Control method of sample storage library and sample storage library

Abstract

The invention relates to the technical field of biological sample storage, in particular to a control method of a sample storage library and the sample storage library, and aims to solve the problem that collision is easy to occur due to the fact that mechanical arms are difficult to position due to deformation when an existing cryopreservation frame and the existing mechanical arms are both arranged in an ultralow-temperature environment. In order to achieve the purpose, the sample storage library comprises a storage area and an operation area which are independent of each other, a cryopreservation frame is arranged in the storage area in a sliding mode, and a mechanical arm is arranged in the operation area so that cryopreservation boxes can be transferred between the storage area and the operation area and between the operation area and the outside of the library. The cryopreservation frame and the mechanical arm are arranged in a partitioned mode, the mechanical arm is subjected to deviation rectifying operation, collision between the cryopreservation frame and the cryopreservation frame can be avoided when the cryopreservation box is taken and placed, in-out warehouse operation is achieved by controlling the cryopreservation frame to stretch out and controlling the mechanical arm to directly clamp the cryopreservation box, the process is simplified, and efficiency is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of biological sample storage, and specifically provides a control method for a sample storage library and a sample storage library. Background Art

[0002] In the field of biological sample storage, ultra-low temperature automated equipment is needed to store biological samples. The structure of the existing storage library has the internal robotic arms and cryopreservation racks stored in an ultra-low temperature environment. In the ultra-low temperature environment, the cryopreservation racks are prone to deformation, which makes it difficult for the robotic arms to position when taking and placing the cryopreservation boxes, and is prone to collision. Moreover, the robotic arms are operating in an ultra-low temperature environment, and if a failure occurs, it is difficult to repair.

[0003] Accordingly, this field requires a new technical solution to solve the above technical problems. Summary of the invention

[0004] The present invention aims to solve the above technical problem, that is, to solve the problem that the robot arm and the freezing rack are both stored in an ultra-low temperature environment, and the freezing rack is prone to deformation, which makes it difficult for the robot arm to position when taking and placing the freezing box, and is prone to collision.

[0005] In a first aspect, the present invention provides a sample storage library, comprising a storage area and an operating area independent of each other, wherein a freezing rack is slidably arranged in the storage area so that the freezing rack can extend from the storage area to the operating area or outside the library, wherein a plurality of storage positions are arranged on the freezing rack, each of which stores a freezing box, and a robotic arm is arranged in the operating area, wherein the robotic arm is configured to move in the operating area and to clamp and transfer the freezing box, so that the freezing box can be transferred between the storage area and the operating area and between the operating area and outside the library.

[0006] In a specific embodiment of the above-mentioned sample storage library, the robotic arm includes a first frame, a second frame and a gripping and transporting device, the first frame is horizontally arranged on the top of the operating area and is arranged to be able to slide longitudinally along the operating area, the second frame is vertically arranged and is arranged to be able to slide laterally along the first frame, the gripping and transporting device is slidably arranged on the second frame, and the gripping and transporting device is arranged to be able to grip and transport the cryobox.

[0007] In a specific implementation of the above sample storage library, the sample storage library further includes a collection device, and the collection device is disposed on the clamping and transporting device.

[0008] In a second aspect, the present invention also provides a control method for a sample storage library, wherein the sample storage library adopts the sample storage library as described above; the control method includes: obtaining an outbound instruction or an inbound instruction; performing an outbound operation or an inbound operation according to the outbound instruction or the inbound instruction; wherein the outbound operation is specifically: controlling the target freezing rack to extend from the storage area to the operating area, controlling the robotic arm to move to the target storage location, and clamping the frozen box to be outbound, controlling the robotic arm to move to the entrance and exit of the sample storage library, and transferring the frozen box to be outbound to the outside of the library; the inbound operation is specifically: controlling the target freezing rack to extend from the storage area to the operating area, controlling the robotic arm to move to the entrance and exit of the sample storage library, and transferring the frozen box to be inbound to the operating area, controlling the robotic arm to move to the target storage location, and placing the frozen box to be inbound at the target storage location.

