Positioning control method of cryopreservation equipment

Abstract

The invention relates to the technical field of biological storage, particularly provides a positioning control method of cryopreservation equipment, and aims to solve the problems that a positioning method of a mechanical arm on a cryopreservation frame depends on manual teaching, and precision and stability are difficult to guarantee. In order to achieve the purpose, the positioning control method comprises the steps that when a mechanical arm is in a teaching stage, the mechanical arm is controlled to drive a shovel disc to move to a plurality of calibration positions gradually, a plurality of horizontal distance values between the shovel disc and the cryopreservation frame are obtained, and the cryopreservation frame is positioned on the basis of the horizontal distance values; and teaching position information of the mechanical arm driving the shovel disc to move to the teaching target cryopreservation position is determined, so that the mechanical arm can drive the shovel disc to extend into the cryopreservation frame in the middle. According to the positioning control method, the cryopreservation position on the cryopreservation frame can be quickly demonstrated, the debugging time is shortened, and the demonstration precision is improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of biological sample storage, and particularly provides a positioning control method of a cryopreservation device. BACKGROUND

[0002] In the field of biological medicine, sample cryopreservation devices are used for low-temperature storage of biological samples such as blood samples, vaccines, and virus seeds. In order to increase the storage quantity of samples, most of them are stored in cryopreservation racks. However, due to the limited storage space, the cryopreservation racks are arranged very densely, which causes the mechanical arm to easily deviate in positioning when taking and placing samples, affecting the operation efficiency and sample safety. The traditional positioning method relies on manual teaching and uses visual experience method for positioning, and the precision and stability are difficult to guarantee, so a more precise and automatic positioning control technology is needed to improve the performance of the device.

[0003] Correspondingly, there is a need in the art for a new technical solution to solve the above technical problems. SUMMARY

[0004] The present application aims to solve the above technical problems, i.e., to solve the problem that the existing positioning method of the mechanical arm on the cryopreservation rack relies on manual teaching and uses visual experience method for positioning, and the precision and stability are difficult to guarantee.

[0005] The present application provides a positioning control method of a cryopreservation device, the cryopreservation device comprising a cryopreservation rack, a mechanical arm and a shovel disc, the cryopreservation rack being provided with a plurality of cryopreservation sites, the driving end of the mechanical arm being connected with the shovel disc, the mechanical arm being arranged to drive the shovel disc to move to the cryopreservation sites, a plurality of calibration positions being arranged along the insertion direction of the shovel disc at intervals from the target cryopreservation site for teaching; the positioning control method comprising: when the mechanical arm is in the teaching stage, controlling the mechanical arm to drive the shovel disc to move to a plurality of calibration positions in sequence, and acquiring a plurality of horizontal distance values between the shovel disc and the cryopreservation rack; based on a plurality of horizontal distance values, determining the teaching position information of the mechanical arm driving the shovel disc to move to the target cryopreservation site for teaching, so that the mechanical arm can drive the shovel disc to centrally insert into the cryopreservation rack; wherein the teaching position information comprises a teaching rotation angle and an X-direction teaching coordinate.

[0006] In the specific embodiment of the above positioning control method of the cryopreservation device, the horizontal distance values include left and right horizontal distance values; "determining the teaching position information of the mechanical arm driving the shovel disc to move to the target cryopreservation site for teaching based on a plurality of horizontal distance values" comprises: calculating the difference between the left and right horizontal distance values of a plurality of horizontal distance values to obtain a plurality of difference values; determining the teaching position information of the mechanical arm according to a plurality of difference values.

[0007] In a specific embodiment of the positioning control method for the aforementioned cryopreservation equipment, the plurality of differences are ΔX1, ΔX2, ..., ΔX... n During the teaching phase of the robotic arm, the robotic arm is controlled to drive the shovel to move sequentially from the initial position to multiple calibrated positions; "determining the teaching position information of the robotic arm based on multiple differences" includes: when |ΔX1-ΔX2|≤P, |ΔX2-ΔX3|≤P, ..., |ΔX n-1 -ΔX n |≤P and ΔX1, ΔX2,…, ΔX n If at least one of them is not equal, then a1 = a0, the taught coordinates in the X direction = the initial coordinates in the X direction; and / or when |ΔX1-ΔX2|≤P, |ΔX2-ΔX3|≤P, ..., |ΔX n-m-1 -ΔX n-m |≤P、|ΔX n-m -ΔX n-m+1 |>P、……、|ΔX n-1 -ΔX n When |>P, then a1=a0, the teaching coordinates in the X direction = the initial coordinates in the X direction; and / or when ΔX1=ΔX2=……=ΔX n When, then a1 = a0, Where P is the preset difference, a1 is the teaching rotation angle, and a0 is the initial rotation angle.

