Temperature control method and device for incubator, incubator and computer readable storage medium

Abstract

The application relates to the biological medical technology field and discloses a temperature control method for an incubator, wherein the incubator is provided with a heating device; the method comprises the following steps: continuously acquiring a real-time temperature in the incubator under the condition that the incubator is powered on, and determining a real-time temperature difference between a target temperature and the real-time temperature; under the condition that the real-time temperature in the incubator meets a temperature rise abnormality condition, amplifying an integral coefficient according to the real-time temperature difference; and performing PID control on the heating device based on the integral coefficient after the amplification processing, so that the temperature in the incubator reaches the target temperature. The integral coefficient in the PID algorithm is amplified in combination with the real-time temperature difference, so that the actual output value of the integral term is improved, the final control quantity of the PID control is improved, the heating effect of the heating device is improved, the temperature in the incubator can reach the target temperature more quickly, and the actual operation effect of the incubator is improved. The application further discloses a temperature control device, an incubator and a storage medium.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of biological medicine, for example to a temperature control method and device for an incubator, an incubator and a computer readable storage medium. BACKGROUND

[0002] At present, in the field of biological medicine, a device for in vitro culture of cells / tissues, such as an incubator, is required, which generally requires that the inside of the box has stable temperature and stable gas concentration, so as to simulate an internal environment suitable for cultivation and growth. In order to ensure the stability of the internal temperature, the related technology proposes a method for controlling the incubator, comprising: obtaining the current inner tank temperature of the incubator by a temperature measuring device, and obtaining the current temperature difference between the current inner tank temperature and the set temperature; according to the current temperature difference, performing proportional integral derivative PID fuzzy control to determine the current power value of each heating device in the incubator; and controlling the operation of the corresponding heating device according to the current power value.

[0003] In the process of implementing the embodiments of the present disclosure, it is found that at least the following problems exist in the related art:

[0004] The related technology is mainly applied to a gas jacket type incubator, which directly heats the box by a heating pipe, which can improve the stability of the temperature of the incubator. However, for a water jacket type incubator, since the heating pipe is used to heat the water jacket layer, and then the heated water jacket layer transmits heat to the inner wall of the box, the overall temperature rising time is relatively long, and the temperature hysteresis is relatively large. When the incubator is abnormally powered off and then powered on again, the temperature in the box will decrease, and at this time the PID (Proportional Integral Derivative) control will clear the accumulated error value accumulated before, resulting in that the integral term output value is basically zero, thereby causing the time required for the temperature in the box to return to the target temperature to be greatly lengthened, which seriously affects the normal use of the water jacket type incubator.

[0005] It should be noted that the information disclosed in the above background section is only used to strengthen the understanding of the background of the present application, and therefore can include information that does not constitute prior art known to those of ordinary skill in the art. SUMMARY

[0006] In order to have a basic understanding of some aspects of the disclosed embodiments, the following is a simple summary. The summary is not a general review, nor is it intended to determine the key / important constituent elements or delineate the scope of protection of these embodiments, but as a prelude to the detailed description below.

[0007] The temperature control method, device, incubator and computer readable storage medium provided by the embodiments of the present disclosure can improve the actual heating effect of the heating device, so that the temperature in the incubator can reach the target temperature faster, and the actual operation effect of the incubator can be improved.

[0008] In some embodiments, the incubator is provided with a heating device; the control method comprises: continuously acquiring a real-time temperature in the incubator when the incubator is powered on, and determining a real-time temperature difference between the target temperature and the real-time temperature; in the case that the real-time temperature in the incubator meets the temperature rise abnormal condition, amplifying the integral coefficient according to the real-time temperature difference; and performing PID control on the heating device based on the amplified integral coefficient, so that the temperature in the incubator reaches the target temperature.

[0009] In some embodiments, the control device comprises a processor and a memory storing program instructions, and the processor is configured to execute the temperature control method for the incubator when the program instructions are executed.

[0010] In some embodiments, the incubator comprises: a cabinet; a heating device installed on the cabinet; and the temperature control device for the incubator described above, which is electrically connected to the heating device.

[0011] In some embodiments, the computer readable storage medium stores program instructions, and the program instructions are used to make the computer execute the temperature control method for the incubator when the program instructions are executed.

