Biological sample storage control method and system

Abstract

The invention provides a biological sample storage control method and system.The biological sample storage control method has a sample transfer mode used for transferring samples, when a target sample needs to be transferred, the position of a first sample box where the target sample is located is determined firstly, and the first sample box is moved to a first placement position; the second sample box is moved to the second placing position, taking-out information is recorded when the target sample is taken out of the first sample box, and storing information is recorded when the target sample is stored in the second sample box, so that the sample taking-out information recording and the sample storing information recording can be performed in real time, the sample transferring steps are fewer, and the sample transferring efficiency is improved. Even if a sample error is found during storage, the sample can be quickly put back to the original sample box, so that the sample transfer efficiency is improved; and through the combination of a plurality of refrigerators, the samples can be managed in a unified manner, and the samples can also be subjected to fragment arrangement.

Description

Technical Field

[0001] The present invention belongs to the field of automatic control technology, and more specifically, relates to a biological sample storage control method and system. Background Art

[0002] In the biomedical industry, in the field of biological sample storage, ultra-low temperature refrigerators are needed to store biological samples. Biological sample banks are important basic equipment for current research in the medical and biological fields. Through low-temperature storage, blood, stem cells and immune cell biological tissues can remain active for a long time. In related technologies, samples are generally stored in cryogenic tubes, which are then placed in cryogenic boxes and stored in ultra-low temperature refrigerators.

[0003] When it is necessary to select a tube, it is necessary to first locate the corresponding cryobox, select the cryotube from the cryobox and record the cryotube, then place the cryotube in the transfer bucket, transport the rotating bucket to the cryobox of another refrigerator, and record the placement of the cryotube. Therefore, there are many steps to select the tube, the efficiency of selecting the tube is low, and if an error occurs when scanning the code to confirm the result after selecting the tube, it is necessary to rework the operation, which further reduces the efficiency of selecting the tube. Summary of the invention

[0004] The purpose of the embodiments of the present invention is to provide a biological sample storage control method and system to solve the technical problems of multiple tube picking steps and low efficiency in the prior art.

[0005] To achieve the above-mentioned purpose, the technical solution adopted by the present invention is: to provide a biological sample storage control method, which is applied to a biological sample storage system, wherein the biological sample storage system includes an automatic sample picking refrigerator, an automatic box picking refrigerator, and a transfer channel for connecting adjacent refrigerators, and the biological sample storage control method includes a sample transfer mode for transferring samples, and the sample transfer mode includes the following steps: Acquire the position of a first sample box containing a target sample and remove the first sample box; Transporting the first sample box to a first placement position, and transporting the second sample box to a second placement position, wherein the first placement position and the second placement position are adjacent to each other; Taking out the target sample from the first sample box and recording taking-out information; Depositing the target sample into the second sample box and recording the deposit information; Transport the second sample box to a target location.

[0006] Optionally, the automatic sample picking refrigerator comprises a sample box manipulator for transferring sample boxes and a sample manipulator for transferring samples, the first placement position and the second placement position are both located at the sample manipulator, and in the step of obtaining a first sample box containing a target sample, the first sample box is located at the automatic sample picking refrigerator; The first sample box is transported to a first placement position by the sample box manipulator, and the second sample box is transported to a second placement position; the target sample is taken out from the first sample box by the sample manipulator, and the taking-out information is recorded; the target sample is stored in the second sample box by the sample manipulator, and the storage information is recorded.

[0007] Optionally, the automatic box picking refrigerator includes a sample box manipulator for transferring sample boxes and a transfer box lifting mechanism for lifting the transfer box, the automatic sample picking refrigerator includes a sample box manipulator for transferring sample boxes, a sample manipulator for transferring samples, and a transfer box lifting mechanism for lifting the transfer box, the first placement position and the second placement position are both located at the sample manipulator, and in the position of obtaining the first sample box containing the target sample, the first sample box is located in the automatic box picking refrigerator; The step of transporting the first sample box to a first placement position comprises: Placing the first sample box in a transfer box by the sample box manipulator; The transfer box lifting mechanism of the automatic box picking refrigerator transports the transfer box to the transfer channel, the transfer channel transports the transfer box to the automatic sample picking refrigerator, the transfer box lifting mechanism of the automatic sample picking refrigerator transports the transfer box to the sample box manipulator, and the sample box manipulator moves the first sample box to the first placement position.

[0008] Optionally, the number of the automatic box picking refrigerators is at least two, and the number of the automatic sample picking refrigerators is two and are respectively located at two ends of the plurality of automatic box picking refrigerators; Before the transfer channel transports the transfer box to the automatic sample picking refrigerator, the distances between the transfer box and two automatic sample picking refrigerators are obtained, and the transfer box is transported to the automatic sample picking refrigerator that is closer to the transfer box.

[0009] Optionally, the target location is a manual box picking location, a storage space of the automatic sample picking refrigerator, or a storage space of the automatic box picking refrigerator.

[0010] Optionally, the biological sample storage control method further includes a sample box taking mode for taking a sample box, and the sample box taking mode includes the following steps: Obtaining the position of a target sample box and taking out the target sample box; The target sample box is transported to a manual box retrieval position.

[0011] Optionally, the automatic sample picking refrigerator includes a sample box manipulator for taking and placing sample boxes and a transfer box lifting mechanism for lifting and lowering transfer boxes. Part of the transfer channel is located in the automatic sample picking refrigerator. The transfer channel in the automatic sample picking refrigerator has the manual box taking position at one end away from the automatic box picking refrigerator. In the step of obtaining the position of the target sample box, the target sample box is located in the automatic sample picking refrigerator. The target sample box is placed in the transfer box by the sample box manipulator; The transfer box is transported to the transfer channel by the transfer box lifting mechanism, and the transfer channel transports the transfer box to the manual box taking position; The transfer box is taken out from the manual box taking position.

[0012] Optionally, the automatic box picking refrigerator comprises a sample box manipulator for taking and placing sample boxes and a sample box output mechanism for outputting the sample boxes out of the refrigerator. In the step of obtaining the position of the target sample box, the target sample box is located in the automatic box picking refrigerator. Moving the sample box to the sample box output mechanism by the sample box manipulator; The sample box output mechanism moves the sample box to the manual box taking position; The transfer box is taken out from the manual box taking position.

