Constant-temperature control system and method for ultralow-temperature biological storage equipment

Abstract

The invention discloses a constant temperature control system for ultralow temperature biological storage equipment, which comprises a monitoring and analyzing module and a partition temperature control module, and is characterized in that the monitoring and analyzing module is in signal connection with a first temperature detecting and monitoring module, a second temperature detecting and monitoring module and a third temperature detecting and monitoring module; the partition temperature control module is in signal connection with the first refrigerating device, the second refrigerating device and the third refrigerating device. By arranging the monitoring and analyzing module and the partition temperature control system, the monitoring and analyzing module can monitor and analyze the environment temperature in the storage cabin, accurate temperature control can be conveniently conducted on the storage cabin, and the partition temperature control module can conveniently conduct partition temperature control according to the temperature requirements of different spaces; the pertinence and accuracy of equipment temperature control can be improved.

Description

Technical Field

[0001] The present invention relates to the technical field of ultra-low temperature biological storage equipment, and in particular to a constant temperature control system and method for ultra-low temperature biological storage equipment. Background Art

[0002] Ultra-low temperature storage equipment is used to store biological samples, such as: standardized collection, processing, storage and application of biological macromolecules, cells, tissues and organs of healthy and diseased organisms, including human organ tissues, whole blood, plasma, serum, biological fluids or processed biological samples, such as: DNA, RNA, protein biological samples, etc.

[0003] The ultra-low temperature storage equipment in the prior art, such as a modular detachable automated refrigerator and a method for storing and discharging sample boxes and sample tubes disclosed in CN114413550B, includes a vacuum insulated storage tank body, which is equipped with a refrigeration system, a detachable frame, a Dewar flask docking mechanism, a sealing isolation mechanism, a grabbing mechanism, a can opening mechanism, and an extraction mechanism. The ultra-low temperature storage equipment has the following defects:

[0004] The equipment does not have the function of constant temperature control. The internal temperature of the storage tank is usually reflected by the evaporation temperature of liquid nitrogen. When the internal environment of the storage tank meets the working conditions for the evaporation of gaseous nitrogen and the gaseous nitrogen evaporates, it is considered that the storage tank has reached the ultra-low temperature environment required for storing samples. This method cannot accurately grasp and control the temperature of the storage tank. The temperature error of the storage tank can reach +20°C or even higher. The temperature uniformity is poor, there are few temperature monitoring points, and there is a lack of data analysis. It is impossible to achieve accurate constant temperature control of the biological sample storage environment, which may affect the storage quality of biological samples. Summary of the invention

[0005] In order to solve the problems existing in the above-mentioned prior art, the purpose of the present invention is to provide a fully automatic ultra-low temperature biological storage device, a sample library system and a control method. The present invention has the advantages of small size and low cost, and can realize normal pressure storage of biological samples and precise constant temperature control, and has the maintainability without affecting sample storage, which can greatly improve the stability, safety and maintainability of the equipment.

[0006] The technical solution of the present invention is achieved in this way:

[0007] A constant temperature control system for an ultra-low temperature biological storage device comprises an ultra-low temperature biological storage device, wherein the ultra-low temperature biological storage device comprises a main structure, wherein a storage cabin and a transfer cabin are arranged side by side, wherein a cold trap for performing pipe picking is provided in the transfer cabin, and wherein the constant temperature control system comprises a first refrigeration device, a second refrigeration device, a third refrigeration device, a first temperature detection and monitoring module, a second temperature detection and monitoring module, a third temperature detection and monitoring module, a monitoring and analysis module, and a partition temperature control module.

[0008] The storage cabin adopts a non-Dewar tank structure, a transfer passage that can be controlled to open and close is provided between the storage cabin and the transfer cabin, and at least one portion of the transfer cabin is provided with a sample storage and access port that is communicated with the outside and can be controlled to open and close;

[0009] The ultra-low temperature biological storage device further comprises a storage control module, which is arranged in the storage cabin and has a storage container, the storage container is rotatably arranged in the storage cabin and has a plurality of storage areas for storing biological samples; further comprises a transfer module, which is arranged in the transfer cabin, the transfer module comprises a first driving component, a sample transfer component and a sampling member, the first driving component is linked with the sampling member to drive the sampling member to extend into the storage area to take and place the biological sample, and the sample transfer component is used to drive the biological sample to be transferred between the sampling member, the cold trap and the storage and access port;

[0010] The transport module comprises:

[0011] A workbench having an inlet and outlet cabin for accommodating a transfer tank, a material transfer port communicating with the inlet and outlet cabin is provided on the workbench surface, the cold trap is located on the workbench and on one side of the material transfer port, and a plurality of injection holes for ejecting gaseous nitrogen are formed on the side of the cold trap;

[0012] A push-pull device is slidably arranged in the inlet and outlet compartment so that the push-pull device can be pulled out of the workbench, and the push-pull device is used to carry the transfer tank;

[0013] A code scanning device is arranged beside the cold trap, and has the function of scanning the side box code and the bottom code of the batch sample cryopreservation tube to check the code of the sample box and sample cryopreservation tube put in or taken out;

[0014] The sample transfer component is a mechanical arm, which is arranged on the workbench and located beside the material transfer port.

[0015] Furthermore, the transfer channel includes a plurality of transfer windows formed on a side of the storage compartment close to the sampling member, the plurality of transfer windows are arranged in a height direction, and each of the transfer windows is provided with a transfer door that can be independently controlled to open and close;

[0016] Furthermore, the storage control module further comprises a rotating cage support and a second driving assembly, the storage container is a rotating cage body, the rotating cage body is rotatably arranged on the rotating cage support, and the second driving assembly is linked with the rotating cage body to drive the rotating cage body to rotate;

[0017] The rotating cage body includes a top cover, a base and a plurality of strip-shaped racks, the top cover and the base are both disc-shaped and arranged relatively parallel, and the plurality of strip-shaped racks are arranged vertically and distributed in a circular array around the center of the base between the top cover and the base;

[0018] The rack has a plurality of storage slots arranged along the height direction thereof, the storage slots extending along the radial direction of the base, and the extension length of the storage slots of at least half of the racks is at least twice the length of the biological sample box, so as to store at least two or more biological sample boxes at the same time; the openings of the storage slots face outward along the radial direction of the base;

[0019] The rotating cage bracket is a hollow multi-prism frame structure, and the storage compartment is provided with a supporting bottom plate for supporting the rotating cage bracket at a position corresponding to the rotating cage bracket.

[0020] The first refrigeration device is in heat exchange with the storage compartment, and the first refrigeration device is signal-connected with the first temperature detection and monitoring module;

[0021] The second refrigeration device is in heat exchange with the transfer cabin, and the second refrigeration device is signal-connected with the second temperature detection and monitoring module;

[0022] The third refrigeration device is in heat exchange with the cold trap, and the third refrigeration device is signal-connected with the third temperature detection and monitoring module;

[0023] The monitoring and analysis module is signal-connected to the zone temperature control module;

[0024] The monitoring and analysis module is respectively connected to the first temperature detection and monitoring module, the second temperature detection and monitoring module and the third temperature detection and monitoring module by signal, and the zone temperature control module is respectively connected to the first refrigeration device, the second refrigeration device and the third refrigeration device by signal;

[0025] The monitoring and analysis module monitors and analyzes real-time temperature data and generates analysis results;

[0026] The zoned temperature control modules respectively control the operation of the first refrigeration device, the second refrigeration device and the third refrigeration device to maintain a constant temperature state of the storage cabin, the transfer cabin and the cold trap.

[0027] The monitoring and analysis module also generates a refrigeration control instruction; the monitoring and analysis module includes a temperature data acquisition unit, a temperature data analysis unit and a temperature control instruction generation unit;

[0028] The temperature data acquisition unit is connected to the first temperature detection and monitoring module, the second temperature detection and monitoring module and the third temperature detection and monitoring module by signal, acquires the temperature data of the temperature sensors of the corresponding modules at regular time intervals, and is connected to the temperature data analysis unit by data, and transmits the temperature data corresponding to the different temperature detection and monitoring modules to the temperature data analysis unit;

[0029] The temperature data analysis unit pre-sets a temperature change threshold and a temperature floating threshold; the temperature data analysis unit classifies the temperature data based on different temperature detection and monitoring modules, and analyzes the classified temperature data respectively, and the analysis content includes: analyzing the temperature difference between the temperatures of different spatial areas inside the storage cabin, analyzing the temperature changes of the storage cabin and the transfer cabin when the storage cabin and the transfer cabin are connected, and analyzing the temperature changes in the cold trap during storage and retrieval work, and transmitting the analysis results to the temperature control instruction generation unit;

[0030] The temperature control instruction generation unit compares the analysis result with the temperature change threshold value, generates a cooling control instruction, and sends the cooling control instruction to the partition temperature control module.