[0012] The temperature control method, device, incubator and computer readable storage medium provided by the embodiments of the present disclosure can achieve the following technical effects:

[0013] During the temperature rising process after the incubator is powered on, the real-time temperature in the incubator can be continuously detected, and the difference between the target temperature and the real-time temperature, i.e. the real-time temperature difference at this time, can be determined, so as to determine whether the incubator enters the temperature stable stage. At the same time, the present disclosure can determine whether the temperature rise abnormal condition is met at this time, and if so, it indicates that the incubator is in a slow temperature rising state for a long time, and the subsequent temperature rising speed needs to be accelerated to ensure the normal operation of the incubator. At this time, the present disclosure can appropriately amplify the integral coefficient in the PID algorithm in combination with the current real-time temperature difference, so as to reasonably improve the actual output value of the integral term. On this basis, by performing PID control on the heating device, the present disclosure can improve the final control amount of the PID control, so that the actual heating effect of the heating device can be improved, the temperature in the incubator can reach the target temperature faster, and the actual operation effect of the incubator can be improved.

[0014] The foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the application. BRIEF DESCRIPTION OF DRAWINGS

[0015] One or more embodiments are illustrated by way of example in the figures that are not intended to be limiting of the application as defined by the claims. The same numbers in different figures identify the same components or features. Dimensions of components and features shown in the figures are chosen for convenience of explanation and are not necessarily to scale. In the figures:

[0016] Figure 1 is a schematic diagram of a temperature control method for an incubator provided by an embodiment of the present disclosure;

[0017] Figure 2 is a schematic diagram of another temperature control method for an incubator provided by an embodiment of the present disclosure;

[0018] Figure 3 is a schematic diagram of another temperature control method for an incubator provided by an embodiment of the present disclosure;

[0019] Figure 4 is a schematic diagram of another temperature control method for an incubator provided by an embodiment of the present disclosure;

[0020] Figure 5 is a schematic diagram of a temperature control device for an incubator provided by an embodiment of the present disclosure;

[0021] Figure 6 is a schematic diagram of an incubator provided by an embodiment of the present disclosure.

[0022] REFERENCE NUMERALS

[0023] 500: temperature control device for an incubator; 501: processor; 502: memory; 503: communication interface; 504: bus; 600: cabinet; 601: heating device. DETAILED DESCRIPTION

[0024] In order to enable a more detailed understanding of the features and technical content of the embodiments of the present disclosure, the implementation of the embodiments of the present disclosure is described in detail below with reference to the accompanying drawings, which are only used for reference and do not limit the embodiments of the present disclosure. In the following technical description, in order to facilitate explanation, a plurality of details are provided to provide a full understanding of the disclosed embodiments. However, one or more embodiments can still be implemented without these details. In other cases, well-known structures and devices can be simplified to facilitate the drawings.

[0025] The terms "first", "second", and the like in the description of the embodiments of the present disclosure and the claims and the above drawings are used to distinguish similar objects, and do not necessarily have to describe a specific order or sequence. It should be understood that the data thus used can be interchanged under appropriate circumstances, so as to implement the embodiments of the present disclosure described herein. In addition, the terms "include" and "have" and any variations thereof are intended to cover non-exclusive inclusion.

[0026] Unless otherwise specified, the term "a plurality of" means two or more.

[0027] In the embodiments of the present disclosure, the character " / " represents a "or" relationship between the preceding and following objects. For example, A / B represents: A or B.

[0028] The term "and / or" is a description of the association between objects, which means that there can be three relationships. For example, A and / or B, which means: A or B, or, A and B, three kinds of relationship.

[0029] The term "corresponding" can refer to an association or binding relationship, A corresponding to B means that there is an association or binding relationship between A and B.

[0030] In combination Figure 1 As shown, the embodiments of the present disclosure provide a temperature control method for an incubator, comprising:

[0031] S101, in the case of power-on of the incubator, the control device continuously acquires the real-time temperature in the incubator, and determines the real-time temperature difference between the target temperature and the real-time temperature.

[0032] S102, in the case that the real-time temperature in the incubator meets the temperature rise abnormal condition, the control device amplifies the integral coefficient according to the real-time temperature difference.

[0033] S103, the control device performs PID control on the heating device based on the integral coefficient after amplification processing, so as to make the temperature in the incubator reach the target temperature.

