Internal flushing control method, device and readable storage medium of tissue culture bottle

Abstract

The present invention proposes a method, device and readable storage medium for controlling the internal flushing of tissue culture bottles. The device includes an input track, a photoelectric sensor, a bottle-pushing mechanism, a flipping mechanism and the like. The input track guides the bottle into the flipping mechanism, the bottle-pushing mechanism drives the bottle according to the design, a plurality of cleaning tracks are provided on the circumference of the flipping mechanism for switching operations, the water injection mechanism nozzle and the water level sensor accurately cooperate with the water injection monitoring to collaboratively realize the efficient cleaning of the tissue culture bottles. The control method advances multiple processes through startup detection, feeding, water injection, stirring and drying, station switching, secondary water injection and circulation, and intelligently controls each link according to sensor feedback to ensure the quality and efficiency of bottle cleaning. The electronic device uses a processor to run a memory program and a storage medium to store program code, providing a carrier for the implementation of the control method, promoting the automation and intelligence of tissue culture bottle cleaning, improving the level of clean production in the industry, reducing costs and increasing efficiency, and having significant practical value and broad application prospects.

Description

Technical Field

[0001] The present invention relates to the technical field of tissue culture bottle cleaning, and in particular to a method and device for controlling internal flushing of a tissue culture bottle and a readable storage medium. Background Art

[0002] As the plant tissue culture industry is booming, the demand for reuse of tissue culture bottles, as key culture containers, is increasing day by day. Efficient and high-quality internal fat removal of tissue culture bottles has become a key link in ensuring the sustainable development of the industry.

[0003] Traditional tissue culture bottle cleaning methods mainly rely on manual operations, such as brushing, chemical reagent soaking and simple water flushing. However, these methods have many disadvantages. Brush cleaning is difficult to reach the complex shape of the bottle, and it is easy to leave grease and impurities, and frequent contact can easily damage the bottle wall and shorten the service life. Although chemical reagent soaking can decompose some grease, the reagent residue may interfere with the subsequent culture process, cause microbial contamination or affect the balance of plant growth hormones, and the large-scale use of chemical reagents increases costs and environmental treatment burdens. Simple water flushing cannot effectively remove stubborn grease and dirt, resulting in uneven cleaning effects. And operations such as brushing will seriously affect the cleaning efficiency and increase the workload of workers.

[0004] With the advancement of automation technology, our institute has applied for patent CN117502244A to disclose a tissue culture container heating, cleaning and filling production line. The residual culture matrix in the tissue culture bottle after liquefaction is scraped by the fat removal station to improve the cleaning efficiency and fat removal rate. However, the key problem has not been properly solved. Although the fat removal efficiency is high by scraping, the scraper of the scraping mechanism needs to be maintained frequently, and the overall structure is relatively complex, the structure volume is large, and the cost is high.

[0005] In order to overcome the above difficulties, the present invention came into being. With its innovative structural design and advanced control algorithm, it provides a comprehensive, efficient and intelligent solution for the internal flushing and degreasing operation of tissue culture bottles, effectively filling the gap in the existing technology, greatly improving the quality and efficiency of tissue culture bottle cleaning, reducing operating costs and environmental pollution risks, and effectively promoting the plant tissue culture industry to move forward in the direction of automation, refinement and sustainability. Summary of the invention

[0006] The embodiments of the present invention provide a method and device for controlling flushing inside a tissue culture bottle and a readable storage medium, which are aimed at solving the problems of low cleaning efficiency and high work intensity in manual cleaning and low cleaning efficiency and high cost in automatic cleaning, which exist in the current technology.

[0007] The core technology of the present invention is mainly a device for flushing the inside of a tissue culture bottle. Through the coordination of an input track, a bottle-moving mechanism, a flipping mechanism, a water injection mechanism and corresponding sensors, combined with a unique control method, an electronic device and a storage medium, it can realize automatic and precise loading of tissue culture bottles, multiple water injections for fat removal, stirring and drying, and cyclic cleaning, and efficiently remove impurities and grease in the bottle.

[0008] In a first aspect, the present invention provides a device for flushing the inside of a tissue culture bottle, comprising:

[0009] An input track is used for inputting tissue culture bottles, and guides the tissue culture bottles so that each tissue culture bottle is arranged in a row and enters the turning mechanism individually;

[0010] Imported photoelectric sensor, installed on the input track, is used to detect the presence and number of tissue culture bottles passing by;

[0011] The bottle-pushing mechanism is arranged on both sides of the input track. The bottle-pushing mechanism is provided with a material-pushing disc. Each material-pushing disc is provided with an arc-shaped material-pushing opening evenly spaced. The rotation of the material-pushing disc drives the tissue culture bottle to move along the input track toward the flipping mechanism.

[0012] The turning mechanism has a plurality of cleaning tracks evenly spaced along the circumferential direction and can switch the cleaning tracks by rotation. Each cleaning track is provided with a limit frame for abutting against the step below the mouth of the tissue culture bottle to prevent the tissue culture bottle from being thrown out. When each cleaning track rotates to the highest point, it can dock with the input track and the output track to realize the transfer of the tissue culture bottle.

[0013] The water injection mechanism is arranged above the turning mechanism and is provided with nozzles corresponding to the tissue culture bottles on the cleaning track, and is used to inject water and remove fat from the inside of the tissue culture bottles on the cleaning track that rotates to the highest point;

[0014] A water level sensor group is arranged above the turning mechanism, each water level sensor corresponds to a tissue culture bottle on the cleaning track, and is used to detect the water level height of the tissue culture bottle;

[0015] A water tank, arranged below the turning mechanism, for collecting waste water;

[0016] Output track, used for output of tissue culture bottles;

[0017] The exit photoelectric sensor is located on the output track and is used to detect the presence and number of tissue culture bottles passing through;

[0018] Among them, the number of tissue culture bottles driven by the bottle-pushing mechanism each time is half of the number of tissue culture bottles that can be accommodated by a single cleaning track on the flipping mechanism; each time a batch of tissue culture bottles is input, the water injection mechanism is turned on once to inject water and remove fat, and the flipping mechanism is turned on once, so that each tissue culture bottle can be injected with water and removed fat and poured with water twice, and the flipping mechanism can swing back and forth at a preset frequency and at a preset angle after each injection of water and removal of fat and pouring of water to achieve stirring and drying.

[0019] Furthermore, the length from the center of the material-diverting disc of the bottle-diverting mechanism to the entrance of the cleaning track is half of the cleaning track.

[0020] Furthermore, it also includes a flip photoelectric sensor for detecting whether the flip mechanism is located at the origin and a material-diverting photoelectric sensor for detecting whether the bottle-diverting mechanism is located at the origin.

[0021] Furthermore, it also includes a high-definition camera, which is arranged at the input track and is used to collect images of tissue culture bottles entering the input track, identify the number and position information of the tissue culture bottles through image processing algorithms, and calibrate and supplement the image recognition results in combination with the data of imported photoelectric sensors to improve the accuracy of image recognition.

