Calibration method and equipment for cryopreservation frame box body taking

Abstract

The invention discloses a calibration method for cryopreservation frame box body taking. The calibration method comprises the steps that S1, an infrared distance meter is correspondingly installed on a mechanical arm of an ultralow-temperature refrigerator; s2, in the designated area, a mechanical arm is moved to the corresponding cryopreservation frame box storing and taking position recorded historically, and the mechanical arm is controlled to move in the vertical direction and the horizontal direction of the irradiation vertical plane of the infrared distance meter; s3, in the moving process of the mechanical arm, the infrared distance measuring instrument synchronously collects infrared distance measuring results, and two sets of distance measuring fluctuations of the two sets of cryopreservation frame box bodies in the vertical direction are obtained correspondingly; and S4, the coordinate height and the translation amount position of the mechanical arm are recorded, and the corresponding box body taking position of the mechanical arm is obtained through calculation and used for controlling the mechanical arm to accurately take the box body. According to the method, the sample box storage positions on the cryopreservation frame are subjected to distance measurement calibration through laser, the sample calibration positions can be determined based on distance measurement data fluctuation, accurate positioning and taking of cryopreservation frame box bodies are achieved, and the dislocation taking influence caused by deformation in the ultralow-temperature environment is avoided.

Description

Technical Field

[0001] This invention relates to the field of sample transport technology, specifically to a calibration method and device for taking out cryopreservation rack boxes. Background Technology

[0002] In the fields of life sciences, medical research, and biotechnology, cryopreservation is a core means of maintaining the viability and stability of biological samples. Cryopreservation racks, as key components of cryopreservation systems, directly impact sample management efficiency and storage safety due to their technical characteristics. Existing cryopreservation racks primarily serve low-temperature environments such as ultra-low temperature freezers (-70℃ to -86℃), providing functions such as organized storage, convenient retrieval, and space optimization for cryopreservation boxes. They are fundamental equipment for the standardized operation of biobanks.

[0003] In the prior art, the cell cryopreservation rack body is generally closed, and the tray is also equipped with a tube for storing cryopreservation samples. Depending on the type of equipment and the operation method, in the process of storing and retrieving samples in the storage cavity of existing ultra-low temperature freezers, such as the cryopreservation rack with application number CN202323588160.6, a special robotic arm is often used to store, retrieve, position and move the samples to achieve automatic sampling.

[0004] However, due to the low temperature in the sample box storage area of ​​the automated single-unit refrigerator, when several cryopreservation racks are installed in the storage cavity, the cryopreservation racks will inevitably undergo deformation of varying degrees in the ultra-low temperature environment for a long time.

[0005] Therefore, this application proposes a calibration method for retrieving cryopreservation rack boxes to solve the above-mentioned technical problems. Summary of the Invention

[0006] The main objective of this invention is to provide a calibration method for taking out and removing cryopreservation rack boxes, which can improve the accuracy of taking out and placing sample boxes, thereby solving the technical problems mentioned in the background art.

[0007] The present invention solves the above-mentioned technical problems by adopting the following technical solutions: A calibration method for retrieving cryopreservation rack boxes involves using laser to measure the distance of sample boxes on the cryopreservation rack for calibration. Based on the fluctuation of the distance measurement data, the calibration position of the sample can be determined, enabling precise positioning and retrieval of the cryopreservation rack boxes.

[0008] Preferably, the specific operation process of the method includes: S1. Install an infrared rangefinder on the robotic arm of the ultra-low temperature freezer; S2. Within the designated area, move the robotic arm to the corresponding cryogenic rack storage / retrieval position recorded in the history, and control the robotic arm to move along the vertical and horizontal directions of the plane illuminated by the infrared rangefinder (specified moving speed: m / s); S3. During the movement of the robotic arm, the infrared rangefinder synchronously collects infrared ranging results and obtains two sets of ranging fluctuations of the two sets of cryopreservation rack boxes in the vertical direction. S4. Record the coordinate height and translation of the robotic arm at this location, and calculate the corresponding box-picking position of the robotic arm to control the robotic arm to accurately pick up the box. Preferably, step S3 occurs during the movement of the robotic arm, with an initial time... Start timing (t is an integer / second) and simultaneously record the infrared ranging results. Two sets of ranging fluctuations (infrared ranging rate of change) of the two sets of cryopreservation rack boxes in the vertical direction were obtained respectively. Greater than the specified threshold The fluctuations of the two sets of ranging devices (infrared ranging rate of change) of the two sets of cryopreservation rack boxes in the horizontal direction. Greater than the specified threshold (fluctuations), record the coordinate height of the robotic arm at this location. Translational displacement position The corresponding box-picking position of the robotic arm is calculated as follows: It is used to control the robotic arm to precisely pick up the box.