[0009] In a specific implementation of the control method of the above-mentioned sample storage library, the step of "controlling the robot arm to move to the target storage location" specifically includes: first controlling the robot arm to move to the target storage location; obtaining the offset value of the target storage location according to the acquisition device; and selectively controlling the movement of the robot arm according to the size of the offset value.

[0010] In a specific implementation of the control method of the sample storage library, the step of "selectively controlling the movement of the robotic arm according to the size of the offset value" specifically includes: if the offset value is less than or equal to a preset value, controlling the robotic arm not to move.

[0011] In a specific implementation of the control method of the above-mentioned sample storage library, the step of "selectively controlling the movement of the robotic arm according to the size of the offset value" further includes: if the offset value is greater than a preset value, determining the offset position according to the offset value and controlling the robotic arm to move according to the offset position.

[0012] In a specific implementation of the control method of the sample storage library, the control method further includes: when an abnormal situation occurs in the sample storage library, sending an abnormal reminder and performing corresponding operations.

[0013] In a specific implementation of the control method of the above-mentioned sample storage library, the specific steps of performing the corresponding operation are: directly opening the back door of the sample storage library, controlling the freezing rack to extend out of the storage area, and transferring the freezing box.

[0014] In a specific implementation of the control method of the sample storage library, the control method further includes: before the cryopreservation boxes to be stored are stored, identifying and verifying the cryopreservation boxes to be stored.

[0015] When the above technical solution is adopted, the storage area and the operation area of ​​the present invention are separately arranged, and the robot arm is easy to maintain in the operation area, which solves the problem of difficult maintenance after a failure in an ultra-low temperature environment.

[0016] Furthermore, the present invention can control the freezing rack to extend and control the mechanical arm to directly clamp the freezing box to realize the storage and warehousing operation when the freezing box is put in and taken out of the warehouse, thereby simplifying the operation process and improving the storage and warehousing efficiency.

[0017] Furthermore, the present invention can solve the problem that the freezing rack will be slightly deformed due to being placed in an ultra-low temperature environment for a long time, and the position coordinates of the freezing rack itself will have poor accuracy after extending out of the storage area by correcting the deviation of the robotic arm moved to the target storage location. This can prevent the robotic arm from colliding with the freezing rack when taking and placing the freezing boxes, thereby ensuring the normal taking and placing of the freezing boxes. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] The preferred embodiments of the present invention are described below in conjunction with the accompanying drawings, in which:

[0019] Figure 1 is a schematic diagram of the external structure of the sample storage library of the present invention;

[0020] Figure 2 It is a schematic diagram of the internal structure of the sample storage library of the present invention;

[0021] Figure 3 It is another schematic diagram of the internal structure of the sample storage library of the present invention;

[0022] Figure 4 This is a schematic diagram of the structure of opening the back door of the sample storage library of the present invention;

[0023] Figure 5 It is a flow chart of the main steps of the control method of the sample storage library of the present invention;

[0024] Figure 6 It is a flow chart of the steps of correcting the deviation of the robot arm in the sample storage library of the present invention;

[0025] Among them: 1. Storage area; 2. Operation area; 3. First electric door; 4. Second electric door; 5. Third electric door; 6. Cryogenic rack; 61. Storage location; 7. Cryogenic box; 8. Robotic arm; 81. First frame; 82. Second frame; 83. Gripping and transmission device; 831. Support frame; 832. First driving mechanism; 833. Connecting frame; 834. Second driving mechanism; 835. Shovel plate. DETAILED DESCRIPTION

[0026] The preferred embodiments of the present invention are described below with reference to the accompanying drawings. It should be understood by those skilled in the art that these embodiments are only used to explain the technical principles of the present invention and are not used to limit the scope of protection of the present invention. Those skilled in the art can make adjustments to them as needed to adapt to specific application scenarios.