[0031] The zone temperature control module includes a first refrigeration device control unit, a second refrigeration device control unit and a third refrigeration device control unit;

[0032] The first refrigeration device control unit is connected to the first refrigeration device and controls the first refrigeration device based on the refrigeration control instruction;

[0033] The second refrigeration device control unit is connected to the second refrigeration device and controls the second refrigeration device based on the refrigeration control instruction;

[0034] The third refrigeration device control unit is connected to the third refrigeration device and controls the third refrigeration device based on the refrigeration control instruction.

[0035] The first temperature detection and monitoring module includes several first temperature sensors arranged inside the storage cabin; the second temperature detection and monitoring module includes several second temperature sensors arranged inside the transfer cabin and fourth temperature sensors on the sampling piece; the third temperature detection and monitoring module includes several third temperature sensors arranged inside the cold trap.

[0036] The first temperature sensor is distributed on the centripetal side of the prism of the rotating cage bracket. At the same time, the first temperature sensor is also distributed on the side wall of the transfer door facing the storage compartment, and the interval between the upper and lower adjacent first temperature sensors is consistent with the height of the storage slot; the second temperature sensor array is distributed on the workbench surface; the third temperature sensor is distributed on the inner wall of the cold trap.

[0037] The temperature data analysis unit can also establish a virtualized area based on the storage cabin space, and input the distribution status of the first temperature sensor, obtain the temperature data of the first temperature sensor in real time, and establish a three-dimensional visualization rose diagram of each area.

[0038] A constant temperature control method for an ultra-low temperature biological storage device, based on a constant temperature control system and used to control the working temperature of the ultra-low temperature biological storage device, the constant temperature control method comprises the following steps:

[0039] Monitor and analyze the real-time temperature data of the storage cabin, transfer cabin and cold trap respectively, and generate analysis results;

[0040] Based on the analysis results, refrigeration control instructions are generated to perform zone temperature control on the storage compartment, transfer compartment and cold trap:

[0041] The storage compartment normal temperature control method comprises the following steps:

[0042] S1, working parameter setting stage: set the normal temperature of the storage compartment to -190°C, and set the temperature floating threshold to -185°C to -195°C; set the constant temperature and refrigeration working cycle of the first refrigeration device, and set the refrigeration trigger temperature of the refrigeration circulation pipeline in the first refrigeration device to -185°C, and the refrigeration suspension trigger temperature of the refrigeration circulation pipeline in the first refrigeration device to -195°C;

[0043] S2. Temperature monitoring: obtaining real-time temperature data of the first temperature sensor, excluding the first temperature sensor disposed on the transfer door, and monitoring the temperature of the storage compartment in real time;

[0044] S3, dividing the storage compartment into regions: dividing the storage compartment into regions according to the distribution of the first temperature sensors;

[0045] S4. Analyze the temperature difference between the temperatures of different spatial areas inside the storage cabin: analyze the temperature difference between the temperatures of adjacent areas in the storage cabin space;

[0046] S5. Based on the real-time temperature data of the storage compartment, all the first temperature sensor data are integrated, and the first temperature sensor with a reading of -196°C and its corresponding position are taken to further determine the high efficiency range of refrigeration, and the rotation speed of the circulating fan blade is further controlled according to the position corresponding to the first temperature sensor;

[0047] S6. Temperature monitoring when the transfer door of the storage compartment is open: when the transfer door is open, obtain real-time temperature data of the first temperature sensor disposed on the transfer door, and analyze the temperature change ΔW in the area where the transfer door is located during the time t from closing to opening and then closing again;

[0048] S7. The average temperature change rate V (°C / s) is calculated by t and ΔW. The average temperature change rate V1 in the storage compartment is calculated by combining time t and the temperature change ΔE of the average value of the real-time temperature data of all the first temperature sensors distributed in the storage compartment in S2 within time t. The difference between V1 and V is detected every 0.5s. When V1>0.2V, rapid temperature compensation is performed by starting the refrigeration cycle pipeline in the first refrigeration device to quickly return the storage compartment temperature to the target temperature and maintain a constant temperature.

[0049] The normal constant temperature control method of the transfer cabin includes the following steps:

[0050] S1, working parameter setting stage: set the normal temperature of the transfer cabin to -20℃, set the temperature floating threshold to -18℃~-22℃, set the constant temperature and refrigeration working cycle of the second refrigeration device, set the refrigeration trigger temperature of the second refrigeration device to -18℃, and the second refrigeration device refrigeration suspension trigger temperature to -22℃; set the cold trap normal temperature to -135℃, set the refrigeration working cycle of the third refrigeration device, set the active trigger and passive trigger of the refrigeration trigger of the third refrigeration device, and the third refrigeration device refrigeration suspension trigger temperature to -130℃;

[0051] S2, temperature monitoring: obtaining real-time temperature data of the second temperature sensor and the third temperature sensor, and monitoring the temperature of the transfer cabin in real time;

[0052] S3, dividing the transfer cabin into regions: according to the distribution of the second temperature sensors, the transfer cabin is divided into two regions, upper and lower, with the workbench surface as the midpoint;

[0053] S4. Acquire real-time temperature data of the temperature of the upper area of ​​the transfer cabin and the internal temperature of the built-in cold trap, and compare the temperature of the upper area of ​​the transfer cabin with the temperature inside the cold trap;

[0054] S5. When the transfer door is in an open state, the temperature change ΔW of the upper area of ​​the transfer cabin during the time t from closing to opening and then closing again of the transfer door is analyzed in combination with the real-time temperature data of the first temperature sensor arranged on the transfer door;

[0055] S6. The average temperature change rate V (°C / s) is calculated by t and ΔW. The average temperature change rate V2 in the transfer cabin is calculated by combining time t and the temperature change ΔE1 of the average value of the real-time temperature data of all the second temperature sensors distributed in the transfer cabin within time t. The difference between V2 and V is detected every 5s. When V2>0.15V, the refrigeration work of the second refrigeration device and the third refrigeration device is suspended to save refrigeration energy.

[0056] Based on the above storage cabin constant temperature control method and transfer cabin constant temperature control method, the fully automatic control method of the ultra-low temperature biological storage equipment is as follows:

[0057] When it is necessary to put in a biological sample, the transport tank with the biological sample box is put in from the sampling port, and then the biological sample box in the transport tank is taken out by the sample transfer assembly and transferred to the sampling member, and the sampling member is driven by the first driving assembly to move close to the transport channel, and the transport channel is opened at the same time, and the first driving assembly drives the sampling member to extend into the storage area, and the biological sample box carried is placed in the storage area, and the first driving assembly drives the sampling member to withdraw from the storage area and reset, and the transport channel is closed;

[0058] When it is necessary to take out a whole box of biological sample boxes, the storage control module is rotated to rotate the corresponding storage area close to the transfer channel, and the transfer channel is opened. The first driving component drives the sampling member to extend into the storage area, take out the target biological sample box and move it to a side close to the sample transfer component, and at the same time close the transfer channel. The sample transfer component transfers the target biological sample box to the transfer tank at the storage and access sampling port, and controls the storage and access sampling port to open;

[0059] When it is necessary to take out a single or several biological sample tubes, the storage control module is rotated to rotate the corresponding storage area to be close to the transfer channel, and the transfer channel is opened. The first driving component drives the sampling part to extend into the storage area, and the biological sample box with the target biological sample tube is taken out and moved to the side close to the sample transfer component. At the same time, the transfer channel is closed. The sample transfer component transfers the biological sample box to the cold trap and places an empty transfer box on the side. The sample transfer component performs a tube picking action, picks out the target biological sample tube from the biological sample box and puts it into the transfer box. The sample transfer component puts the transfer box with the target biological sample tube into the transfer tank, controls the storage and sampling port to open, and then returns the biological sample box after the tube is picked up to the storage control module.

