Flow control method, system and storage medium for differential pressure channels in a clean laboratory

Abstract

The present application relates to the technical field of air purification and ventilation, and discloses a flow control method, system and storage medium for a pressure difference channel in a clean laboratory. The method is based on two conveying lines, namely a clean line and a dirty line. Each line includes a conveying channel, a buffer cabin and a sealing door. A blower and an exhaust fan are respectively arranged in the channel. By obtaining a flow instruction, the rotational speed and working time of the fan are adjusted according to the volume and quantity of the flow converter, and the conveying line can also be disinfected according to a cleaning instruction. This method can effectively avoid pollution, accurately match the flow demand, regularly clean the conveying line, comprehensively guarantee the operation quality of the clean laboratory, and ensure that the high cleanliness requirements of the experimental space are met.

Description

Technical Field

[0001] The present application relates to the technical field of air purification and ventilation, and in particular, to a flow control method, system, and storage medium for a pressure difference channel in a clean laboratory. Background Art

[0002] A clean laboratory is a special experimental site with extremely high requirements for environmental cleanliness, containing multiple experimental spaces. For example, in a breeding laboratory for a certain experimental animal, there are a cleaning room, a general breeding room, and a super-high breeding room. Among them, according to the scale, the number of each space can be multiple. And the spaces are isolated from each other by doors and walls, and then connected through various conveying channels. There are conveyors in the conveying channels to achieve the transfer work between different spaces.

[0003] There is a conveying device in the conveying channel. The conveyor combined with the manipulator is placed on the conveying device, and then according to the set planned path, the conveyor is transported to the corresponding experimental space through the conveying device.

[0004] Since the experimental spaces are connected through the conveying channels, although there are sealed doors in the conveying channels, when the conveyor passes through the sealed door for transfer, the experimental spaces will communicate with each other for a period of time, and there is a possibility that the contaminated experimental space will affect the non-contaminated experimental space, thus unable to ensure the cleanliness requirements of the experimental space. Summary of the Invention

[0005] In order to reduce the pollution impact generated when the conveyor transfers between different experimental spaces, the present application provides a flow control method, system, and storage medium for a pressure difference channel in a clean laboratory.

[0006] In the first aspect, the present application provides a flow control method for a pressure difference channel in a clean laboratory, adopting the following technical solutions:

[0007] A flow control method for a pressure difference channel in a clean laboratory is based on a clean conveying line and a dirty conveying line; the clean conveying line includes a clean conveying channel, a clean buffer cabin communicated with the clean conveying channel, and clean sealed doors located before and after the clean buffer cabin; the dirty conveying line includes a dirty conveying channel, a dirty buffer cabin communicated with the dirty conveying channel, and dirty sealed doors located before and after the dirty buffer cabin; a blower is arranged in the clean conveying channel; an exhaust fan is arranged in the dirty conveying channel;

[0008] The method includes the following steps:

[0009] Obtain a first transfer instruction, close the dirty sealed door and open the clean sealed door according to the first transfer instruction, and set the blower to continuously operate at a first rotation speed for a first set time;

[0010] Adjust the first rotation speed in inverse correlation with the volume of the flow converter; the larger the volume of the flow converter, the smaller the first rotation speed; the smaller the volume of the flow converter, the larger the first rotation speed.

[0011] Adjust the first set time in positive correlation with the number of the flow converters; the more the number of the flow converters, the longer the first set time; the less the number of the flow converters, the shorter the first set time.

[0012] Obtain a second flow instruction, close the clean seal door and open the dirty seal door according to the second flow instruction, and set the exhaust fan to continuously operate at a second rotation speed for a second set time.

[0013] Adjust the second rotation speed in inverse correlation with the volume of the flow converter; the larger the volume of the flow converter, the smaller the second rotation speed; the smaller the volume of the flow converter, the larger the second rotation speed.

[0014] Adjust the second set time in positive correlation with the number of the flow converters; the more the number of the flow converters, the longer the second set time; the less the number of the flow converters, the shorter the second set time.

[0015] Obtain a cleaning instruction, and start a disinfection operation on the clean conveyor line and the dirty conveyor line according to the cleaning instruction.

[0016] By adopting the above technical solutions, by setting up a clean conveyor line and a dirty conveyor line, and respectively equipping corresponding facilities such as seal doors and fans, during the process of the flow converter flowing, according to different flow instructions, reasonably control the opening and closing of the clean seal door and the dirty seal door, and the working states of the supply fan and the exhaust fan, which can effectively avoid the influence of the polluted experimental space on the non-polluted experimental space, better ensure the cleanliness requirements of the experimental space, and greatly reduce the pollution risk generated by the flow converter flowing between different experimental spaces. Adjust the fan rotation speed in inverse correlation with the volume of the flow converter, and adjust the fan working time in positive correlation with the number of the flow converters. This flexible adjustment method can more accurately match the flow requirements of the flow converter in different situations. For a large-volume flow converter, reduce the fan rotation speed to avoid unnecessary disturbances and potential pollution caused by excessive wind speed; for a large number of flow converters, extend the fan working time to ensure sufficient air replacement and purification effect, thereby further improving the cleanliness control level during the flow process. After obtaining the cleaning instruction, start a disinfection operation on the clean conveyor line and the dirty conveyor line. This measure can regularly conduct comprehensive cleaning and disinfection on the conveyor line, effectively remove the pollutants that may remain during the flow process, maintain the cleanliness of the conveyor line, provide a relatively clean and safe environment for the subsequent flow work, and overall ensure the operation quality of the clean laboratory and the accuracy of the experimental results.

[0017] Optionally, based on a first differential pressure sensor provided in the clean conveying channel and a second differential pressure sensor provided in the dirty conveying channel, the method further includes the following steps:

[0018] When it is set that the air blower operates continuously at a first rotational speed for a first set time, obtain a first differential pressure based on the first differential pressure sensor;

[0019] Calculate the difference between the first differential pressure and a preset first threshold value as a first difference value; if the first difference value is greater than a set value, issue a first warning prompt; otherwise, inversely adjust the magnitude of the first rotational speed according to the first difference value; the greater the first difference value, the smaller the first rotational speed; the smaller the first difference value, the greater the first rotational speed;

[0020] When it is set that the exhaust fan operates continuously at a second rotational speed for a second set time, obtain a second differential pressure based on the second differential pressure sensor;

[0021] Calculate the difference between the second differential pressure and a preset second threshold value as a second difference value; if the second difference value is greater than a set value, issue a second warning prompt; otherwise, inversely adjust the magnitude of the second rotational speed according to the second difference value; the greater the second difference value, the smaller the second rotational speed; the smaller the second difference value, the greater the second rotational speed.

[0022] By adopting the above technical solution, a first differential pressure sensor and a second differential pressure sensor are respectively arranged in the clean conveying channel and the dirty conveying channel, so that the differential pressure data in the channel can be obtained in real time. The system can dynamically adjust the fan speed based on the actual differential pressure situation, rather than simply relying on the preset adjustment method based on the volume and quantity of the flow converters. The fan speed is adjusted in an inverse correlation according to the difference between the obtained differential pressure and the preset threshold value, making the adjustment more accurate. When the difference is large, it indicates that the pressure situation in the current channel is relatively good. Appropriately reducing the fan speed can save energy and reduce the noise and equipment loss generated by the fan operation while meeting the cleanliness requirements; when the difference is small, the fan speed is increased to better maintain the air flow and pressure balance in the channel and ensure that the cleanliness of the experimental space is not affected. When the calculated first difference or second difference is greater than the set value, a warning prompt is issued. The operator can thus timely understand the possible abnormal situations during the operation of the system. For example, an excessive differential pressure difference may mean poor sealing effect of the sealing door, fan failure or other problems affecting the pressure balance in the channel. Through the warning prompt, the operator can quickly take corresponding measures for troubleshooting and repair, avoiding an increase in the pollution risk of the experimental space caused by potential problems, thereby enhancing the reliability and safety of the entire differential pressure channel flow control system of the clean laboratory. During the actual operation process, the working conditions of the clean laboratory may be affected by various factors, such as the operation of experimental equipment and the entry and exit of personnel. These factors may all cause changes in the differential pressure in the channel. By real-time monitoring the differential pressure and adjusting the fan speed according to the difference, the system can better adapt to these complex and changeable working conditions, maintain a stable operating state, and ensure that the pollution risk during the flow of the flow converters can be effectively reduced under different circumstances, providing a strong guarantee for the normal operation of the clean laboratory.