[0009] Preferably, during the horizontal movement of the robotic arm, for the two sets of cryopreservation racks in the horizontal direction, if there are four sets of fluctuations, the adjacent translation positions are recorded sequentially during the changes. Conditions for existence: , If the value is a very small number, then mark the point as a questionable placement location. If there is no distance fluctuation in the vertical direction, then mark the location as a suitable place to store the box.

[0010] Preferably, during the vertical movement of the robotic arm, if the infrared ranging fluctuation number is greater than 2, it is determined that the current laser scan has either vertically reached the steel edge or vertically left the steel edge. In this case, the laser value is set to... The maximum value of the laser is : If it exists e and for the laser fluctuation value of the previous infrared ranging Then the recorded laser value is The vertical position in the state is marked as the steel edge position.

[0011] Preferably, during the horizontal movement of the robotic arm, if the infrared ranging fluctuation number is greater than 2, it is determined that the current laser scan has either vertically reached the steel edge or vertically left the steel edge. In this case, the laser value is set to... The laser fluctuation value of the previous infrared ranging was The effective maximum value of the laser is The minimum effective value of laser is ; Record the number of times the laser scans across the steel edge. ; If there exists a minimum effective value for laser... Then, it polls to determine whether the current valid laser position is located around the normal steel edge. If it is not located around it, the current value is invalid and no action is taken. Otherwise, it means that the current laser is located on the front of the steel edge. In this case: (1) If it exists This indicates that the laser has passed the first steel edge. At this point, the center point of the horizontal axis is calculated as follows: ,in, The horizontal distance from the previous node. The horizontal distance from the previous falling edge. The horizontal distance from the center point of the horizontal axis is used, and the center point data is finally entered into the database. (2) If it exists This indicates that the laser has passed the first steel edge, and the time should be recorded. Horizontal distance of the current node This makes it easier to calculate the center point of the first column; If laser exists or And at this time This indicates that the laser beam is currently at the falling edge position, at which point it should be recorded. for ; if The value is Then record for This makes it easier to calculate the center point of the last column.

[0012] Preferably, for any two sets of marked steel edge positions, during the movement of the robotic arm between the steel edge positions, if there is a fluctuation in the infrared ranging result comparison that is greater than a preset threshold, it is determined that there is an abnormality in the cryogenic box position of the cryogenic rack, and an early warning is issued.

[0013] Preferably, during the horizontal movement of the robotic arm, it first determines whether the current laser value meets the requirements. If the condition is met, then check the value of count: if count > 0 and there is... Then the center point of the horizontal axis is calculated as follows: If count=0, then record. (Used to calculate the location of the first cryopreservation box) is the horizontal distance of the current node. ; If not satisfied Then there should be At that time, record for And if at this time The value is Then record for (Used to calculate the last cryopreservation box position); If, during the vertical movement of the robotic arm, there exists e and for the laser fluctuation value of the previous infrared ranging Then the recorded laser value is The vertical position under the current state.

[0014] The present invention also provides a cryogenic rack box retrieving device, which is configured as a movable robotic arm equipped with an infrared rangefinder in a low-temperature storage space. The infrared rangefinder is always facing the cryogenic rack. The robotic arm is equipped with a computing device for executing the calculation process in any of the above-described cryogenic rack box retrieving calibration methods.

[0015] As can be seen from the above technical solution, the present invention provides a calibration method for retrieving cryopreservation rack boxes. Compared with the prior art, the present invention has the following advantages: 1. This invention uses laser to measure and calibrate the storage position of sample boxes on the cryopreservation rack. Based on the fluctuation of the measurement data, the calibration position of the sample can be determined, realizing the precise positioning and retrieval of the cryopreservation rack box, and avoiding the misalignment caused by deformation in ultra-low temperature environment.

[0016] It should be understood that the descriptions in this section are not intended to identify key or essential features of embodiments of the invention, nor are they intended to limit the scope of the invention. Other features of the invention will become readily apparent from the following description. Of course, implementing any product of the invention does not necessarily require achieving all of the advantages described above simultaneously. Attached Figure Description

[0017] The accompanying drawings, which form part of this application, are used to provide a further understanding of the invention. The illustrative embodiments of the invention and their descriptions are used to explain the invention and do not constitute an undue limitation of the invention. In the drawings: Figure 1 This is a schematic diagram of the operation process of the present invention; Figure 2 This is a schematic diagram of the laser calibration band of the present invention; Figure 3 This is a schematic diagram of the cryopreservation rack structure of the present invention. Detailed Implementation

[0018] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of them. Unless otherwise specified, the embodiments and features in the embodiments of this application can be combined with each other. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0019] For details in the embodiments, please refer to Figures 1 to 3 .