[0060] Compared with the prior art, the present invention has the following beneficial effects:

[0061] 1. The present invention can realize constant temperature control of the temperature in the storage compartment by setting a constant temperature control system, coordinating the main refrigeration of the compressor, the auxiliary refrigeration of gaseous nitrogen, and the uniformly distributed coils, circulating fan blades, etc. After reaching the target temperature, the first refrigeration device is controlled to maintain the ambient temperature of the storage compartment within a reasonable floating range of the target temperature, thereby realizing accurate constant temperature control of the storage compartment and helping to ensure the storage quality of biological samples. At the same time, by setting a number of temperature sensors, temperature monitoring and temperature data statistical analysis are carried out to ensure that temperature monitoring can be carried out in the entire flow process from the biological sample being taken out of the storage container to entering the transfer tank, and data statistics are carried out to realize accurate temperature monitoring and control of the entire flow process of the biological sample, thereby avoiding damage and deterioration of the biological sample due to temperature during the flow process.

[0062] 2. The present invention sets a monitoring and analysis module and a partition temperature control system. The monitoring and analysis module can monitor and analyze the ambient temperature in the storage compartment, which is helpful for the stable and safe operation of the monitoring equipment and can facilitate accurate temperature control of the storage compartment. The partition control module can facilitate partition temperature control according to the temperature requirements of different spaces, which can improve the pertinence and accuracy of the equipment temperature control. BRIEF DESCRIPTION OF THE DRAWINGS

[0063] Figure 1 This is a system framework diagram of a constant temperature control system of an ultra-low temperature biological storage device of the present invention;

[0064] Figure 2 It is a schematic diagram of the structure of the ultra-low temperature biological storage device of the present invention;

[0065] Figure 3 It is one of the internal structure schematic diagrams of the storage cabin and the transfer cabin of the present invention;

[0066] Figure 4 This is the second schematic diagram of the internal structure of the storage cabin and the transfer cabin of the present invention;

[0067] Figure 5 It is a schematic diagram of the internal structure of the transfer cabin of the present invention;

[0068] Figure 6 It is one of the structural schematic diagrams of the rotating cage body of the present invention (only two racks are shown);

[0069] Figure 7 This is the second structural schematic diagram of the rotating cage body of the present invention;

[0070] Figure 8 It is a schematic diagram of the compressor refrigeration circuit and refrigeration cycle pipeline structure of the present invention.

[0071] 1. Main structure; 11. Storage cabin; 12. Transfer cabin; 121. Sample storage and retrieval port; 2. Storage control module; 21. Rotating cage; 211. Top cover; 212. Base; 213. Storage rack; 22. Rotating cage bracket; 23. Second drive assembly; 3. Transfer module; 31. First drive assembly; 32. Sample transfer assembly; 33. Sampling piece; 34. Workbench; 341. Material transfer port; 342. Cold trap; 35. Push-pull device; 36. Code scanning device; 4. First refrigeration device; 41. Refrigeration cycle pipeline; 42. Compressor refrigeration circuit; 43. Circulating fan blades; 6. Transfer door; 7. Transfer tank. DETAILED DESCRIPTION

[0072] In order to make the purpose, features and advantages of the present invention more obvious and easy to understand, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the embodiments described below are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0073] Example 1

[0074] This embodiment discloses an ultra-low temperature biological storage device, which is specifically as follows:

[0075] The ultra-low temperature biological storage device includes a main structure 1, which is in the shape of a rectangular parallelepiped with an integrated structure for easy transportation. The main structure 1 is hollow inside and has two areas, which are respectively provided with a storage cabin 11 and a transfer cabin 12 arranged side by side. There is a transfer channel between the storage cabin 11 and the transfer cabin 12 that can be controlled to open and close. Specifically, the transfer channel is a through hole formed on a side panel of the storage cabin 11 close to the transfer cabin 12. The through hole is in the shape of a long strip and extends along the height direction of the main structure 1. At least one place of the transfer cabin 12 is formed with a storage and access sampling port 121 that is connected to the outside and can be controlled to open and close, such as Figure 2 As shown, the sample storage and access port 121 is opened on the side surface of the front end of the main structure 1.

[0076] The storage cabin 11 innovatively adopts a non-Dewar structure. The plate structure of the storage cabin includes a base structure and a composite insulation layer combined with the base structure. The base structure is a stainless steel plate. The composite insulation layer includes an aerogel layer, an aluminum foil, a vacuum insulation panel and an elastic insulation layer stacked in sequence from the inside to the outside. The elastic insulation layer is specifically an elastic fiber felt or an elastic fiber felt with aluminum foil. The storage cabin 11 structure can replace the traditional Dewar form, meet the insulation requirements, and can effectively reduce the equipment size, weight and equipment cost.

[0077] The storage control module 2 is arranged in the storage compartment 11 and has a storage container that can rotate in the storage compartment 11. The storage container has multiple storage areas for storing biological samples, such as Figure 6 , Figure 7 As shown, the storage control module 2 also includes a rotating cage support 22 and a second driving assembly 23. The storage container is specifically a rotating cage body 21. The rotating cage body 21 is rotatably arranged on the rotating cage support 22. The rotating cage body 21 includes a top cover 211, a base 212 and a plurality of strip-shaped racks 213. The top cover 211 and the base 212 are both disc-shaped and are relatively parallel to each other. The plurality of strip-shaped racks 213 are vertically arranged and distributed in a circular array around the center of the base 212 between the top cover 211 and the base 212. The racks 213 have a plurality of storage slots arranged along the height direction thereof. The storage slots extend along the radial direction of the base 212. At least half of the racks 213 The extension length of the storage slot is at least twice the length of the biological sample box 8, so as to store at least two or more biological sample boxes 8 at the same time. In a specific embodiment, the storage slots of half of the number of the storage racks 213 are twice the length of the biological sample box 8, and the storage racks 213 are arranged in an interval distribution manner. It is defined that a single-layer storage rack 213 that can hold a single biological sample box is a single-layer storage rack 213, and a single-layer storage rack 213 that can hold two biological sample boxes is a double-layer storage rack 213, that is, the storage rack 213 is arranged alternately in a single-layer storage rack-double-layer storage rack manner, so that the storage capacity of the storage compartment 11 can be increased by 50% without changing the original equipment size.

[0078] The opening of the storage slot faces outward along the radial direction of the base 212, so that the sample tube can be taken in and placed from the outside, which helps to improve the efficiency of taking in and placing.

[0079] The rotating cage bracket 22 is a hollow multi-prism frame structure, so that the rotating cage bracket 22 is a polyhedron structure as a whole, such as a tetrahedron, a pentahedron, a hexahedron, an octahedron and other polyhedron structures. This structure can be convenient for setting multiple groups of corresponding radiation refrigeration coils, enhancing the temperature transfer speed, and can make the frame have a stable internal force performance, so that the overall structure of the frame is stable. The storage cabin 11 is provided with a supporting bottom plate for supporting the rotating cage bracket 22 at a position corresponding to the rotating cage bracket 22. The supporting bottom plate supports the rotating cage bracket 22, and then supports the rotating cage body 21 as a whole. The bottom support method is used to replace the traditional suspension structure, which can improve the safety and stability of the equipment.

[0080] The second driving assembly 23 adopts a servo motor + gear driving mechanism, which has the advantages of good stability and stable driving.

[0081] The storage compartment 11 has a first refrigeration device 4 and a first temperature detection and monitoring module that are signal-connected. The first refrigeration device 4 exchanges heat with the storage compartment 11 to cool the interior of the storage compartment 11. The first temperature detection and monitoring module is used to monitor the internal temperature of the storage compartment 11.