[0013] Optionally, the biological sample storage control method further includes a sample box transfer mode, and the sample box transfer mode includes: Get the target refrigerator location with storage space; Take the sample box out of the transfer refrigerator and place it in the transfer box; The transfer box is transported to the target refrigerator through the transfer channel.

[0014] The present invention also provides a biological sample storage system, which applies the above biological sample storage control method, and the system includes: An automatic sample picking refrigerator, comprising a sample box taking mechanism for taking out a sample box from its storage space, a sample box manipulator for moving the sample box, a sample manipulator for moving the frozen sample, and a transfer box lifting mechanism for lifting a transfer box, wherein the sample manipulator has a first placement position and a second placement position arranged adjacently; An automatic box picking refrigerator, comprising a sample box taking mechanism for taking out a sample box from its storage space, a sample box manipulator for moving the sample box, a sample box output mechanism for outputting the sample box out of the refrigerator, and a transfer box lifting mechanism for lifting a transfer box; The transfer channel includes a first channel arranged in the automatic sample picking refrigerator and a second channel arranged in the automatic box picking refrigerator, and the first channel and the second channel are connected to each other.

[0015] Optionally, the transfer box lifting mechanism includes a lifting assembly, a channel structure fixedly connected to the motion output end of the lifting assembly, and a support frame structure fixedly arranged on the top of the channel structure, the channel structure can move the transfer box to the transfer channel, and the top of the support frame structure is used to place the transfer box.

[0016] The beneficial effects of the biological sample storage control method and system provided by the present invention are as follows: compared with the prior art, the biological sample storage control method of the present invention has a sample transfer mode for transferring samples. When the target sample needs to be transferred, the position of the first sample box where the target sample is located is first determined, the first sample box is moved to the first placement position, and the second sample box is moved to the second placement position. When the target sample is taken out from the first sample box, the removal information is recorded, and when the target sample is stored in the second sample box, the storage information is recorded. Therefore, the sample removal information and the sample storage information can be recorded in real time, the sample transfer steps are relatively small, and even if a sample error is found during storage, the sample can be quickly put back to the original sample box, thereby improving the efficiency of sample transfer. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0018] Figure 1 A schematic diagram of the steps of the biological sample storage control method provided by an embodiment of the present invention; Figure 2 Schematic diagram of the process of the biological sample storage control method provided by the embodiment of the present invention Figure 1 ; Figure 3 Schematic diagram of the process of the biological sample storage control method provided by the embodiment of the present invention Figure 2 ; Figure 4 A three-dimensional structural diagram of an automatic sample selection refrigerator provided by an embodiment of the present invention; Figure 5 A three-dimensional structural diagram of an automatic box selection refrigerator provided by an embodiment of the present invention; Figure 6 A three-dimensional structural diagram of a transfer channel provided by an embodiment of the present invention; Figure 7A schematic diagram of the structure of a transfer box lifting mechanism provided in an embodiment of the present invention; Figure 8 A three-dimensional structural diagram of a sample taking box mechanism provided in an embodiment of the present invention; Fig. 9 A three-dimensional structural diagram of a sample box manipulator provided by an embodiment of the present invention; Fig.10 A three-dimensional structural diagram of a sample manipulator provided by an embodiment of the present invention; Fig.11 A three-dimensional structural diagram of a sample box output mechanism provided in an embodiment of the present invention.

[0019] Among them, the reference numerals in the figure are: 10-Automatic sample picking refrigerator; 20-Automatic box picking refrigerator; 30-Transfer channel; 32-First belt assembly; 33-Positioning roller strip; 41-Sample box taking mechanism; 411-Second motor; 412-Second belt assembly; 413-Third belt assembly; 414-First plate; 415-Second plate; 416-Third plate; 42-Sample box manipulator; 421-Sample box moving module; 422-Sample box clamp; 43-Sample manipulator; 431-Sample moving module ;4311-first moving assembly; 4312-second moving assembly; 4313-third moving assembly; 432-sample clamp; 433-first placement position; 434-second placement position; 435-first barcode scanner; 436-second barcode scanner; 44-sample box output mechanism; 441-first cylinder; 442-sliding plate; 443-fourth belt assembly; 444-sample box bracket; 45-transfer box lifting mechanism; 451-lifting assembly; 452-support frame structure. DETAILED DESCRIPTION

[0020] In order to make the technical problems, technical solutions and beneficial effects to be solved by the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0021] It should be noted that when an element is referred to as being "fixed to" or "disposed on" another element, it can be directly on the other element or indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or indirectly connected to the other element.

[0022] It should be understood that the orientation or position relationship indicated by terms such as "length", "width", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside" and "outside" are based on the orientation or position relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operate in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0023] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0024] In the biomedical industry, in the field of biological sample storage, ultra-low temperature refrigerators are needed to store biological samples. Biological sample banks are important basic equipment for current research in the medical and biological fields. Through low-temperature storage, blood, stem cells and immune cell biological tissues can remain active for a long time. In related technologies, samples are generally stored in cryogenic tubes, which are then placed in cryogenic boxes and stored in ultra-low temperature refrigerators.

[0025] When it is necessary to select a tube, it is necessary to first locate the corresponding cryobox, select the cryotube from the cryobox and record the cryotube, then place the cryotube in the transfer bucket, transport the rotating bucket to the cryobox of another refrigerator, and record the placement of the cryotube. Therefore, there are many steps to select the tube, the efficiency of selecting the tube is low, and if an error occurs when scanning the code to confirm the result after selecting the tube, it is necessary to rework the operation, which further reduces the efficiency of selecting the tube.

[0026] In order to alleviate and solve the above technical problems, the present invention proposes a biological sample storage control method. When transferring samples, the first sample box where the target sample is located is moved to the first placement position 433, and the second sample box is moved to the second placement position 434. Moreover, the first placement position 433 and the second placement position 434 are arranged adjacent to each other. In this way, after the target sample is taken out from the first sample box and the removal information is recorded, the target sample can be immediately stored in the second sample box, and the sample removal information and sample storage information can be recorded in real time, which can shorten the sample transfer time and improve the efficiency of sample transfer.

