Cryopreservation equipment and deviation rectification control method of cryopreservation equipment

Abstract

The invention belongs to the technical field of biological sample storage, particularly provides cryopreservation equipment and a deviation correction control method of the cryopreservation equipment, and aims to solve the problem of low taking and placing efficiency caused by real-time deviation correction in a cryopreservation box taking and placing process of existing cryopreservation equipment. Therefore, the cryopreservation equipment comprises a controller and a deviation rectification recognition device, the deviation rectification recognition device is arranged to be capable of obtaining an actual image of a cryopreservation frame in the second horizontal direction, and the actual image comprises the edge position of the cryopreservation frame and all storage positions; and the controller is configured to be capable of determining the last position and the actual position of each storage position according to the last shot image and the actual image of the cryopreservation rack, and correcting the coordinates of each storage position based on the last position and the actual position, so that the synchronous correction operation of all the storage positions is realized. According to the cryopreservation box equipment, the collision condition during sample box taking and placing can be avoided, the sample safety is protected, real-time deviation correction operation can be avoided, and the taking and placing efficiency is improved.

Description

Technical Field

[0001] This application belongs to the technical field of biological sample storage, and specifically provides a cryopreservation device and a deviation correction control method for the cryopreservation device. Background Art

[0002] With the continuous progress of global biotechnology and medical research methods, higher requirements are put forward for the construction of biobanks. More and more biobanks will complete the transformation from manual storage boxes to automated storage. On the basis of realizing efficient, intelligent, and safe access, the fully automated biological sample storage device can further solve the problems of standardization, standardization, and informatization of the biological sample management process, and will become an essential facility for future biobank construction. Existing automated ultra-low temperature sample banks are based on fixed coordinates, and the manipulator is controlled to pick up and place cryoboxes in the library according to the three-dimensional coordinates initially measured for each library location. After the library location shrinks, expands, or displaces, the manipulator is prone to collide with the shelf, thereby damaging the manipulator, the shelf, and the samples.

[0003] To solve the above technical problems, in the prior art, a camera is set on the manipulator, and deviation correction is performed through the image captured by the camera during the picking and placing operation, so as to correct the coordinates of the manipulator picking and placing in a timely manner. However, for such an operation, deviation correction needs to be continued for each access operation. Although the failure rate is reduced, because positioning deviation correction needs to be performed once for each access, the time required for the manipulator to pick up and place the cryobox is prolonged, and the efficiency is reduced.

[0004] Correspondingly, a new technical solution is needed in this field to solve the above technical problems. Summary of the Invention

[0005] This application aims to solve the above technical problems, that is, to solve the problem that the existing cryopreservation device has low picking and placing efficiency due to real-time deviation correction during the process of picking and placing cryoboxes.

[0006] In a first aspect, the present application provides a cryopreservation device, which includes a device main body, a controller, a cryopreservation rack and a deviation correction and recognition device located within the device main body. The cryopreservation rack is provided with a plurality of storage positions for storing cryopreservation boxes, and the plurality of storage positions are arranged in an array in a first horizontal direction and a vertical direction; the deviation correction and recognition device is installed on the device main body and is located on one side of the cryopreservation rack. The deviation correction and recognition device is configured to be able to obtain an actual image of the cryopreservation rack in a second horizontal direction, and the actual image includes the edge positions of the cryopreservation rack and all the storage positions, wherein the second horizontal direction is perpendicular to the plane formed by the first horizontal direction and the vertical direction; the deviation correction and recognition device is communicatively connected to the controller, and the controller is configured to be able to determine the previous position and the actual position of each storage position based on the previous captured image of the cryopreservation rack and the actual image obtained by the deviation correction and recognition device, and to be able to perform deviation correction based on the previous position and the actual position to correct the coordinates of each storage position, so as to achieve synchronous deviation correction operations for all storage positions.

[0007] In a preferred technical solution of the above cryopreservation device, the deviation correction and recognition device includes a first linear movement mechanism, a second linear movement mechanism and an image capturing device; the image capturing device is installed on the first linear movement mechanism, the first linear movement mechanism is installed on the second linear movement mechanism, the first linear movement mechanism is configured to be able to drive the image capturing device to move along the first horizontal direction, the second linear movement mechanism is configured to be able to drive the first linear movement mechanism and the image capturing device to move along the vertical direction, and the image capturing device is oriented towards the cryopreservation rack for obtaining the actual image of the cryopreservation rack.

[0008] In a preferred technical solution of the above cryopreservation device, the image captured by the image capturing device each time is rectangular or square, and the movement distance of the first linear movement mechanism each time is consistent with the length of the image in the first horizontal direction, so that the two adjacent edges of two adjacent images along the first horizontal direction coincide; the movement distance of the second linear movement mechanism each time is consistent with the length of the image in the vertical direction, so that the two adjacent edges of two adjacent images along the vertical direction coincide.

[0009] In a preferred technical solution of the above cryopreservation device, the images captured by the image capturing device when it is located at the two ends of the first linear movement mechanism respectively include the two ends of the cryopreservation rack in the first horizontal direction, and the images captured by the image capturing device when it is located at the two ends of the second linear movement mechanism respectively include the two ends of the cryopreservation rack in the vertical direction.

[0010] In a second aspect, the present application provides a deviation correction control method for a cryopreservation box device. The deviation correction control method includes: causing the cryopreservation device to perform the deviation correction operation, and the deviation correction operation includes: running the deviation correction recognition device and obtaining an actual image of the cryopreservation rack; determining the actual position of each storage location according to the actual image; obtaining the previous captured image of the cryopreservation rack; determining the previous position of each storage location according to the previous captured image; determining whether there is a position deviation for each storage location according to the actual position and the previous position, and determining the coordinate deviation of each storage location based on the position deviation; obtaining the previous coordinate of each storage location; determining the actual coordinate of each storage location according to the previous coordinate and the coordinate deviation; and replacing the previous coordinate of each storage location with the actual coordinate thereof.