[0023] Optionally, the clean conveying channel includes a first clean branch and a second clean branch, and clean sealing doors are arranged on both the first clean branch and the second clean branch. The method further includes the following steps:

[0024] Obtain a third transfer instruction, close the dirty sealing door according to the third transfer instruction, open the clean sealing door corresponding to the first clean branch, close the clean sealing door on the second clean branch, and the dirty sealing door;

[0025] Set the air supply fan to continuously operate at a third speed for a third set time;

[0026] During the third set time, adjust the opening degree and opening time of the clean sealing door according to the running speed and position information of the flow converter;

[0027] When the distance between the transfer device and the clean sealing door corresponding to the first clean branch is less than a set value, gradually open the clean sealing door at a first set speed;

[0028] After the transfer device passes through the clean sealing door, close the clean sealing door at a second set speed; wherein, the first set speed is less than the second set speed.

[0029] By adopting the above technical solution, by separately controlling different branches of the clean conveying channel, it is possible to accurately open and close the clean sealing doors of specific branches according to actual transfer requirements, avoiding unnecessary air circulation and potential pollution. For example, when it is only necessary to transport the transfer device to the experimental space corresponding to the first clean branch, close the sealing door of the second clean branch, effectively reducing the contact area between the clean space and the outside world and reducing the pollution risk. Dynamically adjusting the opening and closing degree and time of the clean sealing door based on the running speed and position information of the transfer device realizes the efficient connection of the transfer process. Prepare enough passing space in advance to ensure the smooth passage of the transfer device, avoiding transfer jams caused by untimely opening or insufficient opening of the sealing door. At the same time, quickly close the sealing door after the transfer device passes through, reducing the time window for the clean space to be polluted and improving the safety of the entire system. When the transfer device has an abnormal pause, timely adjust the opening and closing degree of the sealing door, which helps to maintain the pressure stability in the clean conveying channel. A stable pressure environment is crucial for maintaining the cleanliness of the clean space, preventing the spread of pollutants caused by pressure fluctuations, ensuring the normal operation of the clean laboratory, and providing a reliable environmental basis for the smooth progress of the experiment.

[0030] Optionally, the step of obtaining the first transfer instruction includes:

[0031] Based on a plurality of infrared sensors arranged in sequence at the entrance of the clean conveying channel, when the transfer device passes through the plurality of infrared sensors arranged in sequence, obtain a first response sequence of the infrared sensors; according to the first response sequence, match the corresponding first transfer instruction;

[0032] The step of obtaining the second transfer instruction includes:

[0033] Based on a plurality of pressure sensors arranged in sequence at the entrance of the dirty conveying channel, when the transfer device passes through the plurality of pressure sensors arranged in sequence, obtain a second response sequence of the pressure sensors; according to the second response sequence, match the corresponding second transfer instruction.

[0034] By adopting the above technical solution, a plurality of infrared sensors arranged in sequence are provided at the entrance of the clean conveying channel. By using the signal changes generated by the occlusion of infrared light by an object, information such as the position, speed, and direction of the transfer device when it enters can be accurately captured, forming a unique first response sequence. Similarly, a pressure sensor provided at the entrance of the dirty conveying channel obtains a second response sequence by detecting the pressure change generated when the transfer device passes through. Based on these accurate response sequences to match the corresponding transfer instructions, the accuracy of instruction acquisition is greatly improved, avoiding equipment misoperation or transportation chaos caused by incorrect instructions, and ensuring that the transfer device can accurately operate in different conveying channels according to the predetermined process and path.

[0035] Optionally, a particle detector is configured in the experimental space, and the method further includes:

[0036] Obtaining the cleanliness data of the particle detector in real time;

[0037] Monitoring the change trend of the cleanliness in the experimental space. When it is monitored that the cleanliness is in a decreasing state and the decreasing speed exceeds the set decreasing threshold, the rotation speeds of the air supply fan and the exhaust fan are adjusted according to the cleanliness;

[0038] The lower the cleanliness, the greater the rotation speeds of the air supply fan and the exhaust fan;

[0039] The higher the cleanliness, the smaller the rotation speeds of the air supply fan and the exhaust fan.

[0040] By adopting the above technical solution, obtaining the cleanliness data of the particle detector in real time and monitoring its change trend can timely detect abnormal changes in the cleanliness in the experimental space. When the decreasing speed of the cleanliness exceeds the set threshold, the rotation speeds of the air supply fan and the exhaust fan are adjusted according to the level of cleanliness. This precise dynamic regulation mechanism can quickly and effectively respond to fluctuations in cleanliness. When the cleanliness is low, the rotation speeds of the air supply fan and the exhaust fan are increased to accelerate the air circulation and replacement, strongly discharge pollutants, and quickly improve the cleanliness; while when the cleanliness is high, the rotation speeds of the fans are reduced to avoid energy waste and unnecessary equipment wear caused by excessive ventilation, and at the same time maintain a relatively stable microenvironment in the experimental space, providing a reliable clean environment guarantee for the smooth progress of the experiment.

[0041] Optionally, a high-speed camera is provided in the experimental space for obtaining image information of the transparent clean conveying channel and the dirty conveying channel. Adjustable rotation speed and angle blowing devices are provided on both side walls in the channels, and the method further includes:

[0042] When the transfer device passes through the clean conveying channel or the dirty conveying channel, obtaining the image information in the experimental space as a channel picture;

[0043] Identify the transfer device and the conveying channel from the channel image, calculate the position offset and offset angle of the transfer device based on the position information of the transfer device and the conveying channel and in combination with a preset standard position; and calculate the conveying direction of the transfer device.

[0044] If the position offset exceeds a preset error range, an alarm signal is issued.

[0045] Adjust the rotation speed of the blowing device according to the position offset. The larger the position offset, the larger the rotation speed of the blowing device; the smaller the position offset, the smaller the rotation speed of the blowing device.

[0046] Identify the blowing device from the channel image; calculate the blowing direction of the blowing device based on the offset angle, the position information of the blowing device in the channel image, and the conveying direction of the transfer device.

[0047] By adopting the above technical solution, the position of the transfer device and the conveying channel can be accurately identified by means of a high-speed camera in the experimental space to obtain channel image information. By calculating the position offset, offset angle and conveying direction of the transfer device, the rotation speed and blowing direction of the blowing device can be adjusted accordingly. This precise calculation and control mechanism enables the blowing device to act on the transfer device with just the right wind force and angle, timely correct its position deviation, ensure that the transfer device always maintains the correct running track in the conveying channel, greatly improve the accuracy and stability of the transfer process, reduce problems such as collisions and damages that may be caused by the offset of the transfer device, and ensure the safe transportation of experimental items. When it is detected that the position offset of the transfer device exceeds the preset error range, the system immediately issues an alarm signal. This early warning mechanism enables the staff to quickly know the abnormal situation that occurs during the transportation process and take corresponding measures to deal with it in a timely manner. For example, the staff can check in time whether there is a fault in the conveying equipment or adjust the loading method of the transfer device, etc., to avoid more serious problems caused by the continuous offset of the transfer device, ensure the normal operation of the transportation system in the clean laboratory, and reduce the risk of experiment interruption. The entire technical solution realizes a fully automated process from image acquisition, information recognition, data analysis to equipment control. The high-speed camera automatically acquires images, automatically identifies and calculates relevant parameters through algorithms, and then automatically controls the blowing device to make adjustments without too much manual intervention.

[0048] Optionally, a camera is installed at a set position in the conveying space for obtaining image information of the set positions of the transparent clean conveying channel and the dirty conveying channel. The method includes the following steps:

[0049] Based on the camera, obtain continuous frame images of a specific position as monitoring images.

[0050] Identify the transfer device from the monitoring image;

[0051] Calculate the distance between adjacent transfer devices as the adjacent distance, and calculate the change amount of the adjacent distance;

[0052] If the adjacent distance is less than the set distance value, issue a warning prompt;

[0053] If the change amount of the adjacent distance is greater than or equal to the set change amount, issue a warning prompt.

[0054] By adopting the above technical solution, using a camera to obtain images of large-angle points such as turns or slopes at the monitored set positions and identify the transfer device, calculating the distance between adjacent transfer devices and its change amount, the running state of the transfer device in the conveying channel can be monitored in real time. When the adjacent distance is less than the set distance value, a warning prompt is issued, which helps to avoid blockage and collision accidents between transfer devices. In a clean laboratory, the transfer device carries important experimental samples or equipment. Once a collision occurs, it will not only damage the transfer device itself, but also cause contamination of the experimental samples or equipment failure, affecting the normal progress of the experiment. Early warning allows the staff to take timely measures, such as adjusting the conveying speed or checking the running status of the equipment, to ensure the safety of the transportation process.