[0027] The biological sample storage control method provided by the embodiment of the present invention is now described. The biological sample storage control method is applied to a biological sample storage system, which includes an automatic sample picking refrigerator 10, an automatic box picking refrigerator 20, and a transfer channel 30 for connecting adjacent refrigerators. The automatic sample picking refrigerator 10 has the function of transferring samples, and the automatic box picking refrigerator 20 has the function of transferring sample boxes. The sample box can be placed in a transfer box, and the transfer box can circulate in the transfer channel 30, so that the sample box can circulate between the automatic box picking refrigerator 20 and the automatic sample picking refrigerator 10. The adjacent refrigerators can be adjacent automatic sample picking refrigerators 10 and automatic box picking refrigerators 20, or two adjacent automatic box picking refrigerators 20. The transfer channel 30 is partially located in the automatic box picking refrigerator 20, and partially located in the automatic sample picking refrigerator 10, and the transfer channel 30 of the automatic box picking refrigerator 20 and the transfer channel 30 of the automatic sample picking refrigerator 10 are connected to each other. Among them, the sample can be a frozen sample, such as a cryopreservation tube; the sample box can be a cryopreservation box.

[0028] See also Figures 1 to 3 The biological sample storage control method includes a sample transfer mode for transferring samples, and the sample transfer mode includes the following steps: S10: Acquire the position of the first sample box containing the target sample and take out the first sample box; S20: transporting the first sample box to the first placement position 433, and transporting the second sample box to the second placement position 434, wherein the first placement position 433 and the second placement position 434 are adjacently arranged; S30: taking out the target sample from the first sample box and recording the taking-out information; S40: storing the target sample into a second sample box and recording the storage information; S50: Transport the second sample box to the target location.

[0029] The sample transfer mode is used to transfer the target sample, and the target sample can be transferred to other sample boxes, or the target sample can be picked out from the biological sample storage system. In step S20, the first placement position 433 is used to place the first sample box, and the second placement position 434 is used to place the second sample box. The first placement position 433 and the second placement position 434 are arranged adjacent to each other, which can be understood as being close to each other, at least located in the same refrigerator, so that when performing the two steps of taking the sample out of the first sample box and storing it in the second sample box, the distance is close, which is equivalent to real-time recording of sample taking out information and sample storage information. In step S30, the target sample is taken out from the first sample box, and the taking out information is recorded, and the taking out information includes taking out from a certain sample box (first sample box) and the taken out sample (target sample). In step S40, the target sample is stored in the second sample box, and the storage information is recorded, and the storage information includes storing in a certain sample box (second sample box) and the stored sample (target sample). Generally speaking, both the retrieval information and the storage information are transmitted to the host computer, and the host computer manages the samples and sample boxes in a unified manner.

[0030] Moreover, samples and sample boxes can be transferred between the automatic sample picking refrigerator 10 and the automatic box picking refrigerator 20, and the positions of the samples and sample boxes are recorded in the host computer and can be uniformly managed through the same control panel.

[0031] The biological sample storage control method in the above embodiment, when it is necessary to transfer the target sample, first determines the position of the first sample box where the target sample is located, moves the first sample box to the first placement position 433, and moves the second sample box to the second placement position 434, records the removal information when the target sample is taken out of the first sample box, and records the storage information when the target sample is stored in the second sample box. Therefore, the sample removal information and the sample storage information can be recorded in real time, the sample transfer steps are relatively small, and even if a sample error is found during storage, the sample can be quickly put back to the original sample box, thereby improving the efficiency of sample transfer.

[0032] In some embodiments of the present invention, the automatic sample picking refrigerator 10 includes a storage space and a functional space, wherein a plurality of sample boxes are placed in the storage space, and the functional space is provided with a sample box taking mechanism 41 for taking sample boxes from the storage space, a sample box manipulator 42 for moving sample boxes, a sample manipulator 43 for moving samples, and a transfer box lifting mechanism 45 for lifting and moving the transfer box between the sample box manipulator 42 and the transfer channel 30. Optionally, the automatic sample picking refrigerator 10 is at least in an ultra-low temperature state in its storage space, such as -30 degrees to -50 degrees.

[0033] In some embodiments of the present invention, the automatic box picking refrigerator 20 includes a sample box taking mechanism 41 for taking a sample box out of its storage space, a sample box manipulator 42 for moving the sample box, a sample box output mechanism 44 for moving the sample box out of the refrigerator, and a transfer box lifting mechanism 45 for lifting and moving the transfer box between the sample box manipulator 42 and the transfer channel 30. Optionally, the automatic box picking refrigerator 20 is at least in an ultra-low temperature state in its storage space, such as -30 degrees to -50 degrees.

[0034] In some embodiments of the present invention, in step S10, the first sample box is taken out by the sample box taking mechanism 41. Specifically, when the first sample box is located in the automatic sample picking refrigerator 10, the first sample box is taken out by the sample box taking mechanism 41 of the automatic sample picking refrigerator 10; when the first sample box is located in the automatic box picking refrigerator 20, the first sample box is taken out by the sample box taking mechanism 41 of the automatic box picking refrigerator 20.

[0035] In some embodiments of the present invention, a first barcode scanner 435 for scanning the target sample and a third barcode scanner for scanning the first sample box are provided at the first placement position 433, and a second barcode scanner 436 for scanning the target sample and a fourth barcode scanner for scanning the second sample box are provided at the second placement position 434. In step S30, the third barcode scanner scans and records the information of the first sample box, and the first barcode scanner 435 scans and records the information of the target sample, so that the target sample removal information can be obtained. In step S40, the fourth barcode scanner scans and records the information of the second sample box, and the second barcode scanner 436 scans and records the information of the target sample, so that the target sample storage information can be obtained.

[0036] In some embodiments of the present invention, the automatic sample picking refrigerator 10 includes a sample box manipulator 42 for transferring a sample box and a sample manipulator 43 for transferring a sample, the first placement position 433 and the second placement position 434 are within the working range of the sample manipulator 43, and in the step of obtaining a first sample box containing a target sample, the first sample box is located in the automatic sample picking refrigerator 10; In step S20, the first sample box is transported to the first placement position 433 by the sample box manipulator 42, and the second sample box is transported to the second placement position 434; the target sample is taken out from the first sample box by the sample manipulator 43, and the taking-out information is recorded, and the target sample is stored in the second sample box by the sample manipulator 43, and the storage information is recorded.