[0011] In a preferred technical solution of the above deviation correction control method for a cryopreservation device, the step of "running the deviation correction recognition device and obtaining an actual image of the cryopreservation rack" specifically includes: row direction shooting: the first linear movement mechanism runs to drive the image shooting device to move multiple times along a first horizontal direction from one end of the first linear movement mechanism until reaching the other end of the first linear movement mechanism. Each time it moves, the image shooting device takes a picture once to obtain multiple row images; column direction shooting: the second linear movement mechanism runs to drive the first linear movement mechanism and the image shooting device to move multiple times along the vertical direction from the top of the second linear movement mechanism until reaching the bottom of the second linear movement mechanism. Each time it moves, the row direction shooting step is executed once to obtain M groups of the multiple row images, where M is the number of shooting times for executing the row direction shooting step; splicing the edges of the M groups of the multiple row images that are close to each other to form the actual image.

[0012] In a preferred technical solution of the above deviation correction control method for a cryopreservation device, the cryopreservation rack includes multiple columns of rack bodies. Multiple groups of bearing pieces are arranged at intervals along the vertical direction on each column of rack body. Each group of bearing pieces and the rack body form the storage location. The end of each group of bearing pieces has a limiting piece bent upward to limit the cryopreservation box located at the storage location. The step of "determining the actual position of each storage location according to the actual image" specifically includes: identifying the position of the limiting piece in each group of bearing pieces in the actual image, and determining the actual position of each storage location according to the position of the limiting piece; the step of "determining the previous position of each storage location according to the previous captured image" specifically includes: identifying the position of the limiting piece in each group of bearing pieces in the previous captured image, and determining the previous position of each storage location according to the position of the limiting piece.

[0013] In the preferred technical solution of the above-mentioned deviation correction control method for the cryopreservation device, during the execution of the deviation correction operation, the deviation correction control method further includes: obtaining the time for executing the deviation correction operation, denoted as the actual execution time; comparing the actual execution time with a preset time; if the actual execution time is not greater than the preset time, no alarm is issued; if the actual execution time is greater than the preset time, an alarm is issued to remind the user to check the recognition device.

[0014] In the preferred technical solution of the above-mentioned deviation correction control method for the cryopreservation device, the deviation correction control method further includes: before the deviation correction operation is executed during the non-working time period, execute a deviation correction judgment mode to judge whether to execute the deviation correction operation; "executing the deviation correction judgment mode" specifically includes: obtaining the current time; judging whether the current time is equal to the preset deviation correction time; if the current time is not equal to the preset deviation correction time, return to execute obtaining the current time; if the current time is equal to the preset deviation correction time, cause the cryopreservation device to execute the deviation correction operation; and / or, each time after the deviation correction operation is executed, perform deep learning recognition based on the latest actual image to replace the previous captured image in the model, and replace the actual coordinates of each storage position, where the previous captured image of the cryopreservation rack is the actual image of the cryopreservation rack obtained during the previous execution of the deviation correction operation, and the previous coordinates of the storage position are the actual coordinates of the storage position determined during the previous execution of the deviation correction operation.

[0015] In the preferred technical solution of the above-mentioned deviation correction control method for the cryopreservation device, the non-working time period is the time period between the end time of the day's work and the start time of the next day's work.

[0016] In the case of adopting the above technical solution, the cryopreservation device of the present application includes a device main body, a controller, a cryopreservation rack and a deviation correction recognition device located inside the device main body. By providing a deviation correction recognition device, the actual image of the cryopreservation rack can be obtained, so that the controller can determine the previous position and the actual position of each storage position according to the previous captured image and the actual image of the cryopreservation rack, and perform deviation correction coordinates on all storage positions simultaneously to achieve overall deviation correction; in addition, an overall deviation correction operation can be performed once during the idle time (i.e., the non-working time of the cryopreservation device), without affecting the user's use. When the manipulator picks up and places the cryopreservation box, it can pick up and place according to the corrected coordinates, which can not only avoid collisions and protect the safety of the samples, but also avoid real-time deviation correction operations and improve the picking and placing efficiency.

[0017] Furthermore, the deviation correction recognition device includes a first linear movement mechanism, a second linear movement mechanism, and an image capturing device. The first linear movement mechanism can drive the image capturing device to move along the first horizontal direction, and the second linear movement mechanism can drive the first linear movement mechanism and the image capturing device to move along the vertical direction. With such a setting method, the first linear movement mechanism and the second linear movement mechanism can cooperate to drive the image capturing device to move in the first horizontal direction and the vertical direction, so as to be able to take panoramic photos of the large surface of the cryopreservation rack, in order to obtain a complete image of the cryopreservation rack, so as to be able to identify and correct the deviation of all storage positions at the same time.

[0018] Furthermore, the image captured by the image capturing device each time is rectangular or square, and the moving distance of the first linear movement mechanism each time is made consistent with the length of the image in the first horizontal direction, so that two pictures captured sequentially in the first horizontal direction can be seamlessly stitched together. The moving distance of the second linear movement mechanism each time is made consistent with the length of the image in the vertical direction, so that two pictures captured sequentially in the vertical direction can be seamlessly stitched together. With such a setting method, the difficulty of stitching multiple pictures into a complete picture can be reduced.

[0019] Furthermore, the images captured when the image capturing device is located at the two ends of the first linear movement mechanism respectively include the two ends of the cryopreservation rack in the first horizontal direction, and the images captured when the image capturing device is located at the two ends of the second linear movement mechanism respectively include the two ends of the cryopreservation rack in the vertical direction, which can make the finally obtained actual image include the complete left end, right end, upper end and lower end of the cryopreservation rack, so as to be able to obtain a complete image of the cryopreservation rack, so as to accurately identify all storage positions and be able to synchronously correct the deviation of all storage positions at the same time.