[0027] It should be noted that in the description of the present invention, the terms "inside", "outside" and the like indicating directions or positional relationships are based on the directions or positional relationships shown in the drawings, which are only for the convenience of description, and do not indicate or imply that the relevant devices or elements must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, ordinal numbers "first", "second" and the like are only used for descriptive purposes and cannot be understood as indicating or implying relative importance.

[0028] In addition, it should be noted that in the description of the present invention, unless otherwise clearly specified and limited, the terms "connected" and "connection" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium. For those skilled in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0029] In addition, it should be noted that in the description of the present invention, although the various steps of the control method of the present invention are described in this application in a specific order, these orders are not restrictive. Without departing from the basic principles of the present invention, those skilled in the art can perform the steps in a different order.

[0030] First refer to 1- Figure 4 , which is a schematic diagram of the structure of the sample storage library of the present invention. Figure 1-Figure 4 As shown, the sample storage library includes a storage area 1 and an operation area 2 which are independent of each other. A first electric door 3 is provided between the storage area 1 and the operation area 2 so as to selectively connect the storage area 1 with the operation area 2. A second electric door 4 is provided at the front end of the storage library so as to selectively connect the operation area 2 with the outside of the library. A third electric door 5 is provided at the rear end of the storage library so as to selectively connect the storage area 1 with the outside of the library. The storage area 1 is an ultra-low temperature environment (about -80°C) for storing samples, and the operation area 2 is a low temperature environment (about -30°C) for taking and placing the cryopreservation box 7 and transferring samples.

[0031] like Figure 3As shown, a freezing rack 6 is slidably arranged in the storage area 1, so that the freezing rack 6 can extend forward from the storage area 1 to the operation area 2 or extend backward from the storage area 1 to the outside of the warehouse, and a plurality of storage positions 61 distributed in a matrix are arranged on the freezing rack 6, and a freezing box 7 is stored in each storage position 61. Exemplarily, the sliding arrangement of the freezing rack 6 in the storage area 1 can be realized by a mechanical structure of "motor + gear + rack", of course, other mechanical structures other than the above examples can also be used, such as a mechanical structure of "motor + screw", as long as the freezing rack 6 can slide in the storage area 1, the present invention does not impose any restrictions on this.

[0032] like Figure 2 As shown, a robot arm 8 is provided in the operation area 2, and the robot arm 8 is configured to be able to move in the operation area 2 and to clamp and transport the cryopreservation box 7, so that the cryopreservation box 7 can be transported between the storage area 1 and the operation area 2 and between the operation area 2 and the outside of the warehouse. The storage area 1 and the operation area 2 are separately provided, and the robot arm 8 is easy to maintain in the operation area 2, which solves the problem of difficult maintenance after a failure occurs in an ultra-low temperature environment. Specifically, the robot arm 8 includes a first frame 81, a second frame 82 and a clamping and transporting device 83. The first frame 81 is horizontally arranged at the top of the operation area 2 and is configured to be able to slide longitudinally along the operation area 2. The second frame 82 is vertically arranged and is configured to be able to slide horizontally along the first frame 81. The clamping and transporting device 83 can be vertically slidably arranged on the second frame 82 to achieve movement in the operation area 2. Exemplarily, the sliding arrangement of the first frame 81, the second frame 82 and the clamping and transmission device 83 can be realized by using a mechanical structure of "motor + gear + rack". Of course, other mechanical structures other than the above examples can also be used, such as a mechanical structure of "motor + screw rod". As long as sliding can be achieved, the present invention does not impose any restrictions on this.