[0037] In the position of obtaining the first sample box containing the target sample, the first sample box is located in the automatic sample picking refrigerator 10, and it can be understood that the target sample to be transferred is located in the sample box of the automatic sample picking refrigerator 10. When the first sample box is located in the automatic sample picking refrigerator 10, the sample manipulator 43 is also located in the automatic sample picking refrigerator 10. Therefore, the first sample box does not need to be transported to other refrigerators, and the sample transfer is performed directly at the sample manipulator 43 of the automatic sample picking refrigerator 10. Specifically, the sample manipulator 43 has a first placement position 433 and a second placement position 434. After the first sample box and the second mobile box are moved to the first placement position 433 and the second placement position 434 respectively, the sample manipulator 43 takes out the target sample from the first sample box and records the taking-out information, and then the sample manipulator 43 stores the target sample in the second sample box and records the storage information.

[0038] In some embodiments of the present invention, the automatic box picking refrigerator 20 includes a sample box manipulator 42 for transferring sample boxes and a transfer box lifting mechanism 45 for lifting the transfer box, the automatic sample picking refrigerator 10 includes a sample box manipulator 42 for transferring sample boxes, a sample manipulator 43 for transferring samples, and a transfer box lifting mechanism 45, the first placement position 433 and the second placement position 434 are both located at the sample manipulator 43, and the first sample box is located in the automatic box picking refrigerator 20 in the position of obtaining the first sample box containing the target sample; The step of transporting the first sample box to the first placement position 433 includes: Place the first sample box in the transfer box by the sample box manipulator 42; The transfer box lifting mechanism 45 of the automatic box picking refrigerator 20 transports the transfer box to the transfer channel 30, the transfer channel 30 transports the transfer box to the automatic sample picking refrigerator 10, the transfer box lifting mechanism 45 of the automatic sample picking refrigerator 10 transports the transfer box to the sample box manipulator 42, and the sample box manipulator 42 moves the first sample box to the first placement position 433.

[0039] In the position of obtaining the first sample box containing the target sample, the first sample box is located in the automatic box picking refrigerator 20, which can be understood as the target sample is located in the sample box of the automatic box picking refrigerator 20. When the first sample box is located in the automatic box picking refrigerator 20, the first sample box needs to be transported to the automatic sample picking refrigerator 10 before the sample transfer between the first sample box and the second sample box is performed. Specifically, the first sample box is taken out from the storage space of the automatic box picking refrigerator 20 by the sample box taking mechanism 41, and then the first sample box is placed in the transfer box by the sample box manipulator 42. The transfer box is located on the transfer box lifting mechanism 45 of the automatic box picking refrigerator 20. The transfer box lifting mechanism 45 works to move the transfer box to the transfer channel 30. The transfer channel 30 transports the transfer box to the automatic sample picking refrigerator 10. The transfer box lifting mechanism 45 of the automatic sample picking refrigerator 10 transports the transfer box to the sample box manipulator 42. The sample box manipulator 42 moves the first sample box in the transfer box to the first placement position 433.

[0040] In some embodiments of the present invention, the number of automatic box picking refrigerators 20 is at least two, and the number of automatic sample picking refrigerators 10 is two and they are respectively located at both ends of the plurality of automatic box picking refrigerators 20. Both the automatic box picking refrigerators 20 and the automatic sample picking refrigerators 10 can be called refrigerators, and each refrigerator is arranged in a line. The two automatic sample picking refrigerators 10 are respectively located at the head end and the tail end. The refrigerator at the head end can be called the first automatic sample picking refrigerator 10, and the refrigerator at the tail end can be called the second automatic sample picking refrigerator 10. The refrigerators between the head and the tail are all automatic box picking refrigerators 20.

[0041] Before the transfer channel 30 transports the transfer box to the automatic sample picking refrigerator 10, the distances between the transfer box and the two automatic sample picking refrigerators 10 are obtained, and the transfer box is transported to the automatic sample picking refrigerator 10 that is closer to it. When there are a large number of automatic box picking refrigerators 20, two automatic sample picking refrigerators 10 can be designed, and the transfer box can be transported to the refrigerator that is closer to it, shortening the transportation distance of the transfer box and improving the transportation efficiency of the transfer box.

[0042] For example, there are three automatic box picking refrigerators 20. When the transfer box is located at the first automatic box picking refrigerator 20, the distance between the transfer box and the first automatic sample picking refrigerator 10 is shorter, and the distance between the transfer box and the second automatic sample picking refrigerator 10 is longer. Therefore, the transfer box is transported to the first automatic sample picking refrigerator 10 for sample transfer.

[0043] In some embodiments of the present invention, the number of automatic box picking refrigerators 20 is at least two, and the number of automatic sample picking refrigerators 10 is one. Both the automatic box picking refrigerator 20 and the automatic sample picking refrigerator 10 can be called refrigerators. The refrigerators are arranged in a line. The automatic sample picking refrigerator 10 can be located at the head end, the tail end or the middle, and its specific position is not limited here.

[0044] In some embodiments of the present invention, in step S20 , in the scheme of transporting the second sample box to the second placement position 434 , the second sample box may be an empty box, and the second sample box may be placed at the sample manipulator 43 , and the sample manipulator 43 moves the second sample box to the second placement position 434 .

[0045] In some embodiments of the present invention, in step S20, in the scheme of transporting the second sample box to the second placement position 434, the second sample box is stored in the automatic sample picking refrigerator 10, and after the second sample box is taken out by the sample box taking mechanism 41, the second sample box is moved to the second placement position 434 by the sample box manipulator 42.

[0046] In some embodiments of the present invention, in step S20, in the scheme of transporting the second sample box to the second placement position 434, the second sample box is stored in the automatic box picking refrigerator 20, and after the second sample box is taken out by the sample box taking mechanism 41, the second sample box is moved to the transfer box lifting mechanism 45 by the sample box manipulator 42, and the transfer box lifting mechanism 45 moves the second sample box to the transfer channel 30, and then the transfer channel 30 moves the second sample box to the automatic sample picking refrigerator 10, and the transfer box lifting mechanism 45 in the automatic sample picking refrigerator 10 moves the second sample box to the sample box manipulator 42, and the sample box manipulator 42 moves the second sample box to the second placement position 434.

[0047] In some embodiments of the present invention, the target location is a manual box picking location, a storage space of an automatic sample picking refrigerator 10 , or a storage space of an automatic box picking refrigerator 20 .