[0055] Optionally, photoelectric sensors are both arranged at the entrance of the clean conveying channel and the exit of the dirty conveying channel, and the method further includes the following steps:

[0056] Count the number of times the signal of the photoelectric sensor at the entrance of the clean conveying channel changes within a set time period as the first quantity; the number of times the signal of the photoelectric sensor at the exit of the dirty conveying channel changes as the second quantity;

[0057] Calculate the difference between the first quantity and the second quantity as the period difference; if the period difference is greater than the set difference, issue a warning prompt.

[0058] By adopting the above technical solution, photoelectric sensors are arranged at the entrance of the clean conveying channel and the exit of the dirty conveying channel, and the number of signal changes within a set time period is counted, so as to accurately grasp the passing quantity of the transfer device at these two key positions. By calculating the difference between the first quantity and the second quantity, once the period difference is greater than the set difference, a warning prompt is issued, which enables the system to promptly detect abnormal situations such as item loss, blockage or equipment failure that may occur during the transportation process.

[0059] In a second aspect, the present application provides a transfer control system for a differential pressure channel in a clean laboratory, adopting the following technical solution:

[0060] A flow control system for the pressure difference channels in a clean laboratory, including a processor, and the steps of the flow control method for the pressure difference channels in the clean laboratory as described in any one of the above are executed in the processor.

[0061] In a third aspect, the present application provides a storage medium, adopting the following technical solution:

[0062] A storage medium, in which a program is stored, and when the program is executed by a processor, the steps of the flow control method for the pressure difference channels in the clean laboratory as described in any one of the above are implemented.

[0063] In summary, the present application includes at least one of the following beneficial technical effects:

[0064] By constructing independent clean conveyor lines and dirty conveyor lines, and cooperating with intelligent control of sealed doors and fans, the influence of the contaminated experimental space on the clean experimental space is greatly reduced, strictly ensuring the high cleanliness requirements of the experimental space, and providing a reliable basic condition for various experiments with harsh environmental requirements.

[0065] According to various factors such as the volume, quantity, pressure difference in the channel, and cleanliness of the experimental space of the flow converter, the parameters such as the fan speed, the opening and closing of the sealed door, and the operation of the blowing device are adjusted in real time and accurately. It can not only meet different flow requirements but also flexibly respond to complex working condition changes, ensuring that the system is always in a highly efficient and stable operating state, effectively improving the safety and reliability of the flow process.

[0066] By comprehensively using a variety of sensors and cameras, a full - range monitoring of various aspects such as the position, quantity, adjacent spacing, and channel blockage of the flow converter is realized. Once an abnormal situation occurs, a warning prompt can be quickly issued, facilitating the staff to discover and handle problems in a timely manner, avoiding the expansion of faults, ensuring the smooth operation of the transportation system in the clean laboratory, and reducing the risk of experiment interruption.

[0067] From instruction acquisition, data collection and analysis to equipment control and adjustment, the entire process realizes a high degree of automation, reduces manual intervention, reduces errors and risks caused by human factors, improves work efficiency, and at the same time improves the intelligent management level of the system, providing strong support for the efficient operation of the laboratory.

[0068] Dynamically adjust the equipment operation parameters according to the actual operation situation. For example, when the cleanliness requirements are met, reduce the fan speed, which not only saves energy consumption, reduces equipment wear and noise, extends the service life of the equipment, reduces equipment maintenance costs, but also realizes the balanced optimization of economic benefits and system performance. Description of the Drawings

[0069] Figure 1 is a step diagram of the flow control method for the pressure difference channels in a clean laboratory of the present application.

[0070] Figure 2 It is a schematic diagram of the spatial structure of a clean laboratory of the present application.

[0071] Figure 3 It is a step diagram for adjusting the first rotation speed and the second rotation speed according to the pressure difference monitored in the conveying channel.

[0072] Reference numerals: 1, clean conveying channel; 2, clean buffer cabin; 3, clean seal door; 4, dirty conveying channel; 5, dirty buffer cabin; 6, dirty seal door. Detailed implementation manners

[0073] The following describes in detail the implementation manners of the present application, and the examples of the implementation manners are shown in the drawings.

[0074] In the description of this specification, the description referring to the terms "certain implementation manners", "one implementation manner", "some implementation manners", "schematic implementation manners", "examples", "specific examples" or "some examples" means that the specific features, structures, materials or characteristics described in connection with the implementation manner or example are included in at least one implementation manner or example of the present application. In this specification, the schematic expressions of the above terms do not necessarily refer to the same implementation manner or example. Moreover, the specific features, structures, materials or characteristics described can be combined in a suitable manner in any one or more implementation manners or examples.

[0075] Referring to Figure 1 and Figure 2 , the clean laboratory includes a conveying system, a supply and exhaust and pressure difference control system, and a monitoring and alarm system:

[0076] The conveying system includes a clean conveying line and a dirty conveying line; the clean conveying line includes a clean conveying channel 1, a clean buffer cabin 2 communicated with the clean conveying channel 1, and clean seal doors 3 located before and after the clean buffer cabin 2. The dirty conveying line includes a dirty conveying channel 4, a dirty buffer cabin 5 communicated with the dirty conveying channel 4, and dirty seal doors 6 located before and after the dirty buffer cabin 5. A supply fan is arranged in the clean conveying channel 1; an exhaust fan is arranged in the dirty conveying channel 4. In addition, it also includes a variety of equipment such as a vertical elevator, a horizontal conveying line, a turning conveying line, and a climbing conveying line. These equipments are connected to each other to form a complete conveying network, which can realize the full-domain automatic transfer of the transfer device in the experimental facilities. It can be smoothly transported between both the clean area and the dirty area without manual intervention, greatly improving the work efficiency and reducing the labor cost. Input the transportation demand in the terminal room, and the system will select the optimal path for the transfer device and intelligently allocate the conveying task after calculation.

[0077] The buffer chamber is located where clean barriers must be crossed. It features sealed doors at the front and rear. Through switch control and pressure differential sensor monitoring, it achieves temporary relative isolation from the surrounding environments. When the flowmeter moves between areas of different cleanliness levels, the buffer chamber effectively reduces air mixing and the risk of cross-infection, ensuring the stability and independence of each area and maintaining high cleanliness standards.

[0078] Air supply and exhaust and pressure differential control structure: Each flow channel is designed as a relatively independent space, and the air supply and outlet are equipped with electric control valves. The pressure data is monitored in real time by the pressure differential sensor in the channel, and the system uses PID control technology to accurately adjust the opening of the electric valve. The clean conveying channel 1 maintains a positive pressure differential of +15~+25Pa relative to the outside to prevent the intrusion of external polluted air; the dirty conveying channel 4 maintains a negative pressure differential of -5~-15Pa to prevent internal dirty air from leaking into the clean area. Once a pressure leak occurs in the channel and the pressure cannot be stabilized, the system immediately triggers an alarm and starts the built-in supply fan or exhaust fan for emergency treatment to ensure stable channel pressure.

[0079] Monitoring and Alarm System: Particle detectors are installed in independent areas to monitor air cleanliness 24 hours a day. If cleanliness exceeds the set standard, an alarm will be issued immediately to ensure that the experimental environment always meets the requirements. High-speed cameras are installed in each transportation section to capture images of objects as they pass through. When an abnormal displacement of the object's position is detected, an alarm will be immediately issued to prevent accidents during transportation. Cameras are installed at special points such as turns and climbing slopes to observe blockages in real time and ensure smooth transportation routes. Photoelectric sensors at the equipment entrances and exits quickly detect omissions during transportation by comparing the number of inbound and outbound circulators, ensuring the accuracy and completeness of the flow of laboratory equipment.

[0080] This laboratory adopts a design that separates human and logistics flows. The logistics delivery channel is set above the experimental space, which cleverly utilizes the space, reduces the occupation of the laboratory floor space, and makes more full use of the internal space of the laboratory.

[0081] The present application discloses a flow control method for a pressure differential channel in a clean laboratory, referring to Figure 1 and Figure 2 , based on the above laboratory structure design, the method includes the following steps:

[0082] Obtain the first transfer instruction. According to the first transfer instruction, close the contaminated seal door 6 to prevent the air in the contaminated area from flowing into the clean area. At the same time, open the clean seal door 3 and set the air supply fan to operate continuously at the first rotation speed for the first set time. Continuously supply clean air to keep a positive pressure difference of +15~+25 Pa in the clean conveying channel 1, effectively preventing external polluted air from invading the clean area. For example, when performing high-precision biological experiments, once pollutants such as bacteria and viruses that may be carried in the external air enter the clean area, they may seriously interfere with the experimental results, and this positive pressure difference design provides a reliable guarantee for the experiment.