[0082] The transfer cabin 12 has a second refrigeration device and a second temperature detection and monitoring module connected by signals, the second refrigeration device and the transfer cabin 12 are heat exchanged to cool the interior of the transfer cabin 12, and the second temperature detection and monitoring module is used to monitor the internal temperature of the transfer cabin;

[0083] The transfer cabin 12 is provided with a cold trap 342 for pipe picking, the cold trap 342 is provided with a third refrigeration device and a third temperature detection and monitoring module connected by signals, the third refrigeration device and the cold trap 342 are heat-exchanged to cool the interior of the cold trap 342, and the third temperature detection and monitoring module is used to monitor the internal temperature of the cold trap 342;

[0084] The first refrigeration device is in heat exchange with the storage compartment 11, and the first refrigeration device is signal-connected with the first temperature detection and monitoring module;

[0085] The second refrigeration device is in heat exchange with the transfer cabin 12, and the second refrigeration device is signal-connected with the second temperature detection and monitoring module;

[0086] The third refrigeration device is in heat exchange with the cold trap 342, and the third refrigeration device is signal-connected with the third temperature detection and monitoring module;

[0087] The first temperature detection and monitoring module includes a plurality of first temperature sensors disposed inside the storage compartment 11; the second temperature detection and monitoring module includes a plurality of second temperature sensors disposed inside the transfer compartment 12 and a fourth temperature sensor on the sampling member 33; the third temperature detection and monitoring module includes a plurality of third temperature sensors disposed inside the cold trap 342;

[0088] The first temperature sensors are distributed on the centripetal side of the prism of the rotating cage support 22. At the same time, the first temperature sensors are also distributed on the side wall of the transfer door 6 facing the storage compartment 11, and the interval between the upper and lower adjacent first temperature sensors is consistent with the height of the storage slot; the second temperature sensor array is distributed on the workbench 34 table; the third temperature sensors are distributed on the inner wall of the cold trap 342;

[0089] Among them, the temperatures of the transfer cabin and the cold trap are controlled in accordance with national standards, and the transfer cabin is a cold and dry environment to ensure long-term operation without condensation and frost. The material transfer component picks tubes under constant temperature control within the temperature range required for sample storage.

[0090] The first refrigeration device 4, which exchanges heat with the storage compartment 11, is used for cooling the interior of the storage compartment 11. Specifically, the first refrigeration device 4 adopts a comprehensive refrigeration method, including a refrigeration cycle pipeline 41, a compressor refrigeration circuit 42 and a circulating fan blade 43. The refrigeration cycle pipeline 41 and the compressor refrigeration circuit 42 both exchange heat with the storage compartment 11. The refrigeration cycle pipeline 41 includes a first refrigeration coil and a second refrigeration coil arranged in the storage compartment 11 and respectively located on the outside and bottom of the storage container. The first refrigeration coil is evenly arranged on the outer surface of the storage container. In a specific embodiment, the compressor refrigeration circuit 42 is in the form of a coil, which is wound and distributed on the outside of the aforementioned rotating cage bracket 22. The first refrigeration coil is also wound and distributed on the outside of the rotating cage bracket 22. The compressor refrigeration circuit 42 and the first refrigeration coil adopt a structure that is alternately arranged from top to bottom. The second refrigeration coil is in the shape of a disc spiral and is arranged below the rotating cage bracket 22. The compressor refrigeration circuit 42, the first refrigeration coil, and the second refrigeration coil are all cooled by the rotating cage body 21 in the middle through the irradiation method.

[0091] The rotating cage support 22 is a multi-prism structure with multiple relative irradiation surfaces. After being wound around the compressor refrigeration circuit 42 and the first refrigeration coil, a uniform refrigeration structure with contrast irradiation can be formed. The circulating fan blade 43 is arranged in the middle of the storage container. When the circulating fan blade 43 rotates, it will drive the gas flow in the storage cabin 11, so that the gas in the storage cabin 11 is evenly distributed. This embodiment adopts a uniform coil design, and adopts a compressor main refrigeration and gaseous nitrogen auxiliary refrigeration method to replace the traditional refrigeration method of gaseous nitrogen evaporation. This method will not generate high pressure in the storage cabin 11 due to gaseous nitrogen evaporation, avoids the long-term storage of biological samples in a high-pressure environment, can realize the storage of biological samples at normal pressure, can greatly improve the stability, safety and maintainability of the equipment and sample storage, and avoids the influence of pressure changes on the temperature of the storage cabin 11, so that the temperature of the storage cabin 11 is in a relatively stable state, which is convenient for constant temperature control of the storage cabin 11. At the same time, the structure of this embodiment is easy to maintain, and can also be convenient for taking out and transferring biological samples when the equipment fails, further improving the safety of biological sample storage.

[0092] The transport module 3 is arranged in the transport cabin 12, and the transport module 3 includes a first driving component 31, a sample transfer component 32 and a sampling component 33. The first driving component 31 is linked with the sampling component 33 to drive the sampling component 33 to extend into the storage area to take and place biological samples, and the sample transfer component 32 is used to drive the biological samples to be transferred between the sampling component 33 and the sampling port 121;

[0093] Specifically, the transfer module 3 includes:

[0094] The workbench 34 is arranged in the transfer cabin 12, located near the front end of the side plate, and has an inlet and outlet cabin for accommodating the transfer tank 7. The hatch of the inlet and outlet cabin corresponds to the aforementioned storage and retrieval port 121. The workbench 34 has a material transfer port 341 on the table top that is connected to the inlet and outlet cabin. The material transfer port 341 is connected from top to bottom. The workbench 34 is provided with a cold trap 342 for placing the biological sample box 8 on one side of the material transfer port 341. At least one side of the cold trap 342 is formed with a spray hole for spraying gaseous nitrogen. The spray hole can be connected to a gaseous nitrogen source. When the biological sample tube is placed in the cold trap 342 and the tube is picked up, the gaseous nitrogen can be sprayed through the spray hole to keep a low temperature in the cold trap 342 to avoid damage to the sample.

[0095] The push-pull device 35 forms a drawer-type structure that can be pulled outward with the inlet and outlet cabins. The push-pull device 35 is slidably arranged in the inlet and outlet cabins so that the push-pull device 35 can be pulled outward to the outside of the workbench 34. The push-pull device 35 is used to carry the transfer tank 7 containing the biological sample box 8, so as to serve as a connection channel between the transfer cabin 12 and the outside. The outer end of the push-pull device 35 is provided with a baffle (hidden in the figure) for covering and shielding the storage and access port 121. When the push-pull device 35 is retracted into the interior, the baffle shields the storage and access port 121 to close the transfer cabin 12, and when the baffle is pulled outward, the storage and access port 121 is opened. In a specific embodiment, the push-pull device 35 can be driven to move by an electric cylinder / pneumatic cylinder.

[0096] The code scanning device 36 is arranged beside the cold trap 342 and is used to scan the identification code on the biological sample box 8. The code scanning device 36 can use an existing barcode scanner to scan the sample box and identify the storage information. Specifically, the code scanning device 36 has the function of scanning the side box code and the bottom code of the batch sample cryopreservation tube, and verifies the sample box and sample cryopreservation tube code that are put in or taken out.

[0097] The sample transfer component 32 is specifically a multi-degree-of-freedom robotic arm, which is arranged on the workbench 34 and is located next to the material transfer port 341. It is equipped with a variety of clamps, such as a tank cover clamp, a sample box clamp, a tube removal clamp, etc., and can be switched through a clamp switching mechanism. The robotic arm is used to open the tank cover of the transfer tank 7 after placing it in the transfer tank 7, take out the sample box therein, move the sample box to the cold trap 342 for picking up the tube and putting it into storage, and then grab the sample box and transfer it to the sampling part 33, and then the first driving component 31 drives the sampling part 33 to be put into storage. The out-of-warehouse process is the opposite of the above process, and can be understood by referring to the above-mentioned warehousing process, which will not be repeated here.

[0098] Specifically, the first driving assembly 31 includes a lifting mechanism 311 and a telescopic mechanism 312. The sampling piece 33 is a shovel plate, which is in a long strip shape. A section of the shovel plate close to the storage compartment 11 is a shovel section 331. The length of the shovel section 331 is at least twice the length of the biological sample box 8, so that more than two biological sample boxes 8 can be taken out at the same time. The telescopic mechanism 312 is specifically a transmission structure of a servo motor + gear rack, which can drive the shovel plate to move in a direction close to or away from the storage compartment 11 to complete the action of taking / putting the sample.

[0099] The lifting mechanism 311 is a structure of a servo motor + lead screw + guide rail. The servo motor converts the rotary motion into up and down linear motion through the lead screw. The guide rail is used for guidance and stability. Through the first drive component 31 structure of this embodiment, the shovel plate can be driven to slide up and down and extend back and forth to cooperate with the aforementioned robotic arm to complete the action of taking and placing samples.

[0100] The transfer channel includes a plurality of transfer windows formed on one side of the storage cabin 11 close to the sampling plate. The plurality of transfer windows are arranged from top to bottom. Each transfer window is provided with a transfer door 6 that can be independently controlled to open and close. Specifically, the transfer door 6 is driven to open and close by a cylinder. The independently opened and closed transfer door 6 structure of this embodiment can flexibly control the opening and closing of the transfer door 6 according to the position of taking and placing, so that the opening window for a single taking and placing is small, which can reduce the loss of cold during the taking and placing process.