[0048] In some embodiments, the target location is a manual box taking location, that is, the sample transfer mode is used to take the target sample out of the biological sample storage system. The manual box taking location may be located at the automatic sample picking refrigerator 10, and the target sample to be taken out is directly taken out from the automatic sample picking refrigerator 10. In this embodiment, the step of transporting the second sample box to the target location includes: The sample box manipulator 42 moves the second sample box to the transfer box on the transfer box lifting mechanism 45, and then the transfer box lifting mechanism 45 moves the transfer box to the transfer channel 30 in the automatic sample picking refrigerator 10, and the transfer channel 30 moves the transfer box to the manual box taking position. One end of the transfer channel 30 in the automatic sample picking refrigerator 10 is connected to the automatic box picking refrigerator 20, and the other end can be the manual box taking position.

[0049] In some embodiments, the target location is a storage space of the automatic sample picking refrigerator 10. In this embodiment, the step of transporting the second sample box to the target location includes: moving the second sample box to the sample box taking mechanism 41 by the sample box manipulator 42, and the sample box taking mechanism 41 places the second sample box in the storage space of the automatic sample picking refrigerator 10.

[0050] In some embodiments, the target location is the storage space of the automatic box picking refrigerator 20. In this embodiment, the step of transporting the second sample box to the target location includes: the sample box manipulator 42 moves the second sample box to the transfer box on the transfer box lifting mechanism 45, and then the transfer box lifting mechanism 45 moves the transfer box to the transfer channel 30 in the automatic box picking refrigerator 10, the transfer channel 30 moves the transfer box to the automatic box picking refrigerator 20, the transfer box lifting mechanism 45 of the automatic box picking refrigerator 20 transports the transfer box to the sample box manipulator 42, the sample box manipulator 42 moves the second sample box in the transfer box to the sample box taking mechanism 41, and the second sample box is moved to the storage space of the automatic box picking refrigerator 20 by the sample box taking mechanism 41.

[0051] In some embodiments of the present invention, see Figure 2 The biological sample storage control method further includes a sample box taking mode for taking a sample box, and the sample box taking mode includes the following steps: Obtaining the position of a target sample box and taking out the target sample box; The target sample box is transported to the manual box retrieval position.

[0052] The function of the sample box taking mode is to take the sample box out of the biological sample storage system, and the manual box taking position is the sample box outlet of the biological sample storage system.

[0053] In some embodiments, the automatic sample picking refrigerator 10 includes a sample box manipulator 42 for taking and placing sample boxes and a transfer box lifting mechanism 45 for lifting and lowering transfer boxes. Part of the transfer channel 30 is located in the automatic sample picking refrigerator 10. The end of the transfer channel 30 in the automatic sample picking refrigerator 10 away from the automatic box picking refrigerator 20 has a manual box taking position. In the step of obtaining the position of the target sample box, the target sample box is located in the automatic sample picking refrigerator 10. The target sample box is placed in the transfer box by the sample box manipulator 42; The transfer box is transported to the transfer channel 30 by the transfer box lifting mechanism 45, and the transfer channel 30 transports the transfer box to the manual box removal position; Take the transfer box out from the manual box removal location.

[0054] In this embodiment, the target sample box is located in the automatic sample picking refrigerator 10, and the target sample box is taken out from the manual box taking position of the automatic sample picking refrigerator 10. One end of the transfer channel 30 in the automatic sample picking refrigerator 10 is connected to the transfer channel 30 of the automatic box picking refrigerator 20, and the other end is the manual box taking position.

[0055] In some embodiments, the automatic box picking refrigerator 20 includes a sample box manipulator 42 for taking and placing sample boxes and a sample box output mechanism 44 for outputting the sample boxes out of the refrigerator. In the step of obtaining the position of the target sample box, the target sample box is located in the automatic box picking refrigerator 20. Move the sample box to the sample box output mechanism 44 through the sample box manipulator 42; The sample box output mechanism 44 moves the sample box to the manual box taking position; Take the transfer box out from the manual box removal location.

[0056] In this embodiment, the target sample box is located in the automatic sample picking refrigerator 10, and the target sample box is taken out from the manual box taking position of the automatic sample picking refrigerator 10. The automatic sample picking refrigerator 10 has a window for the sample box output mechanism 44 to output the sample box, and the manual box taking position is located at this window.

[0057] In some embodiments of the present invention, see Figure 3 The biological sample storage control method also includes a sample box transfer mode, and the sample box transfer mode includes: Get the target refrigerator location with storage space; Take the sample box out of the transfer refrigerator and place it in the transfer box; The transfer box is transported to the target refrigerator through the transfer channel 30.

[0058] The function of the sample box transfer mode is to transfer sample boxes between different refrigerators. This sample box transfer mode can be used in any situation where sample boxes need to be transferred. For example, when one refrigerator is abnormal, the sample boxes in the abnormal refrigerator need to be transferred to other refrigerators. Accordingly, the target refrigerator is a normally working refrigerator, and the refrigerator to be transferred is an abnormal refrigerator.

[0059] The target refrigerator can be an automatic sample picking refrigerator 10 or an automatic box picking refrigerator 20, as long as it has storage space. The refrigerator to be transferred can be an automatic sample picking refrigerator 10 or an automatic box picking refrigerator 20, and some or all sample boxes in the refrigerator to be transferred need to be transferred to the target refrigerator.

[0060] In some embodiments, in the step of obtaining the location of a target refrigerator having storage space, the type and location of the target refrigerator are determined, for example, the target refrigerator is determined to be an automatic box picking refrigerator 20 or an automatic sample picking refrigerator 10, as well as the location of the refrigerator.

[0061] In some embodiments, the step of taking the sample box out of the refrigerator to be transferred and placing it into a transfer box includes: taking the sample box out of the storage space of the refrigerator to be transferred by the sample box taking mechanism 41, and transferring the sample box to the transfer box of the transfer box lifting mechanism 45 by the sample box manipulator 42.

[0062] In some embodiments, the step of transporting the transfer box to the target refrigerator through the transfer channel 30 includes: the transfer box lifting mechanism 45 moves the transfer box to the transfer channel 30, and moves the transfer box into the target refrigerator through the transfer channel 30, and then, the transfer box lifting mechanism 45 of the target refrigerator moves the transfer box to the sample box manipulator 42 of the target refrigerator, the sample box manipulator 42 takes out the sample box from the transfer box and moves it to the sample box taking mechanism 41, and moves it to the storage space of the target refrigerator through the sample box taking mechanism 41.

