Sample access control method and device, automatic sample library and storage medium

Abstract

The invention relates to the technical field of sample storage, in particular to a sample access control method and device, an automatic sample library and a storage medium, at least one internal sample box is determined through a received sample access request, and the current storage position of the internal sample box is positioned; path planning is performed based on the internal sample box and the current storage position to obtain a target moving path, and the sample box selecting module is controlled to move according to the target moving path, so that the efficiency of extracting the sample box in the sample library is improved, and the sample storage safety is improved; finally, the sample test tubes of the external sample box are synchronously transferred to the internal sample box through the sample tube picking module, and the internal sample box is re-stored to the sample storage module based on the planned target moving path, so that the exposure time of the sample box is shortened; the technical problem that in the prior art, the efficiency of storing or extracting the sample test tubes in the sample library is low is solved.

Description

Technical Field

[0001] The present invention relates to the field of sample storage technology, and in particular to a sample access control method and device, an automated sample library, and a storage medium. Background Art

[0002] In the field of biological sample storage, different biological samples have different storage environment requirements, and different environments need to be selected to store biological samples. When biological samples are put in and out of the warehouse, they need to be picked up by a tube picking device so that the test tubes containing biological samples can be transferred to the sample box for storage or output.

[0003] However, in traditional technologies, when faced with the problem of storing or extracting multiple sample tubes at the same time, they are generally processed in the order of storage or extraction, which is inefficient and seriously affects the activity of the samples in the biological tubes.

[0004] The above content is only used to assist in understanding the technical solution of the present invention and does not constitute an admission that the above content is prior art. Summary of the Invention

[0005] The main purpose of the present invention is to provide a sample access control method, device, automated sample library and storage medium, aiming to solve the technical problem of low efficiency in storing or extracting sample tubes in the sample library in the prior art.

[0006] To achieve the above-mentioned object, the present invention provides a sample access control method, which is applied to an automated sample library, wherein the automated sample library at least comprises: a sample storage module, a sample picking box module, a sample picking tube module, and a sample access port, wherein the sample picking box module is provided with a picking box platform and a first picking box robot arm, and the sample picking tube module is provided with a picking tube platform, a second picking box robot arm, and a picking tube robot arm, wherein the sample storage module is used to store biological samples, the sample picking box module is used to transfer an internal sample box in the sample storage module to the picking tube platform of the sample picking tube module through the first picking box robot arm, or to transfer an internal sample box on the picking tube platform to the sample storage module for storage, the sample picking tube module is used to transfer a biological sample test tube in an external sample box to an internal sample box on the picking tube platform through the picking tube robot arm, or to transfer a biological sample test tube in the internal sample box to an external sample box on the picking tube platform, and the sample access port is used to receive or output an external sample box; The method comprises the following steps: receiving an external sample cartridge through the sample access port in response to a sample storage request; determining at least one internal sample box based on the sample access request and locating a current storage location of the internal sample box; Performing path planning based on the internal sample box and the current storage position to obtain a target moving path; Controlling the sample picking module to move based on the target movement path, and transferring the internal sample boxes stored in the sample storage module to the picking platform through the first picking robot arm; Transferring the inner sample box to the tube picking platform by the first box picking robot arm, and transferring the outer sample box to the tube picking platform by the second box picking robot arm; Transferring the biological sample tube in the external sample box to the internal sample box by the tube picking robot based on the sample access request; The sample picking module is controlled to move based on the target moving path, and the target internal sample box is transferred and stored in the sample storage module by the first picking robot arm to store the biological sample.

[0007] Optionally, performing path planning based on the internal sample box and the current storage position to obtain a target movement path includes: generating path planning constraints according to the storage conditions of the internal sample box; Deduplicating the current storage positions, and determining an initial movement order based on the deduplicated current storage positions; The initial movement sequence is optimized based on the path planning constraints through a particle swarm optimization model to obtain a target movement path.

[0008] Optionally, optimizing the initial movement sequence through a particle swarm optimization model based on the path planning constraints to obtain a target movement path includes: Calculate the constraint condition intensive parameters of each path planning constraint condition. Accordingly, the calculation formula of the constraint condition intensive parameter is:

[0009] Among them, D is the constraint condition density parameter, T0 is the standard time length for taking out the internal sample box under standard conditions, and N is the number of constraints. is the remaining shelf life of the sample under each constraint condition; Counting the total movement length of the initial movement sequence; Calculating a path planning fitness parameter according to the constraint condition density parameter, the standard time length for taking out the internal sample box under standard conditions, and the total movement length; When the path planning fitness parameter is less than a preset threshold, outputting a target moving path based on the initial moving sequence; Accordingly, the calculation formula of the path planning fitness parameter is:

[0010] Among them, f(x) is the path planning fitness parameter, L(x) is the total moving length, T is the standard time length for taking out the internal sample box under standard conditions, and D is the constraint condition density parameter. They refer to the standard time for taking out the internal sample box under standard conditions and the weight coefficient of the intensive parameter of the constraint condition.

