Sample access control method and device, automated sample bank and storage medium

Abstract

This invention relates to the field of sample storage technology, and more particularly to a sample access control method, apparatus, automated sample bank, and storage medium. Upon receiving a sample access request, at least one internal sample box is determined, and its current storage location is determined. Based on the internal sample box and its current storage location, path planning is performed to obtain a target movement path. The sample box picking module is then controlled to move along the target movement path, improving the efficiency of retrieving sample boxes from the sample bank and enhancing sample storage security. Finally, sample tubes from external sample boxes are simultaneously transferred to internal sample boxes via a sample tube picking module, and the internal sample boxes are re-stored in the sample storage module based on the planned target movement path. This reduces the exposure time of the sample boxes and avoids the technical problem of low efficiency in storing or retrieving sample tubes from the sample bank in existing technologies.

Description

Technical Field

[0001] This invention relates to the field of sample storage technology, and in particular to sample access control methods, devices, automated sample banks, and storage media. Background Technology

[0002] In the field of biological sample storage, different biological samples have different storage environment requirements, and different environments need to be selected for storing biological samples. When biological samples are put into or taken out of the storage, tube picking equipment is needed to transfer the test tubes containing biological samples into sample boxes for storage or output.

[0003] However, in traditional techniques, when faced with the problem of storing or retrieving multiple sample tubes at the same time, they are generally processed sequentially according to the storage or retrieval order, which is inefficient and can seriously affect the activity of the samples in the biological tubes.

[0004] The above content is only used to help understand the technical solution of the present invention and does not represent an admission that the above content is prior art. Summary of the Invention

[0005] The main objective of this invention is to provide a sample access control method, apparatus, automated sample bank, and storage medium, aiming to solve the technical problem of low efficiency in storing or retrieving sample tubes from a sample bank in the prior art.

[0006] To achieve the above objectives, the present invention provides a sample access control method applied to an automated sample bank. The automated sample bank includes at least: 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 equipped with a box picking platform and a first box picking robotic arm. The sample tube picking module is equipped with a tube picking platform, a second box picking robotic arm, and a tube picking robotic arm. The sample storage module is used to store biological samples. The sample box picking module is used to transfer internal sample boxes in the sample storage module to the tube picking platform of the sample tube picking module via the first box picking robotic arm, or to transfer internal sample boxes in the tube picking platform to the sample storage module for storage. The sample tube picking module is used to transfer biological sample tubes from external sample boxes to internal sample boxes in the tube picking platform via the tube picking robotic arm, or to transfer biological sample tubes from internal sample boxes to external sample boxes in the tube picking platform. The sample access port is used to receive or output external sample boxes.

[0007] The method includes the following steps:

[0008] In response to a sample storage request, an external sample box is received through the sample access port;

[0009] Based on the sample access request, at least one internal sample box is determined, and the current storage location of the internal sample box is located.

[0010] Based on the internal sample box and the current storage location, a path planning is performed to obtain the target movement path;

[0011] Based on the target movement path, the sample picking module is controlled to move, and the internal sample boxes stored in the sample storage module are transferred to the picking platform by the first picking robot arm.

[0012] The inner sample box is transferred to the tube picking platform by the first picking robot arm, and the outer sample box is transferred to the tube picking platform by the second picking robot arm.

[0013] Based on the sample access request, the biological sample tube in the outer sample box is transferred to the inner sample box by the tube-picking robotic arm.

[0014] The sample picking module is controlled to move based on the target movement path, and the sample box inside the target is transferred and stored in the sample storage module by the first picking robot arm to store biological samples.

[0015] Optionally, the step of performing path planning based on the internal sample box and the current storage location to obtain the target movement path includes:

[0016] Path planning constraints are generated based on the storage conditions of the internal sample boxes.

[0017] The current storage location is deduplicated, and the initial movement order is determined based on the deduplicated current storage location;

[0018] Based on the path planning constraints, the initial movement sequence is optimized using a particle swarm optimization model to obtain the target movement path.

[0019] Optionally, the step of optimizing the initial movement order using a particle swarm optimization model based on the path planning constraints to obtain the target movement path includes:

[0020] Calculate the constraint-dense parameters for each path planning condition. The formula for calculating these constraint-dense parameters is as follows:

[0021]

[0022] Where D represents the constraint density parameter, T0 is the standard time to retrieve the internal sample box under standard conditions, and N is the number of constraints. The remaining shelf life of the samples under each constraint;

[0023] Calculate the total movement length of the initial movement sequence;

[0024] The path planning fitness parameters are calculated based on the dense parameters of the constraints, the standard time to retrieve the internal sample box under standard conditions, and the total movement length.