[0034] The temperature control method for the incubator provided by the embodiment of the present disclosure can continuously detect the real-time temperature in the incubator during the temperature rising process after the incubator is powered on, and determine the difference between the target temperature and the real-time temperature, i.e., the real-time temperature difference at this time, so as to determine whether the incubator enters the temperature stable stage. At the same time, the embodiment of the present disclosure can determine whether the temperature rise abnormal condition is met at this time. If the temperature rise abnormal condition is met, it indicates that the incubator is in a slow temperature rising state for a long time, and the subsequent temperature rising speed needs to be accelerated to ensure the normal operation of the incubator. At this time, the embodiment of the present disclosure can amplify the integral coefficient in the PID algorithm in combination with the current real-time temperature difference, so as to reasonably improve the actual output value of the integral term. On this basis, by performing PID control on the heating device, the embodiment of the present disclosure can improve the final control quantity of the PID control, so as to improve the actual heating effect of the heating device, so that the temperature in the incubator can reach the target temperature more quickly, which is beneficial to improve the actual operation effect of the incubator.

[0035] Optionally, the control device determines that the real-time temperature in the incubator meets the temperature rise abnormal condition in the following manner: in the case that the real-time temperature in the incubator is between the preset temperature and the target temperature for a duration greater than or equal to a preset duration, the control device determines that the temperature rise abnormal condition is met.

[0036] In this way, when the incubator does not enter the temperature stable stage, the embodiment of the present disclosure can record the duration for which the real-time temperature in the incubator is between the preset temperature and the target temperature. If the duration is greater than or equal to the preset duration, it indicates that the incubator is in a slow temperature rising state for a long time, and the subsequent temperature rising speed needs to be accelerated to ensure the normal operation of the incubator.

[0037] Optionally, the target temperature can be set in combination with the culture object in the incubator. Preferably, the target temperature can be set to 37°C to meet the environmental temperature required for most cell culture. The target temperature can also be adjusted according to the actual needs of the user, and can also be set to 36°C or 38°C or other arbitrary reasonable values.

[0038] Optionally, the preset temperature can be set in combination with the starting temperature of the integral term participating in control in the PID algorithm, which is slightly lower than the target temperature in the incubator. Preferably, the preset temperature can be set to 34°C. When the temperature in the incubator is greater than or equal to 34°C, the integral term in the PID algorithm participates in control, and the real-time cumulative temperature difference starts to be recorded. The preset temperature can also be adjusted according to the actual needs of the user, and can also be set to 33°C or 35°C or other arbitrary reasonable values.

[0039] Optionally, the preset time length can be set in combination with a historical average time length for the temperature in the incubator to reach the target temperature from the preset temperature. Preferably, the preset time length can be set to 2.5 h, which is slightly greater than the standard time length, for example, 2 h, for the temperature in the incubator to reach 37℃ from 34℃. The preset time length can also be adjusted according to actual user needs, and can also be set to 2 h or 3 h or other arbitrary reasonable values.

[0040] Optionally, in combination with Figure 2 As shown, the control device amplifies the integral coefficient according to the real-time temperature difference, including:

[0041] S201, the control device determines a target amplification ratio according to the real-time temperature difference.

[0042] S202, the control device calculates the product of the integral coefficient and the target amplification ratio to obtain the amplified integral coefficient.

[0043] In this way, when it is judged that the incubator meets the temperature rise abnormality condition, in order to speed up the subsequent temperature rise speed, the embodiments of the present disclosure can select a suitable target amplification ratio in combination with the current real-time temperature difference, and then amplify the original integral coefficient. By multiplying the original integral coefficient by the target amplification ratio, the embodiments of the present disclosure can obtain the amplified integral coefficient, so as to reasonably improve the actual output value of the integral term, and further improve the final control amount of the PID control, so as to improve the actual heating effect of the heating device, so that the temperature in the incubator can reach the target temperature faster, which is beneficial to improve the actual operation effect of the incubator.

[0044] Wherein, the target amplification ratio and the real-time temperature difference are positively correlated, and the target amplification ratio is greater than 1.

[0045] Optionally, the control device determines the target amplification ratio according to the real-time temperature difference, including: the control device matches the target amplification ratio corresponding to the real-time temperature difference from the preset correlation relationship according to the real-time temperature difference.