[0101] Example 2

[0102] This embodiment discloses a constant temperature control system and a constant temperature control method for controlling the temperature of an ultra-low temperature biological storage device, which are specifically as follows:

[0103] A constant temperature control system for an ultra-low temperature biological storage device, comprising a constant temperature control system for controlling the temperature of the ultra-low temperature biological storage device, the constant temperature control system comprising a first refrigeration device, a second refrigeration device, a third refrigeration device, a first temperature detection and monitoring module, a second temperature detection and monitoring module, a third temperature detection and monitoring module, a monitoring and analysis module and a partition temperature control module, the monitoring and analysis module is respectively connected to the first temperature detection and monitoring module, the second temperature detection and monitoring module and the third temperature detection and monitoring module by signal, the partition temperature control module is respectively connected to the first refrigeration device, the second refrigeration device and the third refrigeration device by signal;

[0104] Further, the monitoring and analysis module includes a temperature data acquisition unit, a temperature data analysis unit and a temperature control instruction generation unit;

[0105] The temperature data acquisition unit is signal-connected to the first temperature detection and monitoring module, the second temperature detection and monitoring module, and the third temperature detection and monitoring module, and acquires the temperature data of the temperature sensors of the corresponding modules every 1 minute, and is data-connected to the temperature data analysis unit, and transmits the temperature data corresponding to the different temperature detection and monitoring modules to the temperature data analysis unit;

[0106] The temperature data analysis unit pre-sets a temperature change threshold and a temperature floating threshold; the temperature data analysis unit classifies the temperature data based on different temperature detection and monitoring modules, and analyzes the classified temperature data respectively, and the analysis content includes: analyzing the temperature difference between the temperatures of different spatial areas inside the storage cabin, analyzing the temperature changes of the storage cabin and the transfer cabin when the storage cabin and the transfer cabin are connected, and analyzing the temperature changes in the cold trap during storage and retrieval work, and transmitting the analysis results to the temperature control instruction generation unit;

[0107] The temperature control instruction generation unit generates a cooling control instruction based on the analysis result and compares it with the temperature change threshold, and sends the cooling control instruction to the partition temperature control module;

[0108] Further, the zone temperature control module includes a first refrigeration device control unit, a second refrigeration device control unit and a third refrigeration device control unit;

[0109] The first refrigeration device control unit is connected to the first refrigeration device and controls the first refrigeration device based on the refrigeration control instruction;

[0110] The second refrigeration device control unit is connected to the second refrigeration device and controls the second refrigeration device based on the refrigeration control instruction;

[0111] The third refrigeration device control unit is connected to the third refrigeration device and controls the third refrigeration device based on the refrigeration control instruction;

[0112] A constant temperature control method for an ultra-low temperature biological storage device, based on a constant temperature control system and used to control the working temperature of the ultra-low temperature biological storage device, the constant temperature control method comprises the following steps:

[0113] Monitor and analyze the real-time temperature data of the storage cabin, transfer cabin and cold trap respectively, and generate analysis results;

[0114] Based on the analysis results, refrigeration control instructions are generated to perform zone temperature control on the storage compartment, transfer compartment and cold trap:

[0115] The storage compartment normal temperature control method comprises the following steps:

[0116] S1, working parameter setting stage: set the normal temperature of the storage compartment to -190°C, and set the temperature floating threshold to -185°C to -195°C; set the constant temperature and refrigeration working cycle of the first refrigeration device, and set the refrigeration trigger temperature of the refrigeration circulation pipeline in the first refrigeration device to -185°C, and the refrigeration suspension trigger temperature of the refrigeration circulation pipeline in the first refrigeration device to -195°C;

[0117] The compressor refrigeration circuit in the first refrigeration device performs preliminary refrigeration in the storage compartment. When the maximum refrigeration power is reached and the temperature in the storage compartment is kept at the minimum refrigeration temperature, the compressor refrigeration circuit is kept working and the refrigeration cycle pipeline is used for further refrigeration. When the temperature is reduced to -196°C, the refrigeration work of the refrigeration cycle pipeline is suspended.

[0118] S2. Temperature monitoring: obtaining real-time temperature data of the first temperature sensor, excluding the first temperature sensor disposed on the transfer door, and monitoring the temperature of the storage compartment in real time;

[0119] S3, dividing the storage compartment into regions: according to the distribution of the first temperature sensors, the storage compartment is divided into regions, and a first temperature sensor at the same height and the first temperature sensors adjacent to it above and below it form one region;

[0120] S4. Analyze the temperature difference between different spatial areas in the storage cabin: Analyze the temperature difference between adjacent areas in the storage cabin space to determine the high efficiency range of refrigeration. When there is an area with a minimum temperature of -196°C between adjacent areas and the temperature difference is greater than 1.2°C, control the start-up circulation fan blades to balance the coldness of the storage cabin so that the coldness in the storage cabin is evenly distributed;

[0121] S5. Based on the real-time temperature data of the storage compartment, all the first temperature sensor data are integrated, and the first temperature sensor with a reading of -196°C and its corresponding position are taken to further determine the high-efficiency range of refrigeration, and the rotation speed of the circulating fan blade is further controlled according to the position corresponding to the first temperature sensor; when the high-efficiency range of refrigeration is far away from the area with the highest temperature, the rotation speed of the circulating fan blade is increased, and when the high-efficiency range of refrigeration is close to the area with the highest temperature, the rotation speed of the circulating fan blade is reduced;

[0122] S6. Temperature monitoring when the transfer door of the storage compartment is open: when the transfer door is open, obtain real-time temperature data of the first temperature sensor disposed on the transfer door, and analyze the temperature change ΔW in the area where the transfer door is located during the time t from closing to opening and then closing again;

[0123] S7. The average temperature change rate V (°C / s) is calculated by t and ΔW. The average temperature change rate V1 in the storage compartment is calculated by combining time t and the temperature change ΔE of the average value of the real-time temperature data of all the first temperature sensors distributed in the storage compartment in S2 within time t. The difference between V1 and V is detected every 0.5s. When V1>0.2V, rapid temperature compensation is performed by starting the refrigeration cycle pipeline in the first refrigeration device to quickly return the storage compartment temperature to the target temperature and maintain a constant temperature.

[0124] The normal constant temperature control method of the transfer cabin includes the following steps:

[0125] S1, working parameter setting stage: set the normal temperature of the transfer cabin to -20℃, set the temperature floating threshold to -18℃~-22℃, set the constant temperature and refrigeration working cycle of the second refrigeration device, set the refrigeration trigger temperature of the second refrigeration device to -18℃, and set the refrigeration suspension trigger temperature of the second refrigeration device to -22℃; set the normal temperature of the cold trap to -135℃, set the refrigeration working cycle of the third refrigeration device, and set the active triggering and passive triggering of the refrigeration trigger of the third refrigeration device. The active triggering mode is that the push-pull device pushes the transfer tank back to the transfer cabin after the push-pull device carries it, triggering the third refrigeration device in the cold trap to actively refrigerate. The passive triggering mode is that the third refrigeration device maintains refrigeration when the temperature of the transfer cabin is lower than the set temperature floating threshold range, and the refrigeration suspension triggering temperature of the third refrigeration device is -25℃;

[0126] S2, temperature monitoring: obtaining real-time temperature data of the second temperature sensor and the third temperature sensor, and monitoring the temperature of the transfer cabin in real time;

[0127] S3, dividing the transfer cabin into regions: according to the distribution of the second temperature sensors, the transfer cabin is divided into two regions, upper and lower, with the workbench surface as the midpoint;

[0128] S4, real-time temperature data of the upper area of ​​the transfer cabin and the temperature inside the built-in cold trap are acquired, and the temperature of the upper area of ​​the transfer cabin is compared with the temperature inside the cold trap. When the temperature of the transfer cabin is maintained within the set temperature floating threshold range, the second refrigeration device and the third refrigeration device are both in normal refrigeration operation. When the temperature of the transfer cabin is lower than the set temperature floating threshold range and the temperature is higher than -25°C, the second refrigeration device suspends refrigeration and the third refrigeration device maintains refrigeration;

[0129] S5. When the transfer door is in an open state, the temperature change ΔW of the upper area of ​​the transfer cabin during the time t from closing to opening and then closing again of the transfer door is analyzed in combination with the real-time temperature data of the first temperature sensor arranged on the transfer door;

[0130] S6. The average temperature change rate V (°C / s) is calculated by t and ΔW. The average temperature change rate V2 in the transfer cabin is calculated by combining time t and the temperature change ΔE1 of the average value of the real-time temperature data of all the second temperature sensors distributed in the transfer cabin within time t. The difference between V2 and V is detected every 5s. When V2>0.15V, the refrigeration work of the second refrigeration device and the third refrigeration device is suspended to save refrigeration energy.