[0020] In addition, the deviation correction control method of the present application includes making the cryopreservation device perform a deviation correction operation. The deviation correction operation includes: running the deviation correction recognition device and obtaining the actual image of the cryopreservation rack; determining the actual position of the storage position according to the actual image; obtaining the previous captured image of the cryopreservation rack; determining the previous position of each storage position according to the previous captured image; determining whether there is a position deviation of each storage position according to the actual position and the previous position, and determining the coordinate deviation of each storage position based on the position deviation; obtaining the previous coordinate of each storage position; determining the actual coordinate of each storage position according to the previous coordinate and the coordinate deviation; replacing the previous coordinate of each storage position with the actual coordinate to complete the deviation correction operation. With such a setting method, the deviation correction control method of the present application can correct the deviation of all storage positions and correct the coordinates of each storage position recorded in the system by obtaining a complete image of the cryopreservation rack once, effectively improving the deviation correction efficiency, improving the accuracy of taking and placing the cryopreservation box, and avoiding collisions at the same time.

[0021] Furthermore, the step of "operating the deviation rectification recognition device and obtaining the actual image of the cryopreservation rack" specifically includes: taking pictures in the row direction and the column direction, and after the shooting is completed, splicing the obtained multiple groups of row images to form the actual image. This setting method can improve the shooting efficiency, and finally, after splicing, unified recognition and deviation rectification are performed, with higher efficiency.

[0022] Furthermore, the recognition and deviation rectification of the storage positions are realized by recognizing the positions of the limit pieces of each carrier sheet. It is convenient for recognition and positioning. And one storage position corresponds to two limit pieces. Through the front-back difference between the two limit pieces, it is more beneficial to determine the deviation of the storage position and perform overall deviation rectification.

[0023] Furthermore, during the process of performing the deviation rectification operation, the deviation rectification control method further includes: obtaining the time for performing the deviation rectification operation, denoted as the actual execution time; comparing the actual execution time with the preset time; if the actual execution time is not greater than the preset time, no alarm is given; if the actual execution time is greater than the preset time, an alarm is given to remind the user to check the deviation rectification recognition device. This setting method judges and recognizes in real time according to the actual execution time during the process of performing the deviation rectification operation. When the actual execution time is greater than the preset time, timely alarm and maintenance are carried out to avoid affecting the deviation rectification operation and subsequent normal use due to the failure of the deviation rectification recognition device, and to improve the user experience.

[0024] Furthermore, before performing the deviation rectification operation during the non-working time period, a deviation rectification judgment mode is executed. Specifically, it is determined whether the current time is the preset deviation rectification time to selectively perform the deviation rectification operation. This setting method can perform the deviation rectification operation by setting a specific time period within the non-working interval and performing deviation rectification at a fixed frequency to improve the positioning accuracy of the cryopreservation equipment.

[0025] Furthermore, the non-working time period is the time period between the end time of the daily work and the start time of the next day's work. Thus, a deviation rectification operation is performed once at a fixed time within the non-working time period when the cryopreservation equipment does not perform the picking and placing operations every day, effectively improving the positioning accuracy of the cryopreservation equipment.

[0026] Furthermore, after each deviation rectification operation, the controller performs deep learning recognition based on the latest actual image to replace the previous captured image in the model and replace the actual coordinates of each storage position. Among them, the previous captured image of the cryopreservation rack is the actual image of the cryopreservation rack obtained during the previous deviation rectification operation, and the previous coordinates of the storage position are the actual coordinates of the storage position determined during the previous deviation rectification operation. This setting method, that is, after each deviation rectification, deep learning recognition is performed with the current image to be able to update the training set in the model in a timely manner. As the usage time extends, the positioning accuracy of the cryopreservation equipment can be further improved. Description of the Drawings

[0027] The preferred embodiments of the present application will be described below with reference to the accompanying drawings, in which:

[0028] Figure 1 is a schematic structural diagram of the cryopreservation device of the present application;

[0029] Figure 2 is Figure 1 an enlarged view of the structure A in

[0030] Figure 3 is a flowchart of the main steps of the deviation correction control method of the cryopreservation device of the present application;

[0031] Figure 4 is a flowchart of the execution steps of step S41 of the deviation correction control method of the cryopreservation device of the present application;

[0032] Figure 5 is a flowchart of the specific embodiment 1 of the deviation correction control method of the cryopreservation device of the present application;

[0033] Figure 6 is a flowchart of the specific embodiment 2 of the deviation correction control method of the cryopreservation device of the present application.

[0034] List of reference signs:

[0035] 1. Equipment main body;

[0036] 2. Cryopreservation rack; 21. Rack body; 22. Carrier sheet; 23. Limiting sheet;

[0037] 3. Deviation correction recognition device; 31. First linear movement mechanism; 32. Second linear movement mechanism; 33. Image capturing device;

[0038] 4. Storage position. Specific embodiments

[0039] The preferred embodiments of the present application will be described below with reference to the accompanying drawings. Those skilled in the art should understand that these embodiments are only used to explain the technical principle of the present application and are not intended to limit the protection scope of the present application.

[0040] It should be noted that in the description of the present application, the terms indicating the direction or positional relationship such as "upper", "lower", "left", "right", "top", "bottom", etc. are based on the direction or positional relationship shown in the drawings. This is only for the convenience of description and does not indicate or imply that the device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation of the present application. In addition, the terms "first" and "second" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance.

[0041] In addition, it should be noted that in the description of the present application, unless otherwise clearly specified and limited, the terms "set", "connected", and "installed" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a direct connection or an indirect connection through other components. For those skilled in the art, the specific meanings of the above terms in the present application can be understood according to specific circumstances.

[0042] Based on the problem pointed out in the background art that the existing cryopreservation equipment has low picking and placing efficiency due to real-time deviation correction during the process of picking and placing the cryobox.