[0022] Furthermore, the water injection mechanism also includes a water pump and two water inlet valves, and the two water inlet valves respectively control half of the nozzles. By controlling the two water inlet valves, the water level sensor thresholds of the tissue culture bottles for the first water injection and fat removal and the second water injection and fat removal are divided into two stages, and the threshold value for the first water injection and fat removal is greater than the threshold value for the second water injection and fat removal.

[0023] Furthermore, it also includes an adaptive adjustment module, which identifies the appearance information of the tissue culture bottle through the image collected by the high-definition camera, and adjusts the water level sensor threshold based on the identified appearance information.

[0024] Furthermore, it also includes an energy consumption management module, which calculates the energy consumption under different action combinations based on the parameters of the flipping mechanism, including motor power, rotation angle, and rotation speed, through a pre-established energy consumption model, and calculates the flipping mechanism control strategy with the lowest energy consumption while ensuring fat removal efficiency.

[0025] In a second aspect, the present invention provides a method for controlling a flushing device inside a tissue culture bottle, comprising:

[0026] S00, detect the status of each sensor. When it is detected that the inlet photoelectric sensor is triggered and the outlet photoelectric sensor is not triggered, it means that there is a bottle detected at the feed inlet and the channel at the discharge outlet is unobstructed;

[0027] S10, start the bottle-moving mechanism, so that the material-moving disc rotates to a first preset angle, and continues to detect whether the imported photoelectric sensor is triggered. When the imported photoelectric sensor remains in a triggered state and the material-moving disc rotates to a second preset angle, the material-moving disc completes the loading operation of half of the number of tissue culture bottles that can be accommodated by a single cleaning track;

[0028] S20, turning on the water injection mechanism to perform the first water injection and fat removal on the batch of tissue culture bottles that have just entered, and when the water level sensor corresponding to the batch of tissue culture bottles is triggered, turning off the water injection mechanism;

[0029] S30, driving the flipping mechanism to swing back and forth at a preset frequency and at a preset angle, and after the number of swings or the swinging time reaches a preset value, driving the flipping mechanism to rotate 180° to perform a pouring operation;

[0030] S40, when the flip mechanism rotates 180°, the tissue culture bottle that has been filled with water for the first time and degreased and poured with water has returned to the top position, ready for the second water filling and degreasing and loading of a new batch of tissue culture bottles; or the tissue culture bottle that has been filled with water for the second time and degreased and poured with water has returned to the top position, ready for unloading and loading of a new batch of tissue culture bottles;

[0031] S50, repeating step S10, after a new batch of tissue culture bottles are loaded, the tissue culture bottles ready for the second water injection and degreasing are pushed into the other end of the cleaning track, located below the area of ​​the water injection mechanism for the second water injection and degreasing, and the water injection mechanism is turned on to perform the first water injection and degreasing and the second water injection and degreasing on the two batches of tissue culture bottles respectively, and when the water level sensors corresponding to the two batches of tissue culture bottles are triggered, the water injection mechanism is closed;

[0032] S60, repeat steps S30-S40;

[0033] S70, repeating step S10, at this time, the tissue culture bottles that have completed the second water injection and fat removal are ejected from the flip mechanism to the output track, and the tissue culture bottles that have completed the first water injection and fat removal are pushed to the other end of the cleaning track, located below the area of ​​the water injection mechanism used for the second water injection and fat removal, and the new batch of tissue culture bottles are located below the area of ​​the water injection mechanism used for the first water injection and fat removal;

[0034] S80, opening the water injection mechanism to perform the first water injection and the second water injection to remove fat on the two batches of tissue culture bottles, respectively, and closing the water injection mechanism when the water level sensors corresponding to the two batches of tissue culture bottles are triggered;

[0035] S90, repeating steps S30-S40, and then repeating steps S70-S80 to complete water filling and fat removal of all tissue culture containers.

[0036] In a third aspect, the present invention provides an electronic device, including a memory and a processor, wherein the memory stores a computer program, and the processor is configured to run the computer program to execute the above-mentioned control method for a flushing device inside a tissue culture bottle.

[0037] In a fourth aspect, the present invention provides a readable storage medium storing a computer program, wherein the computer program includes a program code for controlling a process to execute the process, wherein the process includes a control method for a flushing device inside a tissue culture bottle according to the above-mentioned method.

[0038] The main contributions and innovations of the present invention are as follows:

[0039] 1. Excellent cleaning effect: The invention cooperates with the water level sensor group through the precisely designed water injection mechanism, accurately injects water according to the actual situation of the tissue culture bottle, cooperates with the flipping mechanism to inject water and remove fat multiple times and scientifically stir and dry, and powerfully removes stubborn grease impurities, far exceeding the traditional manual or semi-automatic cleaning method, greatly improving the cleaning quality, and laying a good foundation for the real cleaning steps on the subsequent production line.

[0040] 2. Great improvement in cleaning efficiency: The innovative bottle-moving mechanism and flipping mechanism work together, based on scientific capacity ratio and efficient station switching logic, and combined with intelligent control methods to optimize process rhythm. Each link is closely connected and operates uninterruptedly, achieving high-speed and orderly cleaning of tissue culture bottles. Compared with traditional methods, the efficiency is several times higher, which effectively supports the rapid turnover of bottles in the large-scale tissue culture industry and significantly reduces costs and increases efficiency.

[0041] 3. Wide adaptability and strong toughness: High-definition camera image recognition combined with adaptive adjustment module can keenly perceive the appearance differences of tissue culture bottles and dynamically optimize the water level threshold and water injection strategy, easily meet the cleaning needs of bottles of different specifications, shapes and materials, overcome the limitation of traditional equipment's dependence on bottle type (mainly capacity size), greatly broaden the universality of equipment, and effectively reduce the frequency of equipment replacement or adjustment.

[0042] 4. Stable and reliable operation: Origin detection photoelectric sensors, precise mechanical structure parameter design and rigorous control process logic build a stable operation architecture in all aspects. Accurate calibration at equipment startup, accurate monitoring and reset during operation, and strict and precise execution of actions in sequence eliminate hidden faults such as bottle jams, misoperation, and component conflicts from the root, ensuring long-term stable operation and reducing equipment maintenance downtime losses.

[0043] 5. Energy saving and environmental protection: The energy consumption management module scientifically plans the action of the flip mechanism according to the energy consumption model, intelligently selects the lowest energy consumption strategy under the premise of ensuring the cleaning effect, reduces equipment energy consumption and water resource waste, and conforms to the concept of green manufacturing. Energy saving and consumption reduction can also reduce the company's operating costs and environmental burden.

[0044] The details of one or more embodiments of the invention are set forth in the following drawings and description so that other features, objects, and advantages of the invention are more readily apparent. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] The drawings described herein are used to provide a further understanding of the present invention and constitute a part of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings:

[0046] Figure 1 is a three-dimensional diagram of a device for flushing the inside of a tissue culture bottle according to an embodiment of the present invention;

[0047] Figure 2 yes Figure 1 A magnified view of middle;

[0048] Figure 3 is a front view of a device for flushing the inside of a tissue culture bottle according to an embodiment of the present invention;

[0049] Figure 4 4 is a schematic diagram of the hardware structure of an electronic device according to an embodiment of the present invention.