[0046] In this way, by constructing the preset correlation relationship between the real-time temperature difference in the incubator and the target amplification ratio of the integral coefficient, the embodiments of the present disclosure can match a suitable target amplification ratio in combination with the current real-time temperature difference, so as to realize the staged amplification processing of the integral coefficient. Thereby, the actual output value of the integral term in the current stage PID algorithm can be reasonably improved, so as to appropriately improve the final control amount of the PID control, so as to more accurately improve the actual heating effect of the heating device, so that the temperature in the incubator can reach the target temperature faster, which is beneficial to improve the actual operation effect of the incubator.

[0047] Optionally, the preset correlation relationship includes one or more corresponding relationships between the real-time temperature difference and the target amplification ratio. For example, a corresponding relationship between the real-time temperature difference and the target amplification ratio is shown in Table 1, as shown in the following table:

[0048] Table 1

[0049] Real-time temperature difference (°C) Target magnification (0, T1) [a1] [[T1, T2)] [a2] [[T2, T3)] [a3] [[T3, T4)] [a4] [[T4, T max ]]]> [a5]

[0050] Wherein, 0 < T1 < T2 < T3 < T4 < T max , T max is the difference between the target temperature and the preset temperature, 1 < a1 < a2 < a3 < a4 < a5.

[0051] Specifically, in some embodiments, T1 is 0.5℃, T2 is 1.0℃, T3 is 1.5℃, T4 is 2.0℃, and T max is 3.0℃. Correspondingly, a1 is 1.1, a2 is 1.2, a3 is 1.3, a4 is 1.4, and a5 is 1.6.

[0052] In this way, when the real-time temperature difference in the incubator is large, the incubator is in the initial stage of temperature rise, and at this time, the real-time cumulative temperature difference accumulated in the PID algorithm is relatively small, and the current temperature rise speed in the incubator is relatively slow. Therefore, the embodiment of the present disclosure can set a relatively larger target amplification ratio to reasonably increase the actual output value of the integral term in the current stage PID algorithm, thereby facilitating the improvement of the final control quantity of the PID control to improve the actual heating effect of the heating device, so that the temperature in the incubator can reach the target temperature faster, and the actual operation effect of the incubator can be improved.

[0053] Optionally, as shown in Figure 3 , the control device performs PID control on the heating device based on the amplified integral coefficient to make the temperature in the incubator reach the target temperature, comprising:

[0054] S301, the control device determines the target working parameter of the heating device according to the PID algorithm based on the amplified integral coefficient.

[0055] S302, the control device controls the heating device to operate according to the target working parameter to make the temperature in the incubator reach the target temperature.

[0056] In this way, after obtaining the amplified integral coefficient, the embodiment of the present disclosure can replace the original integral coefficient in the PID algorithm, and then determine the target working parameter of the heating device based on the final control quantity output at this time, and then realize the accurate regulation and control of the heating device. Therefore, the embodiment of the present disclosure can optimize the actual heating effect of the heating device, so that the temperature in the incubator can reach the target temperature faster, and the actual operation effect of the incubator can be improved.

[0057] Optionally, the PID algorithm comprises: U(t) = K P *e(t) + K I *∫e(τ)dτ + KD de(t) / dt.

[0058] Wherein, U(t) is the real-time output value, K P is the proportional coefficient, K I is the integral coefficient, K D is the differential coefficient, e(t) is the real-time temperature difference, ∫e(τ)dτ is the real-time cumulative temperature difference, and de(t) / dt is the real-time temperature difference rate.

[0059] In this way, when the real-time cumulative temperature difference ∫(e(τ)dτ) fails to accumulate enough, the integral coefficient K I after amplification processing can be used to replace the original integral coefficient K I in the PID algorithm, so that the actual output value of the integral term can be reasonably improved, and the final control quantity of the PID control can be improved, which is conducive to improving the actual heating effect of the heating device, so that the temperature in the incubator can reach the target temperature faster, and the actual operation effect of the incubator can be improved.

[0060] Optionally, the target working parameter includes the running power and / or the running time. In this way, the running state of the heating device can be reasonably controlled based on the target working parameter, so that the heating device can produce a suitable heating effect, and the temperature in the incubator can reach the target temperature faster.