[0063] See also Figures 4 to 6 The present invention further provides a biological sample storage system, which applies the biological sample storage control method in any of the above embodiments, and the biological sample storage system includes: The automatic sample picking refrigerator 10 includes a sample box taking mechanism 41 for taking out a sample box from its storage space, a sample box manipulator 42 for moving the sample box, a sample manipulator 43 for moving the frozen sample, and a transfer box lifting mechanism 45 for lifting the transfer box, wherein the sample manipulator 43 has a first placement position 433 and a second placement position 434 arranged adjacently; The automatic box picking refrigerator 20 includes a sample box taking mechanism 41 for taking out a sample box from its storage space, a sample box manipulator 42 for moving the sample box, a sample box output mechanism 44 for outputting the sample box out of the refrigerator, and a transfer box lifting mechanism 45 for lifting the transfer box; The transfer channel 30 includes a first channel disposed in the automatic sample picking refrigerator 10 and a second channel disposed in the automatic box picking refrigerator 20, and the first channel and the second channel are connected to each other.

[0064] The sample manipulator 43 has a first placement position 433 and a second placement position 434 for placing the first sample box and the second sample box respectively.

[0065] See also Figure 4, the automatic sample picking refrigerator 10 has the functions of storing sample boxes, transferring samples, transferring sample boxes, and outputting sample boxes. The automatic sample picking refrigerator 10 has a manual box taking position, one end of the first channel is connected to the channel of the adjacent refrigerator, and the other end of the first channel can be a manual box taking position. When it is necessary to output the sample box from the automatic sample picking refrigerator 10, the sample box taking mechanism 41 takes out the sample box from the storage space to the moving range of the sample box manipulator 42, the sample box manipulator 42 moves the sample box to the transfer box on the transfer box lifting mechanism 45, the transfer box lifting mechanism 45 moves the transfer box to the first channel, and the first channel works to output the sample box to other refrigerators or to the manual box taking position. When it is necessary to transfer the sample, the first sample box and the second sample box need to be transferred to the first placement position 433 and the second placement position 434 of the sample manipulator 43 respectively, and then the target sample is taken out from the first sample box by the sample manipulator 43, and the removal information is recorded, and then the target sample is stored in the second sample box by the sample manipulator 43, and the storage information is recorded, and finally the second sample box is transported to the target position.

[0066] See also Figure 5 The automatic box picking refrigerator 20 has the functions of storing sample boxes, transferring sample boxes, and outputting sample boxes. The automatic box picking refrigerator 20 has a manual box taking position, which can be located at the sample box output mechanism 44. When it is necessary to output the sample box from the automatic sample picking refrigerator 10 to the manual box taking position, the sample box taking mechanism 41 takes the sample box out of the storage space, the sample box manipulator 42 moves the sample box to the sample box output mechanism 44, and the sample box output mechanism 44 outputs the sample box. When it is necessary to output the sample box from the automatic sample picking refrigerator 10 to other refrigerators, the sample box taking mechanism 41 takes the sample box out of the storage space, the sample box manipulator 42 moves the sample box to the transfer box lifting mechanism 45, and the transfer box lifting mechanism 45 moves the transfer box to the second channel, and then moves it to other refrigerators.

[0067] The biological sample storage system provided by the present invention, when it is necessary to transfer a target sample, first determines the position of the first sample box where the target sample is located, moves the first sample box to the first placement position 433, moves the second sample box to the second placement position 434, records the removal information when the target sample is taken out of the first sample box, and records the storage information when the target sample is stored in the second sample box. Therefore, the sample removal information and the sample storage information can be recorded in real time, the sample transfer steps are relatively small, and even if a sample error is found during storage, the sample can be quickly put back to the original sample box, thereby improving the efficiency of sample transfer.

[0068] In some embodiments of the present invention, two adjacent refrigerators are directly connected, that is, adjacent first channels and second channels are directly connected, and adjacent two second channels are directly connected.

[0069] In some embodiments of the present invention, the transfer channel 30 further includes a third channel, and adjacent first channels and second channels are connected through the third channel, and adjacent two second channels are connected through the third channel.

[0070] In some embodiments of the present invention, the temperature in the transfer channel 30 is a predetermined temperature; and / or the temperature in the transfer box is a predetermined temperature. The predetermined temperature is an ultra-low temperature, such as -20 degrees to -50 degrees. In this way, the sample box can be kept at an ultra-low temperature during the transfer process.

[0071] In some embodiments of the present invention, see Fig.10 The sample manipulator 43 includes a sample clamp 432, a sample moving module 431, a first barcode scanner 435, and a second barcode scanner 436. The sample clamp 432 is used to clamp the frozen sample. The sample clamp 432 is connected to the motion output end of the sample moving module 431, and the sample moving module 431 moves the sample clamp 432 between the first placement position 433 and the second placement position 434. The first barcode scanner 435 is used to record the frozen sample taken out, and the second barcode scanner 436 is used to record the frozen sample stored in. The first barcode scanner 435 and the second barcode scanner 436 are arranged adjacent to each other. The first barcode scanner 435 is arranged close to the first placement position 433, and the second barcode scanner 436 is arranged close to the second placement position 434. The first barcode scanner 435 and the second barcode scanner 436 are arranged adjacent to each other, and the sample removal information and the sample storage information can be recorded in real time, thereby shortening the sample transfer time and improving the sample transfer efficiency.

[0072] Specifically, when it is necessary to transfer the sample, first locate the position of the sample box where the sample is located, and transfer the sample box to a position close to the first placement position 433. The first placement position 433 has a first sample box (including the sample to be taken). Then, the sample clamp 432 is moved to the first sample box by the sample moving module 431, and the corresponding frozen sample is taken out. After taking it out, the removal information of the frozen sample is recorded by the first scanner 435. Then, the sample clamp 432 is moved to a position close to the second placement position 434 by the sample moving module 431. The second placement position 434 has a second sample box. The second scanner 436 records the storage information of the frozen sample in the second sample box. Finally, the frozen sample is released to the second freezing box by the sample clamp 432.