[0043] The present application provides a cryopreservation equipment and its deviation correction control method. By setting a deviation correction recognition device, the actual image of the cryoshelf can be obtained, so that the controller can determine the previous position and the actual position of each storage location based on the previous captured image and the actual image of the cryoshelf, and perform deviation correction coordinates for all storage locations simultaneously to achieve overall deviation correction. An overall deviation correction operation can be performed at fixed intervals. Thus, when the manipulator picks and places the cryobox, picking and placing are carried out according to the corrected coordinates, which can not only avoid collision situations and protect the safety of samples, but also avoid real-time deviation correction operations and improve the picking and placing efficiency.

[0044] Specifically, please refer to Figure 1 and Figure 2 simultaneously. The cryopreservation equipment of the present application includes an equipment main body 1, a controller, and a cryoshelf 2 and a deviation correction recognition device 3 located inside the equipment main body 1.

[0045] Among them, a plurality of storage locations 4 for storing cryoboxes are provided on the cryoshelf 2, and the plurality of storage locations 4 are arranged in an array along the first horizontal direction and the vertical direction. Specifically, the cryoshelf 2 includes multiple columns of frame bodies 21, and multiple groups of bearing pieces 22 are provided on each column of frame body 21 at intervals along the vertical direction. Each group of bearing pieces 22 and the frame body 21 form a storage location 4, and the end of each group of bearing pieces 22 has a limiting piece 23 bent upward to limit the cryobox located at the storage location 4.

[0046] The deviation correction recognition device 3 is installed on the equipment main body 1 and is located on one side of the cryoshelf 2. The deviation correction recognition device 3 is set to be able to obtain the actual image of the cryoshelf 2 in the second horizontal direction. The actual image includes the edge position of the cryoshelf 2 and all the storage locations 4, where the second horizontal direction is perpendicular to the plane formed by the first horizontal direction and the vertical direction. Specifically, the first horizontal direction is the left-right direction of the cryoshelf 2, the second horizontal direction is the front-back direction of the cryoshelf 2, and the vertical direction is the up-down direction of the cryoshelf 2.

[0047] The deviation correction identification device 3 is communicatively connected to the controller, and the controller is configured to be able to determine the previous position and the actual position of each storage location 4 based on the previous captured image of the cryogenic storage rack 2 and the actual image obtained by the deviation correction identification device 3, and to perform deviation correction based on the previous position and the actual position to correct the coordinates of each storage location 4, so as to realize the synchronous deviation correction operation of all storage locations 4.

[0048] The cryogenic storage device of the present application includes a device main body 1, a controller, and a cryogenic storage rack 2 and a deviation correction identification device 3 located inside the device main body 1. By providing the deviation correction identification device 3, the actual image of the cryogenic storage rack 2 can be obtained, so that the controller can determine the previous position and the actual position of each storage location 4 based on the previous captured image and the actual image of the cryogenic storage rack 2, and perform deviation correction coordinates on all storage locations 4 simultaneously to achieve overall deviation correction; in addition, the cryogenic storage device can perform an overall deviation correction operation during idle time (i.e., during the non-working time of the cryogenic storage device), without affecting the user's use, so that when the manipulator picks up and places the cryogenic storage box, it can pick up and place according to the corrected coordinates, which can not only avoid collision situations and protect the safety of the samples, but also avoid real-time deviation correction operations and improve the picking and placing efficiency.

[0049] It should be noted that the present application does not impose any restrictions on the specific structure of the deviation correction identification device 3, as long as the deviation correction identification device 3 can successfully obtain the overall photo of the cryogenic storage rack 2. In practical applications, those skilled in the art can set the specific structure of the deviation correction identification device 3 according to actual needs. For example, the deviation correction identification device 3 is set as a plurality of cameras distributed in an array, each camera is arranged facing the cryogenic storage rack 2, and the images captured by the plurality of cameras are stitched together to form a complete image of the cryogenic storage rack 2; or, the deviation correction identification device 3 includes a moving device and a camera arranged on the moving device, and the moving device can drive the camera to move along the first horizontal direction and the vertical direction, so that the camera can capture images of different areas of the cryogenic storage rack 2, and so on. The adjustment and change of the deviation correction identification device 3 do not deviate from the basic principle of the present application and should all be limited within the protection scope of the present application.

[0050] In a preferred embodiment, please continue to refer to Figure 1 and Figure 2 , the deviation correction identification device 3 includes a first linear movement mechanism 31, a second linear movement mechanism 32, and an image capturing device 33.

[0051] The image capturing device 33 is mounted on the first linear moving mechanism 31, and the first linear moving mechanism 31 is mounted on the second linear moving mechanism 32. The first linear moving mechanism 31 is configured to drive the image capturing device 33 to move along the first horizontal direction, and the second linear moving mechanism 32 is configured to drive the first linear moving mechanism 31 and the image capturing device 33 to move along the vertical direction. The image capturing device 33 faces the cryopreservation rack 2 and is used to acquire the actual image of the cryopreservation rack 2. Specifically, the image capturing device 33 can be a camera or a video camera.

[0052] The deviation correction and recognition device 3 is set as the first linear moving mechanism 31, the second linear moving mechanism 32 and the image capturing device 33. By the combined use of the first linear moving mechanism 31 and the second linear moving mechanism 32, the image capturing device 33 can be driven to move in the first horizontal direction and the vertical direction, so that the large-area photos of the cryopreservation rack 2 can be taken in all directions, so as to obtain the complete image of the cryopreservation rack 2, so that all the storage positions 4 can be recognized and corrected at the same time; and the structure is simple and convenient for assembly and use. In addition, compared with setting multiple cameras at different positions at the same time, this setting method can save more space and will not affect the operation of the manipulator, which helps to improve the space utilization rate of the cryopreservation equipment.