[0033] Continue as Figure 2As shown, the gripping and transporting device 83 is configured to grip and transport the cryopreservation box 7. Specifically, the gripping and transporting device 83 includes a support frame 831, a connecting frame 833, a first driving mechanism 832, a second driving mechanism 834 and a shovel plate 835. The support frame 831 can be vertically slidably arranged on the second frame body 82, the first driving mechanism 832 is fixedly arranged on the support frame 831, the driving end of the first driving mechanism 832 is connected to the connecting frame 833, the first driving mechanism 832 is configured to drive the connecting frame 833 to rotate horizontally, the second driving mechanism 834 is fixedly arranged on the connecting frame 833, the driving end of the second driving mechanism 834 is connected to the shovel plate 835, the second driving mechanism 834 is configured to drive the shovel plate 835 to slide horizontally relative to the connecting frame 833 to transport the cryopreservation box 7, and the shovel plate 835 is provided with a clamping claw capable of gripping the cryopreservation box 7. Exemplarily, the first drive mechanism 832 can be configured as a rotary cylinder, and the second drive mechanism 834 can be configured as a mechanical structure of "motor + gear + rack". Of course, the first drive mechanism 832 and the second drive mechanism 834 can also be configured as other mechanical structures other than the above examples, as long as the first drive mechanism 832 can drive the connecting frame 833 to rotate horizontally, and the second drive mechanism 834 can drive the shovel plate 835 to slide horizontally. In addition, it should be noted that the above-mentioned gripping and transporting device 83 is only exemplary, and those skilled in the art can adopt other mechanical structures, as long as the gripping and transporting device 83 can grip and transport the cryopreservation box 7.

[0034] In the above structure, when the gripping and transporting device 83 moves to the second electric door 4, the first driving mechanism 832 drives the connecting frame 833 to rotate so that the shovel plate 835 faces the second electric door 4. When the gripping and transporting device 83 moves to the target storage position 61, the first driving mechanism 832 drives the connecting frame 833 to rotate so that the shovel plate 835 faces the target storage position 61. The opening direction of each storage position 61 on the freezing rack 6 is set on the side of the freezing rack 6. After the gripping and transporting device 83 reaches the target storage position 61, the second driving mechanism 834 drives the shovel plate 835 to move toward the target storage position 61, and performs a pick-and-place operation on the freezing box 7.

[0035] The sample storage library further includes a collection device (not shown in the figure), which is arranged below the clamping and transporting device 83. Exemplarily, the collection device is arranged as a camera, and of course, the collection device can also be arranged as a device other than a camera, as long as it can collect images, and the present invention does not impose any limitation on this.

[0036] Then see Figure 5 , which is a flow chart of the main steps of the control method of the sample storage library of the present invention. Figure 5 As shown, the control method of the present invention includes:

[0037] S1, obtain the outbound instruction or inbound instruction;

[0038] S2, executing the outbound operation or the inbound operation according to the outbound instruction or the inbound instruction.

[0039] Among them, S21, the outbound operation is specifically as follows: control the target freezing rack 6 to extend from the storage area 1 to the operation area 2, control the robot arm 8 to move to the target storage position 61, and clamp the frozen storage box 7 to be shipped out, control the robot arm 8 to move to the entrance and exit of the sample storage library, and transfer the frozen storage box 7 to be shipped out of the library.

[0040] S22, the warehousing operation is specifically as follows: control the target freezing rack 6 to extend from the storage area 1 to the operating area 2, control the robotic arm 8 to move to the entrance and exit of the sample storage library, and transfer the cryopreservation box 7 to be stored to the operating area 2, control the robotic arm 8 to move to the target storage location 61, and place the cryopreservation box 7 to be stored in the target storage location 61.

[0041] In some embodiments, the controller obtains a warehousing instruction or a warehousing instruction, including: the controller obtains a warehousing instruction or a warehousing instruction input by a user through an interactive terminal. Specifically, the interactive terminal includes: one or more of a computer, a tablet and a mobile phone. Those skilled in the art store information of the freezing box 7 in a cloud database, including but not limited to: the number of the freezing box 7, the freezing rack 6 corresponding to the freezing box 7, the number of the freezing rack 6, the position of the freezing rack 6, and the position of the freezing box 7 on the freezing rack 6.

