged in the detection area, for centrifuging the liquid in the sample well plate; The centrifugal balancing chamber is used to balance the sample well plate.

13. The biological fermentation liquid automatic detection system according to claim 12, wherein: The detection zone robot arm is used to transport the conveying device from the sampling zone to the detection zone, and move the sample separation plate after sample separation to the detection device for detection, including: The detection area robot arm is used for: The conveying device transports the sample separation hole plate from the sampling area to the detection area, and the sample separation hole plate is moved to the centrifugal balancing bin for balancing; Moving the balanced sample-dividing well plate to the centrifuge for centrifugation; The centrifuged sample separation well plate is moved to the detection device for detection.

14. The biological fermentation liquid automatic detection system according to claim 1, wherein the sampling well plate is provided with an identity identification code, and the biological fermentation liquid automatic detection system further comprises: The first identity recognition device is arranged in the first identity recognition area and is communicatively connected with the control device.

15. The biological fermentation liquid automatic detection system according to claim 1, wherein the sample distribution plate is provided with an identity identification code, and the biological fermentation liquid automatic detection system further comprises: The second identity recognition device is arranged in the second identity recognition area and is communicatively connected with the control device.

16. The biological fermentation liquid automatic detection system according to claim 1, wherein the sample separation plate is provided with an identity identification code, and the biological fermentation liquid automatic detection system further comprises: The third identity recognition device is arranged in the third identity recognition area and is communicatively connected with the control device.

17. A method for automatically detecting a biological fermentation liquid, applied to the biological fermentation liquid automatic detection system according to any one of claims 1 to 16, the method comprising: The sampling area robot moves the sample distribution plate to be tested to the conveying device; The conveying device conveys the sample dividing plate to be detected from the sampling area to the detection area; The detection zone robot moves the sample-dividing well plate to be detected from the conveying device to the detection device for detection, and moves the detected sample-dividing well plate from the detection device to the conveying device; The conveying device conveys the detected sample dividing well plate from the detection area to the sampling area; The sampling area robot moves the sample separation plate after detection to the refrigeration equipment for refrigeration.

18. The method for automatic detection of biological fermentation liquid according to claim 17, wherein: The sampling area robot moves the sample distribution plate to be detected to the conveying device, including: The sampling area robot arm takes the sample distribution plate to be tested from the refrigeration equipment and moves it to the conveying device.

19. The method for automatic detection of biological fermentation liquid according to claim 17, wherein: The sampling area robot moves the sample distribution plate to be detected to the conveying device, including: The sampling area robot moves the sampling well plate containing the fermentation liquid to be sampled to the original liquid area of ​​the sampling device; The sampling area robot arm takes the sample separation orifice plate to be sampled from the refrigeration equipment or the orifice plate warehouse and moves it to the liquid separation area of ​​the sample separation device; The sampling device samples the fermentation liquid in the sampling well plate to be sampled to the sampling well plate to be sampled; The sampling area robot arm moves the sample-separated sample well plate as the sample-separated sample well plate to the conveying device.

20. The method for automatic detection of biological fermentation liquid according to claim 19, wherein: The sampling area robot moves the sampling well plate containing the fermentation liquid to be sampled to the original liquid area of ​​the sampling device, including: The sampling area robot arm takes the sampling well plate containing the fermentation liquid from the refrigeration equipment, and moves the taken sampling well plate as the sampling well plate to be sampled to the original liquid area of ​​the sampling device.

21. The method for automatic detection of biological fermentation liquid according to claim 19, wherein: The sampling area robot moves the sampling well plate containing the fermentation liquid to be sampled to the original liquid area of ​​the sampling device, including: The sampling area robot arm takes the sampling orifice plate to be sampled from the orifice plate bin and moves it to the sampling device; The sampling device extracts fermentation liquid from each fermentation tank to be sampled and injects it into the corresponding target sampling hole position in the sampling hole plate; The sampling area robot arm moves the sampled sampling well plate as the sampling well plate to be sampled to the raw liquid area of ​​the sampling device, and takes the sampled well plate to be sampled from the refrigeration equipment or the well plate warehouse and moves it to the raw liquid area of ​​the sampling device.

22. The method for automatic detection of biological fermentation liquid according to claim 19, wherein: The sample dividing well plate comprises: a sample dividing well plate for detection; and The sampling area robot arm takes the sample separation orifice plate to be sampled from the refrigeration equipment or the orifice plate warehouse and moves it to the liquid separation area of ​​the sample separation device, including: In response to the sampling target being detection after sampling, determining whether there are vacant wells in the detection sample splitting well plate corresponding to the detection type of detection after sampling in the refrigeration device; In response to determining that there are vacant wells, the sampling area robot arm takes a sample separation plate with vacant wells corresponding to the test type to be tested after sample separation from the refrigeration device, and moves it to the liquid separation area of ​​the sample separation device; In response to determining that there are no empty wells, the sampling area robot arm takes a sample separation well plate with empty wells corresponding to the test type to be tested after sample separation from the well plate warehouse, and moves it to the liquid separation area of ​​the sample separation device.