[0053] It should be noted that the present application does not impose any restrictions on the specific structure of the first linear moving mechanism 31, as long as the first linear moving mechanism 31 can drive the image capturing device 33 to move along the first horizontal direction. In practical applications, those skilled in the art can set the specific structure of the first linear moving mechanism 31 according to actual needs. For example, the first linear moving mechanism 31 can be set as a linear moving module, or the first linear moving mechanism 31 can be set as a structure in which a motor and a ball screw cooperate with each other. Or, the first linear moving mechanism 31 can also be set as a structure in which a motor drives a gear to rotate and cooperate with a rack to move and cooperate with a linear guide rail, and so on. The adjustment and change of the specific structure of the first linear moving mechanism 31 do not deviate from the basic principle of the present application and should be limited within the protection scope of the present application.

[0054] It should be noted that this application does not impose any restrictions on the specific structure of the second linear movement mechanism 32. As long as the second linear movement mechanism 32 can drive the first linear movement mechanism and the image capturing device 33 to move along the second horizontal direction, in practical applications, those skilled in the art can set the specific structure of the second linear movement mechanism 32 according to actual needs. For example, the second linear movement mechanism 32 can be set as a linear module, or the second linear movement mechanism 32 can be set as a structure that combines a motor and a ball screw. Or, the second linear movement mechanism 32 can also be set as a structure that combines a motor-driven gear rotation with a rack movement and a linear guide rail, and so on. Adjustments and changes to the specific structure of the second linear movement mechanism 32 do not deviate from the basic principle of this application and should all be limited within the protection scope of this application.

[0055] Preferably, the image captured by the image capturing device 33 each time is rectangular or square, and the movement distance of the first linear movement mechanism 31 each time is the same as the length of the image in the first horizontal direction, so that the two adjacent edges of two adjacent images along the first horizontal direction coincide; the movement distance of the second linear movement mechanism 32 each time is the same as the length of the image in the vertical direction, so that the two adjacent edges of two adjacent images along the vertical direction coincide.

[0056] By planning the movement distance of the first linear movement mechanism 31 and the second linear movement mechanism 32 each time, the edges of the images captured by the image capturing device 33 are seamlessly connected, which facilitates the splicing of multiple images into a complete image of the cryopreservation rack 2 and reduces the difficulty of image splicing.

[0057] Preferably, the images captured by the image capturing device 33 when it is located at the two ends of the first linear movement mechanism 31 respectively include the two ends of the cryopreservation rack 2 in the first horizontal direction, and the images captured by the image capturing device 33 when it is located at the two ends of the second linear movement mechanism 32 respectively include the two ends of the cryopreservation rack 2 in the vertical direction.

[0058] Making the images captured by the image capturing device 33 when it is located at the two ends of the first linear movement mechanism 31 respectively include the two ends of the cryopreservation rack 2 in the first horizontal direction, and making the images captured by the image capturing device 33 when it is located at the two ends of the second linear movement mechanism 32 respectively include the two ends of the cryopreservation rack 2 in the vertical direction can enable the finally obtained actual image to include the complete left end, right end, upper end and lower end of the cryopreservation rack 2, so as to obtain a complete image of the cryopreservation rack 2, so as to accurately identify all the storage positions 4, and thus enable synchronous deviation correction for all the storage positions.

[0059] In addition, the cryopreservation device of the present application, in addition to including the above-mentioned structure, further includes a refrigeration system for refrigerating the inside of the device main body 1, a transfer device for transferring the cryopreservation box, a manipulator for accessing the cryopreservation box, as well as necessary structures such as a code scanning mechanism, a defrosting mechanism, and an automatic sealing door. These related structures are all prior art and will not be elaborated here.

[0060] In a second aspect, the present application provides a deviation correction control method for a cryopreservation device. By obtaining a complete image of the cryopreservation rack 2 for the first time, it is possible to correct the deviation of all storage positions 4, correct the coordinates of each storage position 4 recorded in the system, effectively improve the deviation correction efficiency, improve the accuracy of the manipulator for picking and placing the cryopreservation box, and at the same time avoid the collision between the manipulator and the cryopreservation rack 2 when picking and placing the cryopreservation box, protecting the safety of the product. In addition, this deviation correction control method is an overall deviation correction, and there is no need to perform deviation correction during the process of the manipulator picking and placing the cryopreservation box, thereby being able to improve the efficiency of the manipulator for picking and placing the cryopreservation box and improve the work efficiency during the working period.

[0061] Specifically, please refer to Figure 3 , the deviation correction control method of the present application includes the following steps:

[0062] S4: Make the cryopreservation device perform a deviation correction operation.

[0063] Specifically, the deviation correction operation includes:

[0064] S41: Make the deviation correction recognition device 3 operate and obtain the actual image of the cryopreservation rack 2.

[0065] S42: Determine the actual position of each storage position 4 according to the actual image.

[0066] S43: Obtain the previous captured image of the cryopreservation rack 2.

[0067] S44: Determine the previous position of each storage position 4 according to the previous captured image.

[0068] S45: Determine whether there is a position deviation for each storage position 4 according to the actual position and the previous position, and determine the coordinate deviation of each storage position 4 based on the position deviation.

[0069] S46: Obtain the previous coordinates of each storage position 4.

[0070] S47: Determine the actual coordinates of each storage position 4 according to the previous coordinates and the coordinate deviation.

[0071] S48: Replace the previous coordinates of each storage position 4 with the actual coordinates.