[0042] In an embodiment in which a controller obtains a delivery instruction, the controller obtains the information of the corresponding freezing box 7 according to the delivery instruction, and performs the delivery operation according to the information of the freezing box 7. For example, the delivery instruction obtained by the controller is "No. 1 freezing box 7 is delivered", at which time the controller sends the delivery instruction to the server, and the server matches the information of the freezing box 7 according to the delivery instruction and sends it to the controller, and performs the delivery operation according to the information of the freezing box 7.

[0043] In an embodiment of performing a warehouse-out operation, the first electric door 3 is opened, the target freezing rack 6 corresponding to the cryobox 7 to be shipped out is extended, the robot arm 8 moves to the target storage position 61 and then clamps the cryobox 7 to be shipped out, then the robot arm 8 moves to the entrance and exit of the sample storage, the second electric door 4 is opened, and the robot arm 8 transfers the cryobox 7 to be shipped out to the outside of the storage, and repeats this process until all the cryoboxes 7 to be shipped out are shipped out. After the cryobox 7 to be shipped out is shipped out, the robot arm 8 is retracted and returned to its position, the freezing rack 6 is returned to its position, and the first electric door 3 and the second electric door 4 are closed. The above actions are all controlled and executed by the controller.

[0044] In an embodiment in which a controller obtains a storage entry instruction, the controller obtains the information of the corresponding freezing box 7 according to the storage entry instruction, and performs a storage-out operation according to the information of the freezing box 7. For example, the storage entry instruction obtained by the controller is "No. 1 freezing box 7 is stored in the warehouse", at this time, the controller sends the storage entry instruction to the server, and the server matches the information of the freezing box 7 according to the storage entry instruction and sends it to the controller, and performs the storage entry operation according to the information of the freezing box 7.

[0045] In an embodiment of performing a storage operation, the second electric door 4 is opened, the robot arm 8 extends out of the warehouse to transfer the cryopreservation box 7 to be stored to the storage position 61, the first electric door 3 is opened, the target cryopreservation rack 6 corresponding to the cryopreservation box 7 to be stored is extended, the robot arm 8 moves to the target storage position 61 and transfers the cryopreservation box 7 to be stored to the target storage position 61, and repeats this process until all the cryopreservation boxes 7 to be stored are out of the warehouse. After the cryopreservation boxes 7 to be stored are stored, the robot arm 8 is retracted and returned to the position, the cryopreservation rack 6 is returned to the position, and the first electric door 3 and the second electric door 4 are closed. The above actions are all controlled and executed by the controller.

[0046] The control method of the present invention further includes:

[0047] Before the cryopreservation box 7 to be stored is stored, the cryopreservation box 7 to be stored is identified and verified.

[0048] In some embodiments, each cryopreservation box 7 is provided with an identification code, which may be a one-dimensional code or a two-dimensional code, and the identification code includes information of the cryopreservation box 7. Before the cryopreservation box 7 is put into storage, the identification code of the cryopreservation box 7 placed on the shovel tray 835 is scanned and identified by the acquisition device to obtain the information of the cryopreservation box 7, and then the information is verified and checked with the storage instruction to ensure the accuracy of the cryopreservation box 7 to be stored, and to avoid the error of the cryopreservation box 7 being put into storage. Specifically, if they are consistent, the storage operation is continued to be performed; if they are inconsistent, the storage operation is stopped and a prompt message is sent to the user. For example, the storage instruction obtained by the controller is "No. 1 cryopreservation box 7 is put into storage", if the acquisition device scans the identification code of the cryopreservation box 7 placed on the shovel tray 835 and the information of the cryopreservation box 7 obtained is "No. 1 cryopreservation box 7", the storage operation is continued to be performed; if the information of the cryopreservation box 7 obtained is not "No. 1 cryopreservation box 7", the storage operation is stopped and a prompt message is sent to the user.

[0049] See below Figure 6 , which is a flow chart of the steps of correcting the deviation of the robot arm 8 in the sample storage library of the present invention. Figure 6 As shown, in the outbound operation and the inbound operation, the step of "controlling the robot arm 8 to move to the target storage location 61" specifically includes:

[0050] S201, first control the robot arm 8 to move to the target storage location 61;

[0051] S202, obtaining the offset value of the target storage location 61 according to the acquisition device;

[0052] S203, selectively controlling the movement of the robot arm 8 according to the size of the offset value.