[0050] In the figure, 1, input track; 2, bottle-moving mechanism; 3, flipping mechanism; 4, water-filling mechanism; 5, water level sensor group; 6, water tank; 7, output track; 21, material-moving disc; 31, cleaning track; 32, limit frame; 41, water pump; 42, water inlet valve; 43, partition; 402, processor; 404, memory; 406, transmission equipment; 408, input and output equipment. DETAILED DESCRIPTION

[0051] Exemplary embodiments will be described in detail herein, examples of which are shown in the accompanying drawings. When the following description refers to the drawings, the same numbers in different drawings represent the same or similar elements unless otherwise indicated. The implementations described in the following exemplary embodiments do not represent all implementations consistent with one or more embodiments of this specification. Instead, they are merely examples of devices and methods consistent with some aspects of one or more embodiments of this specification as detailed in the appended claims.

[0052] It should be noted that: in other embodiments, the steps of the corresponding method are not necessarily performed in the order shown and described in this specification. In some other embodiments, the steps included in the method may be more or less than those described in this specification. In addition, a single step described in this specification may be decomposed into multiple steps for description in other embodiments; and multiple steps described in this specification may be combined into a single step for description in other embodiments.

[0053] Embodiment 1

[0054] The present invention aims to provide a tissue culture bottle internal flushing device, specifically, with reference to Figure 1-3 ,include:

[0055] An input track 1 is used for inputting tissue culture bottles, and guides the tissue culture bottles so that each tissue culture bottle is arranged in a row and enters the turning mechanism 3 individually;

[0056] Imported photoelectric sensor, located on input track 1, is used to detect the presence and number of tissue culture bottles passing through;

[0057] The bottle-pushing mechanism 2 is arranged on both sides of the input track 1. The bottle-pushing mechanism 2 is provided with a material-pushing disc 21. Each material-pushing disc 21 is provided with an arc-shaped material-pushing opening evenly spaced. The rotation of the material-pushing disc 21 drives the tissue culture bottle to move along the input track 1 toward the flipping mechanism 3.

[0058] In this embodiment, the length from the center of the material-dispensing disc 21 of the bottle-dispensing mechanism 2 to the entrance of the cleaning track 31 is half the length of the cleaning track 31. Preferably, the arc-shaped material-dispensing opening of the material-dispensing disc 21 is divided into eleven equal parts, and one rotation of the disc can realize the feeding action of eleven tissue culture bottles, that is, each time a tissue culture bottle is moved, it needs to rotate about 32.727°.

[0059] The turning mechanism 3 is provided with a plurality of cleaning tracks 31 evenly spaced along the circumferential direction and can switch the cleaning tracks 31 by rotation. Each cleaning track 31 is provided with a limit frame 32 for abutting against the step below the mouth of the tissue culture bottle to prevent the tissue culture bottle from being thrown out, and each cleaning track 31 can be docked with the input track 1 and the output track 7 when it rotates to the highest point to realize the transfer of the tissue culture bottle;

[0060] The water injection mechanism 4 is arranged above the turning mechanism 3 and is provided with nozzles corresponding to the tissue culture bottles on the cleaning track 31 one by one, and is used to inject water and remove fat from the inside of the tissue culture bottles on the cleaning track 31 that rotates to the highest point;

[0061] In this embodiment, the water injection mechanism 4 includes a water inlet pipe, a water pump 41 and two water inlet valves 42. The two water inlet valves 42 control half of the nozzles respectively. By controlling the two water inlet valves 42, the water level sensor thresholds of the tissue culture bottle for the first water injection and fat removal and the second water injection and fat removal are divided into two stages, and the threshold of the first water injection and fat removal is greater than the threshold of the second water injection and fat removal. Both ends of the water inlet pipe are connected to the water pump 41 through pipelines, and a partition 43 is provided in the middle of the water inlet pipe, so that the water inlet pipe is divided into two parts, which can be controlled separately by the two water inlet valves 42.

[0062] The water level sensor group 5 is arranged above the turning mechanism 3, each water level sensor corresponds to a tissue culture bottle on the cleaning track 31, and is used to detect the water level height of the tissue culture bottle;

[0063] The water tank 6 is arranged below the turning mechanism 3 and is used to collect waste water; a baffle plate and a drain port for guidance are also arranged below the water tank 6.

[0064] Preferably, the water tank 6 can be divided into two, one for collecting the second water injection and degreasing, and the other for the first water injection and degreasing, because there is a clear difference between the wastewater finally collected from the first and second times, there will be a large amount of agar in the first time, and only a small amount of agar in the second time, so they can be treated separately, and the second wastewater can be simply filtered and then supplied to the water pump 41 for reuse, which effectively saves water.

[0065] Output track 7, used for outputting tissue culture bottles;

[0066] The exit photoelectric sensor is arranged on the output track 7 and is used to detect the presence and number of tissue culture bottles passing through;

[0067] A flip photoelectric sensor is used to detect whether the flip mechanism 3 is at the origin;

[0068] The material-shifting photoelectric sensor is used to detect whether the bottle-shifting mechanism 2 is at the origin;

[0069] Among them, the number of tissue culture bottles driven by the bottle-pushing mechanism 2 each time is half of the number of tissue culture bottles that can be accommodated by a single cleaning track 31 on the flipping mechanism 3; each time a batch of tissue culture bottles is input, the water injection mechanism 4 is turned on to inject water and remove fat once and the flipping mechanism 3 is rotated once, so that each tissue culture bottle can be injected with water and removed fat and poured with water twice, and the flipping mechanism 3 can swing back and forth at a preset frequency and at a preset angle after each injection of water and removal of fat and pouring of water to achieve stirring and drying.

[0070] It is worth mentioning that if the amount of agar in this batch of tissue culture bottles is not large or the cleaning requirements are not high (because the degreasing here is only to facilitate the subsequent real cleaning, and a high-pressure water washing step will be performed later. The solution of the present invention, as part of the assembly line, only focuses on how to remove most of the agar, and the focus is not on cleaning the tissue culture bottles), the swinging and drying operations can be omitted to save time.

[0071] Preferably, it also includes a high-definition camera, which is arranged at the input track 1, for collecting images of the tissue culture bottles entering the input track 1, identifying the number and position information of the tissue culture bottles through image processing algorithms, and combining the data of imported photoelectric sensors to calibrate and supplement the image recognition results to improve the accuracy of image recognition. The specific scheme is as follows:

[0072] 1. To ensure that the images of tissue culture bottles can be captured clearly and accurately, select an industrial-grade high-definition camera with high resolution (e.g. not less than 1080P) and high frame rate (e.g. above 60fps). The camera should have good adaptability to low-light environments to ensure that high-quality images can be obtained under various lighting conditions under which the equipment is running. At the same time, select a camera with autofocus and optical image stabilization functions to cope with possible position changes and slight shaking of the tissue culture bottles during the feeding process. In terms of the lens, according to the width of input track 1 and the size of the tissue culture bottles, select a fixed-focus lens with an appropriate focal length (e.g. 5-15mm) to ensure that the feeding area can be fully covered and the image of the tissue culture bottles is clear and distortion-free.