[0011] Optionally, after calculating the path planning fitness parameter according to the constraint condition density parameter, the standard time length for taking out the internal sample box under standard conditions, and the total movement length, the method further includes: When the path planning fitness parameter is less than a preset threshold, determining a target position of the internal sample box affected by the constraint condition; Adjusting the path planning priority of the target location; Path planning is performed according to the target position after the priority adjustment and the current storage position of each internal sample box until the path planning fitness parameter is less than a preset threshold, and the target moving path is output.

[0012] Optionally, determining at least one internal sample box based on the sample access request and locating a current storage position of the internal sample box includes: Traversing the types and quantities of samples to be stored based on the sample storage request; querying, according to the type of the stored sample, whether there is an internal sample box of the same type of biological sample in the sample storage module; If so, locating the current storage location of the internal sample box; If not, the storage condition of the sample to be stored is obtained, and the current storage position of any idle internal sample box is located based on the storage condition, and the storage condition of the storage position of the idle internal sample box is the same as the storage condition of the sample to be stored.

[0013] Optionally, the sample access control method further includes: receiving an external sample cartridge through the sample access port in response to a sample extraction request; determining at least one internal sample box based on the sample access request and locating a current storage location of the internal sample box; Performing path planning based on the internal sample box and the current storage position to obtain a target moving path; Controlling the sample picking module to move based on the target movement path, and transferring the internal sample boxes stored in the sample storage module to the picking platform through the first picking robot arm; Transferring the inner sample box to the tube picking platform by the first box picking robot arm, and transferring the outer sample box to the tube picking platform by the second box picking robot arm; Transferring the biological sample tube in the internal sample box to the external sample box by the tube picking robot based on the sample access request; The target external sample box is moved to the sample access port based on the second robotic arm to extract the biological sample.

[0014] In addition, to achieve the above-mentioned purpose, the present invention further provides a sample access control device, the sample access control device comprising: a sample box receiving module, configured to receive an external sample box through the sample access port in response to a sample storage request; a sample box positioning module, configured to determine at least one internal sample box based on the sample access request and locate a current storage position of the internal sample box; a path planning module, configured to perform path planning based on the internal sample box and the current storage position to obtain a target movement path; an internal box picking module, configured to control the movement of the sample box picking module based on the target movement path, and to transfer the internal sample box stored in the sample storage module to the box picking platform through the first box picking robot; a sample box transfer module, configured to transfer the internal sample box to the tube picking platform via the first box picking robot arm, and to transfer the external sample box to the tube picking platform via the second box picking robot arm; a tube picking module, configured to transfer the biological sample tube in the external sample box to the internal sample box through the tube picking robot arm based on the sample access request; The sample box storage module is used to control the movement of the sample box picking module based on the target movement path, and transfer the target internal sample box to the sample storage module through the first box picking robot arm to store biological samples.

[0015] In addition, to achieve the above-mentioned purpose, the present invention also proposes an automated sample library, which includes: a memory, a processor, and a sample access control program stored in the memory and executable on the processor, wherein the sample access control program is configured to implement the steps of the sample access control method described above.

[0016] In addition, to achieve the above-mentioned purpose, the present invention further proposes a storage medium, on which a sample access control program is stored. When the sample access control program is executed by a processor, the steps of the sample access control method described above are implemented.

[0017] In addition, to achieve the above-mentioned purpose, the present application also provides a computer program product, which includes a computer program. When the computer program is executed by a processor, the steps of the sample access control method described above are implemented.

[0018] The present invention receives an external sample box through the sample access port in response to a sample storage request; determines at least one internal sample box based on the sample access request and locates the current storage position of the internal sample box; performs path planning based on the internal sample box and the current storage position to obtain a target movement path; controls the movement of the sample picking box module based on the target movement path, and transfers the internal sample box stored in the sample storage module to the picking box platform through the first picking box robot; transfers the internal sample box to the tube picking platform through the first picking box robot, and transfers the external sample box to the tube picking platform through the second picking box robot; transfers the biological sample test tube in the external sample box to the internal sample box through the tube picking robot based on the sample access request; controls the movement of the sample picking box module based on the target movement path, and transfers the internal sample box stored in the sample storage module to the picking box platform through the first picking box robot; transfers the internal sample box to the tube picking platform through the first picking box robot, and transfers the external sample box to the tube picking platform through the second picking box robot; transfers the biological sample test tube in the external sample box to the internal sample box through the tube picking robot based on the sample access request; and controls the movement of the sample picking box module based on the target movement path. The sample picking box module moves, and the target internal sample box is transferred and stored in the sample storage module through the first picking box robot arm to store biological samples. Compared with the existing technology, this embodiment determines at least one internal sample box through the received sample access request, and locates the current storage position of the internal sample box; path planning is performed based on the internal sample box and the current storage position to obtain the target moving path, and the sample picking box module is controlled to move according to the target moving path, thereby improving the efficiency of extracting sample boxes in the sample library and improving the safety of sample storage. Finally, the sample tubes of the external sample box are synchronously transferred to the internal sample box through the sample picking tube module, and the internal sample box is stored back in the sample storage module based on the planned target moving path, thereby reducing the exposure time of the sample box and avoiding the technical problem of low efficiency in storing or extracting sample tubes in the sample library in the existing technology. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0020] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0021] Figure 1 1. It is a flow chart of a first embodiment of a sample access control method according to the present invention; Figure 22. It is a flow chart of a second embodiment of the sample access control method of the present invention; Figure 3 is a structural block diagram of a first embodiment of a sample access control device according to the present invention; Figure 4 It is a structural diagram of an automated sample library of a hardware operating environment involved in an embodiment of the present invention.