[0020] The calibration method for retrieving cryopreservation rack boxes proposed in this embodiment of the invention is used for, for example, Figure 3 The cryopreservation rack shown is used for calibrating the cassettes. For each cassette storage unit area, there are two sets of steel edges on the left and right sides between the rack and the adjacent storage unit areas above and below. During calibration, an infrared rangefinder mounted on a robotic arm measures the distance interference at the position of the steel edges to determine the calibrated cassettes. Specifically, a laser is used to measure the distance to calibrate the storage position of the sample cassettes on the cryopreservation rack. Based on the fluctuations in the distance measurement data, the calibrated position of the sample can be determined, achieving precise positioning and retrieval of the cassettes from the cryopreservation rack. At this point... Figure 1 As shown, the specific calibration method includes the following steps: S1. Install an infrared rangefinder on the robotic arm of the cryogenic freezer. Under normal operating conditions, the infrared ranging results are as follows: Figure 2 As shown.

[0021] The infrared rangefinder here can be replaced with other existing laser rangefinders, depending on the specific requirements of the real-time adjustment process.

[0022] S2. Within the designated area, move the robotic arm to the corresponding cryogenic rack storage / retrieval position recorded in the history, and control the robotic arm to move along the vertical and horizontal directions of the plane illuminated by the infrared rangefinder (specified moving speed: m / s).

[0023] S3. During the movement of the robotic arm, the infrared rangefinder synchronously collects infrared ranging results and obtains two sets of ranging fluctuations of the two sets of cryopreservation rack boxes in the vertical direction.

[0024] Furthermore, the following judgment operations are involved in determining the effectiveness of the ranging instruments on the robotic arm: If the infrared ranging fluctuation value is greater than 2 during the vertical movement of the robotic arm, it is determined that the current laser scan has either vertically reached the steel edge or vertically moved away from the steel edge. At this point, the laser value is set to... The maximum value of the laser is If it exists e and for the laser fluctuation value of the previous infrared ranging Then the recorded laser value is The vertical position under the current state.

[0025] Furthermore, if the infrared ranging fluctuation value is greater than 2 during the horizontal movement of the robotic arm, it is determined that the current laser scan has either vertically reached the steel edge or vertically moved away from the steel edge. In this case, the laser value is set to... The laser fluctuation value of the previous infrared ranging was The effective maximum value of the laser is The minimum effective value of laser is ; Record the number of times the laser scans across the steel edge. ; If there exists a minimum effective value for laser... Then, it polls to determine whether the current valid laser position is located around the normal steel edge. If it is not located around it, the current value is invalid and no action is taken. Otherwise, it means that the current laser is located on the front of the steel edge. In this case: (1) If it exists This indicates that the laser has passed the first steel edge. At this point, the center point of the horizontal axis is calculated as follows: ,in, The horizontal distance from the previous node. The horizontal distance from the previous falling edge. The horizontal distance from the center point of the horizontal axis is used, and the center point data is finally entered into the database. (2) If it exists This indicates that the laser has passed the first steel edge, and the time should be recorded. Horizontal distance of the current node This makes it easier to calculate the center point of the first column; If laser exists or And at this time This indicates that the laser beam is currently at the falling edge position, at which point it should be recorded. for ; if The value is Then record for This makes it easier to calculate the center point of the last column.

[0026] By judging based on the position and fluctuation of the steel edge, the effectiveness of the distance measurement can be guaranteed.

[0027] Specifically, during horizontal laser scanning, the laser detection value can be used to detect abrupt changes in the laser value from infinity to within the effective range. At this point, a decreasing value y0 is obtained along the left edge of the cryopreservation box and an increasing value y1 is obtained along the right edge. The center value in the horizontal direction can then be calculated as follows: ; During vertical laser scanning, the rise value z2 of the bottom tray of the cryopreservation box can be obtained through the laser detection value and the sudden change in the laser value. At this time, the vertical coordinate can be recorded as z=z2. The center coordinate of the cryopreservation box can be determined by y and z for the storage and retrieval of the cryopreservation box.