[0025] When the path planning fitness parameter is less than a preset threshold, the target movement path is output based on the initial movement order;

[0026] Accordingly, the formula for calculating the path planning fitness parameter is:

[0027]

[0028] Where f(x) is the path planning fitness parameter, L(x) is the total movement length, T is the standard time to retrieve the internal sample box under standard conditions, and D is the constraint density parameter. These refer to the standard time for retrieving the internal sample box under standard conditions and the weighting coefficients of the dense constraint parameters, respectively.

[0029] Optionally, after calculating the path planning fitness parameters based on the constraint density parameters, the standard time for retrieving internal sample boxes under standard conditions, and the total movement length, the method further includes:

[0030] When the path planning fitness parameter is less than a preset threshold, the target position of the internal sample box affected by the constraints is determined;

[0031] Adjust the path planning priority for the target location;

[0032] Path planning is performed based on the target location after priority adjustment and the current storage location of each internal sample box until the path planning fitness parameter is less than a preset threshold, and then the target movement path is output.

[0033] Optionally, determining at least one internal sample box based on the sample access request and locating the current storage location of the internal sample box includes:

[0034] Based on the sample storage request, it iterates through the types and quantities of samples to be stored;

[0035] Based on the type of the stored sample, query whether there is an internal sample box of the same type of biological sample in the sample storage module;

[0036] If it exists, locate the current storage location of the internal sample box;

[0037] If it does not exist, the storage conditions of the sample to be stored are obtained, and the current storage location of any free internal sample box is located based on the storage conditions. The storage conditions of the storage location of the free internal sample box are the same as the storage conditions of the sample to be stored.

[0038] Optionally, the sample access control method further includes:

[0039] In response to a sample retrieval request, an external sample box is received through the sample access port;

[0040] Based on the sample access request, at least one internal sample box is determined, and the current storage location of the internal sample box is located.

[0041] Based on the internal sample box and the current storage location, a path planning is performed to obtain the target movement path;

[0042] Based on the target movement path, the sample picking module is controlled to move, and the internal sample boxes stored in the sample storage module are transferred to the picking platform by the first picking robot arm.

[0043] The inner sample box is transferred to the tube picking platform by the first picking robot arm, and the outer sample box is transferred to the tube picking platform by the second picking robot arm.

[0044] Based on the sample access request, the biological sample tube in the inner sample box is transferred to the outer sample box by the tube-picking robotic arm.

[0045] The second robotic arm moves the target external sample box to the sample access port to extract biological samples.

[0046] Furthermore, to achieve the above objectives, the present invention also proposes a sample access control device, the sample access control device comprising:

[0047] The sample box receiving module is used to receive external sample boxes through the sample access port in response to a sample storage request.

[0048] The sample box location module is used to determine at least one internal sample box based on the sample access request, and to locate the current storage location of the internal sample box.

[0049] The path planning module is used to perform path planning based on the internal sample box and the current storage location to obtain the target movement path;

[0050] The internal sample box picking module is used to control the movement of the sample box picking module based on the target movement path, and to transfer the internal sample boxes stored in the sample storage module to the sample picking platform through the first sample box picking robotic arm.

[0051] The sample box transfer module is used to transfer the inner sample box to the tube picking platform by the first box picking robotic arm, and to transfer the outer sample box to the tube picking platform by the second box picking robotic arm;

[0052] The tube-picking module is used to transfer biological sample tubes from the external sample box to the internal sample box using the tube-picking robotic arm based on the sample access request.

[0053] The sample box storage module is used to control the sample box picking module to move based on the target movement path, and to transfer the sample box inside the target to the sample storage module through the first box picking robotic arm to store biological samples.

[0054] Furthermore, to achieve the above objectives, 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.

[0055] In addition, to achieve the above objectives, the present invention also proposes a storage medium storing a sample access control program, wherein the sample access control program, when executed by a processor, implements the steps of the sample access control method as described above.

[0056] In addition, to achieve the above objectives, this application also provides a computer program product, which includes a computer program that, when executed by a processor, implements the steps of the sample access control method described above.

[0057] This invention, in response to a sample storage request, receives an external sample box through the sample access port; 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 sample box picking module to move based on the target movement path, and uses a first picking robot arm to transfer the internal sample box stored in the sample storage module to the picking platform; uses the first picking robot arm to transfer the internal sample box to the tube picking platform, and uses a second picking robot arm to transfer the external sample box to the tube picking platform; uses the tube picking robot arm to transfer the biological sample tube from the external sample box to the internal sample box based on the sample access request; and controls the sample box picking module to move based on the target movement path. The sample picking module moves and uses the first picking robotic arm to transfer the target internal sample box to the sample storage module for storing biological samples. Compared with the prior art, this embodiment determines at least one internal sample box by receiving a sample access request and locates the current storage location of the internal sample box; based on the internal sample box and the current storage location, path planning is performed to obtain the target movement path, and the sample picking module is controlled to move according to the target movement path, which improves the efficiency of extracting sample boxes from the sample library and improves the security of sample storage. Finally, the sample tubes of the external sample box are 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 movement path, reducing the exposure time of the sample box and avoiding the technical problem of low efficiency in storing or retrieving sample tubes from the sample library in the prior art. Attached Figure Description

[0058] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application.