[0008] In a specific implementation of the positioning control method for the aforementioned cryopreservation equipment, "determining the teaching position information of the robotic arm based on multiple differences" further includes: when |ΔX1-ΔX2|>P, |ΔX2-ΔX3|>P, ..., |ΔX n-1 -ΔX n When |>P, the difference M between adjacent horizontal distance values ​​on the same side is calculated; the offset angle a of the robotic arm is determined based on the difference M and the travel distance D; wherein, the travel distance D is the distance that the shovel extends from the adjacent calibration position corresponding to the difference M; the teaching rotation angle a1 and the X-direction teaching coordinates are determined based on the offset angle a, and the robotic arm is controlled to drive the shovel to rotate by the offset angle a, so that the shovel returns to its normal position.

[0009] In a specific implementation of the positioning control method for the aforementioned cryopreservation equipment, "determining the offset angle 'a' of the robotic arm (2) based on the difference M and the travel distance D" includes: calculating the deviation angle in radians 'b' based on the difference M and the travel distance D; wherein the calculation formula is: Convert the deviation angle value in radians b into the offset angle a.

[0010] In the specific embodiment of the positioning control method of the cryopreservation device, when ΔX1> ΔX2> … > ΔX, then a1= a0+ a; and / or when ΔX1< ΔX2< … < ΔX, then a1= a0- a. n n

[0011] In the specific embodiment of the positioning control method of the cryopreservation device, when a≥ a', then when a< a', then the X-direction teaching coordinate = the X-direction initial coordinate; wherein a' is a preset offset angle.

[0012] In the specific embodiment of the positioning control method of the cryopreservation device, the teaching position information further includes a Z-direction teaching coordinate; and the positioning control method further includes: acquiring an image of the shovel disc when the shovel disc moves to the cryopreservation rack; and determining the Z-direction teaching coordinate according to the image of the shovel disc.

[0013] In the specific embodiment of the positioning control method of the cryopreservation device, the plurality of cryopreservation sites are arranged in an array; and the positioning control method further includes: determining the teaching position information of other cryopreservation sites according to the teaching position information of the teaching target cryopreservation site and the size of the cryopreservation rack.

[0014] In the specific embodiment of the positioning control method of the cryopreservation device, the positioning control method further includes: when the mechanical arm is in the in-and-out warehouse stage, using a visual correction algorithm to correct the teaching position information in real time.

[0015] In the case of using the above technical solution, the positioning control method of the present application can control the mechanical arm to drive the shovel disc to move to a plurality of calibration positions in sequence when the mechanical arm is in the teaching stage, and can acquire a plurality of horizontal distance values between the shovel disc and the cryopreservation rack. Based on the plurality of horizontal distance values, the teaching position information of the mechanical arm driving the shovel disc to move to the teaching target cryopreservation site is determined, so that the mechanical arm can drive the shovel disc to centrally extend into the cryopreservation rack. By using the positioning control method of the present application, the cryopreservation sites on the cryopreservation rack can be quickly taught, the debugging time can be reduced, and the teaching accuracy can be improved. BRIEF DESCRIPTION OF DRAWINGS

[0016] The preferred embodiments of the present application will be described below with reference to the accompanying drawings, in which:

[0017] Figure 1 is a structural schematic diagram of the cryopreservation device of the present application;

[0018] Figure 2 ​​is a schematic diagram of the shovel disc in the cryopreservation device of the present application being offset in a first direction relative to the target cryopreservation site;

[0019] Figure 3 is a schematic diagram of the shovel disc in the cryopreservation device of the present application being offset in a second direction relative to the target cryopreservation site;

[0020] Figure 4 is a main step flow chart of the positioning control method of the cryopreservation device of the present application;

[0021] Figure 5 is a detailed step flow chart of one possible implementation of the positioning control method of the cryopreservation device of the present application;

[0022] wherein 1, cryopreservation rack; 11, teaching target cryopreservation site; 2, mechanical arm; 3, shovel disc; 4, first laser range finder; 5, second laser range finder; 6, first calibration position; 7, second calibration position; 8, third calibration position. DETAILED DESCRIPTION

[0023] The preferred embodiments of the present application will be described below with reference to the accompanying drawings. It should be understood by those skilled in the art that these embodiments are only used to explain the technical principles of the present application, and are not used to limit the protection scope of the present application. Those skilled in the art can make adjustments as needed to adapt to specific application occasions.

