Automatic fungus culture and intelligent identification integrated system and control method thereof

Abstract

The invention discloses an integrated fungus automatic culture and intelligent identification system and a control method thereof. The system comprises a culture cabinet, an operation box, a central controller, a recognition mechanism, a transfer mechanism and the like, the culture cabinet is divided into a culture cavity and a disinfection cavity, the culture cavity is provided with a temperature and humidity sensor, an environmental parameter adjusting assembly and the like, the recognition mechanism comprises image acquisition, cover taking and image processing equipment, and the transfer mechanism realizes automatic transfer of culture dishes. According to the control method, all the modules are coordinated through the central controller, full-process automatic operation such as culture dish transfer, image acquisition, environment adjustment and disinfection is completed, the problems existing in traditional manual operation are solved, and the culture efficiency and the recognition precision are improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of building material performance detection, and in particular to a system integrating automatic fungus cultivation and intelligent identification and a control method thereof. BACKGROUND

[0002] Currently, the GB / T 1741 "Paint Film Resistance to Fungus Test Method" requires that the building materials be subjected to fungus resistance detection. The test process is to inoculate the fungus on the surface of the sample (5 cm square size) and cultivate it, and the surface mold area is used to reflect the fungus resistance performance.

[0003] In the traditional detection process, from sample inoculation to cultivation observation, result interpretation and other links, manual operation is mostly relied on. When manual cultivation is performed, the temperature and humidity control precision of the cultivation environment is low, and the experience difference of different operators may cause fluctuations in the cultivation conditions, affecting the stability and consistency of fungus growth; in the observation and identification stage, the detection personnel need to open the cultivation device regularly, and observe and record the fungus growth in the culture dish by naked eye or microscope, which not only increases the pollution risk, but also may cause errors due to the non-uniform human judgment standard, and long-time manual monitoring is time-consuming and laborious, and it is difficult to meet the demand of large-scale sample detection. In addition, during the process of manual transfer of culture dishes, improper operation may also disturb the cultivation environment, further affecting the accuracy of the detection results. SUMMARY

[0004] The present application provides a system integrating automatic fungus cultivation and intelligent identification and a control method thereof, which solves the problems of poor cultivation environment stability, high pollution risk, low detection efficiency and large result error caused by relying on manual operation in the traditional fungus cultivation and identification process.

[0005] In the first aspect of the present application, a system integrating automatic fungus cultivation and intelligent identification is provided, which adopts the following technical solution: The system for integrating automatic culture and intelligent identification of fungi comprises a culture cabinet, an operation box, a central controller, an identification mechanism, a transfer mechanism and a taking and placing station for placing a target culture dish containing a sample to be tested, which are arranged in the operation box; one side of the culture cabinet is communicated with the operation box, and a partition door is installed at the communication position of the culture cabinet and the operation box; a door body driving element is installed at the position of the partition door, and the output end of the door body driving element is fixedly connected with the partition door to drive the opening and closing of the partition door; the inside of the culture cabinet is divided into a culture cavity and a sterilization cavity by a partition plate; a temperature and humidity sensor, an environmental parameter adjusting assembly and at least one layer of bearing platforms distributed along the height direction of the culture cabinet are arranged in the culture cavity; at least one culture site is arranged on each bearing platform; a position sensor is arranged at the position of each culture site; and a sterilization device is arranged in the sterilization cavity; the identification mechanism comprises an image acquisition device, a cover taking assembly and an image processing device; the cover taking assembly is used for performing cover opening and closing operations on the target culture dish; the image processing device is in communication connection with the image acquisition device; the image acquisition device is used for acquiring a target image of the target culture dish and transmitting the target image to the image processing device; the image processing device is used for analyzing the target image according to a preset fungus identification algorithm to monitor the fungus growth of the sample to be tested in the target culture dish in real time; the image processing device is in communication connection with the central controller; and the fungus growth of the sample to be tested in the target culture dish is fed back to the central controller by the image processing device; the central controller is also used for controlling the environmental parameter adjusting assembly to adjust the environmental parameters in the culture cabinet according to the fungus growth; the transfer mechanism comprises a transfer control module, a pose adjustment module and an end execution module; the output end of the pose adjustment module is fixed with the end execution module; the end execution module comprises a mechanical arm and a gripper fixed at the free end of the mechanical arm; the mechanical arm comprises a supporting arm and an adjusting arm which are movably arranged relative to each other; the multi-dimensional movement of the gripper in the culture cabinet is realized by the relative adjustment between the pose adjustment module, the adjusting arm and the supporting arm; the transfer control module is in electrical connection with the pose adjustment module and the end execution module respectively, and is used for controlling the pose adjustment module to drive the end execution module to transfer the culture dish between the taking and placing station, different culture sites of the culture cabinet, the cover taking assembly and the image acquisition device; a lighting assembly is further arranged below the image acquisition device; a state indicating device is further installed on the outer wall of the operation box; and the door body driving element, the temperature and humidity sensor, the environmental parameter adjusting assembly, the position sensor, the image acquisition device, the lighting assembly, the state indicating device, the sterilization device, the cover taking assembly and the transfer control module are all in electrical connection with the central controller.