[0059] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, for those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0060] Figure 1 This is a flowchart illustrating the first embodiment of the sample access control method of the present invention;

[0061] Figure 2 This is a flowchart illustrating the second embodiment of the sample access control method of the present invention;

[0062] Figure 3 This is a structural block diagram of the first embodiment of the sample access control device of the present invention;

[0063] Figure 4 This is a schematic diagram of the structure of the automated sample library of the hardware operating environment involved in the embodiments of the present invention.

[0064] The realization of the objective, functional features and advantages of the present invention will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0065] It should be understood that the specific embodiments described herein are merely illustrative of the technical solutions of this application and are not intended to limit this application.

[0066] To better understand the technical solution of this application, a detailed description will be provided below in conjunction with the accompanying drawings and specific implementation methods.

[0067] Based on this, embodiments of the present invention provide a sample access control method, referring to... Figure 1 , Figure 1 This is a flowchart illustrating a first embodiment of a sample access control method according to the present invention.

[0068] In this embodiment, the sample access control method includes:

[0069] Step S10: In response to a sample storage request, receive an external sample box through the sample access port.

[0070] Step S20: Determine at least one internal sample box based on the sample access request, and locate the current storage location of the internal sample box.

[0071] Step S30: Based on the internal sample box and the current storage location, perform path planning to obtain the target movement path.

[0072] Step S40: Based on the target movement path, control the sample picking module to move, and use the first picking robot arm to transfer the internal sample boxes stored in the sample storage module to the picking platform.

[0073] Step S50: The inner sample box is transferred to the tube picking platform by the first picking robot arm, and the outer sample box is transferred to the tube picking platform by the second picking robot arm.

[0074] 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 robotic arm.

[0075] Step S70: Based on the target movement path, control the sample picking module to move, and use the first picking robot arm to transfer the sample box inside the target to the sample storage module to store the biological sample.

[0076] It should be noted that the executing entity in this embodiment can be a computing service device with data processing, network communication, and program execution functions, such as a tablet computer, personal computer, or mobile phone; or an electronic device capable of performing the above functions, a control computer communicating with the automated sample library, or a controller of the automated sample library. The following description uses the controller of the automated sample library as an example to illustrate this embodiment and the subsequent embodiments.

[0077] The automated sample library mentioned in this embodiment and subsequent embodiments includes at least: a sample storage module, a sample picking box module, a sample picking tube module, and a sample access port. The sample picking box module is equipped with a picking box platform and a first picking box robotic arm. The sample picking tube module is equipped with a picking tube platform, a second picking box robotic arm, and a picking tube robotic arm. The sample storage module is used to store biological samples. The sample picking box module is used to transfer the internal sample boxes in the sample storage module to the picking tube platform of the sample picking tube module through the first picking box robotic arm, or to transfer the internal sample boxes of the picking tube platform to the sample storage module for storage. The sample picking tube module is used to transfer the biological sample tubes of the external sample box to the internal sample box of the picking tube platform through the picking tube robotic arm, or to transfer the biological sample tubes of the internal sample box to the external sample box of the picking tube platform. The sample access port is used to receive or output external sample boxes.

[0078] The second robotic arm is used to transfer the external sample box from the sample storage port to the picking platform of the sample picking module. In addition, the sample picking module in this embodiment is provided with at least two picking platforms. During the storage process, the external sample box is placed on the first picking platform by the second robotic arm. At the same time, at least one internal sample box on the sample picking module is placed on the second picking platform by the first robotic arm. In order to improve the picking recognition accuracy, the internal sample box can be transferred from the second picking platform to the first picking platform by the second robotic arm so that the internal sample box is aligned with the external sample box, thereby forming a clear sample comparison. During the picking recognition, the recognition of biological sample tubes can be enhanced.

[0079] If the external sample box contains multiple types of sample tubes, these sample tubes may need to be placed in different internal sample boxes for storage in different storage environments. Therefore, after the sample insertion is completed in an internal sample box, the internal sample box with the completed sample insertion can be directly placed back into the picking platform of the sample picking module through the first mechanical wall of the sample picking module, so as to leave space for picking tubes in subsequent internal sample boxes.