[0073] 2. Install a high-definition camera at a suitable position above the input track 1. The installation angle must be perpendicular to the plane of the input track 1 to ensure that the outline of the tissue culture bottle in the captured image is clear and discernible. The camera installation height is accurately calculated so that its shooting range can cover the entire feed inlet and a certain distance (for example, 20-30 cm) at the beginning of the tissue culture bottle entering the track, so that image information can be collected in time when the tissue culture bottle enters the track. To prevent dust, water vapor, etc. from interfering with the camera's work, equip the camera with a special protective cover and clean and maintain it regularly.

[0074] 3. The principle and process of image processing algorithm are as follows:

[0075] 1) Image preprocessing

[0076] The collected images are first grayed out to convert color images into grayscale images, reducing the amount of data and simplifying subsequent processing. Then the grayscale images are filtered and denoised, using algorithms such as Gaussian filtering to remove noise interference in the image, smooth the image edges, and improve image quality.

[0077] Then, the image enhancement operation is performed to enhance the image contrast through methods such as histogram equalization, so that the difference between the tissue culture bottle and the background is more obvious, which is convenient for subsequent target identification.

[0078] 2) Tissue culture bottle target identification and positioning

[0079] The pre-processed images are used to identify tissue culture bottles using deep learning-based target detection algorithms (such as YOLO, FasterR-CNN, etc.). During the algorithm training phase, a large number of image samples containing tissue culture bottles in different states (such as different placement angles, different number arrangements, etc.) are used for training, so that the algorithm can accurately identify the tissue culture bottles in the image.

[0080] After identifying the tissue culture bottle, the algorithm calculates the position information of the tissue culture bottle in the image, including the center coordinates, contour boundaries, etc. At the same time, combined with the proportional relationship between the pixel size of the image and the actual physical size, the position information in the image is converted into position coordinates in the actual space, providing a basis for subsequent fusion with imported photoelectric sensor data.

[0081] 3) Data fusion and calibration

[0082] The number and location information of tissue culture bottles obtained by the image processing algorithm are integrated with the data of the imported photoelectric sensor. The imported photoelectric sensor can provide the time series information of the passage of tissue culture bottles, and combined with the timestamp of the image taken by the camera, the movement trajectory of the tissue culture bottles can be tracked more accurately.

[0083] For example, when the photoelectric sensor detects that the tissue culture bottle passes a certain position, the corresponding image frame is found in the image sequence collected by the camera according to the time relationship, and the position information of the tissue culture bottle is further verified and calibrated. If there is a deviation between the position of the tissue culture bottle obtained by the image processing algorithm and the photoelectric sensor data, it is corrected by the preset calibration algorithm, such as establishing an error compensation model based on multiple measurement data, and dynamically adjusting the image recognition results to ensure that the number and position information of the tissue culture bottles finally obtained have extremely high accuracy.

[0084] 4) To meet the real-time control requirements of the equipment, the image processing algorithm is optimized to improve its processing speed. Hardware acceleration technology (such as GPU acceleration) is used to accelerate the image data processing process by using the parallel computing capabilities of the graphics processing unit. At the same time, the algorithm code structure is optimized to reduce unnecessary calculation steps to ensure that image processing can be completed in a very short time (for example, processing a frame of image does not exceed 100 milliseconds) so as to provide accurate information for equipment control in a timely manner.

[0085] 5) Since tissue culture bottles may have different appearances (such as different colors, transparency, surface texture, etc.), the image processing system has adaptive adjustment capabilities. The acquired images are analyzed regularly and the algorithm parameters are automatically adjusted according to the changes in image features. For example, if a batch of tissue culture bottles is found to be dark in color and difficult to identify, the system automatically adjusts the image enhancement algorithm parameters to increase the image contrast to adapt to the new bottle characteristics. In addition, when the equipment operating environment (such as lighting conditions) changes, the system can automatically detect and adjust the camera parameters (such as exposure time, gain, etc.) to ensure stable image quality, thereby ensuring that the accuracy and reliability of the image processing algorithm are not affected by the environment.

[0086] Preferably, it also includes an adaptive adjustment module, which recognizes the appearance information of the tissue culture bottle through the image collected by the high-definition camera, and adjusts the water level sensor threshold based on the recognized appearance information. The specific scheme of the appearance information recognition algorithm is as follows:

[0087] 1. Image feature extraction

[0088] When the high-definition camera captures the image of the tissue culture bottle, the adaptive adjustment module first pre-processes the image, including grayscale, noise reduction, image enhancement and other operations to improve the image quality for subsequent feature extraction. Advanced computer vision algorithms, such as scale-invariant feature transform (SIFT), speeded-up robust features (SURF) or deep learning-based feature extraction networks (such as VGG, ResNet, etc.), are used to extract the key features of the tissue culture bottle from the pre-processed image. These features include bottle shape features (such as circular outline, diameter size, height ratio, etc.), surface texture features (such as smoothness, presence or absence of special texture patterns, etc.), color features (such as overall color tone, color distribution, etc.) and possible logo or scale features.

[0089] For example, for the shape features of the bottle, the edge detection algorithm is used to accurately extract the contour of the tissue culture bottle, and then the geometric parameters of the contour, such as circumference, area, circularity, etc., are calculated to quantify the shape information of the bottle. For surface texture features, the gray level co-occurrence matrix and other methods are used to analyze the texture's direction, contrast, roughness and other attributes. Color features are statistically analyzed through color histograms to analyze the distribution of different color channels.

[0090] 2. Appearance information classification and recognition

[0091] Based on the extracted features, a machine learning classification algorithm (such as support vector machine, decision tree, etc.) or a deep learning classification model (such as convolutional neural network) is used to classify and identify the appearance information of the tissue culture bottle. A database containing the appearance information of various types of tissue culture bottles is pre-established, and each type corresponds to a different water level sensor threshold adjustment strategy. During the classification and identification process, the features extracted from the current captured image are compared with the sample features in the database to determine the specific type or category of the tissue culture bottle.

[0092] For example, if the tissue culture bottle is identified as slender with a smooth surface and light color, it may correspond to a specific plant tissue culture bottle, which may require a relatively low water level when filling water to prevent water from overflowing; while if it is a short and fat tissue culture bottle with a textured surface and dark color, a higher water level may be required to ensure the cleaning effect, because its internal structure may be more complex and more water may be needed to wash away grease and impurities.