[0022] The purpose, features and advantages of the present invention will be further described with reference to the accompanying drawings and in conjunction with the embodiments. DETAILED DESCRIPTION

[0023] It should be understood that the specific embodiments described herein are merely used to explain the technical solutions of the present application and are not intended to limit the present application.

[0024] In order to better understand the technical solution of the present application, a detailed description will be given below in conjunction with the accompanying drawings and specific implementation methods.

[0025] Based on this, the embodiment of the present invention provides a sample access control method, referring to Figure 1 , Figure 1 FIG. 1 is a flow chart of a first embodiment of a sample access control method according to the present invention.

[0026] In this embodiment, the sample access control method includes: Step S10: In response to a sample storage request, receiving an external sample box through the sample access port.

[0027] Step S20: determining at least one internal sample box based on the sample access request, and locating a current storage position of the internal sample box.

[0028] Step S30: performing path planning based on the internal sample box and the current storage position to obtain a target moving path.

[0029] Step S40: controlling the sample box picking module to move based on the target moving path, and transferring the internal sample boxes stored in the sample storage module to the box picking platform through the first box picking robot arm.

[0030] Step S50: The first box picking robot transfers the inner sample box to the tube picking platform, and the second box picking robot transfers the outer sample box to the tube picking platform.

[0031] Step S60 : Based on the sample access request, the biological sample tube in the external sample box is transferred to the internal sample box by the tube picking robot.

[0032] Step S70: Controlling the sample picking module to move based on the target moving path, and transferring the target internal sample box to the sample storage module through the first picking robot arm to store the biological sample.

[0033] It should be noted that the execution subject of this embodiment can be a computing service device with data processing, network communication, and program execution functions, such as a tablet computer, personal computer, mobile phone, etc., or an electronic device capable of performing the above functions, a control computer communicatively connected to the automated sample library, or a controller of the automated sample library. This embodiment and the following embodiments will be described below using the controller of the automated sample library as an example.

[0034] The automated sample library mentioned in this embodiment and subsequent embodiments at least includes: a sample storage module, a sample box picking module, a sample tube picking module and a sample access port. The sample box picking module is provided with a box picking platform and a first box picking robot arm. The sample tube picking module is provided with a tube picking platform, a second box picking robot arm and a tube picking robot arm. The sample storage module is used to store biological samples. The sample box picking module is used to transfer the internal sample box in the sample storage module to the tube picking platform of the sample tube picking module through the first box picking robot arm, or to transfer the internal sample box on the tube picking platform to the sample storage module for storage. The sample tube picking module is used to transfer the biological sample tube in the external sample box to the internal sample box on the tube picking platform through the tube picking robot arm, or to transfer the biological sample tube in the internal sample box to the external sample box on the tube picking platform. The sample access port is used to receive or output the external sample box.

[0035] Among them, the second box picking robot arm is used to transfer the external sample box of the sample access port to the tube picking platform of the sample tube picking module. In addition, in this embodiment, at least two tube picking platforms are provided in the sample tube picking module. During the storage process, the external sample box is placed on the first tube picking platform through the second robot arm. At the same time, at least one internal sample box on the sample box picking module is placed on the second tube picking platform through the first robot arm. In order to improve the accuracy of tube picking, the internal sample box can be transferred from the second tube picking platform to the first tube picking platform through the second robot arm to align the internal sample box with the external sample box, thereby forming a sample contrast with obvious contrast. During tube picking identification, the recognition of biological sample test tubes can be enhanced.

[0036] If there are multiple types of sample tubes in the external sample box, these sample tubes may need to be placed in different internal sample boxes for storage in different storage environments. Therefore, after the sample is inserted into an internal sample box, the internal sample box with completed sample insertion can be directly placed back into the box picking platform of the sample box picking module through the first mechanical wall of the sample box picking module to reserve space for tube picking for subsequent internal sample boxes.

[0037] Since different types of samples may have different storage conditions, in order to save time, these samples may be placed in an external sample box for transportation during storage or extraction. However, in order to avoid confusion in sample storage or extraction, and to maintain the activity of the samples, this embodiment can, when facing the storage or extraction of multiple types and quantities of samples, first plan the path of the sample picking box module when extracting from the internal sample box to reduce the exposure time of sample tubes with harsh storage conditions in the environment and reduce the possibility of sample damage. For some samples with special storage environments, this embodiment also sets up a special enclosed storage space in the sample picking box module. When these samples with special storage environments need to be transported, these samples can be stored separately in this space. However, if there are multiple special samples at the same time, multiple transfers are required to avoid storage condition conflicts between different samples.