[0080] Since different types of samples may have different storage conditions, these samples may be uniformly placed in an external sample box for transportation to save time during storage or retrieval. However, in order to avoid confusion in sample storage or retrieval and to maintain the activity of the samples, this embodiment can perform path planning for the sample picking module when dealing with the storage or retrieval of multiple types and quantities of samples. This reduces the exposure time of sample tubes with harsh storage conditions in the environment and reduces the possibility of sample damage. For some samples with special storage environments, this embodiment also sets up a special sealed storage space in the sample picking module. When it is necessary to transport these samples with special storage environments, these samples can be stored separately in this space. However, if there are multiple special samples at the same time, multiple transportations are required to avoid conflicts in storage conditions between different samples.

[0081] It should be understood that after all the biological sample tubes in the external sample box have been transferred into the internal sample box, the sample picking module can be moved based on a pre-defined target movement path. The first picking robotic arm will then transfer the target internal sample box containing the samples to be stored to the corresponding sample storage module for storing the biological samples. During this process, since the internal sample tubes with stringent storage conditions are retrieved later, these internal sample tubes with stringent storage conditions need to be stored first after the samples to be stored have been stored. That is, in this embodiment, controlling the sample picking module to move based on the target movement path means controlling the sample picking module to move in the reverse direction based on the target movement path to restore each internal sample box.

[0082] Further, determining at least one internal sample box based on the sample access request and locating the current storage location of the internal sample box includes:

[0083] Based on the sample storage request, it iterates through the types and quantities of samples to be stored;

[0084] Based on the type of the stored sample, query whether there is an internal sample box of the same type of biological sample in the sample storage module;

[0085] If it exists, locate the current storage location of the internal sample box;

[0086] If it does not exist, the storage conditions of the sample to be stored are obtained, and the current storage location of any free internal sample box is located based on the storage conditions. The storage conditions of the storage location of the free internal sample box are the same as the storage conditions of the sample to be stored.

[0087] It should be noted that when the sample picking module retrieves sample tubes from the sample storage module, it does not remove empty sample boxes every time. Instead, it stores samples of the same type or under the same storage conditions together. Therefore, when retrieving sample tubes from the sample storage module, it is necessary to first iterate through the types and quantities of samples to be stored in order to locate whether there are internal sample boxes for biological samples of the same type in the sample storage module. If so, the internal sample boxes for biological samples of the same type or under the same storage conditions can be retrieved for subsequent tube picking and storage.

[0088] If there are no sample tubes of the same type or under the same storage conditions in the sample storage module, the current storage location of any free internal sample box can be located based on the storage conditions of the sample to be stored. The sample picking module of the free internal sample box with an empty space can be removed to open up a new storage area.

[0089] Furthermore, the sample access control method further includes:

[0090] In response to a sample retrieval request, an external sample box is received through the sample access port;

[0091] Based on the sample access request, at least one internal sample box is determined, and the current storage location of the internal sample box is located.

[0092] Based on the internal sample box and the current storage location, a path planning is performed to obtain the target movement path;

[0093] Based on the target movement path, the sample picking module is controlled to move, and the internal sample boxes stored in the sample storage module are transferred to the picking platform by the first picking robot arm.

[0094] The inner sample box is transferred to the tube picking platform by the first picking robot arm, and the outer sample box is transferred to the tube picking platform by the second picking robot arm.

[0095] Based on the sample access request, the biological sample tube in the inner sample box is transferred to the outer sample box by the tube-picking robotic arm.

[0096] The second robotic arm moves the target external sample box to the sample access port to extract biological samples.

[0097] In the specific implementation process, there is a certain difference from the sample storage process. When both the external sample box and the internal sample box are on the tube picking platform, the biological sample tubes in the internal sample box are transferred to the external sample box by the tube picking robotic arm. Then, the target external sample box containing the biological sample tubes to be extracted is moved to the sample access port by the second robotic arm to extract the biological samples.

[0098] This embodiment determines at least one internal sample box based on the received sample access request and locates the current storage location of the internal sample box. Based on the internal sample box and the current storage location, path planning is performed to obtain the target movement path, and the sample box picking module is controlled to move according to the target movement path, thereby improving the efficiency of extracting sample boxes from the sample library and improving the security of sample storage. Finally, the sample tubes of the external sample box are simultaneously 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 movement path, reducing the exposure time of the sample box and avoiding the technical problem of low efficiency in storing or retrieving sample tubes from the sample library in the prior art.

[0099] Based on the first embodiment of this application, in the second embodiment of this application, the content that is the same as or similar to that in the first embodiment described above can be referred to the above description, and will not be repeated hereafter. Based on this, please refer to... Figure 2 Step S30 includes:

[0100] Step S301: Generate path planning constraints based on the storage conditions of the internal sample boxes.

[0101] Step S302: Deduplicate the current storage location and determine the initial movement order based on the deduplicated current storage location.