[0006] By adopting the technical scheme, the system realizes full-process automatic operation from sample inoculation to culture, identification and sterilization by integrating the culture cabinet and the operation box. The culture cabinet is divided into a culture cavity and a sterilization cavity. The culture cavity is provided with multiple layers of bearing platforms through a partition plate, can accommodate multiple culture dishes for independent culture at the same time, and each bearing platform on each layer is equipped with a position sensor to accurately position the placement position of the culture dish. When the target culture dish is placed on the culture position by the transfer mechanism, the central controller determines the position of the target culture dish according to the signals fed back by the transfer mechanism and the position sensor, and ensures that the target culture dish has been placed on the culture position, and starts timing the culture time of the target culture dish. The environmental parameter adjusting assembly combined with the temperature and humidity sensor can monitor and dynamically adjust the temperature, humidity, light and other environmental parameters in the culture cavity in real time, and provide customized growth conditions for different types of fungi. The identification mechanism in the operation box cooperates with the cap taking assembly through the image acquisition device to complete the processes of opening the culture dish, image acquisition and closing the culture dish without manual intervention. The image processing device analyzes the collected images based on a preset algorithm, quickly determines the growth area and morphology of the fungal colony and other key parameters, and feeds back the results to the central controller, so that the central controller controls the culture of the to-be-tested sample in combination with the culture period and the fungal growth condition of the to-be-tested sample. The transfer mechanism cooperates with the adjustable mechanical arm in the pose adjustment module and the end execution module to realize the smooth transfer of the culture dish between the workstations and the multiple culture positions in the culture box. In addition, the partition door between the culture cabinet and the operation box is designed in a sliding manner and automatically opened and closed through a door body driving element, and cooperates with a sealing strip to ensure the sealing of the culture cavity and reduce the interference of the external environment on the culture condition. The sterilization equipment in the sterilization cavity can automatically sterilize the culture dish after the culture is completed, reduce the risk of cross contamination, and the overall system is coordinated by the central controller to significantly improve the automation degree and detection accuracy of fungal culture and identification, and provides an efficient and reliable technical solution for the field of building material mold resistance detection.

[0007] Optionally, the pose adjustment module includes a direction adjusting unit and a height adjusting unit, the height adjusting unit includes a support column and a lifting driving element, the mechanical arm further includes a mounting block arranged at the base end of the support arm, the mounting block is slidingly installed on the support column, and the output end of the lifting driving element is fixedly connected with the mounting block; the support column includes a base and an adjusting column body, the direction adjusting unit includes a rotating driving element installed in the base, the adjusting column body is rotationally installed on the base, the output end of the rotating driving element is fixedly connected with the bottom end of the adjusting column body, and the lifting driving element and the rotating driving element are electrically connected with the transfer control module.

[0008] By adopting the above technical scheme, the support column in the height adjusting unit provides a stable mounting base for the mechanical arm, the lifting driving piece can drive the mounting block to slide up and down along the support column, thereby driving the mechanical arm as a whole to realize height direction adjustment to adapt to the bearing platform and station requirements of different heights; the rotating driving piece of the direction adjusting unit can drive the adjusting column to rotate around the base, thereby driving the mechanical arm to realize 360-degree direction adjustment in the horizontal direction, in combination with the relative movement of the support arm and the adjusting arm of the mechanical arm, so that the gripper of the end execution module can be flexibly moved between various positions in the operation box and the culture cabinet, and precise grabbing and transferring of the culture dish are ensured. Such multi-dimensional pose adjustment capability effectively improves the working range and operation flexibility of the transfer mechanism, and can meet the complex transfer path requirements between different stations in the system.

[0009] Optionally, the base end of the mechanical arm is rotationally connected with the mounting block through a first rotating shaft assembly, the other end of the support arm is rotationally connected with one end of the adjusting arm through a second rotating shaft assembly, the other end of the adjusting arm is rotationally connected with the mounting seat of the gripper through a third rotating shaft assembly, and the first rotating shaft assembly, the second rotating shaft assembly, the third rotating shaft assembly and the gripper are electrically connected with the transfer control module.

[0010] By adopting the above technical scheme, the first rotating shaft assembly, the second rotating shaft assembly and the third rotating shaft assembly respectively provide the mechanical arm with rotational degrees of freedom between the base end and the mounting block, between the support arm and the adjusting arm, and between the adjusting arm and the mounting seat of the gripper, so that the mechanical arm can realize multi-joint linkage, and further expand the activity range and pose adjustment capability of the gripper in space. The central controller can drive the mechanical arm to complete complex actions such as stretching, rotating and pitching through accurate control of each rotating shaft assembly, so as to ensure that the gripper can always maintain a stable pose during grabbing and transferring of the culture dish, and avoid tilting of the culture dish or spilling of the sample. At the same time, the electrical connection design of the gripper and the central controller enables the central controller to adjust the clamping force of the gripper in real time according to the size, weight and other parameters of the culture dish, which not only ensures reliable grabbing of the culture dish, but also prevents damage to the culture dish or affects the sample state due to excessive clamping force, thereby providing a powerful guarantee for safe and accurate transfer of the culture dish between stations.

[0011] Optionally, the base end of the support arm is fixedly connected with the mounting block, the adjusting slide is slidably mounted in the support arm, a telescopic driving member is mounted in the support arm, the output end of the telescopic driving member is fixedly connected with the adjusting arm, the mounting block is provided with a mounting plate extending downward and parallel to the support column at the end opposite to the mechanical arm, the mounting plate is provided with a positioning groove in the axial direction, a winding chain is slidably mounted in the positioning groove, one end of the winding chain is fixedly connected with the free end of the adjusting arm through the mounting plate and the support column, the other end of the winding chain is fixedly connected with a counterweight, the positioning groove is provided with a mounting groove below the mounting block, a winding sprocket in transmission connection with the winding chain is rotatably mounted in the mounting groove, two tension sprockets are mounted on the two sides of the transmission direction of the winding sprocket, the tension sprockets abut against the winding chain to adjust the tension of the chain, the winding sprocket is coaxially fixedly connected with a side gear, a winding roller is further included, winding gears are mounted at the two ends of the winding roller, the winding gears are rotatably mounted in the positioning groove and meshed with the side gear, a balance tendon is fixedly connected at the end of the jaw, the other end of the balance tendon is wound on the winding roller, a wire guide ring is mounted at the top end of the mounting block for the balance tendon to pass through; a culture base for placing the target culture dish is further included, the culture base is provided with limiting flanges extending in the radial direction of the culture base at the upper ends of the two sides, the jaw includes a clamping arm, an extension plate and a clamping plate fixedly connected at the lower end of the clamping arm, the extension plate is perpendicular to the clamping plate, the clamping plate is fixedly connected at the free end of the extension plate and extends toward the clamping space enclosed by the support arm and the extension plate, the width of the clamping plate is greater than or equal to the width of the limiting flanges on the two sides of the culture base, the telescopic driving member and the jaw are electrically connected with the transfer control module.