[0072] It should be noted that this application does not impose any restrictions on the specific process of obtaining the actual image of the cryopreservation rack 2 in step S41. In practical applications, those skilled in the art can set the operation process of the deviation correction and recognition device 3 according to actual needs to obtain a complete image of the cryopreservation rack 2. For example: the first linear movement mechanism 31 can be controlled to operate to drive the image capturing device 33 to perform row-direction shooting in the first horizontal direction. When one row of shooting is completed, the second linear movement mechanism 32 is controlled to drive the first linear movement mechanism 31 and the image capturing device 33 to move vertically to the position of the second row. After this row of shooting is completed, it is moved to the position of the third row for shooting until it is moved to the last row and the shooting is completed, and then the multiple captured images are stitched together; or the second linear movement mechanism 32 can also be controlled to operate to drive the first linear movement mechanism 31 and the image capturing device 33 to perform column-direction shooting in the vertical direction. When one column of shooting is completed, the first linear movement mechanism 31 is controlled to drive the image capturing device 33 to move along the first horizontal direction to the position of the second column. After this column of shooting is completed, it is moved to the position of the third column for shooting until it is moved to the last column and the shooting is completed, and then the multiple captured images are stitched together. Such adjustments and changes to the specific implementation process of step S41 do not deviate from the basic principle of this application and should all be limited within the protection scope of this application.

[0073] It should be noted that the execution order of the above steps is for reference only. Without affecting the judgment logic, the order of each execution step can be changed. For example, step S41 and step S43 can be executed simultaneously, or step S41, step S43, and step S46 can be executed simultaneously, etc. All adjustments to the order of the specific execution steps should be limited within the protection scope of this application.

[0074] Preferably, step S41 specifically includes:

[0075] Row-direction shooting: The first linear movement mechanism 31 operates to drive the image capturing device 33 to move multiple times along the first horizontal direction from one end of the first linear movement mechanism 31 until it reaches the other end of the first linear movement mechanism 31. Each time it moves, the image capturing device 33 captures an image once, obtaining multiple row images.

[0076] Column-direction shooting: The second linear movement mechanism 32 operates to drive the first linear movement mechanism 31 and the image capturing device 33 to move multiple times along the vertical direction from the top of the second linear movement mechanism 32 until it reaches the bottom of the second linear movement mechanism 32. Each time it moves, the row-direction shooting step is executed once, obtaining M groups of multiple row images, where M is the number of times of executing the row-direction shooting step.

[0077] The edges of the M groups of multiple row images that are close to each other are stitched together to form an actual image.

[0078] In a specific embodiment, please refer to Figure 4 , step S41 specifically includes:

[0079] S411: Operate the second linear moving mechanism 32 to drive the first moving mechanism 31 to move to the second initial position.

[0080] Wherein, the second initial position is the topmost end of the second linear moving mechanism 32.

[0081] S412: Operate the first linear moving mechanism 31 to drive the image capturing device 33 to move to the first initial position.

[0082] Wherein, the first initial position is the leftmost end of the first linear moving mechanism 31.

[0083] S413: The image capturing device 33 captures an image.

[0084] S414: Operate the first linear moving mechanism 31 to drive the image capturing device 33 to move once.

[0085] S415: The image capturing device 33 captures an image.

[0086] S416: Determine whether the image capturing device 33 has moved to the first target position of the first linear moving mechanism 31. If so, execute step S417; if not, return to execute step S414. Wherein, the first target position is the rightmost end of the first linear moving mechanism 31.

[0087] By determining whether the image capturing device 33 has moved to the first target position of the first linear moving mechanism 31, that is, determining whether the image capturing device 33 has completed all the shootings in this row. If the judgment result is "yes", it is necessary to move to the next row for shooting, that is, execute step S417; if the judgment result is "no", it is necessary to continue moving and shooting in this row, that is, execute step S414.

[0088] S417: Determine whether the first linear moving mechanism 31 has moved to the second target position of the second moving mechanism 32. If so, execute step S419; if not, execute step S418 and then return to execute step S412. Wherein, the second target position is the bottommost end of the second linear moving mechanism 32.

[0089] After the image capturing device 33 moves to the first target position of the first linear moving mechanism 31, it is determined whether the first linear moving mechanism 31 has moved to the second target position of the second moving mechanism 32, that is, it is determined whether the line capturing completed this time is the last line capturing. If the determination result is "yes", it means that all the capturing is completed, and step S419 is executed. If the determination result is "no", it means that the last line has not been captured yet and continuous capturing is required, and step S418 is executed.

[0090] S418: Operate the second linear moving mechanism 32 to drive the first moving mechanism 31 and the image capturing device 33 to move once.

[0091] Operate the second linear moving mechanism 32 to drive the first moving mechanism 31 and the image capturing device 33 to move to the next line, and then return to execute step S412, and repeat the line capturing step until all the capturing of the last line is completed.

[0092] S419: Stitch all the obtained images to form an actual image.

[0093] After completing the capturing of all lines and all columns, stitch all the images to obtain a complete image of the cryogenic storage rack 2.

[0094] Preferably, step S42 specifically includes: identifying the positions of the limiting pieces 23 in each group of carrier pieces 22 in the actual image, and determining the actual positions of each storage position 4 according to the positions of the limiting pieces 23.

[0095] Preferably, step S44 specifically includes: identifying the positions of the limiting pieces 23 in each group of carrier pieces 22 in the previous captured image, and determining the previous positions of each storage position 4 according to the positions of the limiting pieces 23.

[0096] By identifying the positions of the limiting pieces 23 of the carrier pieces 22, it is easier to identify and determine the positions of each storage position 4.

[0097] Preferably, refer to Figure 5 , during the execution of the rectification operation, the rectification control method further includes:

[0098] S401: Real-time obtain the time for executing the rectification operation, denoted as the actual execution time.

[0099] S402: Compare the actual execution time with the preset time.

[0100] Determine whether the actual execution time is greater than the preset time, so as to determine whether the rectification operation has been executed for a long time, and further determine whether a failure occurs.

[0101] Among them, the preset time is the duration required for regular deviation correction, and the preset time can be determined through experiments. Before the product leaves the factory, a deviation correction experiment is carried out, tested five times, and the time required for each deviation correction is recorded. 1.2 to 1.5 times the longest time is determined as the preset time to reserve sufficient operation time and avoid errors.

[0102] S403: If the actual execution time is not greater than the preset time, no alarm is given.