[0102] Step S303: Based on the path planning constraints, the initial movement sequence is optimized using a particle swarm optimization model to obtain the target movement path.

[0103] It should be noted that, since the storage conditions of different samples vary, and considering that some samples are more sensitive and their activity may be impaired if they are exposed to the external environment or unsuitable environment for a long time, this embodiment sets path planning constraints for the storage conditions of different samples. The path planning constraints include at least: whether special storage is required, maximum exposure time, etc. This embodiment does not impose specific restrictions on these.

[0104] Since the sample storage module is symmetrically distributed in the spatial architecture in this embodiment, and the sample picking module can sample bidirectionally, deduplication can be performed in some symmetrically distributed storage locations to reduce interference from the maximum movement path calculation in the subsequent path planning process.

[0105] Further, the optimization of the initial movement order based on the path planning constraints using a particle swarm optimization model to obtain the target movement path includes:

[0106] Calculate the constraint-dense parameters for each path planning condition. The formula for calculating these constraint-dense parameters is as follows:

[0107]

[0108] Where D represents the constraint density parameter, T0 is the standard time to retrieve the internal sample box under standard conditions, and N is the number of constraints. The remaining shelf life of the samples under each constraint;

[0109] Calculate the total movement length of the initial movement sequence;

[0110] The path planning fitness parameters are calculated based on the dense parameters of the constraints, the standard time to retrieve the internal sample box under standard conditions, and the total movement length.

[0111] When the path planning fitness parameter is less than a preset threshold, the target movement path is output based on the initial movement order;

[0112] Accordingly, the formula for calculating the path planning fitness parameter is:

[0113]

[0114] Where f(x) is the path planning fitness parameter, L(x) is the total movement length, T is the standard time to retrieve the internal sample box under standard conditions, and D is the constraint density parameter. These refer to the standard time for retrieving the internal sample box under standard conditions and the weighting coefficients of the dense constraint parameters, respectively.

[0115] In its specific implementation, this embodiment employs constraints based on both the shortest path and the shortest time when planning the path. Considering that some samples may be damaged due to external environmental factors such as temperature and light, this embodiment sets a remaining shelf life for the samples to quantify the dense parameters of each constraint condition, thereby optimizing the path planning path.

[0116] Furthermore, after calculating the path planning fitness parameters based on the constraint density parameters, the standard time for retrieving the internal sample boxes under standard conditions, and the total movement length, the method further includes:

[0117] When the path planning fitness parameter is less than a preset threshold, the target position of the internal sample box affected by the constraints is determined;

[0118] Adjust the path planning priority for the target location;

[0119] Path planning is performed based on the target location after priority adjustment and the current storage location of each internal sample box until the path planning fitness parameter is less than a preset threshold, and then the target movement path is output.

[0120] Specifically, if the path planning fitness parameter is less than a 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 to postpone the extraction time of the internal sample box affected by the constraint, or extract it separately, even if the total moving length changes in this process, thereby improving the safety of the sample and the efficiency of sample transportation, storage and extraction.

[0121] This embodiment generates path planning constraints based on the storage conditions of the internal sample boxes; deduplicates the current storage positions and determines the initial movement order based on the deduplicated current storage positions; optimizes the initial movement order using a particle swarm optimization model based on the path planning constraints to obtain the target movement path; and optimizes the initial movement order based on the storage conditions of the internal sample boxes to obtain a planning path with less loss and higher efficiency, thereby improving the efficiency of sample storage and retrieval.

[0122] This application also provides a sample access control device, please refer to... Figure 3 The sample access control device includes:

[0123] The sample box receiving module 10 is used to receive external sample boxes through the sample access port in response to a sample storage request.

[0124] The sample box positioning module 20 is used to determine at least one internal sample box based on the sample access request, and to locate the current storage location of the internal sample box.

[0125] The path planning module 30 is used to perform path planning based on the internal sample box and the current storage location to obtain the target movement path.

[0126] The internal sample box picking module 40 is used to control the sample box picking module to move based on the target movement path, and to transfer the internal sample boxes stored in the sample storage module to the sample box picking platform through the first sample box picking robotic arm.

[0127] The sample box transfer module 50 is used to transfer the inner sample box to the tube picking platform by the first box picking robot arm, and to transfer the outer sample box to the tube picking platform by the second box picking robot arm.

[0128] The tube-picking module 60 is used to transfer biological sample tubes from the external sample box to the internal sample box via the tube-picking robotic arm based on the sample access request.

[0129] The sample box storage module 70 is used to control the sample box picking module to move based on the target movement path, and to transfer the sample box inside the target to the sample storage module through the first box picking robotic arm to store biological samples.