[0024] It should be noted that in the description of the present application, the terms "left side", "right side" and the like indicating the direction or positional relationship are based on the direction or positional relationship shown in the drawings, which is only for the convenience of description, and does not indicate or imply that the related devices or elements must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present application. In addition, the ordinal numbers "first", "second", "third" and the like are only for descriptive purposes and cannot be understood as indicating or implying relative importance.

[0025] In addition, it should also be noted that in the description of the present application, unless otherwise explicitly specified and limited, the terms "connected", "connected" should be understood broadly, for example, it can be fixedly connected, or it can be detachably connected or integrally connected; it can be mechanically connected, or it can be electrically connected; it can be directly connected, or it can be indirectly connected through an intermediate medium. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0026] In addition, it should also be noted that in the description of the present application, although the steps of the control method of the present application are described in a specific order in this application, these orders are not limiting, and those skilled in the art can perform the steps in different orders without deviating from the basic principles of the present application.

[0027] As Figure 1 shown, the present application provides a cryopreservation device, specifically, the cryopreservation device of the present application comprises a cryopreservation rack 1, a mechanical arm 2 and a shovel disc 3, the cryopreservation rack 1 is provided with a plurality of cryopreservation sites, the plurality of cryopreservation sites are distributed in a rectangular array, each cryopreservation site can store a sample box, the driving end of the mechanical arm 2 is connected with the shovel disc 3, the mechanical arm 2 is arranged to drive the shovel disc 3 to move to the cryopreservation site, so as to realize the transfer of the sample box. It should be noted that although the above is described in combination with the plurality of cryopreservation sites being distributed in a rectangular array, this is not limiting, and those skilled in the art can also set the plurality of cryopreservation sites to be distributed in a circular array or other distribution state according to actual needs, and the above adjustment is within the protection scope of the present application.

[0028] The shovel disc 3 is provided with a first laser range finder 4 and a second laser range finder 5. The first range finder 4 is used to obtain the horizontal distance value of the shovel disc 3 and the left side of the cryopreservation rack 1, and the second range finder 5 is used to obtain the horizontal distance value of the shovel disc 3 and the right side of the cryopreservation rack 1. Of course, other ways other than laser range finder can also be used to obtain the horizontal distance value, such as using image processing algorithm to obtain the horizontal distance value, etc. However, considering the teaching efficiency, it is preferred to use laser range finder to obtain the horizontal distance value. The above structure can reduce the contact error by using laser range finder for non-contact measurement, thereby improving the teaching accuracy.

[0029] A plurality of calibration positions are arranged at intervals along the insertion direction of the shovel disc 3 at the teaching target cryopreservation site 11. The plurality of calibration positions are set according to the distance value of the mechanical arm 2 driving the shovel disc 3 to travel each time, wherein the distance value of the shovel disc 3 traveling each time can be equal or unequal. Considering the teaching efficiency, it is preferred that the distance value of the shovel disc 3 traveling each time is set to be equal. Exemplarily, as Figure 2 and Figure 3 shown, the plurality of calibration positions are three, the mechanical arm 2 first drives the shovel disc 3 to extend, so that the laser range finder can initially project a light spot to the side wall of the cryopreservation rack 1, at this time, the corresponding position on the cryopreservation rack 1 is the first calibration position of the teaching target cryopreservation site 11, continue to drive the shovel disc 3 to move a fixed travel distance, at this time, the corresponding position on the cryopreservation rack 1 is the second calibration position of the teaching target cryopreservation site 11, continue to drive the shovel disc 3 to move a fixed travel distance, at this time, the corresponding position on the cryopreservation rack 1 is the third calibration position of the teaching target cryopreservation site 11.

[0030] It should be noted that although the number of the plurality of calibration positions described above is three, this is not limiting, and those skilled in the art can also set two calibration positions or more calibration positions, which are set according to the length of the cryopreservation rack along the insertion direction of the shovel disc, the total extension distance of the shovel disc, and the teaching efficiency and accuracy.