[0093] 3. Setting the threshold adjustment rules for the water level sensor threshold adjustment strategy

[0094] According to the classification results of the appearance information of different tissue culture bottles, the adaptive adjustment module formulates corresponding water level sensor threshold adjustment rules. For tissue culture bottles with regular shapes, simple internal structures and smooth surfaces, the water level sensor threshold is appropriately lowered to reduce water consumption while avoiding waste caused by water overflow and affecting the cleaning effect. For example, the water level sensor threshold is set to 50%-60% of the bottle height. For tissue culture bottles with irregular shapes, complex internal structures or textured surfaces that easily absorb impurities, the water level sensor threshold is increased to ensure that water can fully contact all parts of the bottle and enhance the cleaning effect. At this time, the water level sensor threshold can be set to 70%-80% of the bottle height.

[0095] At the same time, considering the influence of the color of the tissue culture bottle on the reflection and refraction of light, for the darker colored tissue culture bottles, due to their strong absorption of light, it may cause detection errors of the water level sensor. The threshold is appropriately increased to compensate for the detection error to ensure that the actual water level meets the expected cleaning requirements.

[0096] 4. Dynamic adjustment and real-time feedback

[0097] During the operation of the equipment, the adaptive adjustment module monitors the images collected by the high-definition camera in real time and continuously updates the recognition results of the appearance information of the tissue culture bottle. If the appearance of the tissue culture bottle is found to have changed (such as replacing a tissue culture bottle of a different batch or model), the water level sensor threshold is immediately adjusted according to the new recognition result. In addition, during each water injection process, the actual water level data fed back by the water level sensor is used to evaluate the effect of the threshold adjustment. If a large deviation is found between the actual water level and the expected water level, the threshold adjustment strategy is further optimized, and the threshold adjustment parameters are continuously learned and optimized through the machine learning algorithm to make the water level control more accurate.

[0098] 5.Integrate with equipment control system

[0099] The adaptive adjustment module is tightly integrated with the control system of the tissue culture bottle flushing device. Through the data communication interface (such as Ethernet, serial port, etc.), data is exchanged with the main controller (such as PLC, industrial computer, etc.), and the adjusted water level sensor threshold data is transmitted to the main controller in real time. The main controller controls the operation of the water injection mechanism 4 according to the new threshold. At the same time, the equipment operation status information fed back by the main controller is received, such as water injection time, the action of the flip mechanism 3, etc., so as to better coordinate the relationship between appearance information recognition and water level control.

[0100] 6. Performance optimization measures

[0101] In order to improve the operating efficiency and accuracy of the adaptive adjustment module, multi-threaded processing technology is used. One thread is responsible for real-time acquisition and processing of high-definition camera images, another thread is responsible for appearance information recognition and threshold calculation, and another thread is responsible for communication and data exchange with the equipment control system. This can avoid blockage in the data processing process and ensure that the system can quickly respond to changes in the appearance of tissue culture bottles and adjustments to the operating status of equipment. In addition, the appearance information recognition algorithm and threshold adjustment strategy are regularly optimized and updated, and the appearance information database is continuously expanded and improved according to actual usage and new tissue culture bottle types to improve the system's adaptability and compatibility with different tissue culture bottles.

[0102] Preferably, it also includes an energy consumption management module, which calculates the energy consumption under different action combinations based on the parameters of the flip mechanism 3, including motor power, rotation angle, and rotation speed, through a pre-established energy consumption model, and calculates the flip mechanism 3 control strategy with the lowest energy consumption under the premise of ensuring fat removal efficiency. The specific scheme for constructing the energy consumption model is as follows:

[0103] 1. Data Collection and Analysis

[0104] First, during the initial debugging and trial operation of the tissue culture bottle flushing device, a large amount of energy consumption data of the flip mechanism 3 when it is running under different motor power, rotation angle and rotation speed combinations are collected. At the same time, the corresponding degreasing efficiency indicators are recorded, such as the amount of residual grease in the tissue culture bottle after cleaning, the impurity removal rate, etc. These data will serve as the basis for constructing the energy consumption model.

[0105] For the collection of energy consumption data, a high-precision power measuring instrument (such as a power analyzer) is connected to the motor power line of the flip mechanism 3 to monitor the power consumption of the motor in different working states in real time. The degreasing efficiency index is obtained by strictly testing and analyzing the tissue culture bottles before and after cleaning, such as using chemical analysis methods to detect the residual oil content, or observing the residual impurities under a microscope and conducting quantitative evaluation.

[0106] 2. Model selection and parameter determination

[0107] According to the characteristics of the collected data, a suitable mathematical model is selected to describe the relationship between the energy consumption of the flip mechanism 3 and the motor power, rotation angle, and rotation speed. Commonly used models include multiple linear regression models, polynomial regression models, or regression models based on machine learning (such as neural network regression models).

[0108] Taking the multivariate linear regression model as an example, energy consumption (E) can be expressed as a linear function of motor power (P), rotation angle (θ), and rotation speed (ω): E=aP+bθ+cω+d, where a, b, c, and d are coefficients to be determined. Through mathematical methods such as the least squares method, these coefficients are fitted and calculated using the collected data to determine the model parameters. If a neural network regression model is selected, it is necessary to design a suitable network structure (such as the input layer is three nodes for motor power, rotation angle, and rotation speed, the hidden layer has several nodes, and the output layer is the energy consumption node), and use the collected data to train the neural network, optimize the network weights and biases, and enable the model to accurately predict energy consumption.

[0109] 3. Real-time energy consumption calculation for energy consumption calculation and strategy optimization

[0110] During normal operation of the device, the energy consumption management module obtains in real time the current motor power, rotation angle and rotation speed data of the flip mechanism 3. These data can be obtained through sensors connected to the motor driver or control system, or directly read from the device control system.

[0111] Substitute the acquired data into the pre-established energy consumption model to calculate the energy consumption value of the current action of the flip mechanism 3. At the same time, according to the action time of the flip mechanism 3, the total energy consumption within a period of time is accumulated and calculated, so as to monitor and analyze the energy consumption of the equipment in real time.

[0112] 4. Control strategy optimization

[0113] In order to find the control strategy of the flip mechanism 3 with the lowest energy consumption under the premise of ensuring fat removal efficiency, the energy consumption management module uses optimization algorithms for search and calculation. Commonly used optimization algorithms include genetic algorithms, particle swarm optimization algorithms, etc.

[0114] Taking the genetic algorithm as an example, the control parameters of the flip mechanism 3, such as the motor power, rotation angle, and rotation speed, are first encoded into chromosome form to form an initial population. Then, the energy consumption value of each individual in the population (i.e., a set of control parameter combinations) is calculated according to the energy consumption model, and the fitness function is set according to the fat removal efficiency requirements. The fitness function comprehensively considers energy consumption and fat removal efficiency, for example, it can be defined as: F=k1 / E+k2*R, where F is fitness, E is energy consumption, R is the fat removal efficiency index, k1 and k2 are weight coefficients, and their sizes are determined according to actual needs to balance the importance of energy consumption and fat removal efficiency. Through the selection, crossover, mutation and other operations of the genetic algorithm, the population is continuously iterated and optimized to find the individual with the highest fitness (i.e., the lowest energy consumption and meeting the fat removal efficiency requirements), and its corresponding control parameter combination is the optimal flip mechanism 3 control strategy.