[0038] It should be understood that after all the biological sample tubes in the external sample box are transferred to the internal sample box, the sample picking box module can be controlled to move based on the pre-determined target moving path, and the target internal sample box with the transferred samples to be stored can be transported and stored to the sample storage module in the corresponding area through the first picking box robot arm to store the biological samples. In this process, since the internal sample tubes with harsh storage conditions are taken later, after the tubes to be stored are completed, these internal sample tubes with harsh storage conditions need to be stored first, that is, controlling the movement of the sample picking box module based on the target moving path in this embodiment means controlling the sample picking box module to move in the opposite direction based on the target moving path to restore each internal sample box.

[0039] Furthermore, the determining of at least one internal sample box based on the sample access request and locating a current storage position of the internal sample box includes: Traversing the types and quantities of samples to be stored based on the sample storage request; querying, according to the type of the stored sample, whether there is an internal sample box of the same type of biological sample in the sample storage module; If so, locating the current storage location of the internal sample box; If not, the storage condition of the sample to be stored is obtained, and the current storage position of any idle internal sample box is located based on the storage condition, and the storage condition of the storage position of the idle internal sample box is the same as the storage condition of the sample to be stored.

[0040] It should be noted that when the sample box picking module extracts the sample tubes from the sample storage module, it does not remove the empty sample boxes every time, but stores the samples of the same type or with the same storage conditions together. Therefore, when taking out the sample tubes from the sample storage module, it is necessary to first traverse the types and quantities of the samples to be stored in order to locate whether there are internal sample boxes of the same type of biological samples in the sample storage module. If so, the internal sample boxes of the same type or with the same storage conditions of biological samples can be taken out for subsequent tube picking and storage actions.

[0041] If there are no sample tubes of the same type or with the same storage conditions in the sample storage module, the current storage position of any idle internal sample box can be located based on the storage conditions of the sample to be stored, and the sample box selection module of the idle internal sample box can be removed to open up a new storage area.

[0042] Furthermore, the sample access control method further includes: receiving an external sample cartridge through the sample access port in response to a sample extraction request; determining at least one internal sample box based on the sample access request and locating a current storage location of the internal sample box; Performing path planning based on the internal sample box and the current storage position to obtain a target moving path; Controlling the sample picking module to move based on the target movement path, and transferring the internal sample boxes stored in the sample storage module to the picking platform through the first picking robot arm; Transferring the inner sample box to the tube picking platform by the first box picking robot arm, and transferring the outer sample box to the tube picking platform by the second box picking robot arm; Transferring the biological sample tube in the internal sample box to the external sample box by the tube picking robot based on the sample access request; The target external sample box is moved to the sample access port based on the second robotic arm to extract the biological sample.

[0043] During the specific implementation process, there is a certain difference from the sample storage process. When the external sample box and the internal sample box are both on the tube picking platform, the biological sample tube in the internal sample box is transferred to the external sample box by the tube picking robot arm, and the target external sample box storing the extracted biological sample tube is moved to the sample access port based on the second robot arm to extract the biological sample.

[0044] This embodiment determines at least one internal sample box through the received sample access request and locates the current storage position of the internal sample box; performs path planning based on the internal sample box and the current storage position to obtain the target moving path, and controls the sample picking box module to move according to the target moving path, thereby improving the efficiency of extracting sample boxes in the sample library and improving the security of sample storage; finally, the sample tubes of the external sample box are synchronously transferred to the internal sample box through the sample picking tube module, and the internal sample box is restored to the sample storage module based on the planned target moving path, thereby reducing the exposure time of the sample box and avoiding the technical problem of low efficiency in storing or extracting sample tubes in the sample library in the prior art.

[0045] Based on the first embodiment of the present application, in the second embodiment of the present application, the same or similar contents as those in the above embodiment 1 can be referred to the above introduction and will not be described in detail later. Figure 2 Step S30 includes: Step S301: Generate path planning constraints according to the storage conditions of the internal sample box.

[0046] Step S302: Deduplication is performed on the current storage positions, and an initial movement sequence is determined based on the deduplication-free current storage positions.

[0047] Step S303: Optimizing the initial movement sequence through a particle swarm optimization model based on the path planning constraints to obtain a target movement path.

[0048] It should be noted that due to the differences in storage conditions for different samples, and considering that some samples are more sensitive and their activity may be damaged if exposed to the external environment or an unsuitable environment for a long time, this embodiment sets path planning constraints for the storage conditions of different samples, where the path planning constraints include at least: whether special storage is required, maximum exposure time, etc. This embodiment does not impose specific restrictions on this.

[0049] Since the sample storage modules in this embodiment are symmetrically distributed in the spatial architecture, and the sample picking box module can sample in both directions, deduplication processing can be performed in some areas where the storage locations are symmetrically distributed to reduce interference in the maximum moving path calculation in the post-path planning process.