[0031] As Figure 4 illustrated, the present application provides a positioning control method of a cryopreservation device, in particular, the positioning control method of the present application comprises:

[0032] S1, when the mechanical arm 2 is in a teaching stage, controlling the mechanical arm 2 to drive the shovel disc 3 to move to a plurality of calibration positions in sequence, and obtaining a plurality of horizontal distance values between the shovel disc 3 and the cryopreservation rack 1;

[0033] S2, determining teaching position information of the mechanical arm 2 driving the shovel disc 3 to move to the teaching target cryopreservation site 11 based on the plurality of horizontal distance values, so that the mechanical arm 2 can drive the shovel disc 3 to centrally extend into the cryopreservation rack 1; wherein the teaching position information includes a teaching rotation angle and an X-direction teaching coordinate.

[0034] In step S1, in the teaching stage, first control the mechanical arm 2 to drive the shovel disc 3 to move to the teaching target cryopreservation site 11 through the PLC controller, and specifically take the standard that the shovel disc 3 can extend into the teaching target cryopreservation site 11, and then according to the position information corresponding to the position of the mechanical arm 2 driving the shovel disc 3 to extend into the target cryopreservation site 11 as the initial position information; wherein the initial position information includes an initial rotation angle and an X-direction initial coordinate.

[0035] It should be noted that the above steps S1 and S2 are to obtain the teaching position information of a single teaching target cryopreservation site 11, and the above steps S1-S2 are repeated to obtain the teaching position information of a plurality of teaching target cryopreservation sites 11, and stored in the PLC controller.

[0036] In step S2, the horizontal distance value includes a left horizontal distance value and a right horizontal distance value.

[0037] Specifically, "determining the teaching position information of the mechanical arm 2 driving the shovel disc 3 to move to the target cryopreservation site 11 based on the plurality of horizontal distance values" includes:

[0038] S21, calculating the difference between the left horizontal distance value and the right horizontal distance value of the plurality of horizontal distance values to obtain a plurality of difference values;

[0039] S22, determining the teaching position information of the mechanical arm 2 according to the plurality of difference values.

[0040] In step S22, the plurality of difference values are ΔX1, ΔX2, …, ΔX n , when the mechanical arm 2 is in a teaching stage, controlling the mechanical arm 2 to drive the shovel disc 3 to move to a plurality of calibration positions in sequence.

[0041] Specifically, "determining the teaching position information of the mechanical arm 2 according to the plurality of difference values" includes:

[0042] S221, when |ΔX1-ΔX2|≤P, |ΔX2-ΔX3|≤P, …, |ΔX n-1 -ΔX n |≤P and ΔX1, ΔX2, …, ΔX n at least one is not equal, then a1=a0, the X direction teaching coordinate=X direction initial coordinate;

[0043] S222, when |ΔX1-ΔX2|≤P, |ΔX2-ΔX3|≤P, …, |ΔX n-m-1 -ΔX n-m |≤P, |ΔX n-m -ΔX n-m+1 |>P, …, |ΔX n-1 -ΔX n |>P, then a1=a0, the X direction teaching coordinate=X direction initial coordinate; wherein, P is a preset difference, a1 is a teaching rotation angle, a0 is an initial rotation angle;

[0044] S223, when ΔX1=ΔX2=…=ΔX n , then a1=a0,

[0045] S224, when |ΔX1-ΔX2|>P, |ΔX2-ΔX3|>P, …, |ΔX n-1 -ΔX n |>P, then the difference value M between the adjacent horizontal distance values on the same side is calculated;

[0046] S225, the offset angle a of the mechanical arm 2 is determined according to the difference value M and the travel distance D; wherein, as shown in the figure, the travel distance D is the distance that the adjacent calibration position corresponding to the difference value M makes the shovel disc 3 stretch out; Figure 2

[0047] S226, the teaching rotation angle a1 and the X direction teaching coordinate are determined according to the offset angle a, and the mechanical arm 2 is controlled to drive the shovel disc 3 to rotate the offset angle a, so that the shovel disc 3 is corrected.