[0130] This embodiment determines at least one internal sample box based on the received sample access request and locates the current storage location of the internal sample box. Based on the internal sample box and the current storage location, path planning is performed to obtain the target movement path, and the sample box picking module is controlled to move according to the target movement path, thereby improving the efficiency of extracting sample boxes from the sample library and improving the security of sample storage. Finally, the sample tubes of the external sample box are simultaneously 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 movement path, reducing the exposure time of the sample box and avoiding the technical problem of low efficiency in storing or retrieving sample tubes from the sample library in the prior art.

[0131] In one embodiment, the path planning module 30 is further configured to generate path planning constraints based on the storage conditions of the internal sample boxes; deduplicate the current storage position; determine the initial movement order based on the deduplicated current storage position; and optimize the initial movement order using a particle swarm optimization model based on the path planning constraints to obtain the target movement path.

[0132] In one embodiment, the path planning module 30 is further configured to calculate the constraint density parameters for each path planning constraint, and the calculation formula for the constraint density parameters is as follows:

[0133]

[0134] Where D represents the constraint density parameter, T0 is the standard time to retrieve the internal sample box under standard conditions, and N is the number of constraints. The remaining shelf life of samples under each constraint is determined; the total movement length of the initial movement order is calculated; the path planning fitness parameter is calculated based on the constraint density parameter, the standard time for retrieving 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 order; correspondingly, the calculation formula for the path planning fitness parameter is:

[0135]

[0136] Where f(x) is the path planning fitness parameter, L(x) is the total movement length, T is the standard time to retrieve the internal sample box under standard conditions, and D is the constraint density parameter. These refer to the standard time for retrieving the internal sample box under standard conditions and the weighting coefficients of the dense constraint parameters, respectively.

[0137] In one embodiment, the path planning module 30 is further configured to: determine the target position of the internal sample box affected by the constraint 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 priority adjustment 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 movement path.

[0138] In one embodiment, the sample box positioning module 20 is further configured to traverse the types and quantities of samples to be stored based on the sample storage request; query whether there are internal sample boxes of the same type of biological sample in the sample storage module according to the type of the stored sample; if they exist, locate the current storage location of the internal sample box; if they do not exist, obtain the storage conditions of the sample to be stored, and locate the current storage location of any free internal sample box based on the storage conditions, wherein the storage conditions of the storage location of the free internal sample box are the same as the storage conditions of the sample to be stored.

[0139] In one embodiment, the sample access control device further includes: a sample box extraction module 80, configured 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 location of the internal sample box; perform path planning based on the internal sample box and the current storage location to obtain a target movement path; control the sample box picking module to move 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 robotic arm; transfer the internal sample box to the tube picking platform through the first box picking robotic arm, and transfer the external sample box to the tube picking platform through the second box picking robotic arm; transfer the biological sample tube in the internal sample box to the external sample box through the tube picking robotic arm based on the sample access request; and move the target external sample box to the sample access port based on the second robotic arm to extract the biological sample.

[0140] This 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, which are executed by the at least one processor to enable the at least one processor to perform the sample access control method in Embodiment 1 above.

[0141] The following is for reference. Figure 4The diagram illustrates a structural schematic suitable for implementing the automated sample library in the embodiments of this application. The automated sample library in the embodiments of this application may include, but is not limited to, mobile terminals such as mobile phones, laptops, digital broadcast receivers, PDAs (Personal Digital Assistants), PADs (Portable Application Description), 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 impose any limitations on the functionality and scope of use of the embodiments of this application.

[0142] 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.) that can perform various appropriate actions and processes according to a program stored in read-only memory (ROM) 1002 or a program loaded from storage device 1003 into random access memory (RAM) 1004. The RAM 1004 also stores various programs and data required for the operation of the automated sample library. The 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 can be connected to the I / O interface 1006: input devices 1007 including, for example, touchscreens, touchpads, keyboards, mice, image sensors, microphones, accelerometers, gyroscopes, etc.; output devices 1008 including, for example, liquid crystal displays (LCDs), speakers, vibrators, etc.; storage devices 1003 including, for example, magnetic tapes, hard disks, etc.; and communication devices 1009. Communication device 1009 allows the automated sample library to communicate wirelessly or wiredly with other devices to exchange data. While the figure shows an automated sample library with various systems, it should be understood that implementation or possession of all the systems shown is not required. More or fewer systems may be implemented alternatively.

[0143] Specifically, according to the embodiments disclosed in this application, the processes described above with reference to the flowcharts can be implemented as computer software programs. For example, embodiments disclosed in this application include a computer program product comprising a computer program carried on a computer-readable medium, the computer program containing program code for performing the methods shown in the flowcharts. In such embodiments, the computer program can be downloaded and installed from a network via a communication device, or installed from storage device 1003, or installed from ROM 1002. When the computer program is executed by processing device 1001, it performs the functions defined in the methods of the embodiments disclosed in this application.