[0012] By adopting the above technical solution, the sliding engagement of the support arm and the adjusting arm, along with the telescopic drive mechanism, enables the horizontal length adjustment of the robotic arm. This allows the gripper to flexibly adjust its working radius based on the distance between the culture position and the work station, further expanding the operating range of the transfer mechanism. The positioning slot on the mounting plate provides a stable guide path for the winding chain. When the adjusting arm extends or retracts within the support arm, the winding chain, through the transmission of the winding sprocket and the tension sprocket, drives the counterweight to move synchronously. The weight of the counterweight balances the weight of the adjusting arm and the gripper, effectively reducing the load on the telescopic drive mechanism and improving the smoothness and response speed of the robotic arm. The meshing transmission between the winding gear and the side gear causes the winding roller to rotate synchronously with the movement of the winding chain, thereby winding or releasing the balance rib. The balance rib is guided by the guide ring and connected to the balance rib at the end of the gripper, providing additional support and balance during gripper movement. This prevents the gripper from wobbling or tilting due to its own weight or uneven load, ensuring stable gripping of the culture dish. The limiting flanges on both sides of the culture medium holder are adapted to the extension plate and clamping plate structure of the gripper. The width design of the clamping plate ensures that the gripper can stably lift the culture medium holder from below the limiting flange. At the same time, the clamping space formed by the extension plate and the support arm limits the side of the culture medium holder, preventing the culture dish from shifting or falling off in the horizontal direction during the transfer process, which significantly improves the safety and reliability of culture dish transfer.

[0013] Optionally, the cap removal assembly includes an angle bracket, a suction nozzle mounted on the horizontal arm of the angle bracket, the suction nozzle being connected to a vacuum generator, and a solenoid valve and a filter being provided between the vacuum generator and the suction nozzle, the solenoid valve being electrically connected to a central controller.

[0014] By adopting the above technical solution, after the target culture dish is transferred to the cap removal station, the central controller controls the solenoid valve to open, and the vacuum generator evacuates the nozzle through the filter, so that the nozzle generates negative pressure to adsorb the culture dish cap; then the transfer mechanism moves the culture dish body downward to separate the cap from the culture dish. After separation, the cap is held in an adsorbed state by the nozzle until the image acquisition device completes the target image acquisition. After the acquisition is completed, the transfer mechanism transfers the target culture dish to the bottom of the cap removal assembly, the solenoid valve closes, the vacuum is released, and the culture dish cap falls back onto the culture dish body under the action of gravity, completing the capping operation; the filter can prevent spores or impurities from being sucked into the culture dish during the adsorption process of the nozzle, and avoid contaminating the vacuum generator and affecting its service life.

[0015] Optionally, the lighting assembly includes a ring light and a strip light. The ring light is coaxially arranged with the image acquisition device, and the center axis of the ring light overlaps with the acquisition axis of the image acquisition device. The ring light is located within the acquisition field of view of the image acquisition device. The strip lights are symmetrically distributed above the ring light with the acquisition axis of the image acquisition device as the axis of symmetry. Both the ring light and the strip light are electrically connected to the central controller.

[0016] By adopting the above technical solution, the ring-shaped supplemental light is coaxially set with the image acquisition device, providing a uniform ring light source from directly above the culture dish. This effectively eliminates shadow areas during image acquisition, ensuring that the details of fungal colonies on the surface of the culture dish are clearly visible. The strip-shaped supplemental lights are symmetrically distributed above the ring-shaped supplemental light. According to the fungal growth stage and colony color characteristics, their light intensity and color temperature can be adjusted by the central controller. When acquiring images of dark colonies, the strip-shaped supplemental lights can provide oblique auxiliary light sources to enhance the contrast between the colonies and the culture medium. For light-colored or transparent hyphae, the ring-shaped supplemental lights can work independently to avoid strong light reflection interfering with image quality. This adapts to the growth morphology and color characteristics of different types of fungi, providing a high-quality imaging environment for the image acquisition device. This ensures that the image processing device can accurately extract key parameters such as the boundary contours and area ratios of fungal growth, improving the accuracy and reliability of intelligent recognition.

[0017] Optionally, the image processing device includes an image central module, an image preprocessing module, an image segmentation module, a fungal area determination module, a human-computer interaction module, and a communication module. The image central module coordinates the data interaction and working sequence of each module, receives the target image transmitted by the image acquisition device, and transmits the target image to the image preprocessing module. The image preprocessing module performs image enhancement, noise filtering, and distortion correction on the target image. The image segmentation module uses a preset segmentation algorithm to segment the sample to be tested and the culture dish in the preprocessed target image to obtain the target sample image corresponding to the target image. It is also used to segment the target sample image based on the original sample image before culture and the target sample image. This image undergoes differential comparison to segment the fungal colony area from the sample background texture to obtain the target colony image; the fungal area determination module is used to calculate the colony pixel area of ​​fungi in the target colony image, and converts the colony pixel area into the actual physical area by combining the calibration parameters of the image acquisition device, to obtain the colony growth status corresponding to the sample to be tested; the human-computer interaction module is used to display the colony growth status formed by the image processing device and the system operation status; the communication module is used to realize the communication connection between the central controller and the image processing device, and the image preprocessing module, image segmentation module, fungal area determination module, human-computer interaction module and communication module are all electrically connected to the image central module.