[0048] Further, in step S225, "determining the offset angle a of the mechanical arm 2 according to the difference value M and the travel distance D" includes:

[0049] The deviation angle radian value b is calculated according to the difference value M and the travel distance D;

[0050] The calculation formula of the deviation angle radian value b is:

[0051]

[0052] ​Convert the bias angle radian value b into the offset angle a. Wherein, the radian value is converted into the angle value by using the radian angle conversion instruction DEG in the PLC controller.

[0053] Further, "determining the teaching rotation angle a1 according to the offset angle a" includes:

[0054] When ΔX1> ΔX2> … > ΔX n , then a1=a0+a.

[0055] When ΔX1< ΔX2< … < ΔX n , then a1=a0-a.

[0056] Further, "determining the X direction teaching coordinate according to the offset angle a" includes:

[0057] When a≥a', then

[0058] When a

[0059] , then the X direction teaching coordinate=X direction initial coordinate.

[0060] Based on the above steps, the following will be combined with the three calibration position settings to have a detailed description of a possible embodiment of the present application.

[0061] Specifically, when the shovel 3 moves to the first calibration position 6, the horizontal distance value between the shovel 3 and the left side of the first calibration position 6 is LX1, and the horizontal distance value between the shovel 3 and the right side of the first calibration position 6 is RX1. Similarly, the horizontal distance value between the shovel 3 and the left side of the second calibration position 7 is LX2, the horizontal distance value between the shovel 3 and the right side of the second calibration position 7 is RX2, the horizontal distance value between the shovel 3 and the left side of the third calibration position 8 is LX3, and the horizontal distance value between the shovel 3 and the right side of the third calibration position 8 is RX3. That is, step S1.

[0062] Then, the difference ΔX1 between LX1 and RX1 is calculated, the difference ΔX2 between LX2 and RX2 is calculated, and the difference ΔX3 between LX3 and RX3 is calculated, that is, step S21.

[0063] Then, the sizes of ΔX1, ΔX2 and ΔX3 are compared, and the teaching position information of the mechanical arm 2 is determined according to the comparison result. That is, step S22.

[0064] If |ΔX1-ΔX2|≤P, |ΔX2-ΔX3|≤P and at least one of ΔX1, ΔX2 and ΔX3 is not equal, then a1=a0, the X direction teaching coordinate is the X direction initial coordinate. Wherein, at least one of ΔX1, ΔX2 and ΔX3 is not equal includes any one of the following situations: (1) ΔX1≠ΔX2=ΔX3; (2) ΔX1=ΔX2≠ΔX3; (3) ΔX1≠ΔX2≠ΔX3. That is, step S221.

[0065] If |ΔX1-ΔX2|≤P, |ΔX2-ΔX3|≤P and at least one of ΔX1, ΔX2 and ΔX3 is not equal, then a1=a0, the X direction teaching coordinate is the X direction initial coordinate. Wherein, at least one of ΔX1, ΔX2 and ΔX3 is not equal includes any one of the following situations: (1) ΔX1≠ΔX2=ΔX3; (2) ΔX1=ΔX2≠ΔX3; (3) ΔX1≠ΔX2≠ΔX3. That is, step S221.

[0066] If ΔX1=ΔX2=ΔX3, then a1=a0, That is, step S223.

[0067] When the difference between ΔX1, ΔX2 and ΔX3 is within the allowable error range or equal, it indicates that the shovel 3 is located in the center or close to the center of the storage site, and the horizontal center axis of the shovel 3 is parallel to the horizontal center axis of the teaching target storage site 11, that is, the rotation angle of the mechanical arm 2 does not change, and the initial rotation angle a0 is directly used as the teaching rotation angle a1. If at least one of ΔX1, ΔX2 and ΔX3 is not equal, the X direction initial coordinate is used as the X direction teaching coordinate; if ΔX1, ΔX2 and ΔX3 are equal,

[0068] When the difference between ΔX1 and ΔX2 is within the allowable error range, and the difference between ΔX2 and ΔX3 is not within the allowable error range, it indicates that the inner wall of the storage rack 1 corresponding to the two sides of the teaching target storage site 11 is irregularly deformed, and the shovel 3 is still located in the center or close to the center of the storage site, and the horizontal center axis of the shovel 3 is parallel to the horizontal center axis of the teaching target storage site 11, that is, the rotation angle of the mechanical arm 2 does not change, and the initial rotation angle a0 is directly used as the teaching rotation angle a1, and the X direction initial coordinate is used as the X direction teaching coordinate.