[0028] Furthermore, it should be noted that in one specific embodiment, for any two sets of marked steel edge positions, when the robotic arm moves between the steel edge positions, for the cryopreservation box location area, it is also necessary to compare the current ranging result with the previous ranging result. If there is fluctuation data where the infrared ranging result comparison amount is greater than a preset threshold, it is determined that there is an anomaly in the cryopreservation box location of the cryopreservation rack, and a corresponding warning is issued. If there is no cryopreservation box stored here, the cryopreservation box location area is marked as an area where it is not recommended to store cryopreservation boxes; otherwise, it indicates that the sample cryopreservation box stored in this cryopreservation box location has been damaged or abnormal.

[0029] S4. Record the coordinate height and translation of the robotic arm at this location, and calculate the corresponding box-picking position of the robotic arm to control the robotic arm to accurately pick up the box.

[0030] In one specific embodiment, if it is necessary to perform sample box storage operations on the cryopreservation rack, then: During the horizontal movement of the robotic arm, for the two sets of cryopreservation racks in the horizontal direction, if there are four sets of fluctuations, and the adjacent translation positions are recorded sequentially during the changes... Conditions for existence: , If the value is a very small number, then mark the point as a questionable placement location. If there is no distance fluctuation in the vertical direction, then mark the location as a suitable place to store the box.

[0031] In one specific embodiment, if it is necessary to remove the sample box from the cryopreservation rack, then: During the movement of the robotic arm, the initial time is used as a reference. Start timing (t is an integer / second) and simultaneously record the infrared ranging results. Two sets of ranging fluctuations (infrared ranging rate of change) of the two sets of cryopreservation rack boxes in the vertical direction were obtained respectively. Greater than the specified threshold The fluctuations of the two sets of ranging devices (infrared ranging rate of change) of the two sets of cryopreservation rack boxes in the horizontal direction. Greater than the specified threshold (fluctuations), record the coordinate height of the robotic arm at this location. Translational displacement position The corresponding box-picking position of the robotic arm is calculated as follows: It is used to control the robotic arm to precisely pick up the box.

[0032] In a further embodiment, during the horizontal movement of the robotic arm: first, it is determined whether the current laser value meets the requirements. If the condition is met, then check the value of count: if count > 0 and there is... Then the center point of the horizontal axis is calculated as follows: If count=0, then record. (Used to calculate the location of the first cryopreservation box) is the horizontal distance of the current node. ; If not satisfied Then there should be At that time, record for And if at this time The value is Then record for (Used to calculate the last cryopreservation box position); Additionally, if there is any [further issues] during the vertical movement of the robotic arm. e and for the laser fluctuation value of the previous infrared ranging Then the recorded laser value is The vertical position under the current state.

[0033] In summary, this application uses laser to measure and calibrate the storage position of sample boxes on the cryopreservation rack during actual use. Based on the fluctuation of the measurement data, the calibrated position of the sample can be determined, enabling precise positioning and retrieval of the cryopreservation rack box, and avoiding the impact of misalignment caused by deformation in ultra-low temperature environments.

[0034] In addition, the cryopreservation rack box retrieval device used in the above embodiments is configured as a movable robotic arm equipped with an infrared rangefinder in a low-temperature storage space. The infrared rangefinder is always facing the cryopreservation rack. The robotic arm is equipped with a computing device to execute the calculation process of the calibration method for retrieving the cryopreservation rack box in the above embodiments.

[0035] In the above embodiments, implementation can be achieved entirely or partially through software, hardware, firmware, or any combination thereof. When implemented using software, it can be implemented entirely or partially in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, all or part of the processes or functions described in the embodiments of this application are generated. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions can be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another. For example, the computer instructions can be transmitted from one website, computer, server, or data center to another website, computer, server, or data center via wired or wireless means. The computer-readable storage medium can be any available medium accessible to a computer or a data storage device such as a server or data center that integrates one or more available media. The available medium can be a magnetic medium, an optical medium, or a semiconductor medium, etc.

[0036] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

[0037] Furthermore, it should be noted that if any directional indication (such as up, down, left, right, front, back, etc.) is involved in the embodiments of the present invention, the directional indication is only used to explain the relative positional relationship and movement of each component in a specific posture. If the specific posture changes, the directional indication will also change accordingly.

[0038] Furthermore, if the embodiments of this invention involve descriptions such as "first" or "second," these descriptions are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined with "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, the meaning of "and / or" throughout the text includes three parallel solutions; for example, "A and / or B" includes solution A, solution B, or a solution where both A and B are satisfied simultaneously. Furthermore, in the embodiments of this invention, "multiple" refers to two or more. Moreover, the technical solutions of the various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed by this invention.