[0131] Based on the above storage cabin constant temperature control method and transfer cabin constant temperature control method, the fully automatic control method of the ultra-low temperature biological storage equipment is as follows:

[0132] When it is necessary to put in a biological sample, the transport tank with the biological sample box is put in from the sampling port, and then the biological sample box in the transport tank is taken out by the sample transfer assembly and transferred to the sampling member, and the sampling member is driven by the first driving assembly to move close to the transport channel, and the transport channel is opened at the same time, and the first driving assembly drives the sampling member to extend into the storage area, and the biological sample box carried is placed in the storage area, and the first driving assembly drives the sampling member to withdraw from the storage area and reset, and the transport channel is closed;

[0133] When it is necessary to take out a whole box of biological sample boxes, the storage control module is rotated to rotate the corresponding storage area close to the transfer channel, and the transfer channel is opened. The first driving component drives the sampling member to extend into the storage area, take out the target biological sample box and move it to a side close to the sample transfer component, and at the same time close the transfer channel. The sample transfer component transfers the target biological sample box to the transfer tank at the storage and access sampling port, and controls the storage and access sampling port to open;

[0134] When it is necessary to take out a single or several biological sample tubes, the storage control module is rotated to rotate the corresponding storage area to be close to the transfer channel, and the transfer channel is opened. The first driving component drives the sampling part to extend into the storage area, and the biological sample box with the target biological sample tube is taken out and moved to the side close to the sample transfer component. At the same time, the transfer channel is closed. The sample transfer component transfers the biological sample box to the cold trap and places an empty transfer box on the side. The sample transfer component performs a tube picking action, picks out the target biological sample tube from the biological sample box and puts it into the transfer box. The sample transfer component puts the transfer box with the target biological sample tube into the transfer tank, controls the storage and sampling port to open, and then returns the biological sample box after the tube is picked up to the storage control module.

[0135] Example 3

[0136] This embodiment discloses a constant temperature control and temperature monitoring method for controlling the temperature of an ultra-low temperature biological storage device, which is specifically as follows:

[0137] A constant temperature control system for an ultra-low temperature biological storage device, comprising a constant temperature control system for controlling the temperature of the ultra-low temperature biological storage device, the constant temperature control system comprising a first refrigeration device, a second refrigeration device, a third refrigeration device, a first temperature detection and monitoring module, a second temperature detection and monitoring module, a third temperature detection and monitoring module, a monitoring and analysis module, and a partition temperature control module;

[0138] The monitoring and analysis module includes a temperature data acquisition unit, a temperature data analysis unit and a temperature control instruction generation unit.

[0139] A constant temperature control method for an ultra-low temperature biological storage device, based on a constant temperature control system and used to control the working temperature of the ultra-low temperature biological storage device, the constant temperature control method comprises the following steps:

[0140] Monitor and analyze the real-time temperature data of the storage cabin, transfer cabin and cold trap respectively, and generate analysis results;

[0141] Based on the analysis results, refrigeration control instructions are generated to perform zone temperature control on the storage compartment, transfer compartment and cold trap:

[0142] The storage compartment normal temperature control method comprises the following steps:

[0143] S1, working parameter setting stage: set the normal temperature of the storage compartment to -190°C, and set the temperature floating threshold to -185°C to -195°C; set the constant temperature and refrigeration working cycle of the first refrigeration device, and set the refrigeration trigger temperature of the refrigeration circulation pipeline in the first refrigeration device to -185°C, and the refrigeration suspension trigger temperature of the refrigeration circulation pipeline in the first refrigeration device to -195°C;

[0144] The compressor refrigeration circuit in the first refrigeration device performs preliminary refrigeration in the storage compartment. When the maximum refrigeration power is reached and the temperature in the storage compartment is kept at the minimum refrigeration temperature, the compressor refrigeration circuit is kept working and the refrigeration cycle pipeline is used for further refrigeration. When the temperature is reduced to -196°C, the refrigeration work of the refrigeration cycle pipeline is suspended.

[0145] S2. Temperature monitoring: obtaining real-time temperature data of the first temperature sensor, excluding the first temperature sensor disposed on the transfer door, and monitoring the temperature of the storage compartment in real time;

[0146] S3, dividing the storage compartment into regions: according to the distribution of the first temperature sensors, the storage compartment is divided into regions, and a first temperature sensor at the same height and the first temperature sensors adjacent to it above and below it form one region;

[0147] Furthermore, the temperature data analysis unit can also establish a virtualized area on the computer based on the storage cabin space, and input the distribution status of the first temperature sensor, obtain the temperature data of the first temperature sensor in real time, and establish a three-dimensional visualization rose diagram of each area in the computer, further subdividing and indicating the temperature of each first temperature sensor in each area of ​​the storage cabin, so as to facilitate the viewing of the constant temperature of the cabin, and help to timely discover other emergencies such as faults;

[0148] S4. Analyze the temperature difference between different spatial areas in the storage cabin: Analyze the temperature difference between adjacent areas in the storage cabin space to determine the high efficiency range of refrigeration. When there is an area with a minimum temperature of -196°C between adjacent areas and the temperature difference is greater than 1.2°C, control the start-up circulation fan blades to balance the coldness of the storage cabin so that the coldness in the storage cabin is evenly distributed;

[0149] S5. Based on the real-time temperature data of the storage compartment, all the first temperature sensor data are integrated, and the first temperature sensor with a reading of -196°C and its corresponding position are taken to further determine the high-efficiency range of refrigeration, and the rotation speed of the circulating fan blade is further controlled according to the position corresponding to the first temperature sensor; when the high-efficiency range of refrigeration is far away from the area with the highest temperature, the rotation speed of the circulating fan blade is increased, and when the high-efficiency range of refrigeration is close to the area with the highest temperature, the rotation speed of the circulating fan blade is reduced;

[0150] S6. Temperature monitoring when the transfer door of the storage compartment is open: when the transfer door is open, obtain real-time temperature data of the first temperature sensor disposed on the transfer door, and analyze the temperature change ΔW in the area where the transfer door is located during the time t from closing to opening and then closing again;

[0151] S7. The average temperature change rate V (°C / s) is calculated by t and ΔW. The average temperature change rate V1 in the storage compartment is calculated by combining time t and the temperature change ΔE of the average value of the real-time temperature data of all the first temperature sensors distributed in the storage compartment in S2 within time t. The difference between V1 and V is detected every 0.5s. When V1>0.2V, rapid temperature compensation is performed by starting the refrigeration cycle pipeline in the first refrigeration device to quickly return the storage compartment temperature to the target temperature and maintain a constant temperature.

[0152] The steps to create a 3D visualization rose diagram to intuitively show the temperature uniformity in the storage compartment are as follows:

[0153] A1. Data collection and processing: obtaining data from a plurality of first temperature sensors disposed in the storage compartment, thereby obtaining temperature data of corresponding areas in the storage compartment; classifying and grouping the collected temperature data according to different areas, and summarizing the temperature data in each area;

[0154] A2. Construct a 3D storage cabin model: Use computer software to construct a 3D cabin model based on the actual cabin geometry and size, ensuring that the cabin model can accurately reflect the cabin's hierarchical structure and spatial layout;

[0155] A3. Data mapping: Map the collected temperature data to the corresponding areas on the 3D storage cabin model, and use color and height visualization to represent the value of the temperature data; use color to represent temperature, with warmer colors for higher temperatures and cooler colors for lower temperatures;

[0156] A4. Generate a rose diagram effect: Draw the temperature data of each area in the form of a rose diagram, draw corresponding "petal"-shaped visual graphics on each area of ​​the storage cabin model, and adjust the length, color and height of the petal graphics used to express the temperature data according to the temperature data in each area;

[0157] A5. Interaction and Navigation: Provides interaction and navigation functions, allowing users to freely browse the 3D visualization rose diagram, including zooming, rotating and translating the storage cabin model to better view the temperature distribution of different layers and regions;

[0158] A6. System integration and presentation: Integrate the generated 3D visualization rose diagram into the computer software used for modeling to ensure that it can present the temperature uniformity in the storage compartment in an intuitive and easy-to-understand way.