[0050] Furthermore, the initial movement sequence is optimized by a particle swarm optimization model based on the path planning constraints to obtain a target movement path, including: Calculate the constraint condition intensive parameters of each path planning constraint condition. Accordingly, the calculation formula of the constraint condition intensive parameter is:

[0051] Among them, D is the constraint condition density parameter, T0 is the standard time length for taking out the internal sample box under standard conditions, and N is the number of constraints. is the remaining shelf life of the sample under each constraint condition; Counting the total movement length of the initial movement sequence; Calculating a path planning fitness parameter according to the constraint condition density parameter, the standard time length for taking out the internal sample box under standard conditions, and the total movement length; When the path planning fitness parameter is less than a preset threshold, outputting a target moving path based on the initial moving sequence; Accordingly, the calculation formula of the path planning fitness parameter is:

[0052] Among them, f(x) is the path planning fitness parameter, L(x) is the total moving length, T is the standard time length for taking out the internal sample box under standard conditions, and D is the constraint condition density parameter. They refer to the standard time for taking out the internal sample box under standard conditions and the weight coefficient of the intensive parameter of the constraint condition.

[0053] In the specific implementation, this embodiment adopts the constraints of two dimensions, shortest path and shortest time, when performing path planning. Taking into account that some samples are damaged due to the influence of external environment, temperature, light and other factors, this embodiment sets the remaining shelf life of the samples to quantify the intensive parameters of the constraint conditions under each constraint condition, thereby optimizing the path planning path.

[0054] Furthermore, after calculating the path planning fitness parameter according to the constraint condition density parameter, the standard time length for taking out the internal sample box under standard conditions, and the total movement length, the method further includes: When the path planning fitness parameter is less than a preset threshold, determining a target position of the internal sample box affected by the constraint condition; Adjusting the path planning priority of the target location; Path planning is performed according to the target position after the priority adjustment and the current storage position of each internal sample box until the path planning fitness parameter is less than a preset threshold, and the target moving path is output.

[0055] Specifically, if the path planning fitness parameter is less than the preset threshold, it means that the currently planned path may cause some samples to be damaged during the transportation time. Therefore, this embodiment will increase the path planning priority of the internal sample box affected by the constraint conditions to delay the extraction time of the internal sample box affected by the constraint conditions, or extract it separately, even if the total moving length changes in the process, thereby improving the safety of the samples and the efficiency of sample transportation, storage and extraction.

[0056] This embodiment generates path planning constraints based on the storage conditions of the internal sample box; deduplicates the current storage position and determines the initial movement order based on the deduplicated current storage position; optimizes the initial movement order through a particle swarm optimization model based on the path planning constraints to obtain a target movement path, and defines path planning constraints based on the storage conditions of the internal sample box to optimize the initial movement order, thereby obtaining a planned path with less loss and higher efficiency, thereby improving the efficiency of sample storage and extraction.

[0057] This application also provides a sample access control device, please refer to Figure 3 , the sample access control device includes: The sample box receiving module 10 is configured to receive an external sample box through the sample access port in response to a sample storage request.

[0058] The sample box positioning module 20 is configured to determine at least one internal sample box based on the sample access request and locate a current storage position of the internal sample box.

[0059] The path planning module 30 is configured to perform path planning based on the internal sample box and the current storage position to obtain a target moving path.

[0060] The internal box picking module 40 is used to control the movement of the sample box picking module based on the target movement path, and transfer the internal sample box stored in the sample storage module to the box picking platform through the first box picking robot arm.

[0061] The sample box transfer module 50 is configured to transfer the internal sample box to the tube picking platform via the first box picking robot arm, and to transfer the external sample box to the tube picking platform via the second box picking robot arm.

[0062] The tube picking module 60 is configured to transfer the biological sample tube in the external sample box to the internal sample box through the tube picking robot arm based on the sample access request.

[0063] The sample box storage module 70 is used to control the movement of the sample box picking module based on the target movement path, and to transfer the target internal sample box to the sample storage module through the first box picking robot arm to store biological samples.

[0064] This embodiment determines at least one internal sample box through the received sample access request and locates the current storage position of the internal sample box; performs path planning based on the internal sample box and the current storage position to obtain the target moving path, and controls the sample picking box module to move according to the target moving path, thereby improving the efficiency of extracting sample boxes in the sample library and improving the security of sample storage; finally, the sample tubes of the external sample box are synchronously transferred to the internal sample box through the sample picking tube module, and the internal sample box is restored to the sample storage module based on the planned target moving path, thereby reducing the exposure time of the sample box and avoiding the technical problem of low efficiency in storing or extracting sample tubes in the sample library in the prior art.

[0065] In one embodiment, the path planning module 30 is further used to generate path planning constraints based on the storage conditions of the internal sample box; deduplicate the current storage positions and determine the initial movement sequence based on the deduplicated current storage positions; and optimize the initial movement sequence through a particle swarm optimization model based on the path planning constraints to obtain a target movement path.