[0018] By adopting the above technical solution, the image processing equipment achieves intelligent analysis of fungal growth through multi-module collaborative operation. The image central module, as the core coordination unit, first receives the target image transmitted from the image acquisition device and allocates it to the image preprocessing module according to a preset time sequence. The preprocessing module enhances image details using an adaptive contrast enhancement algorithm, removes environmental noise using Gaussian filtering, and corrects optical distortion based on the camera intrinsic parameter matrix to ensure image quality meets subsequent analysis requirements. The image segmentation module first uses an algorithm combining threshold segmentation and edge detection to separate the sample area from the petri dish background. Then, by comparing with the original sample image from the initial stage of cultivation, it accurately extracts newly added fungal colony areas, effectively eliminating interference factors such as culture medium textures and air bubbles. The fungal area determination module converts the pixel area in the target colony image into actual physical area (e.g., square centimeters) based on the calibration parameters of the image acquisition device (e.g., pixel equivalent). Simultaneously, it combines morphological characteristic parameters of the colony (e.g., perimeter, roundness) to comprehensively determine the growth stage and vitality status of the fungus. The human-computer interaction module displays colony images, growth curves, and identification results in real time on a high-definition screen, supporting manual annotation and parameter adjustment by operators. The communication module establishes a high-speed data link with the central controller using the industrial Ethernet protocol, feeding back the analysis results to the central controller in real time. This provides data support for environmental parameter adjustment and culture process optimization, ensuring not only the efficiency and accuracy of image processing but also good scalability. The algorithm module can be upgraded to adapt to the identification needs of new fungi.

[0019] Optionally, a control cabinet is installed on the side of the incubator connected to the control box. Embedded grooves are formed on the top, bottom, and inner walls of the incubator on the side connected to the control box. A through-slot is formed on the side wall away from the control cabinet. The embedded grooves on the top, left, and bottom, together with the through-slot on the right, form a door mounting slot. A partition door is slidably installed in the door mounting slot, and the partition door can slide out of the cabinet through the through-slot. A guide rail is installed in the embedded groove on the bottom inner wall, and the partition door is slidably installed on the guide rail. A door drive is installed on the side of the incubator near the control cabinet, corresponding to the bottom embedded groove, and the output end of the door drive is within the coverage area of ​​the embedded groove at the bottom of the incubator. A sealing strip is installed on the inner wall of the through-slot.

[0020] By adopting the above technical solution, the control cabinet provides installation space for the drive control of the partition door. The embedded grooves on the top, bottom, and inner wall of the culture cabinet near the control cabinet, together with the through groove on the other side, constitute the door mounting groove, allowing the partition door to slide smoothly along the guide rail within the door mounting groove. When it is necessary to transfer the culture dish, the door drive mechanism drives the partition door to slide along the guide rail towards the through groove, allowing it to slide out of the cabinet through the through groove, thus achieving communication between the culture cabinet and the control box. When it is necessary to keep the culture chamber sealed during culture or sterilization, the door drive mechanism... The component drives the partition door to slide in the opposite direction, making it fully embedded in the door mounting groove. At this time, the sealing strip on the inner wall of the groove is tightly fitted with the edge of the partition door, effectively blocking the exchange of external air with the gas inside the culture chamber, maintaining the stability of culture conditions such as temperature, humidity and gas concentration inside the culture chamber, and reducing the interference of bacteria or contaminants in the external environment on the culture process. At the same time, the embedded groove design makes the partition door flush with the inner wall of the culture cabinet when closed, avoiding the occupation of the internal space of the culture cabinet by the protruding structure of the door, and also reducing the risk of the door colliding with other components.

[0021] Optionally, the operation box is equipped with doors on all side walls except the side connected to the incubator. Each door of the operation box is equipped with a proximity sensor and a safety lock, and both the proximity sensor and the safety lock are electrically connected to the central controller.

[0022] By adopting the above technical solution, the door design on each side wall of the operating box facilitates maintenance or retrieval of culture dishes from different angles. Proximity sensors can detect the opening and closing status of the doors in real time and transmit the signals to the central controller. When the central controller receives a door opening signal, it will immediately activate the safety lock to prevent the partition door between the culture cabinet and the operating box from being accidentally opened during operation, thus avoiding interference with the culture environment inside the culture chamber due to door opening. When the door is closed, the proximity sensor detects a closing signal, and the central controller will release the restriction on the safety lock, allowing the partition door to slide according to a preset program. This dual protection mechanism not only ensures the safety of operators when performing related operations inside the operating box, but also further ensures the sealing and stability of the culture environment during the culture process, effectively improving the reliability and intelligence level of the system operation.

[0023] The second aspect of this application provides a control method for a system integrating automated fungal culture and intelligent identification, applied to the central controller of a system integrating automated fungal culture and intelligent identification as described in the first aspect, and employing the following technical solution: In response to the start of culture signal, the control transfer mechanism moves the target culture dish containing the sample to be tested from the pick-and-place station to below the image acquisition device, and controls the image acquisition device to acquire the original sample image of the sample before culture. The system receives the acquisition completion signal from the image acquisition device and the sample information obtained from the analysis of the original sample image by the image processing device. It controls the transfer mechanism to transfer the target culture dish into the culture chamber, determines the culture cycle and sampling time interval based on the sample information, and controls the environmental parameter adjustment component to set the target environmental parameters corresponding to the sample to be tested. Receive the position determination signal from the position sensor, control the transfer mechanism to return to the initial state, and control the door drive component to drive the partition door to close; According to the sampling time interval, the transfer mechanism is controlled to transfer the target culture dish from the culture chamber to below the cap removal component. The cap removal component is controlled to perform the cap opening operation. Upon receiving the cap opening completion signal from the cap removal component, the transfer mechanism is controlled to transfer the target culture dish to below the image acquisition device. The illumination component is adjusted to the target illumination parameters according to the sample information, and the image acquisition device is started to acquire the target image of the target culture dish. Receive feedback signals regarding the growth of bacterial colonies formed by the image acquisition device analyzing the target image; If the culture cycle has not ended and the feedback signal indicates that the colony growth has not reached the preset threshold, the control transfer mechanism will transfer the target culture dish to the bottom of the cap removal component, control the cap removal component to perform the cap closing operation, receive the cap closing completion signal from the cap removal component, control the transfer mechanism to transfer the target culture dish to the corresponding culture position of the target culture dish, control the door drive component to drive the partition door to close, and continue the subsequent culture and monitoring process according to the set culture cycle and sampling time interval; If the culture cycle ends or the feedback signal indicates that the colony growth has reached the preset threshold, the control transfer mechanism will transfer the target culture dish to the disinfection chamber, the control disinfection equipment will start the disinfection program to disinfect the target culture dish, and after the preset disinfection time, the control transfer mechanism will transfer the disinfected target culture dish to the bottom of the cap removal component, the control cap removal component will perform the cap closing operation, and the control transfer mechanism will transfer the target culture dish to the pick-and-place station, and the control status prompt device will issue a culture completion prompt to the user.