[0144] The automated sample library provided in this application, employing the sample access control method described in the above embodiments, can solve the technical problem of sample access control. Compared with the prior art, the beneficial effects of the automated sample library provided in this application are the same as those of the sample access control method provided in the above embodiments, and other technical features in this automated sample library are the same as those disclosed in the method of the previous embodiment, and will not be repeated here.

[0145] 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 suitable manner in one or more embodiments or examples.

[0146] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

[0147] This application provides a computer-readable storage medium having computer-readable program instructions (i.e., a computer program) stored thereon, the computer-readable program instructions being used to execute the sample access control method in the above embodiments.

[0148] The computer-readable storage medium provided in this application may be, for example, a USB flash drive, but is not limited to, electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices, or any combination thereof. More specific examples of computer-readable storage media may include, but are not limited to: electrical connections having one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof. In this embodiment, the computer-readable storage medium may be any tangible medium containing or storing 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.

[0149] The aforementioned computer-readable storage medium may be included in the automated sample library; or it may exist independently and not be assembled into the automated sample library.

[0150] The aforementioned computer-readable storage medium carries one or more programs that, when executed by the automated sample library, enable the automated sample library to control sample access.

[0151] Computer program code for performing the operations of this application can be written in one or more programming languages ​​or a combination thereof, including object-oriented programming languages ​​such as Java, Smalltalk, and C++, and conventional procedural programming languages ​​such as the "C" language or similar programming languages. The program code can be executed entirely on the user's computer, partially on the user's computer, as a standalone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving remote computers, the remote computer can 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 can be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0152] The flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of systems, methods, and computer program products according to various embodiments of this application. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of code containing one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions indicated in the blocks may occur in a different order than those indicated in the drawings. For example, two consecutively indicated blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in the block diagrams and / or flowcharts, and combinations of blocks in the block diagrams and / or flowcharts, can be implemented using a dedicated hardware-based system that performs the specified function or operation, or using a combination of dedicated hardware and computer instructions.

[0153] The modules described in the embodiments of this application can be implemented in software or hardware. The names of the modules do not necessarily limit the functionality of the unit itself.

[0154] The readable storage medium provided in this application is a computer-readable storage medium that stores computer-readable program instructions (i.e., a computer program) for executing the above-described sample access control method, thereby solving the technical problem of sample access control. Compared with the prior art, the beneficial effects of the computer-readable storage medium provided in this application are the same as those of the sample access control method provided in the above embodiments, and will not be repeated here.

[0155] This application also provides a computer program product, including a computer program that, when executed by a processor, implements the steps of the sample access control method described above.

[0156] The computer program product provided in this application can solve the technical problem of sample access control. Compared with the prior art, the beneficial effects of the computer program product provided in this application are the same as the beneficial effects of the sample access control method provided in the above embodiments, and will not be repeated here.

[0157] The above description is only a part of the embodiments of this application and does not limit the patent scope of this application. All equivalent structural transformations made under the technical concept of this application and using the contents of the specification and drawings of this application, or direct / indirect applications in other related technical fields, are included in the patent protection scope of this application.

Claims

1. A sample access control method, characterized in that, The sample access control method is applied to an automated sample bank, which includes at least: 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 equipped with a box picking platform and a first box picking robotic arm. The sample tube picking module is equipped with a tube picking platform, a second box picking robotic arm, and a tube picking robotic arm. The sample storage module is used to store biological samples. The sample box picking module is used to transfer internal sample boxes in the sample storage module to the tube picking platform of the sample tube picking module via the first box picking robotic arm, or to transfer internal sample boxes in the tube picking platform to the sample storage module for storage. The sample tube picking module is used to transfer biological sample tubes from external sample boxes to internal sample boxes in the tube picking platform via the tube picking robotic arm, or to transfer biological sample tubes from internal sample boxes to external sample boxes in the tube picking platform. The sample access port is used to receive or output external sample boxes. The sample access control method includes: In response to a sample storage request, an external sample box is received through the sample access port; Based on the sample storage request, at least one internal sample box is determined, and the current storage location of the internal sample box is located. Based on the internal sample box and the current storage location, a path planning is performed to obtain the target movement path; Based on the target movement path, the sample picking module is controlled to move, and the internal sample boxes stored in the sample storage module are transferred to the picking platform by the first picking robot arm. The inner sample box is transferred to the tube picking platform by the first picking robot arm, and the outer sample box is transferred to the tube picking platform by the second picking robot arm. Based on the sample storage request, the biological sample tube in the external sample box is transferred to the internal sample box by the tube-picking robotic arm. The sample picking module is controlled to move based on the target movement path, and the sample box inside the target is transferred and stored in the sample storage module by the first picking robot arm to store biological samples. The step of performing path planning based on the internal sample box and the current storage location to obtain the target movement path includes: Path planning constraints are generated based on the storage conditions of the internal sample boxes. The current storage location is deduplicated, and the initial movement order is determined based on the deduplicated current storage location; Based on the path planning constraints, the initial movement order is optimized using a particle swarm optimization model to obtain the target movement path; The step of optimizing the initial movement order using a particle swarm optimization model based on the path planning constraints to obtain the target movement path includes: Calculate the constraint-dense parameters for each path planning condition. The formula for calculating these constraint-dense parameters is as follows: Where D represents the constraint density parameter, T0 is the standard time to retrieve the internal sample box under standard conditions, and N is the number of constraints. The remaining shelf life of the samples under each constraint; Calculate the total movement length of the initial movement sequence; The path planning fitness parameters are calculated based on the dense parameters of the constraints, the standard time to retrieve 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 order; Accordingly, the formula for calculating the path planning fitness parameter is: Where f(x) is the path planning fitness parameter, L(x) is the total movement length, T is the standard time to retrieve the internal sample box under standard conditions, and D is the constraint density parameter. These refer to the standard time for retrieving the internal sample box under standard conditions and the weighting coefficients of the dense constraint parameters, respectively.