[0066] In one embodiment, the path planning module 30 is further configured to calculate a constraint intensive parameter for each path planning constraint. Accordingly, the calculation formula for the constraint intensive parameter is:

[0067] Among them, D is the constraint condition density parameter, T0 is the standard time length for taking out the internal sample box under standard conditions, and N is the number of constraints. is the remaining shelf life of the sample under each constraint condition; the total movement length of the initial movement sequence is counted; the path planning fitness parameter is calculated based on the constraint condition density parameter, the standard time length for taking out the internal sample box under standard conditions, and the total movement length; when the path planning fitness parameter is less than a preset threshold, the target movement path is output based on the initial movement sequence; accordingly, the calculation formula of the path planning fitness parameter is:

[0068] Among them, f(x) is the path planning fitness parameter, L(x) is the total moving length, T is the standard time length for taking out the internal sample box under standard conditions, and D is the constraint condition density parameter. They refer to the standard time for taking out the internal sample box under standard conditions and the weight coefficient of the intensive parameter of the constraint condition.

[0069] In one embodiment, the path planning module 30 is further used to determine the target position of the internal sample box affected by the constraint conditions when the path planning fitness parameter is less than a preset threshold; adjust the path planning priority of the target position; perform path planning based on the target position after the adjusted priority and the current storage position of each internal sample box until the path planning fitness parameter is less than the preset threshold, and output the target moving path.

[0070] In one embodiment, the sample box positioning module 20 is further used to traverse the types and quantities of samples to be stored based on the sample storage request; query whether there is an internal sample box of the same type of biological sample in the sample storage module according to the type of the stored sample; if so, locate the current storage position of the internal sample box; if not, obtain the storage conditions of the sample to be stored, and locate the current storage position of any idle internal sample box based on the storage conditions, and the storage conditions of the storage position of the idle internal sample box are the same as the storage conditions of the sample to be stored.

[0071] In one embodiment, the sample access control device further includes: a sample box extraction module 80, which is used to receive an external sample box through the sample access port in response to a sample extraction request; determine at least one internal sample box based on the sample access request, and locate the current storage position of the internal sample box; perform path planning based on the internal sample box and the current storage position to obtain a target movement path; control the movement of the sample picking box module based on the target movement path, and transfer the internal sample box stored in the sample storage module to the picking box platform through the first picking box robot; transfer the internal sample box to the tube picking platform through the first picking box robot, and transfer the external sample box to the tube picking platform through the second picking box robot; transfer the biological sample test tube in the internal sample box to the external sample box through the tube picking robot based on the sample access request; move the target external sample box to the sample access port based on the second robot to extract the biological sample.

[0072] The present application provides an automated sample library, which includes: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to execute the sample access control method of the above-mentioned embodiment 1.

[0073] Reference below Figure 4, which shows a schematic diagram of the structure of an automated sample library suitable for implementing embodiments of the present application. The automated sample library in embodiments of the present application may include, but is not limited to, mobile terminals such as mobile phones, laptop computers, digital broadcast receivers, PDAs (Personal Digital Assistants), PADs (Portable Application Descriptions), PMPs (Portable Media Players), in-vehicle terminals (e.g., in-vehicle navigation terminals), and fixed terminals such as digital TVs and desktop computers. Figure 4 The automated sample library shown is merely an example and should not limit the functionality and scope of use of the embodiments of the present application.

[0074] like Figure 4 As shown, the automated sample library may include a processing device 1001 (e.g., a central processing unit, a graphics processing unit, etc.), which can perform various appropriate actions and processes based on programs stored in a read-only memory (ROM) 1002 or programs loaded from a storage device 1003 into a random access memory (RAM) 1004. RAM 1004 also stores various programs and data required for the automated sample library's operations. Processing device 1001, ROM 1002, and RAM 1004 are interconnected via a bus 1005. An input / output (I / O) interface 1006 is also connected to the bus. Typically, the following systems may be connected to I / O interface 1006: input devices 1007, such as a touchscreen, touchpad, keyboard, mouse, image sensor, microphone, accelerometer, gyroscope, etc.; output devices 1008, such as a liquid crystal display (LCD), speaker, vibrator, etc.; storage device 1003, such as a magnetic tape or hard disk; and communication devices 1009. The communication device 1009 can allow the automated sample library to communicate with other devices wirelessly or by wire to exchange data. Although the figure shows an automated sample library with various systems, it should be understood that it is not required to implement or have all the systems shown. More or fewer systems can be implemented or have instead.

[0075] In particular, according to the embodiments disclosed in the present application, the processes described above with reference to the flowcharts can be implemented as computer software programs. For example, the embodiments disclosed in the present application include a computer program product comprising a computer program carried on a computer-readable medium, the computer program comprising program code for executing the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from a network via a communication device, or installed from a storage device 1003, or installed from a ROM 1002. When the computer program is executed by the processing device 1001, the above-mentioned functions defined in the method of the embodiment disclosed in the present application are executed.

[0076] The automated sample library provided in this application utilizes the sample access control method described in the aforementioned embodiment to address the technical issues surrounding sample access control. Compared to the prior art, the automated sample library provided in this application achieves the same beneficial effects as the sample access control method described in the aforementioned embodiment. Other technical features of the automated sample library are the same as those disclosed in the aforementioned embodiment and are not further elaborated upon here.