[0115] During the optimization process, the energy consumption management module also considers the actual operating constraints of the equipment, such as the maximum power limit of the motor, the mechanical structure limit of the flip mechanism 3 (such as the maximum rotation angle range, minimum and maximum rotation speed limits, etc.), to ensure that the optimized control strategy is within the feasible range of the equipment.

[0116] The working principle of the internal flushing device of the tissue culture bottle of the present invention is as follows:

[0117] The bottle-pushing mechanism 2 is used to push the bottle to the left, so that the tissue culture bottle moves inward; when the five tissue culture bottles are moved, the water pump 41 draws water from the water tank 6, and then the right water inlet valve 42 is opened, and the water enters the water inlet pipe along the right water inlet, and then flows out through the five water outlets on the right side of the partition 43 to rinse the five tissue culture bottles on the right side that have just entered the turning mechanism 3; the water inflow into the tissue culture bottle is controlled by adjusting the water level sensor threshold, and when the water level sensor detects that the water volume in the tissue culture bottle reaches the set value, the water inlet valve 42 is closed, the water injection is stopped, and then the turning mechanism 3 is controlled to rotate 180° to perform the agar pouring action, and the agar is poured out from the tissue culture bottle; since two groups of feeding channels are arranged 180° in the turning mechanism 3, After flipping 180° once, the bottle-pushing mechanism 2 pushes the 5 tissue culture bottles inward again and repeats the flushing action; after the flushing is completed, the flipping mechanism 3 flips 180° again and returns to its original position; then the bottle-pushing mechanism 2 pushes the 5 tissue culture bottles inward to complete a flushing operation, and the tissue culture bottles move into the secondary flushing station corresponding to the 5 water outlets on the left side of the water injection pipe partition 43, and the new 5 tissue culture bottles enter the first flushing station, and then the water inlet valves 42 on the left and right sides are controlled to open at the same time, and the water level sensor is used to detect the water level position in the tissue culture bottle, thereby controlling the opening time of the left and right water inlet valves 42, and then controlling the water inlet amount for the two flushings; then repeat the above actions to ensure that each tissue culture bottle undergoes a secondary flushing and fat removal operation.

[0118] Embodiment 2

[0119] Based on the same concept, the present invention also proposes a control method for a flushing device inside a tissue culture bottle, wherein the input points of the control logic are as shown in Table 1 below:

[0120] Table 1

[0121]

[0122] The output points are shown in Table 2:

[0123] Table 2

[0124]

[0125] The specific control logic includes:

[0126] Step 1: Check whether the X2 point is triggered. If it is in the triggered state, the Y4 point motor will not move and the bottle loading operation will not be performed.

[0127] Step 2: First start the equipment and detect the status of each sensor. When X1, X3, and X4 are triggered and X2 is not triggered, it indicates that there is a bottle detected at the feed inlet, the channel at the discharge port is unobstructed, and the motor of the flip mechanism 3 and the motor of the bottle-moving mechanism 2 are both at the origin.

[0128] Step 3: The host computer controls Y4 to be powered and rotate 32.73° (the feeding disc 21 divides the bottle mouth into 11 equal parts, and one rotation of the disc can achieve the feeding of 11 tissue culture bottles). Continue to detect whether X1 is triggered. When X1 remains in the triggered state and the Y4 motor rotates 163.65°, the feeding disc 21 completes the feeding of 5 tissue culture bottles.

[0129] Step 4: The host computer controls the water inlet valve 42Y1 on the feed inlet side to open; when X5 is triggered, the water level reaches the set value, the host computer controls Y1 to close, and then controls Y3 to rotate 180°. At this time, the 0° station 5 completes the water filling and fat removal action of the tissue culture bottle.

[0130] Step 5: After Y3 rotates to 180°, the host computer continues to detect whether X1 is triggered. When X1 is in a continuous triggering state, steps 3 and 4 are repeated. At this time, the flip motor Y3 returns to the origin, and the 180° station completes the water injection and fat removal action of 5 tissue culture bottles.

[0131] Step 6: Repeat step 3. After the 5 tissue culture bottles are loaded again, the 5 tissue culture bottles at the original 0° station are pushed out and enter the secondary shower and degreasing station. The upper computer controls the water inlet valve 42Y1 on the feed inlet side and the water inlet valve 42Y2 on the discharge side to open. When X5 and X6 are detected to be triggered, the water valves at points Y1 and Y2 are closed respectively. After the two water valves are closed, the upper computer controls Y3 to rotate 180°. At this time, the 0° station completes the first water injection and degreasing operation for 5 tissue culture bottles, and the second water injection and degreasing operation for 5 tissue culture bottles.

[0132] Step 7, when Y3 rotates to 180°, the host computer continues to detect whether X1 is triggered. When X1 is in a continuously triggered state, step 3 is repeated. After the 5 tissue culture bottles are loaded again, the 5 tissue culture bottles in the original 180° station are pushed out and enter the secondary shower and degreasing station. The host computer controls the water inlet valve 42Y1 on the feed inlet side and the water inlet valve 42Y2 on the discharge side to open. When X5 and X6 are detected to be triggered, the water valves at the Y1 and Y2 points are closed respectively. After the two water valves are closed, the host computer controls Y3 to rotate 180°. At this time, the 180° station completes the first water injection and degreasing operation of 5 tissue culture bottles, and the second water injection and degreasing operation of 5 tissue culture bottles.

[0133] Step 8: Repeat step 6, and the five tissue culture bottles that enter the turning mechanism 3 for the first time are pushed out of the turning mechanism 3 and enter the next stage of transfer; then repeat step 7, and the five tissue culture bottles that enter the turning mechanism 3 for the second time are moved out of the turning mechanism 3 and enter the next stage of transfer.

[0134] Repeat the above steps to complete the degreasing operation of the tissue culture container.