[0061] As shown in Figure 4 , the embodiment of the present disclosure provides another temperature control method for an incubator, which comprises:

[0062] S401, in the case that the incubator is powered on, the control device continuously acquires the real-time temperature in the incubator, and determines the real-time temperature difference between the target temperature and the real-time temperature.

[0063] S402, in the case that the real-time temperature in the incubator meets the temperature rise abnormality condition, the control device amplifies the integral coefficient according to the real-time temperature difference.

[0064] S403, the control device performs PID control on the heating device based on the integral coefficient after amplification processing, so that the temperature in the incubator reaches the target temperature.

[0065] S404, in the case that the real-time temperature in the incubator reaches the target temperature, the control device corrects the real-time cumulative temperature difference.

[0066] S405, the control device performs PID control on the heating device based on the integral coefficient and the corrected real-time cumulative temperature difference, so that the temperature in the incubator is stabilized at the target temperature.

[0067] The temperature control method for the incubator provided by the embodiment of the present disclosure can continuously detect the real-time temperature in the incubator during the temperature rising process after the incubator is powered on, and determine the difference between the target temperature and the real-time temperature, that is, the real-time temperature difference at this time, so as to determine whether the incubator enters the temperature stable stage. At the same time, the embodiment of the present disclosure can determine whether the temperature rise abnormal condition is met at this time. If it is met, it indicates that the incubator is in a slow temperature rising state for a long time, and the subsequent temperature rising speed needs to be accelerated to ensure the normal operation of the incubator. At this time, the embodiment of the present disclosure can appropriately amplify the integral coefficient in the PID algorithm in combination with the current real-time temperature difference, so as to reasonably improve the actual output value of the integral term. On this basis, by performing PID control on the heating device, the embodiment of the present disclosure can improve the final control quantity of the PID control, so as to improve the actual heating effect of the heating device, so that the temperature in the incubator can reach the target temperature faster, which is beneficial to improve the actual operation effect of the incubator. In addition, when the real-time temperature in the incubator reaches the target temperature, the incubator formally enters the temperature stable stage. Considering that the integral coefficient in the PID algorithm at this time is the integral coefficient after amplification processing, if it is directly replaced by the originally planned integral coefficient, the actual output value of the integral term will be smaller, and the final control quantity of the PID control will also be relatively smaller. To avoid the temperature drop in the incubator at this time, the real-time cumulative temperature difference in the PID algorithm can be appropriately corrected to ensure that the integral term always maintains a reasonable actual output value. Then, the embodiment of the present disclosure can perform normal PID control on the heating device based on the originally planned integral coefficient and the corrected real-time cumulative temperature difference, so as to realize seamless connection before and after reaching the target temperature, so that the temperature in the incubator can be better stabilized near the target temperature, which is beneficial to maintain the stable internal environment of the incubator.

[0068] Optionally, in the case that the real-time temperature in the incubator reaches the target temperature, the control device corrects the real-time cumulative temperature difference, including: in the case that the real-time temperature in the incubator reaches the target temperature, the control device records the current integral term output value; the control device calculates the quotient value of the current integral term output value and the integral coefficient to obtain the corrected real-time cumulative temperature difference.

[0069] In this way, when the real-time temperature in the incubator reaches the target temperature, the current integral term output value can be recorded to avoid the temperature drop in the incubator. Based on the purpose of keeping the integral term output value unchanged, the corrected real-time cumulative temperature difference can be obtained by calculating the quotient value of the integral term output value and the originally planned integral coefficient. Therefore, after the incubator formally enters the temperature stable stage, even if the integral coefficient after amplification processing is replaced by the originally planned integral coefficient, the actual output value of the integral term always remains unchanged, thereby improving the stability of the PID control. It is beneficial to better stabilize the temperature in the incubator near the target temperature to maintain the stable internal environment of the incubator.

[0070] In combination Figure 5 As shown in the above embodiments, the present disclosure provides a temperature control device 500 for incubator, comprising a processor 501 and a memory 502. Optionally, the device 500 can further comprise a communication interface 503 and a bus 504. Wherein the processor 501, the communication interface 503 and the memory 502 can complete the communication among each other through the bus 504. The communication interface 503 can be used for information transmission. The processor 501 can call the logical instructions in the memory 502 to execute the temperature control method for incubator in the above embodiments.