[0053] In step S203, the step of “selectively controlling the movement of the robot arm 8 according to the magnitude of the offset value” specifically includes:

[0054] S2031, if the offset value is less than or equal to the preset value, the robot arm 8 is controlled not to move;

[0055] S2032: If the offset value is greater than a preset value, determine the offset position according to the offset value and control the robot arm 8 to move according to the offset position.

[0056] In some embodiments, the storage area 1 is an ultra-low temperature environment. Since the freezing rack 6 is arranged in the storage area 1, the freezing rack 6 will be slightly deformed after being placed in the ultra-low temperature environment for a long time. After the freezing rack 6 extends out of the storage area 1 to the operation area 2, the position coordinates of the freezing rack 6 itself will also have poor accuracy. In this way, when the robot arm 8 is taking and placing the freezing box 7, if no correction is performed, it will cause a collision between the robot arm 8 and the freezing rack 6, affecting the normal taking and placing of the freezing box 7. Therefore, in order to avoid the risk of collision between the robot arm 8 and the freezing rack 6 due to deformation, a visual correction function is added. Specifically, first match the spatial coordinates corresponding to the target storage location 61 from the coordinate database, control the robot 8 to move to the front of the target storage location 61 according to the spatial coordinates, use the acquisition device to take a picture of the target storage location 61 at the current position and obtain an image, and obtain the offset value of the target storage location 61 according to the image. If the offset value is less than or equal to 1mm, there is no need to perform a correction action, that is, the robot 8 does not need to move, and directly performs the box pick-up and placement operation. If the offset value is greater than 1mm, a correction action is required, and the current offset is accumulated with the above-mentioned spatial coordinates to calculate the new spatial coordinates, and the robot 8 is controlled to move according to the new spatial coordinates, that is, the robot 8 is controlled to move according to the offset position before performing the box pick-up and placement operation. Among them, a calibration point is set on each storage location 61, and the setting position of the calibration point can be at the top, bottom, left, or right position of the storage location 61, or it can be on both sides of the storage location 61. The acquisition device determines the offset value of the spatial coordinate of the target storage location 61 by obtaining the spatial coordinates of the calibration point on the image.

[0057] The control method of the present invention further includes:

[0058] When an abnormal situation occurs in the sample storage, an abnormal reminder is sent and corresponding operations are performed. The specific steps of performing the corresponding operations are: directly opening the back door of the sample storage, controlling the freezing rack 6 to extend out of the storage area 1 to the outside of the storage, and transferring the freezing box 7.

[0059] In some embodiments, if an abnormal situation occurs in the storage warehouse, such as an abnormal storage environment in the storage warehouse, the samples will be damaged if they are not transferred immediately. To this end, an abnormal reminder will be sent immediately after the abnormal situation occurs to inform the operator, wherein the abnormal reminder can be an alarm, abnormal information is sent to a handheld terminal, etc. After the user receives the reminder, he manually operates to open the back door of the storage warehouse, that is, the third electric door 5, so that the freezing rack 6 extends directly out of the storage from the back door and transfers the freezing box 7, thereby improving the operating efficiency and avoiding damage to the samples.

[0060] In summary, when the freezing box 7 is put in and taken out of the warehouse, the present invention controls the freezing rack 6 to extend and controls the mechanical arm 8 to directly clamp the freezing box 7 to realize the storage in and out operation, thereby simplifying the operation process and improving the storage in and out efficiency.

[0061] So far, the technical solutions of the present invention have been described in conjunction with the preferred embodiments shown in the accompanying drawings. However, it is easy for those skilled in the art to understand that the protection scope of the present invention is obviously not limited to these specific embodiments. Without departing from the principle of the present invention, those skilled in the art can make equivalent changes or substitutions to the relevant technical features, and the technical solutions after these changes or substitutions will fall within the protection scope of the present invention.