[0135] Preferably, another control logic is as follows:

[0136] S00, detect the status of each sensor. When it is detected that the inlet photoelectric sensor is triggered and the outlet photoelectric sensor is not triggered, it means that there is a bottle detected at the feed inlet and the channel at the discharge outlet is unobstructed;

[0137] S10, start the bottle-moving mechanism 2, so that the material-moving disc 21 rotates to a first preset angle (such as 32.73°), and continue to detect whether the imported photoelectric sensor is triggered. When the imported photoelectric sensor remains in the triggered state and the material-moving disc 21 rotates to a second preset angle (such as 163.65°), the material-moving disc 21 completes the loading operation of half of the number of tissue culture bottles that can be accommodated by the single cleaning track 31;

[0138] S20, opening the water injection mechanism 4, and performing the first water injection and fat removal on the batch of tissue culture bottles that have just entered, and when the water level sensor corresponding to the batch of tissue culture bottles is triggered, closing the water injection mechanism 4;

[0139] S30, driving the flip mechanism 3 to swing back and forth at a preset frequency and at a preset angle, and after the number of swings or the swing time reaches a preset value, driving the flip mechanism 3 to rotate 180° to perform a pouring operation;

[0140] S40, when the turning mechanism 3 rotates 180°, the tissue culture bottle that has been filled with water for the first time and degreased and poured with water has returned to the top position, ready for the second water filling and degreasing and loading of a new batch of tissue culture bottles; or the tissue culture bottle that has been filled with water for the second time and degreased and poured with water has returned to the top position, ready for unloading and loading of a new batch of tissue culture bottles;

[0141] S50, repeating step S10, after a new batch of tissue culture bottles are loaded, the tissue culture bottles to be filled with water for the second time are pushed into the other end of the cleaning track 31, located below the area of ​​the water injection mechanism 4 for the second water injection and degreasing, and the water injection mechanism 4 is opened to perform the first and second water injection and degreasing on the two batches of tissue culture bottles, respectively, and when the water level sensors corresponding to the two batches of tissue culture bottles are triggered, the water injection mechanism 4 is closed;

[0142] S60, repeat steps S30-S40;

[0143] S70, repeat step S10, at this time, the tissue culture bottles that have completed the second water injection and degreasing are pushed out of the flip mechanism 3 to the output track 7, and the tissue culture bottles that have completed the first water injection and degreasing are pushed to the other end of the cleaning track 31, located below the area of ​​the water injection mechanism 4 used for the second water injection and degreasing, and the new batch of tissue culture bottles are located below the area of ​​the water injection mechanism 4 used for the first water injection and degreasing;

[0144] S80, opening the water injection mechanism 4 to perform the first water injection and the second water injection for fat removal on the two batches of tissue culture bottles, and closing the water injection mechanism 4 when the water level sensors corresponding to the two batches of tissue culture bottles are triggered;

[0145] S90, repeating steps S30-S40, and then repeating steps S70-S80 to complete water filling and fat removal of all tissue culture containers.

[0146] Embodiment 3

[0147] This embodiment also provides an electronic device, referring to Figure 4 , comprises a memory 404 and a processor 402, wherein the memory 404 stores a computer program, and the processor 402 is configured to run the computer program to execute the steps in any of the above method embodiments.

[0148] Specifically, the processor 402 may include a central processing unit (CPU), or an application specific integrated circuit (ASIC), or may be configured to implement one or more integrated circuits of the embodiment of the present invention.

[0149] Among them, the memory 404 may include a large capacity memory 404 for data or instructions. For example, but not limitation, the memory 404 may include a hard disk drive (HDD), a floppy disk drive, a solid state drive (SSD), a flash memory, an optical disk, a magneto-optical disk, a tape, or a universal serial bus (USB) drive, or a combination of two or more of these. In appropriate cases, the memory 404 may include a removable or non-removable (or fixed) medium. In appropriate cases, the memory 404 may be inside or outside the data processing device. In a specific embodiment, the memory 404 is a non-volatile memory. In a specific embodiment, the memory 404 includes a read-only memory (ROM) and a random access memory (RAM). Where appropriate, the ROM may be a mask-programmed ROM, a programmable ROM (Programmable Read-Only Memory, PROM for short), an erasable PROM (Erasable Programmable Read-Only Memory, EPROM for short), an electrically erasable PROM (Electrically Erasable Programmable Read-Only Memory, EEPROM for short), an electrically alterable ROM (Electrically Alterable Read-Only Memory, EAROM for short) or a flash memory (FLASH) or a combination of two or more of these. In appropriate circumstances, the RAM may be a static random access memory (SRAM) or a dynamic random access memory (DRAM), wherein the DRAM may be a fast page mode dynamic random access memory 404 (FPMDRAM), an extended data output dynamic random access memory (EDODRAM), a synchronous dynamic random access memory (SDRAM), etc.

[0150] The memory 404 may be used to store or cache various data files required for processing and / or communication, as well as possible computer program instructions executed by the processor 402 .

[0151] The processor 402 reads and executes the computer program instructions stored in the memory 404 to implement any one of the control methods for the internal flushing device of the tissue culture bottle in the above embodiments.

[0152] Optionally, the electronic device may further include a transmission device 406 and an input / output device 408 , wherein the transmission device 406 is connected to the processor 402 , and the input / output device 408 is connected to the processor 402 .

[0153] The transmission device 406 can be used to receive or send data via a network. The specific examples of the above-mentioned network may include a wired or wireless network provided by a communication provider of the electronic device. In one example, the transmission device includes a network adapter (Network Interface Controller, referred to as NIC), which can be connected to other network devices through a base station so as to communicate with the Internet. In one example, the transmission device 406 can be a radio frequency (Radio Frequency, referred to as RF) module, which is used to communicate with the Internet wirelessly.

[0154] Input / output devices 408 are used to input or output information.

[0155] Embodiment 4

[0156] This embodiment further provides a readable storage medium, in which a computer program is stored. The computer program includes a program code for controlling a process to execute the process. The process includes the method for controlling flushing inside a tissue culture bottle according to the second embodiment.

[0157] It should be noted that the specific examples in this embodiment can refer to the examples described in the above embodiments and optional implementation modes, and this embodiment will not be described in detail here.

[0158] In general, various embodiments may be implemented in hardware or dedicated circuits, software, logic, or any combination thereof. Some aspects of the invention may be implemented in hardware, while other aspects may be implemented in firmware or software executed by a controller, microprocessor, or other computing device, but the invention is not limited thereto. Although various aspects of the invention may be shown and described as block diagrams, flow charts, or using some other graphical representation, it should be understood that, as non-limiting examples, the boxes, devices, systems, techniques, or methods described herein may be implemented in hardware, software, firmware, dedicated circuits or logic, general-purpose hardware or controllers or other computing devices, or some combination thereof.

[0159] Embodiments of the present invention can be implemented by computer software, which is executable by a data processor of a mobile device, such as in a processor entity, or implemented by hardware, or implemented by a combination of software and hardware. Computer software or programs (also referred to as program products) including software routines, applets and / or macros can be stored in any device readable data storage medium, and they include program instructions for performing specific tasks. Computer program products can include one or more computer executable components configured to perform embodiments when the program is running. One or more computer executable components can be at least one software code or a part thereof. In addition, at this point, it should be noted that any box of the logic flow can represent a program step, or interconnected logic circuits, boxes and functions, or a combination of program steps and logic circuits, boxes and functions. Software can be stored in physical media such as memory chips or storage blocks implemented in processors, magnetic media such as hard disks or floppy disks, and optical media such as, for example, DVDs and data variants thereof, CDs. Physical media are non-transient media.

[0160] Those skilled in the art should understand that the technical features of the above embodiments may be arbitrarily combined. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0161] The above embodiments only express several implementation methods of the present invention, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the present invention. It should be pointed out that, for those of ordinary skill in the art, several modifications and improvements can be made without departing from the concept of the present invention, and these all belong to the protection scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the attached claims.