[0083] Considering the influence of the volume of different transfer devices on the air flow and pressure in the channel, inversely adjust the magnitude of the first rotation speed according to the size of the transfer device. The larger the volume of the transfer device, the relatively smaller the displacement effect on the air when it moves in the channel, so the required rotation speed of the air supply fan is smaller. Conversely, the smaller the volume of the transfer device, the relatively smaller the obstruction to the air flow. To maintain the positive pressure difference, the first rotation speed is larger. Suppose the volume of transfer device A is 0.5 cubic meters and the volume of transfer device B is 1 cubic meter. When transfer device A moves in the channel, due to its small volume, the obstruction to the air flow is relatively small. To maintain a positive pressure difference of +15~+25 Pa, the first rotation speed of the air supply fan needs to be set to 2000 revolutions per minute. When transfer device B moves, because of its large volume, the displacement effect on the air when it moves in the channel is relatively small, and the first rotation speed of the air supply fan can be reduced to 1500 revolutions per minute. Among them, for the same batch, the transfer devices are of the same size, which is convenient for the system to perform unified parameter setting and control.

[0084] Directly adjust the first set time according to the number of transfer devices. Because the more the number of transfer devices, the longer the time required for all of them to pass through the clean conveying channel 1 smoothly, so the first set time should be extended accordingly. Conversely, the fewer the number of transfer devices, the shorter the first set time. For example, when there are 5 transfer devices that need to pass through the clean conveying channel 1, due to the large number, the time required for all of them to pass through smoothly is long, and the first set time is set to 10 minutes to ensure that each transfer device can pass safely and stably in a positive pressure difference environment. When there is only 1 transfer device, the first set time can be shortened to 2 minutes.

[0085] Obtain the second transfer instruction. According to the second transfer instruction, close the clean seal door 3 to prevent the air in the clean area from being polluted by the dirty area. At the same time, open the dirty seal door 6 and set the exhaust fan to operate continuously at the second speed for the second set time, so as to maintain a negative pressure difference of -5 to -15 Pa in the dirty transport channel 4 and prevent the internal dirty air from leaking into the clean area. For example, during the experiment, when the experimental results need to be transferred out through the transfer device, such as transferring out the experimental animals that have been raised for a period of time, there may be pollutants in the transfer device, and the negative pressure difference can effectively prevent these pollutants from spreading to other areas along with the air, ensuring the overall safety of the laboratory.

[0086] Adjust the second speed in inverse proportion to the volume of the transfer device; the larger the volume of the transfer device, the smaller the second speed; the smaller the volume of the transfer device, the larger the second speed. For example, for a transfer device with a volume of 0.4 cubic meters, the second speed of the exhaust fan is set to 1800 revolutions per minute; if the volume of the transfer device is smaller, such as 0.3 cubic meters, the second speed is increased to 2200 revolutions per minute.

[0087] Adjust the second set time in direct proportion to the number of transfer devices; the more the number of transfer devices, the longer the second set time; the fewer the number of transfer devices, the shorter the second set time. When 8 transfer devices need to pass through the dirty transport channel 4, the second set time is set to 12 minutes; when there are only 2 transfer devices, the second set time can be shortened to 4 minutes.

[0088] Obtain the cleaning instruction and start the disinfection operation on the clean transport line and the dirty transport line according to the cleaning instruction. Since the clean transport line and the dirty transport line carry the transportation of clean items and dirty items respectively during the experiment, in order to prevent cross-contamination and ensure the accuracy and safety of subsequent experiments. The disinfection operation covers all components related to the transport lines, such as the clean transport channel 1, the clean buffer cabin 2, the clean seal door 3, and the dirty transport channel 4, the dirty buffer cabin 5, the dirty seal door 6, etc. Professional disinfection equipment and disinfection reagents that meet laboratory standards are used to operate according to the specified disinfection process and time to ensure the cleanliness and hygiene of the entire transport system. For example, for a biological laboratory, high-efficiency disinfectants such as hydrogen peroxide will be used for disinfection, and the disinfection time is strictly carried out according to the specified process, generally lasting for more than 30 minutes to ensure the cleanliness and hygiene of the entire transport system and make full preparations for the next experimental transfer.

[0089] By setting up a clean conveyor line and a dirty conveyor line, and respectively equipping corresponding sealing doors, fans and other facilities, during the transfer process of the transfer device, according to different transfer instructions, reasonably controlling the opening and closing of the clean sealing door 3 and the dirty sealing door 6, as well as the working states of the supply fan and the exhaust fan, can effectively avoid the influence of the contaminated experimental space on the non - contaminated experimental space, better ensure the cleanliness requirements of the experimental space, and greatly reduce the pollution risk generated by the transfer device during the transfer between different experimental spaces. Adjusting the fan speed inversely related to the volume of the transfer device, and adjusting the fan working time positively related to the number of transfer devices, this flexible adjustment method can more accurately match the transfer requirements of the transfer device under different conditions. For a large - volume transfer device, reducing the fan speed can avoid unnecessary disturbances and potential pollution caused by excessive wind speed; for a large number of transfer devices, extending the fan working time can ensure sufficient air replacement and purification effect, thereby further improving the cleanliness control level during the transfer process. After obtaining the cleaning instruction, starting the disinfection operation on the clean conveyor line and the dirty conveyor line, this measure can regularly clean and disinfect the conveyor line comprehensively, effectively remove the pollutants that may remain during the transfer process, maintain the cleanliness of the conveyor line, provide a relatively clean and safe environment for the subsequent transfer work, and overall ensure the operation quality of the clean laboratory and the accuracy of the experimental results.

[0090] Referring to Figure 3 , based on a first differential pressure sensor being arranged in the clean conveying channel 1 and a second differential pressure sensor being arranged in the dirty conveying channel 4, the method further includes the following steps:

[0091] When setting the supply fan to continuously work at a first speed for a first set time, obtaining a first differential pressure based on the first differential pressure sensor. For example, during a transportation process of experimental materials, the supply fan operates at a first speed of 1800 revolutions per minute, and the first differential pressure sensor measures the first differential pressure at this time to be 20 Pa.

[0092] Calculating the difference between the first differential pressure and a preset first threshold value as a first difference value; if the first difference value is greater than a set value, sending out a first warning prompt; otherwise, adjusting the magnitude of the first speed inversely related to the first difference value; the larger the first difference value, the smaller the first speed; the smaller the first difference value, the larger the first speed.

[0093] Assume that the preset first threshold is 20 Pa. In the above example, the first difference is 20 Pa - 20 Pa = 0. Assume that the set value is 3. Compare the first difference with the preset first threshold. If the first difference is greater than the set value, for example, when the first pressure difference is 24 Pa, the first difference is 24 Pa - 20 Pa = 4. At this time, a first warning prompt will be issued. This warning prompt is displayed on the monitoring system in the laboratory in the form of an audible and visual alarm, reminding the staff that there is a large fluctuation in the pressure difference of the clean transfer channel 1 and attention is needed. If the first difference is not greater than the set value, the system will inversely adjust the magnitude of the first rotation speed according to the first difference. Specifically, the greater the first difference, the smaller the first rotation speed; the smaller the first difference, the greater the first rotation speed. For example, when the first pressure difference is 18 Pa, the first difference is 20 Pa - 18 Pa = 2. At this time, in order to make the pressure difference closer to the preset threshold, the system will appropriately increase the first rotation speed; if the first pressure difference is 22 Pa, the first difference is 22 Pa - 20 Pa = 2, and the system will appropriately decrease the first rotation speed to maintain the stability of the pressure difference.

[0094] When the exhaust fan operates continuously at the second rotation speed for the second set time, the second pressure difference is obtained based on the second pressure difference sensor. For example, during a process of recycling dirty experimental equipment, the exhaust fan operates at a second rotation speed of 2000 revolutions per minute, and the second pressure difference sensor measures the second pressure difference as -10 Pa.

[0095] Calculate the difference between the second pressure difference and the preset second threshold as the second difference; if the second difference is greater than the set value, then issue a second warning prompt; otherwise, inversely adjust the magnitude of the second rotation speed according to the second difference; the greater the second difference, the smaller the second rotation speed; the smaller the second difference, the greater the second rotation speed.

[0096] Assume that the preset second threshold is -10 Pa. In this example, the second difference is -10 Pa - (-10 Pa) = 0.