[0024] By adopting the above technical solution, this control method achieves automated closed-loop control of the entire fungal culture and identification process. Upon responding to the culture start signal, the system first transfers the sample to be cultured to the image acquisition station via a transfer mechanism, acquiring the original sample image before culture as baseline data. After the image processing equipment analyzes the sample information, it automatically matches preset culture parameters (such as temperature and humidity) and precisely places the culture dish into the culture chamber. During the culture process, the system automatically initiates the transfer process according to the set sampling time interval. The opening and closing of the partition door achieves dynamic isolation between the culture environment and the operating space, ensuring stable environmental parameters within the culture chamber. During the image acquisition stage, the cap removal component, in conjunction with the intelligent dimming of the lighting component, provides optimal imaging conditions for fungi at different growth stages. The image processing equipment analyzes colony growth data in real time and feeds it back to the central controller. If the culture cycle is not yet complete and the colony count has not reached the threshold, the system automatically closes the cap and returns the culture dish to its original position to maintain the culture environment. When the culture is complete or the colony count reaches the preset threshold, the system automatically triggers a disinfection program, sterilizing the culture dish with high temperature or ultraviolet light before transferring it to the pick-and-place station. A status indicator device then alerts the operator to take appropriate action. The entire control process requires no manual intervention. Through the time-sequential scheduling of each execution component by the central controller, it realizes the integrated operation of sample transfer, environmental control, image acquisition, intelligent identification and disinfection, which greatly improves the standardization and identification efficiency of fungal culture, while reducing the risk of cross-contamination.

[0025] Optionally, the feedback signal regarding the colony growth formed by the image acquisition device analyzing the target image includes: After receiving the target image transmitted by the image acquisition device, the image processing device performs image enhancement, noise filtering and distortion correction on the target image; The sample to be tested and the culture dish in the preprocessed target image are segmented using a preset segmentation algorithm to obtain the target sample image. The fungal colony area and the sample texture are segmented by differential comparison based on the original sample image before culture to obtain the target colony image. Calculate the colony pixel area of ​​fungi in the target colony image, obtain the pixel ratio of the mold region based on the colony pixel area and the pixel area of ​​the sample to be tested, convert the colony pixel area into the actual physical area based on the calibration parameters of the image acquisition device to obtain the actual ratio of the mold region, and generate a feedback signal of colony growth based on the actual ratio of the mold region and / or the pixel ratio of the mold region.

[0026] By employing the above technical solution, after receiving the target image, the image processing device first enhances the image's contrast and clarity using image enhancement technology. It then removes noise caused by equipment vibration or light interference during acquisition using a noise filtering algorithm. Next, it corrects image distortion caused by the optical system using a distortion correction model, ensuring the accuracy of subsequent image analysis. Then, the system calls a preset deep learning-based semantic segmentation algorithm to precisely separate the sample region from the background of the culture dish based on the geometric features and color distribution of the culture dish, obtaining a target sample image containing only the sample. Subsequently, by comparing the original sample image before culture with the current target sample image, it uses differential operations to eliminate static interference factors such as sample texture, accurately extracting newly added fungal colony regions to form a target colony image. Based on this, the system automatically counts the number of pixels of fungal colonies in the target colony image, calculates the colony pixel area, and compares it with the total pixel area of ​​the sample in the image to obtain the percentage of pixels in the mold region. Simultaneously, according to the conversion coefficient between the pixel size calibrated at the factory and the actual physical size of the image acquisition device, the colony pixel area is converted into the actual physical area, thus obtaining the actual percentage of the mold region. Ultimately, by combining the two key parameters of the percentage of pixels in the moldy area and the actual percentage, a feedback signal that can comprehensively reflect the dynamics of colony growth is generated. This provides a quantitative basis for the central controller to judge the culture progress and whether to terminate the culture, effectively improving the objectivity and accuracy of colony growth monitoring.

[0027] In summary, one or more technical solutions provided in the embodiments of this application have at least the following technical effects or advantages: 1. By integrating automatic cultivation and intelligent identification functions, the entire fungal cultivation process is automated and intelligent, effectively improving cultivation efficiency and identification accuracy. The system precisely controls the temperature, humidity, light and other conditions in the cultivation chamber through environmental parameter adjustment components. Combined with image acquisition and image processing equipment, the system monitors and analyzes the fungal growth process in real time, accurately extracting key parameters such as the boundary contour and area ratio of colonies, providing a reliable basis for judging the growth stage and assessing the viability of fungi. At the same time, the partition door design realizes dynamic isolation between the cultivation cabinet and the operation box, ensuring the stability of the cultivation environment and reducing the risk of external contamination. The setting of the control cabinet provides reasonable installation space for the system's control components. The overall structure is compact and the operation is stable. 2. The image processing equipment employs a multi-module collaborative approach, possessing efficient image preprocessing, segmentation, and analysis capabilities. The image preprocessing module effectively improves image quality, removing noise and distortion; the image segmentation module accurately separates the test sample from the culture dish using a preset algorithm, and performs differential comparison with the original sample image, achieving precise segmentation of fungal colony areas and sample texture; the fungal area determination module converts pixel area into actual physical area and comprehensively judges fungal growth based on morphological feature parameters, providing detailed data support for human-computer interaction and system control, and possesses good scalability, allowing for algorithm upgrades to adapt to the identification needs of novel fungi. 3. The control method achieves fully automated closed-loop control of the entire process, from sample transfer, environmental setup, image acquisition to disinfection. Upon receiving the culture start signal, the system automatically completes operations such as transferring culture dishes, setting culture parameters, and acquiring and analyzing images according to a preset program, and automatically adjusts the culture process based on the analysis results. When the culture cycle ends or colony growth reaches a preset threshold, the disinfection program is automatically triggered to disinfect the culture dishes before transferring them to the pick-and-place station. The entire process requires no manual intervention, significantly reducing human error and the risk of cross-contamination, and improving the standardization and efficiency of fungal culture. Attached Figure Description