[0071] In addition, the logical instructions in the memory 502 described above can be realized in the form of a software functional unit and sold or used as an independent product, which can be stored in a computer readable storage medium.

[0072] The memory 502 as a kind of computer readable storage medium can be used to store software programs, computer executable programs, such as program instructions / modules corresponding to the method in the embodiments of the present disclosure. The processor 501 executes the program instructions / modules stored in the memory 502, thereby performing function application and data processing, i.e. realizing the temperature control method for incubator in the above embodiments.

[0073] The memory 502 can include a storage program area and a storage data area, wherein the storage program area can store an operating system and at least one application required by a function; the storage data area can store data created according to the use of the terminal device, etc. In addition, the memory 502 can include a high-speed random access memory, and can also include a non-volatile memory.

[0074] In combination Figure 6 As shown in the above embodiments, the present disclosure provides an incubator, comprising: a cabinet 600, a heating device 601 and the above-mentioned temperature control device 500 for incubator. Wherein the heating device 601 is installed on the cabinet 600. The temperature control device 500 for incubator is installed on the cabinet 600 and electrically connected with the heating device 601. The installation relationship described herein is not limited to placing in the inside of the cabinet 600, but also includes the installation connection with other components of the incubator, including but not limited to physical connection, electrical connection or signal transmission connection, etc. Those skilled in the art can understand that the temperature control device 500 for incubator can be adapted to the feasible product body, and then realize other feasible embodiments.

[0075] Optionally, the incubator further comprises a water jacket layer. The water jacket layer is wrapped on the surface of the box body 600 and is used to transfer heat to the inside of the box body 600. In this way, the water jacket layer can be heated by the heating device 601, and then heat is transferred to the inside of the box body 600 through the heated water jacket layer, so that the uniformity of the temperature inside the box body can be improved, and the stability of the environment inside the box body can be maintained.

[0076] The embodiment of the present disclosure provides a computer readable storage medium, which stores computer executable instructions, and the computer executable instructions are configured to execute the temperature control method for the incubator.

[0077] The technical scheme of the embodiment of the present disclosure can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes one or more instructions to make a computer device (which can be a personal computer, a server, or a network device, etc.) execute all or part of the steps of the method described in the embodiment of the present disclosure. The foregoing storage medium can be a non-transitory storage medium, for example, a U disk, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, and various media that can store program codes.

[0078] The foregoing description and accompanying drawings fully illustrate embodiments of this disclosure to enable those skilled in the art to practice them. Other embodiments may include structural, logical, electrical, procedural, and other changes. The embodiments represent only possible variations. Individual components and functions are optional unless explicitly required, and the order of operation may vary. Parts and features of some embodiments may be included in or replace parts and features of other embodiments. Moreover, the terminology used in this application is for describing embodiments only and is not intended to limit the claims. As used in the description of embodiments and claims, the singular forms “a,” “an,” and “the” are intended to equally include the plural forms unless the context clearly indicates otherwise. Similarly, the term “and / or” as used in this application means including one or more of the associated listed items and all possible combinations thereof. Additionally, when used in this application, the term "comprise" and its variations "comprises" and / or "comprising" refer to the presence of stated features, integrals, steps, operations, elements, and / or components, but do not exclude the presence or addition of one or more other features, integrals, steps, operations, elements, components, and / or groups thereof. Without further limitations, an element defined by the phrase "comprises a..." does not exclude the presence of other identical elements in the process, method, or apparatus that includes said element. In this document, each embodiment may focus on the differences from other embodiments, and similar or identical parts between embodiments can be referred to mutually. For methods, products, etc., disclosed in the embodiments, if they correspond to the method section disclosed in the embodiments, the relevant parts can be referred to the description of the method section.

[0079] Those skilled in the art will recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of the embodiments of this disclosure. Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working processes of the systems, devices, and units described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here.

[0080] In the embodiments disclosed herein, the disclosed methods, products (including but not limited to apparatuses, devices, etc.), can be implemented in other manners. For example, the described apparatus embodiments can be implemented only in a form of a logical function, and can be implemented by using a manner such as software (for example, a computer program) or a combination of hardware and software. In a component, a plurality of components, or a combination thereof, can be implemented. In some embodiments, a plurality of components or a combination thereof can be integrated in a machine to realize an apparatus according to the embodiments. In some embodiments, a plurality of components or a combination thereof can be integrated in an apparatus, so as to constitute a system.