23. The method for automatic detection of biological fermentation liquid according to claim 18, wherein: The sample dividing well plate includes a backup sample dividing well plate; as well as Before the sampling area robot arm takes the sample distribution plate to be tested from the refrigeration device and moves it to the conveying device, the method further includes: The sampling area robot moves the sampling well plate containing the fermentation liquid to be sampled to the original liquid area of ​​the sampling device; In response to the sample splitting target being temporary storage after sample splitting, determining whether there are vacant wells in the backup sample splitting well plate in the refrigeration device; In response to determining that there are vacant wells, the sampling area robot arm takes a backup sample separation well plate with vacant wells from the refrigeration device and moves it to the liquid separation area of ​​the sample separation device; In response to determining that there are no vacant wells, the sampling area robot arm takes a backup sample separation well plate with vacant wells from the well plate bin and moves it to the liquid separation area of ​​the sample separation device; The sampling device samples the fermentation liquid in the sampling well plate in the original liquid area to the backup sampling well plate in the liquid separation area; The sampling area robot moves the sample-separated well plate to the refrigeration device for refrigeration.

24. The method for automatic detection of biological fermentation liquid according to claim 17, wherein: The biological fermentation liquid automatic detection system also includes: A centrifuge, arranged in the detection area, for centrifuging the liquid in the sample well plate; A centrifugal balancing chamber is used to balance the sample well plate; and The detection zone robot moves the sample-dividing well plate to be detected from the conveying device to the detection device for detection, including: The detection area robot moves the conveying device from the sample dividing well plate to be detected to the balancing bin for balancing; The detection area robot moves the centrifugally leveled sample separation well plate to the centrifuge for centrifugation; The detection area robot moves the centrifuged sample separation plate to the detection device for detection.

25. The method for automatic detection of biological fermentation liquid according to claim 21, wherein: The sampling well plate is provided with an identification code, and the biological fermentation liquid automatic detection system further comprises a first identification device which is arranged in the first identification area and is communicatively connected with the control device; as well as The sampling area robot arm takes the sampling orifice plate to be sampled from the orifice plate bin and moves it to the sampling device, including: The sampling area robot arm takes the sampling well plate to be sampled from the well plate bin, and places the sampling well plate to be sampled in the first identity recognition area corresponding to the first identity recognition device for identity recognition; In response to the sampling well plate to be sampled being verified according to the identification information recognition result of the sampling well plate to be sampled, the sampling well plate to be sampled is moved to the sampling device.

26. The method for automatic detection of biological fermentation liquid according to claim 19, wherein: The sample dividing well plate is provided with an identity identification code, and the biological fermentation liquid automatic detection system further comprises a second identity identification device which is arranged in the second identity identification area and is communicatively connected with the control device; as well as The sampling area robot arm takes the sample separation orifice plate to be sampled from the refrigeration equipment or the orifice plate warehouse and moves it to the liquid separation area of ​​the sample separation device, including: The sampling area robot arm takes the sample dividing well plate to be divided from the refrigerated device or the well plate bin, and places the sample dividing well plate to be divided in the second identity recognition area corresponding to the second identity recognition device for identity recognition; In response to the verification of the sample dividing well plate to be divided according to the identification result of the sample dividing well plate, the sample dividing well plate to be divided is moved to the liquid dividing area of ​​the sample dividing device.

27. The method for automatically detecting biological fermentation liquid according to claim 24, wherein: The sample dividing well plate is provided with an identity identification code, and the biological fermentation liquid automatic detection system further comprises a third identity identification device which is arranged in the third identity identification area and is communicatively connected with the control device; as well as The detection area robot moves the centrifuged sample separation plate to the detection device for detection, including: The detection area robot arm places the centrifuged sample separation plate in the third identity recognition area corresponding to the third identity recognition device for identity recognition; In response to the verification of the centrifuged sample dividing well plate according to the identification information recognition result of the centrifuged sample dividing well plate, the centrifuged sample dividing well plate is moved to the detection device for detection.

28. A control device comprising: one or more processors; a storage device having one or more programs stored thereon, When the one or more programs are executed by the one or more processors, the biological fermentation liquid automatic detection system according to any one of claims 1 to 16 implements the method according to any one of claims 17 to 27.

29. A computer-readable storage medium having a computer program stored thereon, wherein: When the computer program is executed by one or more processors, the biological fermentation liquid automatic detection system according to any one of claims 1 to 16 implements the method according to any one of claims 17 to 27.

30. A computer program product, comprising a computer program / instruction, wherein when the computer program / instruction is executed by a processor, the biological fermentation liquid automatic detection system according to any one of claims 1 to 16 implements the method according to any one of claims 17 to 27.

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