[0069] If |ΔX1-ΔX2|>P, |ΔX2-ΔX3|>P, the difference M between the adjacent horizontal distance values on the same side is calculated, then the offset angle a of the mechanical arm 2 is determined according to the difference M and the travel distance D, and then the teaching rotation angle a1 and the X direction teaching coordinate are determined according to the offset angle a. That is, steps S224-S226.

[0070] Wherein, when ΔX1>ΔX2>ΔX3, the offset direction of the shovel 3 relative to the teaching target storage site 11 is as shown in the figure Figure 2As shown. The formula for calculating the difference M between the horizontal distance values ​​of adjacent calibration points on the same side is: M = LX1 - LX2 or M = LX2 - LX3 or M = RX1 - RX2 or M = RX2 - RX3.

[0071] When ΔX1 < ΔX2 < ΔX3, the offset direction of the shovel 3 relative to the teaching target cryogenic position 11 is as follows: Figure 3 As shown. The formula for calculating the difference M between the horizontal distance values ​​of adjacent calibration points on the same side is: M = LX2 - LX1 or M = LX3 - LX2 or M = RX2 - RX1 or M = RX3 - RX2.

[0072] When |ΔX1-ΔX2|>P and |ΔX2-ΔX3|>P, it indicates that the differences between ΔX1, ΔX2, and ΔX3 exceed the preset difference, i.e., they are outside the allowable error range. This means there is an offset angle between the horizontal central axis of the shovel 3 and the horizontal central axis of the teaching target cryopreservation position 11. This indicates that the robotic arm 2, driving the shovel 3 with the initial rotation angle and initial X-axis coordinates, is not centered within the teaching target cryopreservation position 11. Therefore, the initial position needs adjustment. By calculating the offset angle 'a' of the shovel 3 relative to the teaching target cryopreservation position 11, the teaching rotation angle 'a1' and the X-axis teaching coordinates are determined based on this offset angle 'a'. Then, the robotic arm 2 drives the shovel 3 to rotate horizontally by the offset angle 'a', bringing the shovel 3 to the centered position.

[0073] Furthermore, the teaching position information also includes the teaching coordinates in the Z direction;

[0074] The positioning control method of the present invention further includes:

[0075] When the shovel 3 moves to the freezer rack 1, an image of the shovel 3 is acquired;

[0076] The teaching coordinates in the Z direction are determined based on the image of the shovel 3.

[0077] Furthermore, the positioning control method also includes:

[0078] Based on the teaching location information of the teaching target cryopreservation location 11 and the dimensions of the cryopreservation rack 1, the teaching location information of other cryopreservation locations is determined.

[0079] In the above steps, in order to ensure the accuracy of the positioning of the cryopreservation rack 1 in the demonstration stage and the efficiency of the actual operation, the demonstration position information of each cryopreservation site on the cryopreservation rack 1 does not need to be obtained by the above positioning control method, and only one or part of the cryopreservation sites need to be obtained according to the above positioning control method, and the demonstration position information of the remaining cryopreservation sites can be obtained according to the size of the cryopreservation rack 1. For example, the uppermost layer, the middle layer and the lowermost layer of each column of cryopreservation sites on the cryopreservation rack 1 are taken as the demonstration target cryopreservation sites 11, and the demonstration position information is obtained by the above positioning control method, and the demonstration position information of the remaining cryopreservation sites is derived and calculated according to the size of the cryopreservation rack 1.

[0080] Further, the positioning control method of the present application further comprises:

[0081] In the case that the mechanical arm 2 is in the in-out stage, the demonstration position information is corrected in real time by using a visual correction algorithm.

[0082] In the above steps, since the storage environment of the cryopreservation rack 1 is a deep low temperature environment, deformation will occur to a certain extent, which will cause the demonstration position information to deviate in actual operation. Therefore, the mechanical arm 2 corrects in real time when performing the in-out operation of the sample box, improves the accuracy, and ensures the stability of the sample box. The visual correction algorithm is used to correct the demonstration position information in real time, and the specific correction method is not described here.