[0077] It should be understood that the various parts disclosed in this application can be implemented using hardware, software, firmware, or a combination thereof. In the description of the above embodiments, specific features, structures, materials, or characteristics can be combined in any one or more embodiments or examples in a suitable manner.

[0078] The above description is merely a specific embodiment of the present application, but the scope of protection of the present application is not limited thereto. Any changes or substitutions that can be easily conceived by a person skilled in the art within the technical scope disclosed in this application should be included in the scope of protection of this application. Therefore, the scope of protection of this application should be based on the scope of protection of the claims.

[0079] The present application provides a computer-readable storage medium having computer-readable program instructions (ie, a computer program) stored thereon, wherein the computer-readable program instructions are used to execute the sample access control method in the above-mentioned embodiment.

[0080] The computer-readable storage medium provided herein may be, for example, a USB flash drive, but is not limited to electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems, systems, or devices, or any combination thereof. More specific examples of computer-readable storage media may include, but are not limited to, an electrical connection having one or more wires, a portable computer disk, a hard disk, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination thereof. In this embodiment, the computer-readable storage medium may be any tangible medium that contains or stores a program that can be used by or in conjunction with an instruction execution system, system, or device. The program code contained on the computer-readable storage medium may be transmitted using any suitable medium, including, but not limited to, wires, optical cables, RF (Radio Frequency), etc., or any suitable combination thereof.

[0081] The computer-readable storage medium may be included in the automated sample library, or may exist independently without being assembled into the automated sample library.

[0082] The computer-readable storage medium carries one or more programs. When the one or more programs are executed by the automated sample library, the automated sample library can perform sample access control.

[0083] Computer program code for performing the operations of the present application may be written in one or more programming languages, or a combination thereof, including object-oriented programming languages ​​such as Java, Smalltalk, C++, and conventional procedural programming languages ​​such as "C" or similar programming languages. The program code may be executed entirely on the user's computer, partially on the user's computer, as a stand-alone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer via any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0084] The flow and block diagrams in the drawings illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present application. In this regard, each block in the flow and block diagrams can represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical functions. It should also be noted that in some alternative implementations, the functions noted in the blocks can occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently or the blocks may be executed in the reverse order, depending on the functionality involved. It will also be noted that each block of the block diagrams and / or flowchart illustrations, and combinations thereof, can be implemented by special purpose hardware-based systems that perform the specified functions or operations, or combinations of special purpose hardware and computer instructions.

[0085] The modules involved in the embodiments of the present application can be implemented in software or in hardware. In some cases, the names of the modules do not limit the modules themselves.

[0086] The readable storage medium provided by the present application is a computer readable storage medium, which stores computer readable program instructions (i.e. computer programs) for executing the sample access control method described above, and can solve the technical problem of sample access control. Compared with the prior art, the computer readable storage medium provided by the present application has the same beneficial effects as the sample access control method provided by the above embodiments, which will not be repeated here.

[0087] The present application also provides a computer program product, comprising a computer program, which, when executed by a processor, implements the steps of the sample access control method as described above.

[0088] The computer program product provided by the present application can solve the technical problem of sample access control. Compared with the prior art, the computer program product provided by the present application has the same beneficial effects as the sample access control method provided by the above embodiments, which will not be repeated here.

[0089] The above only describes some embodiments of the present application, and does not limit the patent scope of the present application. Any equivalent structural transformation made by using the content of the present application specification and drawings, or direct / indirect application in other related technical fields is included in the patent protection scope of the present application.

Claims

1. A sample access control method, characterized in that: The sample access control method is applied to an automated sample library, which at least comprises: a sample storage module, a sample picking box module, a sample picking tube module and a sample access port, wherein the sample picking box module is provided with a picking box platform and a first picking box robot arm, and the sample picking tube module is provided with a picking tube platform, a second picking box robot arm and a picking tube robot arm, the sample storage module is used to store biological samples, the sample picking box module is used to transfer an internal sample box in the sample storage module to the picking tube platform of the sample picking tube module through the first picking box robot arm, or to transfer an internal sample box on the picking tube platform to the sample storage module for storage, the sample picking tube module is used to transfer a biological sample test tube in an external sample box to an internal sample box on the picking tube platform through the picking tube robot arm, or to transfer a biological sample test tube in the internal sample box to an external sample box on the picking tube platform, and the sample access port is used to receive or output an external sample box; The sample access control method includes: receiving an external sample cartridge through the sample access port in response to a sample storage request; determining at least one internal sample box based on the sample access request and locating a current storage location of the internal sample box; Performing path planning based on the internal sample box and the current storage position to obtain a target moving path; Controlling the sample picking module to move based on the target movement path, and transferring the internal sample boxes stored in the sample storage module to the picking platform through the first picking robot arm; Transferring the inner sample box to the tube picking platform by the first box picking robot arm, and transferring the outer sample box to the tube picking platform by the second box picking robot arm; Transferring the biological sample tube in the external sample box to the internal sample box by the tube picking robot based on the sample access request; The sample picking module is controlled to move based on the target moving path, and the target internal sample box is transferred and stored in the sample storage module by the first picking robot arm to store the biological sample.