[0103] If the actual execution time is not greater than the preset time, it means that the deviation correction operation ends within the preset time or has not exceeded the preset time yet. It is temporarily determined that there is no fault and no alarm is given.

[0104] S404: If the actual execution time is greater than the preset time, an alarm is given to remind the user to check the deviation correction recognition device 3.

[0105] If the actual execution time is greater than the preset time, it means that there is no result after the deviation correction operation has been executed for a long preset time. It is determined that a fault has occurred, and then an alarm is given.

[0106] During the execution of the deviation correction operation, the actual execution time is compared with the preset time. Since the preset time is longer than the normal deviation correction time, the deviation correction operation can normally end within the preset time. Therefore, when the actual execution time is greater than the preset time, it means that the deviation correction recognition device 3 has a fault, and an alarm needs to be given to remind the user to check the deviation correction recognition device 3. Such a setting method can give an alarm for maintenance in time when a fault occurs, so as to avoid affecting the deviation correction operation and subsequent normal use due to the fault of the deviation correction recognition device and improve the user experience.

[0107] Preferably, please refer to Figure 6 , the deviation correction control method of the present application further includes: before the deviation correction operation is executed during the non-working time period, execute the deviation correction judgment mode to judge whether to execute the deviation correction operation.

[0108] Specifically, "executing the deviation correction judgment mode" specifically includes:

[0109] S1: Obtain the current time.

[0110] S2: Judge whether the current time is equal to the preset deviation correction time.

[0111] S3: If the current time is not equal to the preset deviation correction time, return to execute obtaining the current time.

[0112] S4: If the current time is equal to the preset deviation correction time, make the cryogenic storage device execute the deviation correction operation.

[0113] Before the non - working time period and before performing the deviation correction operation, a deviation correction judgment mode is executed. Specifically, by judging whether the current time is the preset deviation correction time, the deviation correction operation is selectively executed. Such a setting method can perform the deviation correction operation by setting a specific time period within the non - working interval and perform the deviation correction at a fixed frequency to improve the positioning accuracy of the cryogenic storage device.

[0114] Preferably, the non - working time period is the time period between the end time of the current day's work and the start time of the next day's work.

[0115] Preferably, the preset deviation correction time is any time point between 5:00 am and 7:00 am every day. For example, the preset deviation correction time is 6:00 am every day.

[0116] Performing deviation correction during non - working hours does not affect the user's use, and performing the deviation correction operation during the period approaching work can timely correct the coordinates of each storage location 4, thereby improving the picking and placing efficiency during the work period of the current day and better improving the operation safety of the cryogenic storage device.

[0117] Preferably, after each execution of the deviation correction operation, the controller performs deep - learning recognition based on the latest actual image to replace the previous captured image in the model and replace the actual coordinates of each storage location 4. Among them, the previous captured image of the cryogenic storage rack 2 is the actual image of the cryogenic storage rack 2 obtained during the previous execution of the deviation correction operation, and the previous coordinate of the storage location 4 is the actual coordinate of the storage location 4 determined during the previous execution of the deviation correction operation.

[0118] After each execution of the deviation correction operation, the controller performs deep - learning recognition based on the latest actual image to replace the previous captured image in the model and replace the actual coordinates of each storage location 4. Among them, the previous captured image of the cryogenic storage rack 2 is the actual image of the cryogenic storage rack 2 obtained during the previous execution of the deviation correction operation, and the previous coordinate of the storage location 4 is the actual coordinate of the storage location 4 determined during the previous execution of the deviation correction operation. Such a setting method, that is, after each execution of the deviation correction, deep - learning recognition is performed on the image obtained this time to be able to timely update the training set in the model. As the usage time extends, the positioning accuracy of the cryogenic storage device can be further improved, and the user experience can be better enhanced.

[0119] In addition, it should be noted that before the cryopreservation device leaves the factory, the controller has stored the images of the cryopreservation rack 2 taken at room temperature, which are used as the original images of the training set in the model. When the first correction is performed, the image taken last time is the original image. With the application of the cryopreservation device and the execution of the correction operation, the training set in the model is continuously added with the original images and iterated into the actual images of the latest cryopreservation rack 2. Of course, the original images and all the data obtained from each correction operation are also stored in the controller as historical records for subsequent export and viewing.

[0120] So far, the technical solutions of the present application have been described in conjunction with the preferred embodiments shown in the drawings. However, it is easy for those skilled in the art to understand that the protection scope of the present application is obviously not limited to these specific embodiments. Without departing from the principle of the present application, those skilled in the art can make equivalent changes or substitutions to the relevant technical features, and the technical solutions after these changes or substitutions will fall within the protection scope of the present application.

Claims

1. A cryopreservation device, characterized in that, The cryopreservation device includes a device main body (1), a controller, a cryopreservation rack (2) and a deviation correction and recognition device (3) located within the device main body (1). The cryopreservation rack (2) is provided with a plurality of storage positions (4) for storing cryopreservation boxes, and the plurality of storage positions (4) are arranged in an array along a first horizontal direction and a vertical direction. The deviation correction and recognition device (3) is installed on the device main body (1) and is located on one side of the cryopreservation rack (2). The deviation correction and recognition device (3) is configured to be able to acquire an actual image of the cryopreservation rack (2) in a second horizontal direction. The actual image includes the edge positions of the cryopreservation rack (2) and all the storage positions (4). Among them, the second horizontal direction is perpendicular to the plane formed by the first horizontal direction and the vertical direction. The deviation correction and recognition device (3) is communicatively connected to the controller. The controller is configured to be able to determine the previous position and the actual position of each storage position (4) based on the previous captured image of the cryopreservation rack (2) and the actual image acquired by the deviation correction and recognition device (3), and be able to perform deviation correction based on the previous position and the actual position to correct the coordinates of each storage position (4), so as to achieve synchronous deviation correction operations for all storage positions (4).