[0083] As shown in Figure 5 The detailed step flow of one possible embodiment of the positioning control method of the present application is as follows:

[0084] S101, obtaining the initial position information of the mechanical arm 2 driving the shovel disc 3 to move to the target cryopreservation site 11 for the first time;

[0085] S102, controlling the mechanical arm 2 to continue driving the shovel disc 3 to move to the first calibration position 6, the second calibration position 7 and the third calibration position 8, and obtaining a plurality of horizontal distance values LX1, RX1, LX2, RX2, LX3, RX3 between the shovel disc 3 and the cryopreservation rack 1;

[0086] S103, calculating the difference ΔX1 between LX1 and RX1, calculating the difference ΔX2 between LX2 and RX2, and calculating the difference ΔX3 between LX3 and RX3;

[0087] Comparing the sizes of ΔX1, ΔX2 and ΔX3;

[0088] When |ΔX1-ΔX2|≤P, |ΔX2-ΔX3|≤P and at least one of ΔX1, ΔX2 and ΔX3 is not equal, step S104 is executed;

[0089] When |ΔX1-ΔX2|≤P and |ΔX2-ΔX3|>P, step S104 is performed;

[0090] When ΔX1=ΔX2=ΔX3, step S105 is performed;

[0091] When |ΔX1-ΔX2|>P and |ΔX2-ΔX3|>P, step S106 is performed;

[0092] S104, a1=a0, the X-direction teaching coordinate is the X-direction initial coordinate;

[0093] S105, a1=a0,

[0094] S106, the difference M between the adjacent same-side horizontal distance values is calculated;

[0095] S107, the offset angle a of the mechanical arm 2 is determined according to the difference M and the travel distance D;

[0096] S108, when ΔX1>ΔX2>ΔX3, a1=a0+a, when ΔX1<ΔX2<ΔX3, a1=a0-a, when a≥a', the X-direction teaching coordinate is the X-direction initial coordinate; When a

[0097] S109, the mechanical arm 2 is controlled to drive the shovel disc 3 to rotate by the offset angle a;

[0098] S110, the image of the shovel disc 3 is acquired, and the Z-direction teaching coordinate is determined according to the image of the shovel disc 3.

[0099] Based on the above various embodiments, the positioning control method of the present application, when the mechanical arm 2 is in the teaching stage, controls the mechanical arm 2 to drive the shovel disc 3 to move to a plurality of calibration positions in sequence, and acquires a plurality of horizontal distance values between the shovel disc 3 and the cryopreservation rack 1, determines the teaching position information of the mechanical arm 2 driving the shovel disc 3 to move to the teaching target cryopreservation site 11 based on the plurality of horizontal distance values, so that the mechanical arm 2 can drive the shovel disc 3 to centrally extend into the cryopreservation rack 1. By adopting the positioning control method of the present application, the rapid teaching of the cryopreservation site on the cryopreservation rack 1 can be realized, the debugging time is reduced, and the teaching accuracy is improved.

[0100] So far, the technical solutions of the present application have been described in combination with the preferred embodiments shown in the drawings, but it is easy for those skilled in the art to understand that the protection scope of the present application is obviously not limited to these specific embodiments. Those skilled in the art can make equivalent changes or replacements to the related technical features without departing from the principles of the present application, and the technical solutions after these changes or replacements will all fall within the protection scope of the present application.

Claims

1. A positioning control method of a cryogenic storage device, characterized by, The cryopreservation device comprises a cryopreservation rack (1), a mechanical arm (2) and a shovel disc (3), the cryopreservation rack (1) is provided with a plurality of cryopreservation positions, the driving end of the mechanical arm (2) is connected with the shovel disc (3), and the mechanical arm (2) is arranged to drive the shovel disc (3) to move to the cryopreservation position; a plurality of calibration positions are arranged along the extension direction of the shovel disc (3) at intervals at the teaching target cryopreservation position (11); The positioning control method comprises: When the mechanical arm (2) is in the teaching stage, the mechanical arm (2) is controlled to drive the shovel disc (3) to move to a plurality of calibration positions in sequence, and a plurality of horizontal distance values between the shovel disc (3) and the cryopreservation rack (1) are obtained; Based on the plurality of horizontal distance values, the teaching position information of the mechanical arm (2) driving the shovel disc (3) to move to the teaching target cryopreservation position (11) is determined, so that the mechanical arm (2) can drive the shovel disc (3) to extend into the cryopreservation rack (1) in the center; wherein the teaching position information comprises a teaching rotation angle and an X-direction teaching coordinate.