[0097] Assume that the set value is 2. After comparison. If the second difference is greater than the set value, for example, when the second pressure difference is -7 Pa, the second difference is -7 Pa - (-10 Pa) = 3. At this time, a second warning prompt will be issued, reminding the staff that there is an abnormality in the negative pressure difference of the dirty transfer channel 4 and there may be a risk of leakage of dirty air.

[0098] If the second difference is not greater than the set value, the system will inversely adjust the magnitude of the second rotation speed according to the second difference. For example, when the second pressure difference is -12 Pa, the second difference is -10 Pa - (-12 Pa) = 2, and the system will appropriately decrease the second rotation speed; if the second pressure difference is -8 Pa, the second difference is -8 Pa - (-10 Pa) = 2, and the system will appropriately increase the second rotation speed, so as to ensure that the negative pressure difference of the dirty transfer channel 4 is stable within a reasonable range and prevent the leakage of dirty air into the clean area.

[0099] A first differential pressure sensor and a second differential pressure sensor are respectively arranged in the clean conveying channel 1 and the dirty conveying channel 4, which can obtain the differential pressure data in the channels in real time. The system can dynamically adjust the fan speed based on the actual differential pressure situation, rather than simply relying on the preset adjustment method based on the volume and quantity of the flow converters. The fan speed is adjusted in an inverse correlation according to the difference between the obtained differential pressure and the preset threshold value, making the adjustment more accurate. When the difference is large, it indicates that the pressure situation in the current channel is relatively good. Appropriately reducing the fan speed can save energy and reduce the noise and equipment wear generated by the fan operation while meeting the cleanliness requirements. When the difference is small, the fan speed is increased to better maintain the air flow and pressure balance in the channel and ensure that the cleanliness of the experimental space is not affected. When the calculated first difference or second difference is greater than the set value, a warning prompt is issued, enabling the operator to timely understand the possible abnormal situations during the system operation. For example, an excessive differential pressure difference may mean poor sealing effect of the sealing door, fan failure or other problems affecting the pressure balance in the channel. Through the warning prompt, the operator can quickly take corresponding measures for troubleshooting and repair, avoiding an increase in the pollution risk of the experimental space caused by potential problems, thereby enhancing the reliability and safety of the entire differential pressure channel flow control system in the clean laboratory. During the actual operation process, the working conditions of the clean laboratory may be affected by various factors, such as the operation of experimental equipment and the entry and exit of personnel. These factors may cause changes in the differential pressure in the channel. By real-time monitoring the differential pressure and adjusting the fan speed according to the difference, the system can better adapt to these complex and changeable working conditions, maintain a stable operation state, and ensure that the pollution risk during the flow of the flow converters can be effectively reduced under different circumstances, providing a strong guarantee for the normal operation of the clean laboratory.

[0100] The clean conveying channel 1 includes a first clean branch and a second clean branch. Clean sealing doors 3 are arranged on both the first clean branch and the second clean branch. The method further includes the following steps:

[0101] Obtain a third transfer instruction, close the dirty sealing door 6 according to the third transfer instruction, open the clean sealing door 3 corresponding to the first clean branch, close the clean sealing door 3 on the second clean branch, and the dirty sealing door 6.

[0102] Set the air supply fan to continuously work at a third speed for a third set time. For example, for some experiments with high requirements for air flow stability, the air supply fan will operate at a relatively low third speed, such as 1500 revolutions per minute, and the duration is set to 5 minutes to create a stable clean air flow environment and prevent interference with experimental items due to too fast or too strong air flow.

[0103] Within the third set time, adjust the opening degree and opening time of the clean seal door 3 according to the running speed and position information of the transfer device.

[0104] When the distance between the transfer device and the clean seal door 3 corresponding to the first clean branch is less than the set value, gradually open the clean seal door 3 at the first set speed. When the distance between the transfer device and the clean seal door 3 corresponding to the first clean branch is less than the set value, assuming the set value is 0.5 meters, to ensure that the transfer device can enter smoothly, the system will gradually open the clean seal door 3 at the first set speed. For example, when the transfer device approaches to a distance of 0.8 meters from the clean seal door 3, the clean seal door 3 will start to open slowly at the first set speed, such as 0.1 meter per second. This speed is relatively slow to avoid air flow disturbance caused by the sudden opening of the door and affect the environmental stability in the clean area.

[0105] After the transfer device passes through the clean seal door 3, close the clean seal door 3 at the second set speed; where the first set speed is less than the second set speed. After the transfer device successfully passes through the clean seal door 3, to quickly restore the sealing of the clean area and prevent external pollution from entering, the system will close the clean seal door 3 at the second set speed. Here, the second set speed is greater than the first set speed, and the second set speed is such as 0.3 meter per second, because the transfer device has already passed through, and the seal door needs to be closed quickly. For example, at the moment when the transfer device completely passes through the clean seal door 3, the clean seal door 3 will close at a relatively fast speed of 0.3 meter per second, re-isolating the clean area from the external environment and ensuring that the high cleanliness in the experimental area is not affected.

[0106] Controlling the different branches of the clean conveying channel 1 separately can accurately open and close the clean seal doors 3 of specific branches according to the actual transfer requirements, avoiding unnecessary air circulation and potential pollution. For example, when only the transfer device needs to be transported to the experimental space corresponding to the first clean branch, close the seal door of the second clean branch, effectively reducing the contact area between the clean space and the outside world and reducing the pollution risk. Dynamically adjusting the opening degree and time of the clean seal door 3 according to the running speed and position information of the transfer device realizes the efficient connection of the transfer process. Prepare enough passing space in advance to ensure that the transfer device passes smoothly, avoiding transfer jams caused by untimely opening or insufficient opening of the seal door. At the same time, quickly close the seal door after the transfer device passes through, reducing the time window for the clean space to be polluted and improving the safety of the entire system. When the transfer device has an abnormal stop, adjusting the opening degree of the seal door in time helps to maintain the pressure stability in the clean conveying channel 1. A stable pressure environment is crucial for maintaining the cleanliness of the clean space, preventing the spread of pollutants caused by pressure fluctuations, ensuring the normal operation of the clean laboratory, and providing a reliable environmental basis for the smooth progress of the experiment.

[0107] The steps of obtaining the first transfer instruction include:

[0108] Based on multiple infrared sensors arranged in sequence at the entrance of the clean transfer channel 1, when the transfer device passes through the multiple infrared sensors arranged in sequence, obtain the first response sequence of the infrared sensors; according to the first response sequence, match the corresponding first transfer instruction.

[0109] For example, starting from the entrance, they are sequentially marked as infrared sensor a, infrared sensor b, infrared sensor c, etc. When the transfer device starts to enter the clean transfer channel 1, it will pass through these infrared sensors in sequence. Whenever the transfer device passes through an infrared sensor, the sensor will generate a response signal. For example, when a small experimental sample transfer device enters the clean transfer channel 1, it first triggers infrared sensor a, and this sensor will immediately emit a signal, then the transfer device continues to move forward and triggers infrared sensor b and infrared sensor c in sequence. The order in which these sensors emit signals constitutes the first response sequence. Suppose in this example, the first response sequence is [infrared sensor a, infrared sensor b, infrared sensor c]. The system performs a match in a pre-set instruction library according to this first response sequence. Different response sequences correspond to different transfer requirements and experimental operations, so it is necessary to accurately match the corresponding first transfer instruction. For example, the above response sequence [infrared sensor a, infrared sensor b, infrared sensor c] corresponds to guiding the transfer device to the first branch of the clean transfer channel 1 so as to enter the corresponding experimental space for specific sample analysis operations. Therefore, the system will compare this first response sequence with the stored instruction information and finally match the corresponding first transfer instruction, which contains detailed information such as the target position of the transfer device and the required transfer speed. For example, in an experiment of biological samples, if the first response sequence is [infrared sensor a, infrared sensor b, infrared sensor c], the first transfer instruction matched is to guide the biological sample transfer device to the first branch of the clean transfer channel 1 and transport it at a speed of 1 meter per second.

[0110] The steps of obtaining the second transfer instruction include:

[0111] Based on multiple pressure sensors arranged in sequence at the entrance of the dirt transportation channel 4, when the transfer device passes through the multiple pressure sensors arranged in sequence, the second response sequence of the pressure sensors is obtained; according to the second response sequence, the corresponding second transfer instruction is matched. The multiple pressure sensors arranged in sequence are closely arranged and numbered as pressure sensor A, pressure sensor B, pressure sensor C, etc. starting from the entrance according to a certain logical order. The main function of the pressure sensors is to provide the system with the position and movement information of the transfer device by sensing the pressure changes generated when the transfer device passes through. When the transfer device enters the dirt transportation channel 4, it will exert a pressure on the passing pressure sensors, causing these pressure sensors to generate responses in sequence. For example, when a transfer device to be transferred out enters the dirt transportation channel 4, it will first trigger pressure sensor A, causing it to record a pressure change signal, and then trigger pressure sensor B and pressure sensor C. The order in which these pressure sensors generate responses constitutes the second response sequence. Suppose in this case, the second response sequence is [pressure sensor A, pressure sensor B, pressure sensor C]. The system will search for the matching second transfer instruction in the corresponding instruction library according to the second response sequence. Different second response sequences reflect different transfer requirements, especially for the operations in the dirt transportation channel 4, which involve the clean treatment of waste, etc.