[0159] The normal constant temperature control method of the transfer cabin includes the following steps:

[0160] S1, working parameter setting stage: set the normal temperature of the transfer cabin to -20℃, set the temperature floating threshold to -18℃~-22℃, set the constant temperature and refrigeration working cycle of the second refrigeration device, set the refrigeration trigger temperature of the second refrigeration device to -18℃, and set the refrigeration suspension trigger temperature of the second refrigeration device to -22℃; set the normal temperature of the cold trap to -135℃, set the refrigeration working cycle of the third refrigeration device, and set the active triggering and passive triggering of the refrigeration trigger of the third refrigeration device. The active triggering mode is that the push-pull device pushes the transfer tank back to the transfer cabin after the push-pull device carries it, triggering the third refrigeration device in the cold trap to actively refrigerate. The passive triggering mode is that the third refrigeration device maintains refrigeration when the temperature of the transfer cabin is lower than the set temperature floating threshold range, and the refrigeration suspension triggering temperature of the third refrigeration device is -130℃;

[0161] S2, temperature monitoring: obtaining real-time temperature data of the second temperature sensor and the third temperature sensor, and monitoring the temperature of the transfer cabin in real time;

[0162] S3, dividing the transfer cabin into regions: according to the distribution of the second temperature sensors, the transfer cabin is divided into two regions, upper and lower, with the workbench surface as the midpoint;

[0163] S4, real-time temperature data of the upper area of ​​the transfer cabin and the temperature inside the built-in cold trap are acquired, and the temperature of the upper area of ​​the transfer cabin is compared with the temperature inside the cold trap. When the temperature of the transfer cabin is maintained within the set temperature floating threshold range, the second refrigeration device and the third refrigeration device are both in normal refrigeration operation. When the temperature of the transfer cabin is lower than the set temperature floating threshold range and the temperature is higher than -25°C, the second refrigeration device suspends refrigeration and the third refrigeration device maintains refrigeration;

[0164] S5. When the transfer door is in the open state, the temperature change ΔW of the upper area of ​​the transfer cabin during the time t from closing to opening and then closing again of the transfer door is analyzed in combination with the real-time temperature data of the first temperature sensor disposed on the transfer door;

[0165] S6. The average temperature change rate V (°C / s) is calculated by t and ΔW. The average temperature change rate V2 in the transfer cabin is calculated by combining time t and the temperature change ΔE1 of the average value of the real-time temperature data of all the second temperature sensors distributed in the transfer cabin within time t. The difference between V2 and V is detected every 5s. When V2>0.15V, the refrigeration work of the second refrigeration device and the third refrigeration device is suspended to save refrigeration energy.

[0166] Based on the above storage cabin constant temperature control method and transfer cabin constant temperature control method, the fully automatic control method of the ultra-low temperature biological storage equipment is as follows:

[0167] When it is necessary to put in a biological sample, the transport tank with the biological sample box is put in from the sampling port, and then the biological sample box in the transport tank is taken out by the sample transfer assembly and transferred to the sampling member, and the sampling member is driven by the first driving assembly to move close to the transport channel, and the transport channel is opened at the same time, and the first driving assembly drives the sampling member to extend into the storage area, and the biological sample box carried is placed in the storage area, and the first driving assembly drives the sampling member to withdraw from the storage area and reset, and the transport channel is closed;

[0168] When it is necessary to take out a whole box of biological sample boxes, the storage control module is rotated to rotate the corresponding storage area close to the transfer channel, and the transfer channel is opened. The first driving component drives the sampling member to extend into the storage area, take out the target biological sample box and move it to a side close to the sample transfer component, and at the same time close the transfer channel. The sample transfer component transfers the target biological sample box to the transfer tank at the storage and access sampling port, and controls the storage and access sampling port to open;

[0169] When it is necessary to take out a single or several biological sample tubes, the storage control module is rotated to rotate the corresponding storage area to be close to the transfer channel, and the transfer channel is opened. The first driving component drives the sampling part to extend into the storage area, and the biological sample box with the target biological sample tube is taken out and moved to the side close to the sample transfer component. At the same time, the transfer channel is closed. The sample transfer component transfers the biological sample box to the cold trap and places an empty transfer box on the side. The sample transfer component performs a tube picking action, picks out the target biological sample tube from the biological sample box and puts it into the transfer box. The sample transfer component puts the transfer box with the target biological sample tube into the transfer tank, controls the storage and sampling port to open, and then returns the biological sample box after the tube is picked up to the storage control module.

Claims

1. A constant temperature control system for an ultra-low temperature biological storage device, comprising an ultra-low temperature biological storage device, wherein the ultra-low temperature biological storage device comprises a main structure (1), wherein a storage cabin (11) and a transfer cabin (12) are arranged side by side, and a cold trap (342) for carrying out a pipe picking operation is provided in the transfer cabin (12), wherein: The constant temperature control system comprises a first refrigeration device (4), a second refrigeration device, a third refrigeration device, a first temperature detection and monitoring module, a second temperature detection and monitoring module, a third temperature detection and monitoring module, a monitoring and analysis module and a zone temperature control module; The first refrigeration device is in heat exchange with the storage compartment (11), and the first refrigeration device is signal-connected with the first temperature detection and monitoring module; The second refrigeration device is heat exchanged with the transfer cabin (12), and the second refrigeration device is signal-connected with the second temperature detection and monitoring module; The third refrigeration device is in heat exchange with the cold trap (342), and the third refrigeration device is signal-connected with the third temperature detection and monitoring module; The monitoring and analysis module is signal-connected to the zone temperature control module; The monitoring and analysis module is respectively connected to the first temperature detection and monitoring module, the second temperature detection and monitoring module and the third temperature detection and monitoring module by signals, and the zone temperature control module is respectively connected to the first refrigeration device (4), the second refrigeration device and the third refrigeration device by signals; The monitoring and analysis module monitors and analyzes real-time temperature data and generates analysis results; The zoned temperature control modules respectively control the operation of the first refrigeration device, the second refrigeration device and the third refrigeration device to maintain a constant temperature state of the storage cabin (11), the transfer cabin (12) and the cold trap (342).

2. The constant temperature control system of the ultra-low temperature biological storage device according to claim 1, characterized in that: The monitoring and analysis module also generates a refrigeration control instruction; the monitoring and analysis module includes a temperature data acquisition unit, a temperature data analysis unit and a temperature control instruction generation unit; The temperature data acquisition unit is connected to the first temperature detection and monitoring module, the second temperature detection and monitoring module and the third temperature detection and monitoring module by signal, acquires the temperature data of the temperature sensors of the corresponding modules at regular time intervals, and is connected to the temperature data analysis unit by data, and transmits the temperature data corresponding to the different temperature detection and monitoring modules to the temperature data analysis unit; The temperature data analysis unit pre-sets a temperature change threshold and a temperature floating threshold; The temperature data analysis unit classifies the temperature data based on different temperature detection and monitoring modules, and analyzes the classified temperature data respectively, wherein the analysis content includes: analyzing the temperature difference between the temperatures of different spatial areas inside the storage cabin (11), analyzing the temperature changes of the storage cabin (11) and the transfer cabin (12) when the storage cabin (11) and the transfer cabin (12) are connected, and analyzing the temperature changes in the cold trap (342) during storage and retrieval operations, and transmitting the analysis results to the temperature control instruction generation unit; The temperature control instruction generation unit compares the analysis result with the temperature change threshold value, generates a cooling control instruction, and sends the cooling control instruction to the partition temperature control module.

3. The constant temperature control system of the ultra-low temperature biological storage device according to claim 1, characterized in that: The zone temperature control module includes a first refrigeration device control unit, a second refrigeration device control unit and a third refrigeration device control unit; The first refrigeration device control unit is connected to the first refrigeration device (4) and controls the first refrigeration device (4) based on a refrigeration control instruction; The second refrigeration device control unit is connected to the second refrigeration device and controls the second refrigeration device based on the refrigeration control instruction; The third refrigeration device control unit is connected to the third refrigeration device and controls the third refrigeration device based on the refrigeration control instruction.