2. The sample access control method as described in claim 1, characterized in that, After calculating the path planning fitness parameters based on the constraint density parameters, the standard time for retrieving the internal sample box under standard conditions, and the total movement length, the method further includes: When the path planning fitness parameter is greater than or equal to a preset threshold, the target position of the internal sample box affected by the constraints is determined. Adjust the path planning priority for the target location; Path planning is performed based on the target location after priority adjustment and the current storage location of each internal sample box until the path planning fitness parameter is less than a preset threshold, and then the target movement path is output.

3. The sample access control method as described in claim 1, characterized in that, The step of determining at least one internal sample box based on the sample storage request and locating the current storage location of the internal sample box includes: Based on the sample storage request, it iterates through the types and quantities of samples to be stored; Based on the type of the stored sample, query whether there is an internal sample box of the same type of biological sample in the sample storage module; If it exists, locate the current storage location of the internal sample box; If it does not exist, the storage conditions of the sample to be stored are obtained, and the current storage location of any free internal sample box is located based on the storage conditions. The storage conditions of the storage location of the free internal sample box are the same as the storage conditions of the sample to be stored.

4. The sample access control method as described in claim 1, characterized in that, The sample access control method further includes: In response to a sample retrieval request, an external sample box is received through the sample access port; Based on the sample extraction request, at least one internal sample box is determined, and the current storage location of the internal sample box is located. Based on the internal sample box and the current storage location, a path planning is performed to obtain the target movement path; Based on the target movement path, the sample picking module is controlled to move, and the internal sample boxes stored in the sample storage module are transferred to the picking platform by the first picking robot arm. The inner sample box is transferred to the tube picking platform by the first picking robot arm, and the outer sample box is transferred to the tube picking platform by the second picking robot arm. Based on the sample extraction request, the biological sample tube in the inner sample box is transferred to the outer sample box by the tube-picking robotic arm. The second picking robot arm moves the target external sample box to the sample retrieval port to extract biological samples.

5. A sample access control device, characterized in that, The sample access control device is applied to the sample access control method as described in any one of claims 1 to 4, and the device comprises: The sample box receiving module is used to receive external sample boxes through the sample access port in response to a sample storage request. The sample box positioning module is used to determine at least one internal sample box based on the sample storage request, and to locate the current storage location of the internal sample box. The path planning module is used to perform path planning based on the internal sample box and the current storage location to obtain the target movement path; The internal sample box picking module is used to control the movement of the sample box picking module based on the target movement path, and to transfer the internal sample boxes stored in the sample storage module to the sample picking platform through the first sample box picking robotic arm. The sample box transfer module is used to transfer the inner sample box to the tube picking platform by the first box picking robotic arm, and to transfer the outer sample box to the tube picking platform by the second box picking robotic arm; The tube-picking module is used to transfer biological sample tubes from the external sample box to the internal sample box using the tube-picking robotic arm based on the sample storage request. The sample box storage module is used to control the sample box picking module to move based on the target movement path, and to transfer the sample box inside the target to the sample storage module through the first box picking robotic arm to store biological samples.

6. 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, the sample access control program being configured to implement the sample access control method as described in any one of claims 1 to 4.

7. 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 as described in any one of claims 1 to 4.

8. A computer program product, characterized in that, The computer program product includes a computer program that, when executed by a processor, implements the steps of the sample access control method as described in any one of claims 1 to 4.

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