[0112] Multiple infrared sensors are arranged in sequence at the entrance of the clean transportation channel 1. By using the signal changes generated by the occlusion of infrared light by an object, the position, speed, direction, etc. of the transfer device when it enters can be accurately captured to form a unique first response sequence. Similarly, the pressure sensors arranged at the entrance of the dirt transportation channel 4 obtain the second response sequence by detecting the pressure changes generated when the transfer device passes through. Matching the corresponding transfer instructions based on these accurate response sequences greatly improves the accuracy of instruction acquisition, avoids equipment misoperation or transportation chaos caused by incorrect instructions, and ensures that the transfer device can operate accurately in different transportation channels according to the predetermined process and path.

[0113] A particle detector is configured in the experimental space. The method further includes:

[0114] Obtain the cleanliness data of the particle detector in real time; The particle detector in the experimental space continuously works to obtain the cleanliness data in real time. These cleanliness data reflect the number and size distribution of the particles in the air in the experimental space, and are important indicators for measuring the cleanliness of the laboratory. For example, the particle detector samples and analyzes the air in the experimental space at a frequency of once per second, detects the number and size of pollutants including but not limited to dust particles and microbial particles, and converts this information into quantifiable data. For example, it is detected that there are 100 dust particles of 0.5 microns and above and 5 microbial particles per cubic meter of air in the experimental space, and these data will be transmitted to the control system of the laboratory in real time as the basis for judging the cleanliness of the experimental space.

[0115] Monitor the change trend of the cleanliness in the experimental space. This monitoring process is based on continuous cleanliness data, and through time series analysis and data processing techniques, it is judged whether the cleanliness is in an increasing, decreasing or relatively stable state. When it is monitored that the cleanliness is in a decreasing state and the decreasing speed exceeds the set decreasing threshold, the rotation speeds of the supply fan and the exhaust fan are adjusted according to the cleanliness. For example, in the past minute, through the analysis of the data of the particle detector, it is found that the cleanliness data shows a trend of gradually increasing from 100 dust particles of 0.5 microns and above and 5 microbial particles per cubic meter to 120 dust particles and 8 microbial particles, indicating that the cleanliness is in a decreasing state. When it is monitored that the cleanliness is in a decreasing state, the system will further calculate the decreasing speed of the cleanliness. For example, if the number of dust particles increases from 80 per cubic meter to 150 in the past 5 minutes, then the system will calculate the decreasing speed of the cleanliness based on these data. If this decreasing speed exceeds the set decreasing threshold, assuming the decreasing threshold is an increase of 10 dust particles per cubic meter per minute, corresponding adjustment measures need to be taken.

[0116] When the cleanliness is lower, in order to quickly restore the cleanliness of the experimental space, the system will increase the rotation speeds of the supply fan and the exhaust fan. For example, if the cleanliness in the experimental space drops to 200 dust particles of 0.5 microns and above and 10 microbial particles per cubic meter, the rotation speed of the supply fan is increased from the original 1500 revolutions per minute to 2000 revolutions per minute, and the rotation speed of the exhaust fan is increased from 1200 revolutions per minute to 1600 revolutions per minute to enhance the air circulation and replacement, discharge the polluted air, and introduce more filtered clean air at the same time, thereby improving the cleanliness of the experimental space.

[0117] Conversely, when the cleanliness is relatively high, the rotational speeds of the supply fan and the exhaust fan will decrease accordingly. For example, when the cleanliness data shows that there are only 50 dust particles of 0.5 microns or larger and 2 microbial particles per cubic meter, the rotational speed of the supply fan is reduced to 1000 revolutions per minute, and the rotational speed of the exhaust fan is reduced to 800 revolutions per minute to maintain a relatively stable and energy-saving operating state and avoid unnecessary interference to the experimental environment caused by excessive ventilation.

[0118] Obtaining the cleanliness data of the particle detector in real time and monitoring its changing trend can promptly detect abnormal changes in the cleanliness within the experimental space. When the rate of decrease in cleanliness exceeds the set threshold, the rotational speeds of the supply fan and the exhaust fan are adjusted according to the level of cleanliness. This precise dynamic control mechanism can quickly and effectively respond to fluctuations in cleanliness. When the cleanliness is low, the rotational speeds of the supply fan and the exhaust fan are increased to accelerate air circulation and replacement, forcefully discharge pollutants, and rapidly improve cleanliness; when the cleanliness is high, the rotational speeds of the fans are reduced to avoid energy waste and unnecessary equipment wear caused by excessive ventilation, while also maintaining a relatively stable microenvironment within the experimental space, providing a reliable clean environment guarantee for the smooth progress of the experiment.

[0119] A high-speed camera is installed in the experimental space to obtain image information of the transparent clean transfer channel 1 and the dirty transfer channel 4; adjustable rotational speed and angle blowing devices are provided on both side walls inside the channels. The method further includes:

[0120] When a transfer device passes through the clean transfer channel 1 or the dirty transfer channel 4, the image information obtained within the experimental space is a channel picture. For example, during an automated biological sample transfer process, when a transfer device carrying important biological samples enters the clean transfer channel 1, the high-speed camera takes pictures at a speed of 30 frames per second, capturing the real-time dynamics of the transfer device within the channel, thereby generating a series of clear channel pictures. These channel pictures contain rich details, not only showing the appearance and contour of the transfer device, but also clearly showing the boundaries and internal structures of the transfer channels.

[0121] The transfer device and the conveying channel are identified from the channel image. For example, using deep learning algorithms, the system can extract features such as the shape, color, and texture of the transfer device from the channel image, and at the same time, accurately identify the boundaries, shapes, and various markings inside the clean conveying channel 1 or the dirty conveying channel 4. According to the position information of the transfer device and the conveying channel, combined with the preset standard position, the position offset and offset angle of the transfer device are calculated; assuming an ideal state, the transfer device should be at the center position of the clean conveying channel 1, and its long side should be parallel to the axis of the conveying channel, which is the preset standard position. However, the actual position of the transfer device identified from the channel image may deviate. For example, through calculation, it is found that the center position of the transfer device is offset 5 cm to the left relative to the center position of the channel, and this 5 cm is the position offset. At the same time, if the long side of the transfer device forms an angle of 10 degrees with the axis of the conveying channel, this 10 degrees is the offset angle. The system will also calculate the conveying direction of the transfer device according to the change in the front and back positions of the transfer device in the channel image. For example, through the analysis of several consecutive frames of channel images, it is found that the position of the transfer device moves from one end of the channel to the other end at consecutive time points, and thus it can be determined that the transfer device is conveyed along the channel from left to right.

[0122] If the position offset exceeds the preset error range, an alarm signal is issued. Assuming the preset position offset error range is 3 cm, the system will issue an alarm signal. In the above example, since the position offset is 5 cm, exceeding the error range, the system will trigger an alarm at this time.

[0123] Adjust the rotation speed of the blowing device according to the position offset to correct the position of the transfer device. The larger the position offset, the greater the rotation speed of the blowing device; the smaller the position offset, the smaller the rotation speed of the blowing device. For example, when the position offset is 5 cm, the system will adjust the rotation speed of the blowing device to 2000 revolutions per minute to generate a large amount of wind to push the transfer device back to the correct position; while when the position offset is 1 cm, the rotation speed of the blowing device only needs to be adjusted to 500 revolutions per minute to finely adjust the position of the transfer device in a gentle manner.

[0124] The blowing device is identified from the channel image; according to the offset angle, the position information of the blowing device in the channel image, and the conveying direction of the transfer device, the blowing direction of the blowing device is calculated. From the channel image, the system will further identify the blowing device. Using image recognition technology, the system can find the blowing device from the complex channel image according to its unique shape, color, or marking, so as to determine the position of the blowing device in the channel.