[0028] Figure 1 This is a schematic diagram of the overall structure of a system integrating automated fungal culture and intelligent identification disclosed in Embodiment 1 of this application; Figure 2 This is a schematic diagram of the structure of a system integrating automated fungal culture and intelligent identification disclosed in Embodiment 1 of this application; Figure 3 This is a cross-sectional schematic diagram of a system integrating automated fungal culture and intelligent identification disclosed in Embodiment 1 of this application; Figure 4 This is a schematic diagram of the structure of a culture cabinet in an integrated automatic fungal culture and intelligent identification system disclosed in Embodiment 1 of this application; Figure 5 This is a schematic cross-sectional view of the side chamber of a culture cabinet in a system integrating automated fungal culture and intelligent identification disclosed in Embodiment 1 of this application; Figure 6 This is a schematic diagram of the identification mechanism in a system integrating automated fungal culture and intelligent identification disclosed in Embodiment 1 of this application; Figure 7 This is a schematic diagram of the structure of a culture medium base in an integrated fungal automated culture and intelligent identification system disclosed in Embodiment 1 of this application; Figure 8 This is a schematic diagram of the transfer mechanism in a system integrating automated fungal culture and intelligent identification disclosed in Embodiment 2 of this application; Figure 9 yes Figure 8 An enlarged schematic diagram of part A in the middle; Figure 10 This is a schematic diagram of the gripper structure of the transfer mechanism in a system integrating automated fungal culture and intelligent identification disclosed in Embodiment 2 of this application; Figure 11 This is a schematic flowchart of a control method for a system integrating automated fungal culture and intelligent identification disclosed in an embodiment of this application.

[0029] Explanation of reference numerals in the attached drawings: 1. Incubator; 1a. Incubation chamber; 1b. Sterilization chamber; 11. Support platform; 111. Position sensor; 12. Partition door; 13. Door drive component; 14. Partition plate; 15. Temperature and humidity sensor; 16. Environmental parameter adjustment component; 17. Sterilization equipment; 18. Embedded groove; 19. Through groove; 101. Sealing strip; 2. Control box; 21. Pick-up and put-down station; 22. Door; 23. Proximity sensor; 24. Safety lock; 25. Status indicator device; 3. Central controller; 4. Identification mechanism; 41. Image acquisition device; 42. Lid removal component; 421. Angle bracket; 422. Suction nozzle; 423. Vacuum generator; 424. Solenoid valve; 425. Filter; 43. Image processing equipment; 5. Transfer mechanism; 51. Transfer control module; 52. Position adjustment module; 521. Height adjustment module; 5211. Support column; 52111, Adjustable column; 52112, Base; 5212, Lifting drive component; 522, Direction adjustment unit; 5221, Rotation drive component; 53, End effector module; 531, Robotic arm; 5311, Support arm; 5312, Adjustable arm; 532, Gripper; 5321, Clamping arm; 5322, Extension plate; 5323, Clamping plate; 533, Mounting block; 534, Telescopic drive component; 6. Lighting components; 61. Ring supplement light; 62. Strip supplement light; 7. Control cabinet; 8. Culture medium base; 81. Limiting flange; 82. Pressure sensor; 9. Mounting plate; 90. Counterweight; 91. Positioning groove; 911. Mounting groove; 92. Retractor sprocket; 93. Side gear; 94. Tensioner; 95. Retractor roller; 96. Retractor gear; 97. Retractor chain; 98. Balance rib; 99. Wire guide ring; 10. Heat dissipation equipment. Detailed Implementation

[0030] To enable those skilled in the art to better understand the technical solutions in this specification, the technical solutions in the embodiments of this specification will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments.

[0031] In the description of the embodiments of this application, the words "for example" or "for instance" are used to indicate examples, illustrations, or explanations. Any embodiment or design that is described as "for example" or "for instance" in the embodiments of this application should not be construed as being more preferred or advantageous than other embodiments or design options. Rather, the use of the words "for example" or "for instance" is intended to present the relevant concepts in a specific manner.

[0032] In the description of the embodiments of this application, the term "multiple" means two or more. For example, multiple systems means two or more systems, and multiple screen terminals means two or more screen terminals. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the indicated technical features. Thus, a feature defined with "first" or "second" may explicitly or implicitly include one or more of that feature. The terms "comprising," "including," "having," and variations thereof all mean "including but not limited to," unless otherwise specifically emphasized.