[0073] In some embodiments of the present invention, see Fig.10, a third barcode scanner is provided at the first placement position 433, and the third barcode scanner is used to record the first sample box; a fourth barcode scanner is provided at the second placement position 434, and the fourth barcode scanner is used to record the second sample box. When the first sample box is transferred to the first placement position 433, the third barcode scanner can record the first sample box, and then transmit the information that the frozen sample is taken out of the first sample box to the host computer. When the second sample box is transferred to the second placement position 434, the fourth barcode scanner can record the second sample box, and then transmit the information that the frozen sample is stored in the second sample box to the host computer. Through the setting of the third barcode scanner and the fourth barcode scanner, it is possible to record which sample box the frozen sample is taken out from and which sample box it is placed in, which is conducive to the unified management of frozen samples and sample boxes.

[0074] In other embodiments, the third barcode scanner may not be disposed at the first placement position 433, and information of the first sample box may be recorded before the first sample box moves to the first placement position 433. The fourth barcode scanner may not be disposed at the second placement position 434, and information of the second sample box may be recorded before the second sample box moves to the second placement position 434.

[0075] In some embodiments of the present invention, see Fig.10 The sample moving module 431 includes a first moving component 4311, a second moving component 4312 and a third moving component 4313 which are sequentially connected by transmission. The sample clamp 432 is connected to the motion output end of the third moving component 4313. The first moving component 4311 is used to output the motion in the first direction, the second moving component 4312 is used to output the motion in the second direction, and the third moving component 4313 is used to output the motion in the third direction, which is the vertical direction. When the first moving component 4311 is working, it drives the second moving component 4312, the third moving component 4313 and the sample clamp 432 to move in the first direction. When the second moving component 4312 is working, it drives the third moving component 4313 and the sample clamp 432 to move in the second direction. When the third moving component 4313 is working, it drives the sample clamp 432 to move in the third direction (vertical direction). In this way, the sample moving module 431 can realize the motion of the sample clamp 432 in three degrees of freedom, so that the sample clamp 432 can clamp, release and move the frozen sample.

[0076] In some embodiments of the present invention, see Figure 6 The transfer channel 30 includes a first motor, a first belt assembly 32 and a positioning roller strip 33. The first motor drives the first belt assembly 32 to work, and the transfer box is arranged on the belt of the first belt assembly 32 to realize the transportation of the transfer box. There are two positioning roller strips 33, which are respectively arranged on opposite sides of the transfer box, and can position the transfer box and assist the linear movement of the transfer box.

[0077] Optionally, there are two first belt assemblies 32 to provide more stable support for the transfer box.

[0078] Optionally, the transport direction of the transfer channel 30 is a second direction.

[0079] In some embodiments of the present invention, see Figure 7 The transfer box lifting mechanism 45 includes a lifting assembly 451, a channel structure fixedly connected to the motion output end of the lifting assembly 451, and a support frame structure 452 fixedly arranged on the top of the channel structure. The channel structure can move the transfer box to the transfer channel 30, and the top of the support frame structure 452 is used to place the transfer box. The channel structure is used to transport the transfer box in a straight line. The support frame structure 452 is fixed to the top of the channel structure, and the transfer box on the channel structure can pass through the support frame structure 452 without interfering with the support frame structure 452. Another transfer box can be placed on the top of the support frame structure 452. In this way, even if there is a transfer box on the top of the support frame structure 452, it will not affect the circulation of the transfer box between the refrigerators.

[0080] Optionally, the channel structure may be the same as the specific structure of the transfer channel 30 described above.

[0081] In some embodiments of the present invention, see Figure 8 The sample box mechanism 41 includes a second motor 411, a second belt assembly 412, a third belt assembly 413, a first plate 414, a second plate 415 and a third plate 416. The second motor 411 is installed on the first plate 414, and the second motor 411 drives the second belt assembly 412 to move. The belt of the second belt assembly 412 is fixedly connected to the second plate 415. The third belt assembly 413 is installed on the second plate 415. The belt of the third belt assembly 413 is fixedly connected to both the first plate 414 and the third plate 416. The second plate 415 is slidably arranged on the first plate 414, the third plate 416 is slidably arranged on the second plate 415, and the sample box assembly is located on the third plate 416. When the second motor 411 is working, the second belt assembly 412 moves, and the belt of the second belt assembly 412 drives the second plate 415 to slide relative to the first plate 414, so that the third belt assembly 413 moves as a whole. Under the restriction of the first plate 414, the belt of the third belt assembly 413 moves, thereby driving the third plate 416 to slide relative to the second plate 415. In this way, the movement of the second motor 411 can achieve a multiple displacement of the third plate 416, thereby increasing the transportation speed of the sample box assembly. In other words, when the belt assembly of the second belt assembly 412 moves S, the third plate 416 moves 2S.

[0082] Optionally, the moving directions of the second plate 415 and the third plate 416 are parallel to the first direction.

[0083] In some embodiments of the present invention, see Fig. 9 The sample box manipulator 42 includes a sample box moving module 421 and a sample box clamping claw 422 connected to the motion output end of the sample box moving module 421, the sample box clamping claw 422 is used to clamp the sample box, and the motion output direction of the sample box moving module 421 is the second direction. The sample box transfer mechanism is used to transfer the sample box, specifically, the sample box transfer mechanism is used to move the first sample box to the first placement position 433, or the sample box transfer mechanism is used to move the second sample box to the second placement position 434, or the sample box transfer mechanism is used to move the first sample box to the first placement position 433, and is used to move the second sample box to the second placement position 434.

[0084] By setting the sample box transfer mechanism, the first sample box and / or the second sample box can be transferred, and the transfer direction of the sample box is the second direction. In the automatic sample selection refrigerator 10, when placing the sample box, the second moving component 4312, the third moving component 4313 and the sample clamp 432 can be first moved away from the placement position of the sample box (the first placement position 433 and the second placement position 434) by the first moving component 4311, and then the sample box is transferred to avoid interference with the second moving component 4312, the third moving component 4313 and the sample clamp 432.

[0085] In some embodiments of the present invention, see Fig.11 The sample box output mechanism 44 includes a first cylinder 441, a fourth belt assembly 443, a sliding plate 442 and a sample box bracket 444. The sample box bracket 444 is slidably arranged on the sliding plate 442. The motion output end of the first cylinder 441 is fixedly connected to the sliding plate 442. The sliding plate 442 is fixedly connected to the belt of the fourth belt assembly 443, and the sample box bracket 444 is fixedly connected to the belt of the fourth belt assembly 443. When the first cylinder 441 is working, the sliding plate 442 moves linearly, thereby driving the belt of the fourth belt assembly 443 to move, thereby causing the sample box bracket 444 to slide relative to the sliding plate 442. In this way, the multiplication displacement of the sample box bracket 444 can be achieved through the movement of the first cylinder 441, thereby increasing the transportation speed of the sample box. In other words, when the motion output end of the first cylinder 441 moves S, the sample box bracket 444 moves 2S.