[0125] Based on the offset angle, the position information of the blowing device in the channel image, and the conveying direction of the conveyor, the system can accurately calculate the blowing direction of the blowing device. For example, when the conveyor is offset 5 cm to the left with an offset angle of 10 degrees and the conveying direction is from left to right, the system will calculate that the blowing device should blow air towards the front right to provide a thrust towards the front right, so that the conveyor returns to the correct position. Moreover, as the position of the conveyor is gradually corrected, the system will dynamically adjust the blowing direction and rotation speed of the blowing device according to the real-time offset amount and offset angle to ensure that the conveyor can move smoothly along the predetermined conveying path.

[0126] By using a high-speed camera in the experimental space to obtain the channel image information, the positions of the conveyor and the conveying channel can be accurately identified. By calculating the position offset amount, offset angle, and conveying direction of the conveyor, the rotation speed and blowing direction of the blowing device can be adjusted accordingly. This precise calculation and control mechanism enables the blowing device to act on the conveyor with just the right wind force and angle, timely correcting its position deviation, ensuring that the conveyor always maintains the correct running trajectory in the conveying channel, greatly improving the accuracy and stability of the conveying process, reducing problems such as collisions and damages that may be caused by the offset of the conveyor, and guaranteeing the safe transportation of experimental items. When it is detected that the position offset amount of the conveyor exceeds the preset error range, the system immediately issues an alarm signal. This early warning mechanism enables the staff to quickly know the abnormal situation occurring during the transportation process and take corresponding measures in a timely manner. For example, the staff can check in time whether there is a fault in the conveying equipment or adjust the loading method of the conveyor, etc., to avoid more serious problems caused by the continuous offset of the conveyor, guarantee the normal operation of the transportation system in the clean laboratory, and reduce the risk of experiment interruption. The entire technical solution realizes a fully automated process from image acquisition, information recognition, data analysis to equipment control. The high-speed camera automatically obtains images, automatically identifies and calculates relevant parameters through algorithms, and then automatically controls the blowing device to make adjustments without excessive manual intervention.

[0127] A camera is installed at a set position in the conveying space for obtaining the image information of the set positions of the transparent clean conveying channel 1 and the dirty conveying channel 4. The set positions include turns, slopes, or large-angle corners; the method includes the following steps:

[0128] Taking the continuous frame images of specific positions obtained by the camera as monitoring images; for example, in this experimental environment, the camera takes pictures of the clean conveying channel 1 and the dirty conveying channel 4 at a frequency of 25 frames per second.

[0129] Identify the conveyors from the monitoring images; through image recognition technology, the system can accurately identify the conveyors from the monitoring images. This process involves image recognition algorithms, which will separate them from the image background based on the unique shape, color, texture or markings of the conveyors. For example, assume that the conveyor is a container with a specific color marking. The system will accurately locate the outline of each conveyor in the monitoring image based on its unique blue marking and distinguish it from other parts in the channel. Even in the case of light changes or partial occlusion, the system can find the accurate position and shape of the conveyor through algorithm optimization and feature matching.

[0130] Calculate the distance between adjacent conveyors as the adjacent distance, and calculate the change amount of the adjacent distance; taking the clean conveying channel 1 as an example, when multiple conveyors are arranged in sequence in the channel, the system will analyze the monitoring image and calculate the straight-line distance between adjacent conveyors. Assume that in a frame of monitoring image, there are three conveyors A, B, and C arranged in sequence. The system will measure the distance between conveyor A and conveyor B, and the distance between conveyor B and conveyor C. Through calculation, the distance between conveyor A and B is 30 cm, and the distance between conveyor B and C is 32 cm. By comparing different frames of monitoring images, it is found that the distance between conveyor A and B has changed from the initial 30 cm to 25 cm. Then the change amount of the adjacent distance is 5 cm.

[0131] If the adjacent distance is less than the set distance value, issue a warning prompt.

[0132] If the adjacent distance is less than the set distance value, the system will issue a warning prompt. Assume that the set distance value is 20 cm. When the distance between adjacent conveyors drops from 25 cm in the above example to 18 cm, this indicates that the distance between the conveyors is too close, and collisions or mutual interference may occur, thus affecting the safety of experimental items and the smooth progress of the experiment. At this time, the system will issue a warning prompt, display a red warning message on the monitoring interface of the laboratory, and trigger an audible alarm to remind the operator to pay attention to avoid possible dangerous situations.

[0133] If the change amount of the adjacent distance is greater than or equal to the set change amount, the system will also issue a warning prompt. Continuing the above example, if the set change amount is 4 cm, and the distance between adjacent conveyors A and B changes from 30 cm to 25 cm, with a change amount of 5 cm, exceeding the set 4 cm, this means that the change in the distance between adjacent conveyors is abnormal, which may be caused by some unstable factors, and will also trigger a warning from the system. This may affect the orderly transportation of experimental items and even damage the experimental items. In this case, the system will issue a warning to remind the operator to check whether there is an abnormality in the conveying system, such as whether there is a mechanical failure or a problem with the control program.

[0134] If the change amount of the adjacent distance is greater than or equal to the set change amount, a warning prompt is issued.

[0135] The camera is used to obtain images of the monitoring set positions such as large-angle points like turning or climbing, and identify the conveyors. The distance between adjacent conveyors and its change amount are calculated, so as to be able to monitor the running state of the conveyors in the conveying channel in real time. When the adjacent distance is less than the set distance value, a warning prompt is issued, which helps to avoid jamming and collision accidents between conveyors. In a clean laboratory, the conveyors carry important experimental samples or equipment. Once a collision occurs, it will not only damage the conveyors themselves, but also cause contamination of experimental samples or equipment failures, affecting the normal progress of the experiment. Early warning allows the staff to take timely measures, such as adjusting the conveying speed or checking the running condition of the equipment, to ensure the safety of the transportation process.

[0136] Photoelectric sensors are both set at the entrance of the clean conveying channel 1 and the exit of the dirty conveying channel 4. The method further includes the following steps:

[0137] Count the number of times the signal of the photoelectric sensor at the entrance of the clean conveying channel 1 changes within the set time period as the first quantity; count the number of times the signal of the photoelectric sensor at the exit of the dirty conveying channel 4 changes within the set time period as the second quantity.

[0138] Calculate the difference between the first quantity and the second quantity as the period difference; if the period difference is greater than the set difference, a warning prompt is issued. Within the set time period, for example, if the set time period is set to 1 week, the system will count the number of times the signal of the photoelectric sensor at the entrance of the clean conveying channel 1 changes, and record it as the first quantity. The working principle of the photoelectric sensor is to detect whether an object passes through its light path. When an object passes through, it will cause the occlusion of light, thereby generating a signal change. For example, during the transportation of a biological sample, every time a conveyor carrying a biological sample passes through the entrance of the clean conveying channel 1, the photoelectric sensor will detect a signal change. Assuming that within this 1-week time period, 50 conveyors carrying different biological samples pass through this entrance, then the first quantity is 50 times.

[0139] Similarly, within this set 1-week time period, the system will count the number of times the signal of the photoelectric sensor at the exit of the dirty conveying channel 4 changes, and record it as the second quantity. When a conveyor leaves from the exit of the dirty conveying channel 4, the photoelectric sensor at this position will generate a signal change. If within this 1 week, 40 conveyors carrying experimental waste leave from this exit, then the second quantity is 40 times.

[0140] If the cycle difference is greater than the set difference, assuming the set difference is 5, the system will issue a warning prompt. In the above example, since the calculated cycle difference is 10, which is greater than the set difference of 5, the system will issue a warning at this time. This warning prompt can be presented in various forms. For example, a prominent red warning box will pop up on the monitoring system interface of the laboratory, displaying the message "The quantity of transported items does not match. Please check the transportation system!", and at the same time, an alarm sound will be triggered to attract the attention of the staff.

[0141] This situation implies that there are abnormal conditions during the transfer process of the experimental items. For example, it may be that some transfer devices in the clean transportation channel 1 fail to be successfully transported to the dirty transportation channel 4 due to certain reasons, resulting in the number of transfer devices entering the entrance of the clean transportation channel 1 being more than the number leaving the exit of the dirty transportation channel 4. This may be due to a blockage in a part of the transportation system, causing the transfer devices to stagnate midway; or it may be due to a malfunction of the control system, resulting in incorrect transportation paths for some transfer devices; or it may be because the experimental items are damaged or lost during transportation and fail to reach the exit of the dirty transportation channel 4 normally.

[0142] By setting photoelectric sensors at the entrance of the clean transportation channel 1 and the exit of the dirty transportation channel 4 and counting the number of signal changes within a set time period, it is possible to accurately grasp the number of transfer devices passing through these two key positions. By calculating the difference between the first quantity and the second quantity and issuing a warning prompt once the cycle difference is greater than the set difference, the system can promptly detect abnormal conditions such as item loss, blockage, or equipment failure that may occur during transportation.