[0033] The integrated automatic fungal culture and intelligent identification system provided in this application has achieved the effect of improving the accuracy and efficiency of mold resistance detection in building materials. The following is a further detailed description of this application. Example

[0034] like Figures 1-7The diagram shown is a structural schematic of the integrated automated fungal culture and intelligent identification system provided in this application embodiment. The system includes a culture cabinet 1, an operation box 2, and a central controller 3, an identification mechanism 4, a transfer mechanism 5, and a pick-and-place station 21 disposed within the operation box 2. The pick-and-place station 21 is used to place the target culture dish containing the sample to be tested. The identification mechanism 4 and the transfer mechanism 5 are both electrically connected to the central controller 3. The transfer mechanism 5 is used to automatically transfer the culture dish within the operation box 2 between the pick-and-place station 21, the image acquisition station, the culture chamber 1a, and the disinfection chamber 1b. The identification mechanism 4 is used to acquire and intelligently analyze images of fungal colonies during the cultivation process to monitor the growth of the colonies. One side of the cultivation cabinet 1 is connected to the operation box 2, and a partition door 12 is installed at the connection point. A door drive component 13 is installed at the location of the partition door 12, and the output end of the door drive component 13 is fixedly connected to the partition door 12. The door drive component 13 is electrically connected to the central controller 3 to control the opening and closing of the partition door 12, effectively isolating the environments of the cultivation cabinet 1 and the operation box 2. The interior of the cultivation cabinet 1 is divided into cultivation compartments by a partition 14. The culture chamber 1a consists of a culture chamber 1a and a sterilization chamber 1b. The culture chamber 1a is equipped with a temperature and humidity sensor 15, an environmental parameter adjustment component 16, and at least one support platform 11. The support platforms 11 are spaced apart along the height of the culture chamber 1, each with at least one culture position and a position sensor 111 at each position. The sterilization chamber 1b contains a sterilization device 17. The environmental parameter adjustment component 16 is electrically connected to a central controller 3 to control the adjustment of the culture environment parameters within the culture chamber 1a. The temperature and humidity sensor 15 is electrically connected to the central controller 3, collecting temperature and humidity data in the culture chamber 1a in real time and transmitting the monitored data to the central controller 3, enabling the central controller 3 to monitor the culture environment parameters in the culture chamber 1a based on the received data. The sterilization device 17 is electrically connected to the central controller 3 to control its operation, ensuring that the culture chamber 1 provides a suitable culture environment for fungi and sterilizes the cultured dishes, reducing external interference and contamination and improving the reliability of the culture results.

[0035] The temperature and humidity sensor 15 can be a common digital temperature and humidity sensor, such as DHT11, which features high accuracy and fast response. The environmental parameter adjustment component 16 can include a heating device, a cooling device, a humidifying device, and a dehumidifying device. Through the coordinated operation of these devices, the temperature and humidity inside the culture chamber 1a can be precisely controlled. The sterilization chamber 1b is equipped with a sterilization device 17, which is used to sterilize the culture dishes after cultivation to prevent fungal contamination of the environment. The sterilization device 17 can be an ultraviolet sterilization lamp, which emits ultraviolet light to destroy the DNA structure of fungi, thereby achieving the purpose of sterilization.

[0036] The central controller 3 can also control the environmental parameter adjustment component 16 to adjust the environmental parameters in the incubator 1 based on the fungal growth status fed back by the identification mechanism 4, so as to create more suitable growth conditions for the fungi.

[0037] The temperature and humidity sensor 15 in the culture chamber 1a of the incubator 1 can be a resistive humidity sensor, a thermistor temperature sensor, a capacitive humidity sensor, or a thermocouple temperature sensor, etc. The temperature and humidity sensor 15 is installed on the inner wall of the culture chamber 1a, and can be evenly distributed in the culture chamber 1a to monitor the temperature and humidity in the culture chamber 1a in real time and transmit the data to the central controller 3.

[0038] The environmental parameter adjustment component 16 includes a heating device, a cooling device, a humidifying device, and a dehumidifying device; the heating device can be an electric heating wire heater, where current passes through the heating wire to generate heat to increase the temperature of the culture chamber 1a; the cooling device can be a semiconductor cooling chip, which achieves cooling through the thermoelectric effect of semiconductor materials; the humidifying device can be an ultrasonic humidifier, which uses high-frequency oscillation of ultrasound to atomize water and increase the humidity of the culture chamber 1a; the dehumidifying device can be a desiccant dehumidifier, which reduces humidity by adsorbing moisture with a desiccant.

[0039] The environmental parameter adjustment component 16 is electrically connected to the central controller 3. The central controller 3 controls the operation of the environmental parameter adjustment component 16 based on the data from the temperature and humidity sensor 15 to maintain the stability of the environmental parameters in the culture chamber 1a.

[0040] The support platform 11 can be made of metal, such as aluminum alloy, which is characterized by high strength and light weight. The support platform 11 is fixed to the inner wall of the incubator 1 by bolts. Each culture position on the support platform 11 can be a recessed groove for easy placement of culture dishes. The position sensor 111 can be a photoelectric sensor. When a culture dish is placed in a culture position, the photoelectric sensor detects its presence and transmits a signal to the central controller 3. After receiving the signal, the central controller 3 controls the transfer mechanism 5 to return to its original position and controls the door drive component 13 to close the partition door 12 to reseal the culture chamber 1a. The position sensor 111 ensures precise positioning of the culture dish on the support platform 11, avoiding errors in subsequent image acquisition or culture environment control due to placement deviations. Simultaneously, by receiving signals from the position sensor 111 in real time, the central controller 3 can accurately monitor the usage status of each culture position, providing data support for subsequent sample scheduling and culture process management. During the cultivation process, if the position sensor 111 of a certain cultivation position detects abnormal displacement of the culture dish, the central controller 3 will immediately issue an alarm and suspend the relevant operation. Operation will resume after the operator has investigated the fault, which further ensures the stability and safety of the cultivation process.

[0041] Multiple temperature and humidity sensors 15, an environmental parameter adjustment component 16, and a support platform 11 work together to precisely control the environmental parameters within the culture chamber 1a, providing a stable environment for fungal growth. The temperature and humidity sensors 15 monitor environmental data in real time, and the central controller 3 adjusts the operating status of the environmental parameter adjustment component 16 based on the data, ensuring that the temperature and humidity within the culture chamber 1a are always maintained within a suitable range for fungal growth. The support platform 11 provides a stable placement position for the culture dishes, while the position sensor 111 ensures the accuracy of the placement.