2. The positioning control method of a cryogenic storage apparatus according to claim 1, characterized by, The horizontal distance value comprises a left horizontal distance value and a right horizontal distance value; "Determining the teaching position information of the mechanical arm (2) driving the shovel disc (3) to move to the target cryopreservation position (11) based on the plurality of horizontal distance values" comprises: The difference values of the left horizontal distance values and the right horizontal distance values of the plurality of horizontal distance values are calculated to obtain a plurality of difference values; According to the plurality of difference values, the teaching position information of the mechanical arm (2) is determined.

3. The positioning control method of a cryogenic storage apparatus according to claim 2, characterized by, The plurality of difference values are ΔX1, ΔX2, …, ΔXn respectively n ; when the mechanical arm (2) is in a teaching stage, controlling the mechanical arm (2) to drive the shovel disc (3) to move from an initial position to a plurality of calibration positions in sequence; "Determining the teaching position information of the mechanical arm (2) according to the plurality of difference values" comprises: When |ΔX1-ΔX2|≤P, |ΔX2-ΔX3|≤P, …, |ΔX n-1 -ΔX n |≤P and ΔX1, ΔX2, …, ΔX n At least one is not equal, then a1=a0, X direction teaching coordinates=X direction initial coordinates; and / or When |ΔX1-ΔX2|≤P, |ΔX2-ΔX3|≤P,..., |ΔX n-m-1 -ΔX n-m |≤P, |ΔX n-m -ΔX n-m+1 |>P,..., |ΔX n-1 -ΔX n |>P, then a1=a0, X direction teaching coordinate=X direction initial coordinate; and / or When ΔX1= ΔX2=... = ΔX n then a1= a0, Wherein, P is a preset difference value, a1 is a teaching rotation angle, and a0 is an initial rotation angle.

4. The positioning control method of a cryogenic storage apparatus according to claim 3, characterized by, "Determining the teaching position information of the mechanical arm (2) according to the plurality of difference values" further comprises: When |ΔX1-ΔX2| > P, |ΔX2-ΔX3| > P,..., |ΔX n-1 -ΔX n | > P, then the difference M between the adjacent same side horizontal distance values is calculated; According to the difference value M and the travel distance D, the offset angle a of the mechanical arm (2) is determined; wherein the travel distance D is the distance extended by the shovel disc (3) at the adjacent calibration position corresponding to the difference value M; According to the offset angle a, the teaching rotation angle a1 and the X-direction teaching coordinate are determined, and the mechanical arm (2) is controlled to drive the shovel disc (3) to rotate the offset angle a, so that the shovel disc (3) is corrected.

5. The positioning control method of the cryopreservation device according to claim 4, wherein "Determining the offset angle a of the mechanical arm (2) according to the difference value M and the travel distance D" comprises: According to the difference value M and the travel distance D, the bias angle radian value b is calculated; Wherein, the calculation formula is: The bias angle radian value b is converted into the offset angle a.

6. The positioning control method of a cryogenic storage apparatus according to claim 5, wherein "Determining the teaching rotation angle a1 according to the offset angle a" comprises: When ΔX1> ΔX2>... > ΔX n then a1= a0+ a; and / or When ΔX1< ΔX2<... < ΔX n then a1= a0- a.

7. The positioning control method of a cryogenic storage apparatus according to claim 5, wherein "Determining the X-direction teaching coordinate according to the offset angle a" comprises: When a > a', then and / or When a < a', the X-direction teaching coordinate = the X-direction initial coordinate; Wherein, a' is a preset offset angle.

8. The positioning control method of a cryogenic storage apparatus according to any one of claims 1 to 7, characterized by, The teaching position information further comprises a Z-direction teaching coordinate; The positioning control method further comprises: When the shovel disc (3) moves to the cryopreservation rack (1), an image of the shovel disc (3) is acquired; The Z-direction teaching coordinates are determined according to the image of the shovel disc (3).

9. The positioning control method of a cryogenic storage apparatus according to claim 8, wherein A plurality of the cryopreservation sites are arranged in an array. The positioning control method further comprises: According to the teaching position information of the teaching target cryopreservation site (11) and the size of the cryopreservation rack (1), the teaching position information of other cryopreservation sites is determined.

10. The positioning control method of a cryogenic storage apparatus according to claim 9, wherein The positioning control method further comprises: When the mechanical arm (2) is in the in-out warehouse stage, a visual correction algorithm is used to correct the teaching position information in real time.

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