[0143] The embodiment of the present application also discloses a transfer control system for the pressure difference channels of a clean laboratory, including a processor that executes the steps of the transfer control method for the pressure difference channels of a clean laboratory as described in any one of the above.

[0144] The embodiment of the present application also discloses a storage medium in which a program is stored, and when the program is executed by the processor, it implements the steps of the transfer control method for the pressure difference channels of a clean laboratory as described in any one of the above.

[0145] Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are exemplary and should not be construed as limiting the present application. Those of ordinary skill in the art can make changes, modifications, substitutions, and variations to the above embodiments within the scope of the present application.

Claims

1. A flow control method for the pressure difference channel of a clean laboratory, characterized in that, Based on a clean conveyor line and a dirty conveyor line; the clean conveyor line includes a clean conveyor channel (1), a clean buffer cabin (2) communicated with the clean conveyor channel (1), and clean sealing doors (3) located before and after the clean buffer cabin (2); the dirty conveyor line includes a dirty conveyor channel (4), a dirty buffer cabin (5) communicated with the dirty conveyor channel (4), and dirty sealing doors (6) located before and after the dirty buffer cabin (5); a blower is arranged in the clean conveyor channel (1); an exhaust fan is arranged in the dirty conveyor channel (4); The method includes the following steps: Obtain a first transfer instruction, close the dirty sealing door (6) and open the clean sealing door (3) according to the first transfer instruction, and set the blower to continuously operate at a first speed for a first set time; Inversely adjust the size of the first speed according to the volume size of the transfer device; the larger the volume of the transfer device, the smaller the first speed; the smaller the volume of the transfer device, the larger the first speed; Positively adjust the first set time according to the number of the transfer devices; The more the number of the transfer devices, the longer the first set time; the fewer the number of the transfer devices, the shorter the first set time; Obtain a second transfer instruction, close the clean sealing door (3) and open the dirty sealing door (6) according to the second transfer instruction, and set the exhaust fan to continuously operate at a second speed for a second set time; Inversely adjust the size of the second speed according to the volume size of the transfer device; the larger the volume of the transfer device, the smaller the second speed; the smaller the volume of the transfer device, the larger the second speed; Positively adjust the second set time according to the number of the transfer devices; The more the number of the transfer devices, the longer the second set time; the fewer the number of the transfer devices, the shorter the second set time; Obtain a cleaning instruction, and start a disinfection operation on the clean conveyor line and the dirty conveyor line according to the cleaning instruction; A particle detector is configured in the experimental space, and the method further includes: Obtain the cleanliness data of the particle detector in real time; Monitor the change trend of the cleanliness in the experimental space. When it is monitored that the cleanliness is in a decreasing state and the decreasing speed exceeds a set decreasing threshold, adjust the speeds of the blower and the exhaust fan according to the cleanliness; The lower the cleanliness, the greater the speeds of the blower and the exhaust fan; The higher the cleanliness, the smaller the speeds of the blower and the exhaust fan.

2. The flow control method for the pressure difference channel of the clean laboratory according to claim 1, wherein Based on that a first differential pressure sensor is arranged in the clean conveyor channel (1) and a second differential pressure sensor is arranged in the dirty conveyor channel (4), the method further includes the following steps: When setting the blower to continuously operate at a first speed for a first set time, obtain a first differential pressure based on the first differential pressure sensor; Calculate the difference between the first differential pressure and a preset first threshold as a first difference value; if the first difference value is greater than a set value, issue a first warning prompt; Otherwise, inversely adjust the size of the first speed according to the first difference value; The larger the first difference value, the smaller the first speed; The smaller the first difference is, the larger the first rotational speed is; When it is set that the exhaust fan operates continuously at the second rotational speed for a second set time, a second pressure difference is obtained based on the second pressure difference sensor; Calculate the difference between the second pressure difference and a preset second threshold value as the second difference; if the second difference is greater than a set value, a second warning prompt is issued; Otherwise, the magnitude of the second rotational speed is adjusted in an inverse correlation according to the second difference; The larger the second difference is, the smaller the second rotational speed is; the smaller the second difference is, the larger the second rotational speed is.

3. The flow control method for the pressure difference channel of the clean laboratory according to claim 2, wherein The clean conveying channel (1) includes a first clean branch and a second clean branch, and the clean sealing doors (3) are arranged on both the first clean branch and the second clean branch. The method further includes the following steps: Obtain a third transfer instruction, close the dirty sealing door (6) according to the third transfer instruction, open the clean sealing door (3) corresponding to the first clean branch, close the clean sealing door (3) on the second clean branch, and the dirty sealing door (6); Set that the air supply fan operates continuously at the third rotational speed for a third set time; Within the third set time, adjust the opening degree and opening time of the clean sealing door (3) according to the running speed and position information of the transfer device; When the distance between the transfer device and the clean sealing door (3) corresponding to the first clean branch is less than a set value, gradually open the clean sealing door (3) at a first set speed; When the transfer device passes through the clean sealing door (3), close the clean sealing door (3) at a second set speed; wherein, the first set speed is less than the second set speed.

4. The flow control method for the pressure difference channel of the clean laboratory according to claim 1, characterized in that, The step of obtaining the first transfer instruction includes: Based on a plurality of infrared sensors arranged in sequence at the entrance of the clean conveying channel (1), when the transfer device passes through the plurality of infrared sensors arranged in sequence, obtain a first response sequence of the infrared sensors; according to the first response sequence, match the corresponding first transfer instruction; The step of obtaining the second transfer instruction includes: Based on a plurality of pressure sensors arranged in sequence at the entrance of the dirty conveying channel (4), when the transfer device passes through the plurality of pressure sensors arranged in sequence, obtain a second response sequence of the pressure sensors; according to the second response sequence, match the corresponding second transfer instruction.

5. The flow control method for the pressure difference channel of the clean laboratory according to claim 1, wherein A high-speed camera is arranged in the experimental space for obtaining image information of the transparent clean conveying channel (1) and the dirty conveying channel (4). Adjustable-speed and adjustable-angle blowing devices are arranged on both side walls inside the channels. The method further includes: When there is a transfer device passing through the clean conveying channel (1) or the dirty conveying channel (4), obtain the image information in the experimental space as a channel picture; Identify the transfer device and the conveying channel from the channel picture, calculate the position offset and offset angle of the transfer device according to the position information of the transfer device and the conveying channel, and combine with a preset standard position; and calculate the conveying direction of the transfer device. If the position offset exceeds a preset error range, an alarm signal is issued; Adjust the rotation speed of the blowing device according to the position offset. The larger the position offset, the greater the rotation speed of the blowing device; the smaller the position offset, the smaller the rotation speed of the blowing device. Identify the blowing device from the channel picture; calculate the blowing direction of the blowing device according to the offset angle, the position information of the blowing device in the channel picture, and the conveying direction of the conveyor.

6. The flow control method for the pressure difference channel of the clean laboratory according to claim 1, characterized in that, A camera is installed at a set position in the conveying space for obtaining image information of set object positions of the transparent clean conveying channel (1) and the dirty conveying channel (4). The method includes the following steps: Based on the camera, obtain consecutive frame images of a specific position as monitoring images; Identify the conveyor from the monitoring images; Calculate the distance between adjacent conveyors as the adjacent distance, and calculate the change amount of the adjacent distance; If the adjacent distance is less than a set distance value, a warning prompt is issued; If the change amount of the adjacent distance is greater than or equal to a set change amount, a warning prompt is issued.

7. The flow control method for the pressure difference channel of a clean laboratory according to claim 1, characterized in that, Photoelectric sensors are provided at both the entrance of the clean conveying channel (1) and the exit of the dirty conveying channel (4). The method further includes the following steps: Count the number of times the photoelectric sensor signal changes at the entrance of the clean conveying channel (1) within a set time period as the first quantity; count the number of times the photoelectric sensor signal changes at the exit of the dirty conveying channel (4) as the second quantity; Calculate the difference between the first quantity and the second quantity as the period difference; if the period difference is greater than a set difference, a warning prompt is issued.

8. A flow control system for the pressure difference channels of a clean laboratory, characterized in that, Includes a processor, and the processor executes the steps of the flow control method for the clean laboratory pressure difference channel as described in any one of claims 1-7.

9. A storage medium, characterized in that, A program is stored in the medium, and when the program is executed by the processor, the steps of the flow control method for the clean laboratory pressure difference channel as described in any one of claims 1-7 are implemented.

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