Claims

1. A device for flushing the inside of a tissue culture bottle, characterized in that: include: An input track is used for inputting tissue culture bottles, and guides the tissue culture bottles so that each tissue culture bottle is arranged in a row and enters the turning mechanism individually; Imported photoelectric sensor, located on the input track, used to detect the presence and number of tissue culture bottles passing through; A bottle-pushing mechanism is arranged on both sides of the input track. The bottle-pushing mechanism is provided with a material-pushing disc. Each of the material-pushing discs is provided with arc-shaped material-pushing openings arranged at even intervals. The rotation of the material-pushing disc drives the tissue culture bottle to move along the input track toward the flipping mechanism. The turning mechanism has a plurality of cleaning tracks evenly spaced along the circumferential direction and can switch the cleaning tracks by rotation, each cleaning track is provided with a limit frame for abutting against the step below the mouth of the tissue culture bottle to prevent the tissue culture bottle from being thrown out, and each cleaning track can be docked with the input track and the output track when it rotates to the highest point to realize the transfer of the tissue culture bottle; A water injection mechanism is arranged above the flip mechanism and is provided with nozzles corresponding to the tissue culture bottles on the cleaning track, and is used to inject water and remove fat from the inside of the tissue culture bottles on the cleaning track that rotates to the highest point; A water level sensor group is arranged above the turning mechanism, each water level sensor corresponds to a tissue culture bottle on the cleaning track, and is used to detect the water level height of the tissue culture bottle; A water tank, disposed below the flip mechanism, for collecting waste water; Output track, used for output of tissue culture bottles; An exit photoelectric sensor is provided on the output track and is used to detect the presence and number of tissue culture bottles passing through; A high-definition camera is provided at the input track, and is used to collect images of the tissue culture bottles entering the input track, identify the number and position information of the tissue culture bottles through an image processing algorithm, and calibrate and supplement the image recognition results in combination with the data of the imported photoelectric sensor to improve the accuracy of image recognition; An adaptive adjustment module, which identifies the appearance information of the tissue culture bottle through the image collected by the high-definition camera, and adjusts the threshold of the water level sensor based on the identified appearance information; Energy consumption management module, which calculates the energy consumption under different action combinations based on the parameters of the flipping mechanism, including motor power, rotation angle, and rotation speed, through a pre-established energy consumption model, and calculates the flipping mechanism control strategy with the lowest energy consumption while ensuring fat removal efficiency; Among them, the number of tissue culture bottles driven and input by the bottle-moving mechanism each time is half of the number of tissue culture bottles that can be accommodated by a single cleaning track on the flipping mechanism; the water injection mechanism is turned on once for water injection and degreasing and the flipping mechanism is turned once for each batch of tissue culture bottles input, so that each tissue culture bottle can be injected with water, degreased and poured with water twice, and the flipping mechanism can swing back and forth at a preset frequency and at a preset angle after each injection, degreasing and pouring of water to achieve stirring and drying; the water injection mechanism also includes a water pump and two water inlet valves, and the two water inlet valves respectively control half of the nozzles. By controlling the two water inlet valves, the water level sensor thresholds of the tissue culture bottles for the first water injection and degreasing and the second water injection and degreasing are divided into two stages, and the threshold value of the first water injection and degreasing is greater than the threshold value of the second water injection and degreasing.

2. A tissue culture bottle internal flushing device as claimed in claim 1, characterized in that: The length from the center of the material-moving disc of the bottle-moving mechanism to the entrance of the cleaning track is half of the cleaning track.

3. A tissue culture bottle internal flushing device as claimed in claim 2, characterized in that: It also includes a flip photoelectric sensor for detecting whether the flip mechanism is located at the origin and a material-diverting photoelectric sensor for detecting whether the bottle-diverting mechanism is located at the origin.

4. A method for controlling a flushing device inside a tissue culture bottle according to any one of claims 1 to 3, characterized in that: include: S00, detect the status of each sensor. When it is detected that the inlet photoelectric sensor is triggered and the outlet photoelectric sensor is not triggered, it means that there is a bottle detected at the feed inlet and the channel at the discharge outlet is unobstructed; S10, start the bottle-moving mechanism, so that the material-moving disc rotates to a first preset angle, and continues to detect whether the imported photoelectric sensor is triggered. When the imported photoelectric sensor remains in a triggered state and the material-moving disc rotates to a second preset angle, the material-moving disc completes the loading operation of half of the number of tissue culture bottles that can be accommodated by a single cleaning track; S20, turning on the water injection mechanism to perform the first water injection and fat removal on the batch of tissue culture bottles that have just entered, and when the water level sensor corresponding to the batch of tissue culture bottles is triggered, turning off the water injection mechanism; S30, driving the flipping mechanism to swing back and forth at a preset frequency and at a preset angle, and after the number of swings or the swinging time reaches a preset value, driving the flipping mechanism to rotate 180° to perform a pouring operation; S40, when the flip mechanism rotates 180°, the tissue culture bottle that has been filled with water for the first time and degreased and poured with water has returned to the top position, ready for the second water filling and degreasing and loading of a new batch of tissue culture bottles; or the tissue culture bottle that has been filled with water for the second time and degreased and poured with water has returned to the top position, ready for unloading and loading of a new batch of tissue culture bottles; S50, repeating step S10, after a new batch of tissue culture bottles are loaded, the tissue culture bottles ready for the second water injection and degreasing are pushed into the other end of the cleaning track, located below the area of ​​the water injection mechanism for the second water injection and degreasing, and the water injection mechanism is turned on to perform the first water injection and degreasing and the second water injection and degreasing on the two batches of tissue culture bottles respectively, and when the water level sensors corresponding to the two batches of tissue culture bottles are triggered, the water injection mechanism is closed; S60, repeat steps S30-S40; S70, repeating step S10, at this time, the tissue culture bottles that have completed the second water injection and fat removal are ejected from the flip mechanism to the output track, and the tissue culture bottles that have completed the first water injection and fat removal are pushed to the other end of the cleaning track, located below the area of ​​the water injection mechanism used for the second water injection and fat removal, and the new batch of tissue culture bottles are located below the area of ​​the water injection mechanism used for the first water injection and fat removal; S80, opening the water injection mechanism to perform the first water injection and the second water injection to remove fat on the two batches of tissue culture bottles, respectively, and closing the water injection mechanism when the water level sensors corresponding to the two batches of tissue culture bottles are triggered; S90, repeating steps S30-S40, and then repeating steps S70-S80 to complete water filling and fat removal of all tissue culture containers.

5. An electronic device comprising a memory and a processor, characterized in that: The memory stores a computer program, and the processor is configured to run the computer program to execute the method for controlling a device for flushing the inside of a tissue culture bottle according to claim 4.

6. A readable storage medium, characterized in that: The readable storage medium stores a computer program, wherein the computer program includes a program code for controlling a process to execute a process, wherein the process includes a method for controlling a device for flushing the inside of a tissue culture bottle according to claim 4.

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