2. The sample access control method according to claim 1, wherein: The performing path planning based on the internal sample box and the current storage position to obtain a target moving path includes: generating path planning constraints according to the storage conditions of the internal sample box; Deduplicating the current storage positions, and determining an initial movement order based on the deduplicated current storage positions; The initial movement sequence is optimized based on the path planning constraints through a particle swarm optimization model to obtain a target movement path.

3. The sample access control method according to claim 2, wherein: The step of optimizing the initial movement sequence based on the path planning constraints by using a particle swarm optimization model to obtain a target movement path includes: Calculate the constraint condition intensive parameters of each path planning constraint condition. Accordingly, the calculation formula of the constraint condition intensive parameter is: Among them, D is the constraint condition density parameter, T0 is the standard time length for taking out the internal sample box under standard conditions, and N is the number of constraints. is the remaining shelf life of the sample under each constraint condition; Counting the total movement length of the initial movement sequence; Calculating a path planning fitness parameter according to the constraint condition density parameter, the standard time length for taking out the internal sample box under standard conditions, and the total movement length; When the path planning fitness parameter is less than a preset threshold, outputting a target moving path based on the initial moving sequence; Accordingly, the calculation formula of the path planning fitness parameter is: Among them, f(x) is the path planning fitness parameter, L(x) is the total moving length, T is the standard time length for taking out the internal sample box under standard conditions, and D is the constraint condition density parameter. They refer to the standard time for taking out the internal sample box under standard conditions and the weight coefficient of the intensive parameter of the constraint condition.

4. The sample access control method according to claim 3, wherein: After calculating the path planning fitness parameter according to the constraint condition density parameter, the standard time length for taking out the internal sample box under standard conditions, and the total moving length, the method further includes: When the path planning fitness parameter is less than a preset threshold, determining a target position of the internal sample box affected by the constraint condition; Adjusting the path planning priority of the target location; Path planning is performed according to the target position after the priority adjustment and the current storage position of each internal sample box until the path planning fitness parameter is less than a preset threshold, and the target moving path is output.

5. The sample access control method according to claim 1, wherein: The determining at least one internal sample box based on the sample access request and locating a current storage position of the internal sample box comprises: Traversing the types and quantities of samples to be stored based on the sample storage request; querying, according to the type of the stored sample, whether there is an internal sample box of the same type of biological sample in the sample storage module; If so, locating the current storage location of the internal sample box; If not, the storage condition of the sample to be stored is obtained, and the current storage position of any idle internal sample box is located based on the storage condition, and the storage condition of the storage position of the idle internal sample box is the same as the storage condition of the sample to be stored.

6. The sample access control method according to claim 1, wherein: The sample access control method further includes: receiving an external sample cartridge through the sample access port in response to a sample extraction request; determining at least one internal sample box based on the sample access request and locating a current storage location of the internal sample box; Performing path planning based on the internal sample box and the current storage position to obtain a target moving path; Controlling the sample picking module to move based on the target movement path, and transferring the internal sample boxes stored in the sample storage module to the picking platform through the first picking robot arm; Transferring the inner sample box to the tube picking platform by the first box picking robot arm, and transferring the outer sample box to the tube picking platform by the second box picking robot arm; Transferring the biological sample tube in the internal sample box to the external sample box by the tube picking robot based on the sample access request; The target external sample box is moved to the sample access port based on the second robotic arm to extract the biological sample.

7. A sample access control device, characterized in that: The sample access control device comprises: a sample box receiving module, configured to receive an external sample box through the sample access port in response to a sample storage request; a sample box positioning module, configured to determine at least one internal sample box based on the sample access request and locate a current storage position of the internal sample box; a path planning module, configured to perform path planning based on the internal sample box and the current storage position to obtain a target movement path; an internal box picking module, configured to control the movement of the sample box picking module based on the target movement path, and to transfer the internal sample box stored in the sample storage module to the box picking platform through the first box picking robot; a sample box transfer module, configured to transfer the internal sample box to the tube picking platform via the first box picking robot arm, and to transfer the external sample box to the tube picking platform via the second box picking robot arm; a tube picking module, configured to transfer the biological sample tube in the external sample box to the internal sample box through the tube picking robot arm based on the sample access request; The sample box storage module is used to control the movement of the sample box picking module based on the target movement path, and transfer the target internal sample box to the sample storage module through the first box picking robot arm to store biological samples.

8. An automated sample library, characterized in that: The automated sample library includes: a memory, a processor, and a sample access control program stored in the memory and executable on the processor, wherein the sample access control program is configured to implement the sample access control method according to any one of claims 1 to 6.

9. A storage medium, characterized in that: The storage medium stores a sample access control program, which, when executed by a processor, implements the sample access control method according to any one of claims 1 to 6.

10. A computer program product, characterized in that The computer program product comprises a computer program, and when the computer program is executed by a processor, the steps of the sample access control method according to any one of claims 1 to 6 are implemented.

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