Claims

1. A sample storage repository, characterized in that: The sample storage library comprises a storage area (1) and an operation area (2) which are independent of each other. A freezing rack (6) is slidably arranged in the storage area (1) so that the freezing rack (6) can extend from the storage area (1) to the operation area (2) or outside the library. A plurality of storage positions (61) are arranged on the freezing rack (6), and a freezing box (7) is stored in each of the storage positions (61). A mechanical arm (8) is arranged in the operation area (2), and the mechanical arm (8) is configured to move in the operation area (2) and to clamp and transfer the freezing box (7), so that the freezing box (7) can be transported between the storage area (1) and the operation area (2) and between the operation area (2) and outside the library.

2. The sample storage repository according to claim 1, characterized in that: The robotic arm comprises a first frame (81), a second frame (82) and a gripping and transporting device (83); the first frame (81) is horizontally arranged at the top of the operating area (2) and is arranged to be able to slide longitudinally along the operating area (2); the second frame (82) is vertically arranged and is arranged to be able to slide laterally along the first frame (81); the gripping and transporting device (83) is slidably arranged on the second frame (82); and the gripping and transporting device (83) is arranged to be able to grip and transport the freezing box (7).

3. The sample storage repository according to claim 2, characterized in that: The sample storage repository further comprises a collection device, and the collection device is arranged on the clamping and transporting device (83).

4. A control method for a sample storage library, characterized in that: The sample repository adopts the sample repository as claimed in any one of claims 1 to 3; The control method comprises: Get outbound or inbound instructions; Execute a warehouse-out operation or a warehouse-in operation according to the warehouse-out instruction or the warehouse-in instruction; The outbound operation specifically includes: controlling the target freezing rack (6) to extend from the storage area (1) to the operation area (2), controlling the robot arm (8) to move to the target storage location (61), and clamping the frozen box (7) to be outbound, controlling the robot arm (8) to move to the entrance and exit of the sample storage, and transferring the frozen box (7) to be outbound to the outside of the storage; The storage operation specifically comprises: controlling the target freezing rack (6) to extend from the storage area (1) to the operation area (2), controlling the robot arm (8) to move to the entrance and exit of the sample storage library, and transferring the cryopreservation box (7) to be stored to the operation area (2), controlling the robot arm (8) to move to the target storage location (61), and placing the cryopreservation box (7) to be stored in the target storage location (61).

5. The control method of the sample storage library according to claim 4, characterized in that: The step of "controlling the robot arm (8) to move to the target storage location (61)" specifically includes: First, the robot arm (8) is controlled to move to the target storage location (61); Acquiring an offset value of the target storage location (61) according to the acquisition device; The movement of the mechanical arm (8) is selectively controlled according to the size of the offset value.

6. The control method of the sample storage library according to claim 5, characterized in that: The step of "selectively controlling the movement of the robotic arm according to the size of the offset value" specifically includes: If the offset value is less than or equal to a preset value, the mechanical arm (8) is controlled not to move.

7. The control method of the sample storage library according to claim 6, characterized in that: The step of "selectively controlling the movement of the robot arm according to the magnitude of the offset value" further includes: If the offset value is greater than a preset value, an offset position is determined according to the offset value and the mechanical arm (8) is controlled to move according to the offset position.

8. The control method of the sample storage library according to claim 4, characterized in that: The control method further comprises: When an abnormal situation occurs in the sample storage repository, an abnormal reminder is sent and corresponding operations are performed.

9. The control method of the sample storage library according to claim 8, characterized in that: The specific steps of performing the corresponding operation are: The rear door of the sample storage bin is directly opened, the freezing rack (6) is controlled to extend out of the storage area (1) to the outside of the bin, and the freezing box (7) is transferred.

10. The control method of the sample storage library according to claim 4, characterized in that: The control method further comprises: Before the cryopreservation box (7) to be stored is stored, the cryopreservation box (7) to be stored is identified and verified.

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