4. The constant temperature control system of the ultra-low temperature biological storage device according to claim 1, characterized in that: The ultra-low temperature biological storage device further comprises a storage control module (2), which is arranged in the storage compartment (11) and has a storage container, the storage container is rotatably arranged in the storage compartment (11) and has a plurality of storage areas for storing biological samples, and the storage control module (2) further comprises a rotating cage support (22) and a second drive assembly (23); The first temperature detection and monitoring module includes a plurality of first temperature sensors arranged inside the storage cabin (11); the second temperature detection and monitoring module includes a plurality of second temperature sensors arranged inside the transfer cabin (12) and a fourth temperature sensor on the sampling piece (33); and the third temperature detection and monitoring module includes a plurality of third temperature sensors arranged inside the cold trap (342).

5. The constant temperature control system of the ultra-low temperature biological storage device according to claim 1, characterized in that: A transfer passage that can be controlled to open and close is provided between the storage cabin (11) and the transfer cabin (12), and at least one portion of the transfer cabin (12) is provided with a sample storage and access port (121) that is communicated with the outside and can be controlled to open and close; The transfer channel comprises a plurality of transfer windows formed on a side of the storage compartment (11) close to the sampling member (33), the plurality of transfer windows being arranged in a height direction, and each of the transfer windows being provided with a transfer door (6) that can be independently controlled to open and close; The first temperature sensors are distributed on the centripetal side of the prism of the rotating cage support (22). At the same time, the first temperature sensors are also distributed on the side wall of the transfer door (6) facing the storage compartment (11), and the interval between the upper and lower adjacent first temperature sensors is consistent with the height of the storage slot; the second temperature sensor array is distributed on the workbench (34) tabletop; and the third temperature sensors are distributed on the inner wall of the cold trap (342).

6. The constant temperature control system of the ultra-low temperature biological storage device according to claim 2, characterized in that: The temperature data analysis unit can also establish a virtualized area based on the storage cabin space, and input the distribution status of the first temperature sensor, obtain the temperature data of the first temperature sensor in real time, and establish a three-dimensional visualization rose diagram of each area.

7. A constant temperature control method for an ultra-low temperature biological storage device, applied to a constant temperature control system of an ultra-low temperature biological storage device as claimed in any one of claims 1 to 6, characterized in that: The constant temperature control method comprises the following steps: Monitor and analyze the real-time temperature data of the storage cabin, transfer cabin and cold trap respectively, and generate analysis results; Based on the analysis results, refrigeration control instructions are generated to perform zone temperature control on the storage compartment, transfer compartment and cold trap.

8. The method for controlling the constant temperature of an ultra-low temperature biological storage device according to claim 7, characterized in that: The invention comprises a storage compartment normal constant temperature control method, wherein the storage compartment normal constant temperature control method comprises the following steps: S1, working parameter setting stage: setting the normal temperature of the storage compartment (11) and setting the temperature floating threshold; setting the constant temperature and refrigeration working cycle of the first refrigeration device (4), and setting the refrigeration trigger temperature of the refrigeration circulation pipeline (41) in the first refrigeration device (4), and setting the refrigeration suspension trigger temperature of the refrigeration circulation pipeline (41) in the first refrigeration device (4); The compressor refrigeration circuit in the first refrigeration device performs preliminary refrigeration in the storage compartment. When the maximum refrigeration power is reached and the temperature in the storage compartment is maintained at the minimum refrigeration temperature, the compressor refrigeration circuit is kept working and the refrigeration cycle pipeline is used for further refrigeration. When the temperature is lowered to the target constant temperature, the refrigeration work of the refrigeration cycle pipeline is suspended. S2, temperature monitoring: acquiring real-time temperature data of a first temperature sensor, and monitoring the temperature of the storage compartment (11) in real time; S3, dividing the storage compartment (11) into regions: dividing the storage compartment (11) into regions according to the distribution of the first temperature sensors; A temperature data analysis unit is used to establish a virtualized area based on the storage cabin space, and a three-dimensional visualization rose diagram of each area is established; S4, analyzing the temperature difference between the temperatures of different spatial regions within the storage compartment (11): analyzing the temperature difference between the temperatures of adjacent regions within the storage compartment (11); S5, based on the real-time temperature data of the storage compartment (11), all the first temperature sensor data are integrated, the first temperature sensor with the target constant temperature reading and its corresponding position are taken, and the high efficiency range of refrigeration is further determined, and the rotation speed of the circulating fan blade (43) is further controlled according to the position corresponding to the first temperature sensor; S6, temperature monitoring when the transfer door (6) of the storage compartment (11) is open: when the transfer door (6) is in the open state, real-time temperature data of a first temperature sensor arranged on the transfer door (6) is obtained, and a temperature change ΔW in the area where the transfer door (6) is located during the time t from closing to opening and then closing again of the transfer door (6) is analyzed; S7, calculate the average temperature change rate V (°C / s) by t and ΔW, combine the time t and the temperature change ΔE of the average value of the real-time temperature data of all the first temperature sensors distributed in the storage compartment (11) in S2 within the time t, calculate the average temperature change rate V1 in the storage compartment (11), detect the difference between V1 and V every 0.5s, and when V1>0.2V, start the refrigeration circulation pipeline (41) in the first refrigeration device (4) to perform rapid temperature compensation, so that the temperature of the storage compartment (11) quickly returns to the target temperature and maintains a constant temperature state.

9. The method for controlling the constant temperature of an ultra-low temperature biological storage device according to claim 7, characterized in that: The constant temperature control method also includes a normal constant temperature control method for a transfer cabin, and the normal constant temperature control method for a transfer cabin includes the following steps: S1, working parameter setting stage: setting the normal temperature of the transfer cabin (12), setting the temperature floating threshold, setting the constant temperature and refrigeration working cycle of the second refrigeration device, setting the refrigeration trigger temperature of the second refrigeration device to -18°C, and the second refrigeration device suspending refrigeration trigger temperature; setting the normal temperature of the cold trap (342), setting the refrigeration working cycle of the third refrigeration device, and setting the active trigger and passive trigger of the refrigeration trigger of the third refrigeration device, and the third refrigeration device suspending refrigeration trigger temperature; S2, temperature monitoring: obtaining real-time temperature data of the second temperature sensor and the temperature sensor of the cold trap (342), and monitoring the temperature of the transfer cabin (12) in real time; S3, dividing the transfer cabin (12) into regions: according to the distribution of the second temperature sensors, the transfer cabin (12) is divided into two regions, upper and lower, with the workbench (34) as the midpoint; S4, acquiring real-time temperature data of the temperature of the upper area of ​​the transfer cabin (12) and the internal temperature of the cold trap (342) built therein, and comparing the temperature of the upper area of ​​the transfer cabin (12) with the internal temperature of the cold trap (342); S5, when the transfer door (6) is in an open state, combining the real-time temperature data of the first temperature sensor arranged on the transfer door (6), analyzing the temperature change ΔW of the upper area of ​​the transfer cabin (12) during the time t from closing to opening and then closing again of the transfer door (6); S6. The average temperature change rate V (°C / s) is calculated by t and ΔW. The average temperature change rate V2 in the transfer cabin (12) is calculated by combining time t and the temperature change ΔE1 of the average value of the real-time temperature data of all the second temperature sensors distributed in the transfer cabin (12) within time t. The difference between V2 and V is detected every 5 seconds. When V2>0.15V, the refrigeration work of the second refrigeration device and the third refrigeration device is suspended.

10. The method for controlling the constant temperature of an ultra-low temperature biological storage device according to claim 8, characterized in that: The steps of establishing the three-dimensional visualization rose diagram of each region in S3 are as follows: A1. Data collection and processing: obtaining data from a plurality of first temperature sensors disposed in the storage compartment, thereby obtaining temperature data of corresponding areas in the storage compartment; classifying and grouping the collected temperature data according to the areas where the first temperature sensors are located, and summarizing the temperature data in each area; A2. Construct a three-dimensional storage cabin model: Use computer software to construct a three-dimensional cabin model based on the actual cabin geometry and size; A3. Data mapping: Map the collected temperature data to the corresponding area on the 3D storage cabin model, and use color and graphic height to represent the value of the temperature data; A4. Generate a rose diagram effect: Draw the temperature data of each area in the form of a rose diagram, draw corresponding petal graphics on each area of ​​the storage cabin model, and adjust the length, color and height of the petal graphics used to express the temperature data according to the temperature data in each area; A5. Interaction and navigation: Provide interaction and navigation functions according to the temperature distribution of different layers and regions; A6. System integration and display: Integrate the generated 3D visualization rose diagram into the computer software used for modeling to present the temperature distribution in the storage compartment.

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