[0081] The flowcharts and block diagrams in the drawings show the possible implementation architectures, functions and operations of the systems, methods and computer program products according to the embodiments of the present disclosure. In this regard, each block in the flowcharts or block diagrams can represent a module, a program segment or a part of code containing one or more executable instructions for implementing a specified logical function. In some alternative implementations, the functions noted in the blocks can occur in an order different from that noted in the drawings. For example, two consecutive blocks can actually be executed substantially in parallel, and sometimes they can be executed in reverse order, depending on the functions involved. In the descriptions corresponding to the flowcharts and block diagrams in the drawings, the operations or steps corresponding to different blocks can also occur in an order different from that disclosed in the descriptions, and sometimes there is no specific order between different operations or steps. For example, two consecutive operations or steps can actually be executed substantially in parallel, and sometimes they can be executed in reverse order, depending on the functions involved. Each block in the block diagrams and / or flowcharts, and the combination of blocks in the block diagrams and / or flowcharts, can be implemented by a dedicated hardware-based system that performs the specified functions or actions, or can be implemented by a combination of dedicated hardware and computer instructions.

Claims

1. A temperature control method for an incubator, characterized by, The incubator is provided with a heating device; the control method comprises: In the case of power-on of the incubator, the real-time temperature in the incubator is continuously acquired, and a real-time temperature difference between the target temperature and the real-time temperature is determined; In the case that the real-time temperature in the incubator meets the temperature rise abnormal condition, the integral coefficient is amplified according to the real-time temperature difference; Based on the integral coefficient after amplification, PID control is performed on the heating device to make the temperature in the incubator reach the target temperature; Wherein, the real-time temperature in the incubator meets the temperature rise abnormal condition is determined in the following way, comprising: In the case that the real-time temperature in the incubator is between the preset temperature and the target temperature for a duration greater than or equal to the preset duration, it is determined that the temperature rise abnormal condition is met.

2. The method of claim 1, wherein, According to the real-time temperature difference, the integral coefficient is amplified, comprising: According to the real-time temperature difference, the target amplification ratio is determined; The product of the integral coefficient and the target amplification ratio is calculated to obtain the integral coefficient after amplification; Wherein, the target amplification ratio is positively correlated with the real-time temperature difference, and the target amplification ratio is greater than 1.

3. The method of claim 1, wherein, Based on the integral coefficient after amplification, PID control is performed on the heating device to make the temperature in the incubator reach the target temperature, comprising: Based on the integral coefficient after amplification, the target working parameter of the heating device is determined according to the PID algorithm; The heating device is controlled to run according to the target working parameter to make the temperature in the incubator reach the target temperature.

4. The method of claim 3, wherein, The PID algorithm comprises: ； Wherein, U(t) is real-time output value, K P is proportional coefficient, K I is integral coefficient, K D is differential coefficient, e(t) is real-time temperature difference, is real-time cumulative temperature difference, de(t) / dt is real-time temperature difference rate.

5. The method according to any one of claims 1 to 4, characterized in that, Also includes: In the case that the real-time temperature in the incubator reaches the target temperature, the real-time cumulative temperature difference is corrected; Based on the original integral coefficient and the corrected real-time cumulative temperature difference, PID control is performed on the heating device to make the temperature in the incubator stable at the target temperature.

6. The method of claim 5, wherein, In the case that the real-time temperature in the incubator reaches the target temperature, the real-time cumulative temperature difference is corrected, comprising: In the case that the real-time temperature in the incubator reaches the target temperature, the current integral term output value is recorded; The quotient of the current integral term output value and the original integral coefficient is calculated to obtain the corrected real-time cumulative temperature difference.

7. A temperature control device for an incubator comprising a processor and a memory having stored therein program instructions, characterized in that, The processor is configured to execute the temperature control method for the incubator as claimed in any one of claims 1 to 6 when running the program instructions.

8. An incubator, characterized in that Comprise: The box body; The heating device is installed in the box body; The temperature control device for the incubator as claimed in claim 7 is electrically connected with the heating device.

9. A computer readable storage medium storing program instructions, characterized in that, The program instructions are used to make the computer execute the temperature control method for the incubator as claimed in any one of claims 1 to 6 when running.

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