Claims

1. A calibration method for retrieving a cryopreservation rack, characterized in that, include: S1. Install an infrared rangefinder on the robotic arm of the ultra-low temperature freezer; S2. Within the designated area, move the robotic arm to the corresponding cryogenic rack storage location in the historical record, and control the robotic arm to move along the vertical and horizontal directions of the vertical plane illuminated by the infrared rangefinder. S3. During the movement of the robotic arm, the infrared rangefinder synchronously collects infrared ranging results and obtains two sets of ranging fluctuations of the two sets of cryopreservation rack boxes in the vertical direction. S4. Record the coordinate height and translation of the robotic arm at this location, and calculate the corresponding box-picking position of the robotic arm to control the robotic arm to accurately pick up the box.

2. The calibration method for retrieving the cryopreservation rack box as described in claim 1, characterized in that, The S3 step occurs during the movement of the robotic arm, with an initial time... Start timing and simultaneously record the infrared ranging results. The distance measurement fluctuations of the two sets of cryopreservation racks in the vertical direction and the two sets of cryopreservation racks in the horizontal direction were acquired respectively, and the coordinate height of the robotic arm at this point was recorded. Translational displacement position The corresponding box-picking position of the robotic arm is calculated as follows: .

3. The calibration method for retrieving cryopreservation rack boxes as described in claim 1, characterized in that, During the horizontal movement of the robotic arm, for the two sets of cryopreservation racks in the horizontal direction, if there are four sets of fluctuations, and the adjacent translation positions are recorded sequentially during the changes... Conditions for existence: , If the value is a very small number, then mark the point as a questionable placement location. If there is no distance fluctuation in the vertical direction, then mark the location as a suitable place to store the box.

4. The calibration method for retrieving the cryopreservation rack box as described in claim 1, characterized in that, If the infrared ranging fluctuation value is greater than 2 during the vertical movement of the robotic arm, it is determined that the current laser scan has either vertically reached the steel edge or vertically moved away from the steel edge. At this point, the laser value is set to... The maximum value of the laser is : If it exists e and for the laser fluctuation value of the previous infrared ranging Then the recorded laser value is The vertical position in the state is marked as the steel edge position.

5. The calibration method for retrieving the cryopreservation rack box as described in claim 4, characterized in that, During the horizontal movement of the robotic arm, if the infrared ranging fluctuation value is greater than 2, it is determined that the current laser scan has either vertically reached the steel edge or vertically moved away from the steel edge. At this point, the laser value is set to... The laser fluctuation value of the previous infrared ranging was The effective maximum value of the laser is The minimum effective value of laser is ; Record the number of times the laser scans across the steel edge. ; If there exists a minimum effective value for laser... Then, it polls to determine whether the current valid laser position is located around the normal steel edge. If it is not located around it, the current value is invalid and no action is taken. Otherwise, it means that the current laser is located on the front of the steel edge. In this case: (1) If it exists Then the center point of the horizontal axis is calculated as follows: ,in, The horizontal distance from the previous node. The horizontal distance from the previous falling edge. The horizontal distance from the center point of the horizontal axis is used, and the center point data is finally entered into the database. (2) If it exists Then record Horizontal distance of the current node ; If laser exists or And at this time ,Record for ; if The value is Then record for .

6. The calibration method for retrieving the cryopreservation rack box as described in claim 5, characterized in that, For any two sets of marked steel edge positions, during the movement of the robotic arm between the steel edge positions, if the current ranging result in this area is compared with the previous ranging result, and there is fluctuation data where the infrared ranging result comparison is greater than a preset threshold, then it is determined that there is an anomaly in the cryogenic box position of the cryogenic rack, and an early warning is issued.

7. The calibration method for retrieving the cryopreservation rack box as described in claim 1, characterized in that, As the robotic arm moves horizontally, it first determines whether the current laser value meets the requirements. If the condition is met, then check the value of count: if count > 0 and there is... Then the center point of the horizontal axis is calculated as follows: If count=0, then record. Horizontal distance of the current node ; If not satisfied Then there should be At that time, record for And if at this time The value is Then record for ; If, during the vertical movement of the robotic arm, there exists e and for the laser fluctuation value of the previous infrared ranging Then the recorded laser value is The vertical position under the current state.

8. A device for retrieving cryogenic storage rack boxes, comprising a movable robotic arm equipped with an infrared rangefinder within a low-temperature storage space, characterized in that, The infrared rangefinder is always oriented towards the cryopreservation rack, and the robotic arm is equipped with a computing device for executing the calculation process in the calibration method for retrieving the cryopreservation rack box as described in any one of claims 1-7.

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