[0086] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A biological sample storage control method, applied to a biological sample storage system, wherein the biological sample storage system comprises an automatic sample picking refrigerator, an automatic box picking refrigerator, and a transfer channel for connecting adjacent refrigerators, characterized in that: The biological sample storage control method includes a sample transfer mode for transferring samples, and the sample transfer mode includes the following steps: Acquire the position of a first sample box containing a target sample and remove the first sample box; Transporting the first sample box to a first placement position, and transporting the second sample box to a second placement position, wherein the first placement position and the second placement position are adjacent to each other; Taking out the target sample from the first sample box and recording taking-out information; Depositing the target sample into the second sample box and recording the deposit information; Transport the second sample box to a target location.

2. The biological sample storage control method according to claim 1, characterized in that: The automatic sample picking refrigerator comprises a sample box manipulator for transferring sample boxes and a sample manipulator for transferring samples, the first placement position and the second placement position are both located at the sample manipulator, and in the step of obtaining a first sample box containing a target sample, the first sample box is located at the automatic sample picking refrigerator; The first sample box is transported to a first placement position by the sample box manipulator, and the second sample box is transported to a second placement position; the target sample is taken out from the first sample box by the sample manipulator, and the taking-out information is recorded; the target sample is stored in the second sample box by the sample manipulator, and the storage information is recorded.

3. The biological sample storage control method according to claim 1, characterized in that: The automatic box picking refrigerator comprises a sample box manipulator for transferring sample boxes and a transfer box lifting mechanism for lifting the transfer box, the automatic sample picking refrigerator comprises a sample box manipulator for transferring sample boxes, a sample manipulator for transferring samples and a transfer box lifting mechanism for lifting the transfer box, the first placement position and the second placement position are both located at the sample manipulator, and in the position of obtaining the first sample box containing the target sample, the first sample box is located at the automatic box picking refrigerator; The step of transporting the first sample box to a first placement position comprises: Placing the first sample box in a transfer box by the sample box manipulator; The transfer box lifting mechanism of the automatic box picking refrigerator transports the transfer box to the transfer channel, the transfer channel transports the transfer box to the automatic sample picking refrigerator, the transfer box lifting mechanism of the automatic sample picking refrigerator transports the transfer box to the sample box manipulator, and the sample box manipulator moves the first sample box to the first placement position.

4. The biological sample storage control method according to claim 3, characterized in that: The number of the automatic box picking refrigerators is at least two, and the number of the automatic sample picking refrigerators is two and they are respectively located at both ends of the plurality of automatic box picking refrigerators; Before the transfer channel transports the transfer box to the automatic sample picking refrigerator, the distances between the transfer box and two automatic sample picking refrigerators are obtained, and the transfer box is transported to the automatic sample picking refrigerator that is closer to the transfer box.

5. The biological sample storage control method according to any one of claims 1 to 4, characterized in that: The target position is a manual box picking position, a storage space of the automatic sample picking refrigerator, or a storage space of the automatic box picking refrigerator.

6. The biological sample storage control method according to any one of claims 1 to 4, characterized in that: The biological sample storage control method further includes a sample box taking mode for taking a sample box, wherein the sample box taking mode includes the following steps: Obtaining the position of a target sample box and taking out the target sample box; The target sample box is transported to a manual box retrieval position.

7. The biological sample storage control method according to claim 6, characterized in that: The automatic sample picking refrigerator comprises a sample box manipulator for taking and placing sample boxes and a transfer box lifting mechanism for lifting and lowering transfer boxes. Part of the transfer channel is located in the automatic sample picking refrigerator. The end of the transfer channel in the automatic sample picking refrigerator away from the automatic box picking refrigerator has the manual box taking position. In the step of obtaining the position of the target sample box, the target sample box is located in the automatic sample picking refrigerator. The target sample box is placed in the transfer box by the sample box manipulator; The transfer box is transported to the transfer channel by the transfer box lifting mechanism, and the transfer channel transports the transfer box to the manual box taking position; The transfer box is taken out from the manual box taking position.

8. The biological sample storage control method according to claim 6, characterized in that: The automatic box picking refrigerator comprises a sample box manipulator for taking and placing sample boxes and a sample box output mechanism for outputting the sample boxes out of the refrigerator. In the step of obtaining the position of the target sample box, the target sample box is located in the automatic box picking refrigerator. Moving the sample box to the sample box output mechanism by the sample box manipulator; The sample box output mechanism moves the sample box to the manual box taking position; The transfer box is taken out from the manual box taking position.

9. The biological sample storage control method according to any one of claims 1 to 4, characterized in that: The biological sample storage control method further includes a sample box transfer mode, and the sample box transfer mode includes: Get the target refrigerator location with storage space; Take the sample box out of the transfer refrigerator and place it in the transfer box; The transfer box is transported to the target refrigerator through the transfer channel.

10. A biological sample storage system, using the biological sample storage control method according to any one of claims 1 to 9, characterized in that: include: An automatic sample picking refrigerator, comprising a sample box taking mechanism for taking out a sample box from its storage space, a sample box manipulator for moving the sample box, a sample manipulator for moving the frozen sample, and a transfer box lifting mechanism for lifting a transfer box, wherein the sample manipulator has a first placement position and a second placement position arranged adjacently; An automatic box picking refrigerator, comprising a sample box taking mechanism for taking out a sample box from its storage space, a sample box manipulator for moving the sample box, a sample box output mechanism for outputting the sample box out of the refrigerator, and a transfer box lifting mechanism for lifting a transfer box; The transfer channel includes a first channel arranged in the automatic sample picking refrigerator and a second channel arranged in the automatic box picking refrigerator, and the first channel and the second channel are connected to each other.

11. The biological sample storage system according to claim 10, characterized in that: The transfer box lifting mechanism includes a lifting component, a channel structure fixedly connected to the motion output end of the lifting component, and a support frame structure fixedly arranged on the top of the channel structure. The channel structure can move the transfer box to the transfer channel, and the top of the support frame structure is used to place the transfer box.

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