2. The cryopreservation device according to claim 1, wherein The deviation correction and recognition device (3) includes a first linear movement mechanism (31), a second linear movement mechanism (32) and an image capturing device (33). The image capturing device (33) is installed on the first linear movement mechanism (31), and the first linear movement mechanism (31) is installed on the second linear movement mechanism (32). The first linear movement mechanism (31) is configured to be able to drive the image capturing device (33) to move along the first horizontal direction, and the second linear movement mechanism (32) is configured to be able to drive the first linear movement mechanism (31) and the image capturing device (33) to move along the vertical direction. The image capturing device (33) is arranged facing the cryopreservation rack (2) for acquiring the actual image of the cryopreservation rack (2).

3. The cryopreservation device according to claim 2, wherein, The image captured by the image capturing device (33) each time is rectangular or square. The movement spacing of the first linear movement mechanism (31) each time is consistent with the length of the image in the first horizontal direction, so that two adjacent edges of two adjacent images along the first horizontal direction coincide. The movement spacing of the second linear movement mechanism (32) each time is consistent with the length of the image in the vertical direction, so that two adjacent edges of two adjacent images along the vertical direction coincide.

4. The cryopreservation device according to claim 2, wherein, The images captured by the image capturing device (33) when it is located at the two ends of the first linear movement mechanism (31) respectively include the two ends of the cryopreservation rack (2) in the first horizontal direction. The images captured by the image capturing device (33) when it is located at the two ends of the second linear movement mechanism (32) respectively include the two ends of the cryopreservation rack (2) in the vertical direction.

5. A deviation correction control method for a cryopreservation device, characterized in that, The cryopreservation device is the cryopreservation device described in any one of claims 1 to 4, and the deviation correction control method includes: Making the cryopreservation device perform the deviation correction operation, where the deviation correction operation includes: Operating the deviation correction recognition device (3) and obtaining the actual image of the cryopreservation rack (2); Determining the actual position of each storage location (4) according to the actual image; Obtaining the previous captured image of the cryopreservation rack (2); Determining the previous position of each storage location (4) according to the previous captured image; Determining whether there is a position deviation for each storage location (4) according to the actual position and the previous position, and determining the coordinate deviation of each storage location (4) based on the position deviation; Obtaining the previous coordinate of each storage location (4); Determining the actual coordinate of each storage location (4) according to the previous coordinate and the coordinate deviation; Replacing the previous coordinate of each storage location (4) with its actual coordinate.

6. The deviation correction control method of the cryopreservation device according to claim 5, which refers to any one of claims 2 to 4, is characterized in that, The step of "operating the deviation correction recognition device and obtaining the actual image of the cryopreservation rack" specifically includes: Row direction shooting: The first linear movement mechanism (31) operates to drive the image shooting device (33) to move multiple times along the first horizontal direction from one end of the first linear movement mechanism (31) until reaching the other end of the first linear movement mechanism (31). Each time it moves, the image shooting device (33) takes a picture once to obtain multiple row images; Column direction shooting: The second linear movement mechanism (32) operates to drive the first linear movement mechanism (31) and the image shooting device (33) to move multiple times along the vertical direction from the top of the second linear movement mechanism (32) until reaching the bottom of the second linear movement mechanism (32). Each time it moves, the row direction shooting step is executed once to obtain M groups of the multiple row images, where M is the number of shooting times for executing the row direction shooting step; Stitching the edges of the M groups of the multiple row images that are close to each other to form the actual image.

7. The deviation correction control method of the cryopreservation device according to claim 6, characterized in that, The cryopreservation rack (2) includes multiple columns of rack bodies (21). On each column of rack body (21), multiple groups of bearing pieces (22) are arranged at intervals along the vertical direction. Each group of bearing pieces (22) and the rack body (21) form the storage location (4). The end of each group of bearing pieces (22) has a limiting piece (23) that bends upward to limit the cryopreservation box located at the storage location (4); The step of "determining the actual position of each storage location (4) according to the actual image" specifically includes: Identifying the position of the limiting piece (23) in each group of bearing pieces (22) in the actual image, and determining the actual position of each storage location (4) according to the position of the limiting piece (23); The step of "determining the previous position of each storage location (4) according to the previous captured image" specifically includes: Identifying the position of the limiting piece (23) in each group of bearing pieces (22) in the previous captured image, and determining the previous position of each storage location (4) according to the position of the limiting piece (23).

8. The deviation correction control method of the cryopreservation device according to claim 5, characterized in that, During the execution of the rectification operation, the rectification control method further includes: Obtain the time for executing the rectification operation, denoted as the actual execution time; Compare the actual execution time with a preset time; If the actual execution time is not greater than the preset time, no alarm is given; If the actual execution time is greater than the preset time, an alarm is given to remind the user to check the rectification recognition device (3).

9. The deviation correction control method of the cryopreservation device according to any one of claims 5 to 8, characterized in that, The rectification control method further includes: before the rectification operation is executed during the non-working period, execute a rectification judgment mode to judge whether to execute the rectification operation; "Executing the rectification judgment mode" specifically includes: Obtain the current time; Judge whether the current time is equal to the preset rectification time; If the current time is not equal to the preset rectification time, return to execute the operation of obtaining the current time; If the current time is equal to the preset rectification time, cause the cryogenic storage device to execute the rectification operation; And / or, after each execution of the rectification operation, the controller performs deep learning recognition based on the latest actual image to replace the previous captured image in the model and replace the actual coordinates of each storage location (4), where the previous captured image of the cryogenic storage rack (2) is the actual image of the cryogenic storage rack (2) obtained during the previous execution of the rectification operation, and the previous coordinates of the storage location (4) are the actual coordinates of the storage location (4) determined during the previous execution of the rectification operation.

10. The deviation correction control method of the cryogenic storage device according to claim 9, characterized in that, The non-working period is the period between the end time of the day's work and the start time of the next day's work.

Images