[0042] The identification mechanism 4 includes an image acquisition device 41, a cap removal component 42, and an image processing device 43. The cap removal component 42 is used to open and close the cap of the target culture dish. The image processing device 43 is communicatively connected to the image acquisition device 41. The image acquisition device 41 is used to acquire the target image of the target culture dish and transmit the target image to the image processing device 43. The image processing device 43 analyzes the target image according to a preset fungal identification algorithm to monitor the fungal growth of the sample to be tested in the target culture dish in real time. The image processing device 43 is also communicatively connected to the central controller 3 to feed back the fungal growth status to the central controller 3, so as to automatically acquire and analyze fungal growth images, reduce the error and workload of manual observation, and improve the accuracy and efficiency of identification.

[0043] The image acquisition device 41 can be a high-definition camera, such as a CCD camera, which features high resolution and low noise, and can clearly capture images inside the culture dish. Alternatively, the image acquisition device 41 can be any device capable of image acquisition and data transmission, such as a CMOS camera.

[0044] The cap removal assembly 42 includes an angled bracket 421. A suction nozzle 422 is mounted on the horizontal arm of the angled bracket 421. The suction nozzle 422 is connected to a vacuum generator 423. A solenoid valve 424 and a filter 425 are provided between the vacuum generator 423 and the suction nozzle 422. The solenoid valve 424 is electrically connected to the central controller 3. When the central controller 3 controls the transfer mechanism 5 to transfer the target culture dish to below the cap removal assembly 42, the central controller 3 controls the solenoid valve 424 to open, the vacuum generator 423 generates suction, and the suction nozzle 422 adheres to the culture dish cap, thereby realizing the cap opening operation. The cap closing operation is the opposite, so as to accurately open and close the culture dish and avoid contamination that may be caused by manual operation.

[0045] The image processing device 43 processes images as follows: First, the image central module coordinates the data interaction and working sequence of each module, receives the target image transmitted by the image acquisition device 41, and transmits it to the image preprocessing module. The image preprocessing module performs image enhancement, noise filtering, and distortion correction on the target image to improve image quality. Then, the image segmentation module uses a preset segmentation algorithm to segment the sample to be tested and the culture dish in the preprocessed target image to obtain the target sample image. It also performs a difference comparison between the original sample image before culture and the target sample image to segment the fungal colony area and the sample texture to obtain the target colony image. Then, the fungal area determination module calculates the colony pixel area of ​​the fungi in the target colony image and converts the colony pixel area into the actual physical area in combination with the calibration parameters of the image acquisition device 41 to obtain the colony growth status corresponding to the sample to be tested. The human-computer interaction module is used to display the colony growth status and system operation status formed by the image processing device 43 for easy viewing by operators. The communication module realizes the communication connection between the central controller 3 and the image processing device 43 to feed back the colony growth status to the central controller 3.

[0046] The image acquisition device 41, the cap removal component 42, and the image processing device 43 work together to achieve automatic identification of fungal growth. The cap removal component 42 provides the image acquisition device 41 with an open petri dish, which facilitates the acquisition of clear images. After the image acquisition device 41 acquires the image, it transmits it to the image processing device 43 for analysis. The image processing device 43 obtains the growth status of the fungus through a series of processing and analysis, and feeds the results back to the central controller 3. The central controller 3 performs corresponding control based on the feedback results.

[0047] The transfer mechanism 5 includes a transfer control module 51, a pose adjustment module 52, and an end effector module 53 electrically connected to the transfer control module 51. The output end of the pose adjustment module 52 is fixed to the end effector module 53. The end effector module 53 includes a robotic arm 531 and a gripper 532 fixed to the free end of the robotic arm 531. The robotic arm 531 includes a support arm 5311 and an adjusting arm 5312 that are movably mounted relative to each other. By combining the pose adjustment module 52 and the relative adjustment between the adjusting arm 5312 and the support arm 5311, the gripper 532 can move in multiple dimensions within the incubator 1. The transfer control module 51 is electrically connected to the pose adjustment module 52 and the end effector module 53, respectively, and controls the pose adjustment module 52 to drive the end effector module 53 to grasp and transfer the culture dish between the pick-and-place station 21, different culture positions in the incubator, the cap removal assembly 42, and the image acquisition device 41.

[0048] The pose adjustment module 52 includes a direction adjustment unit 522 and a height adjustment unit. The height adjustment unit includes a support column 5211 and a lifting drive component 5212. A mounting block 533 is provided at the base end of the support arm 5311 of the robotic arm 531. The mounting block 533 is slidably mounted on the support column 5211. The output end of the lifting drive component 5212 is fixedly connected to the mounting block 533. Driven by the lifting drive component 5212, the mounting block 533 can move up and down on the support column 5211, thereby achieving height adjustment of the robotic arm 531. The support column 5211 includes a base 52112 and an adjusting column 52111. The direction adjustment unit 522 includes a rotation drive component 5221 mounted in the base 52112. The adjusting column 52111 is rotatably mounted on the base 52112. The output end of the rotation drive component 5221 is fixed to the bottom end of the adjusting column 52111. The rotation drive component 5221 drives the adjusting column 52111 to rotate, thereby achieving direction adjustment of the robotic arm 531. The lifting drive 5212 and the rotating drive 5221 are electrically connected to the transfer control module 51. The transfer control module 51 controls the lifting drive 5212 and the rotating drive 5221 to work according to the instructions of the central controller 3.

[0049] The base end of the robotic arm 531 is rotatably connected to the mounting block 533 via a first rotating shaft assembly. The other end of the support arm 5311 is rotatably connected to one end of the adjusting arm 5312 via a second rotating shaft assembly. The other end of the adjusting arm 5312 is rotatably connected to the mounting seat of the gripper 532 via a third rotating shaft assembly. The first, second, and third rotating shaft assemblies and the gripper 532 are all electrically connected to the transfer control module 51. Through the rotation of these rotating shaft assemblies, the robotic arm 531 can achieve multi-angle movement and extension, enabling the gripper 532 to accurately grasp and place the culture dish. The gripper 532 can be an electric gripper 532, with the opening and closing of the gripper 532 driven by a motor to grasp and release the culture dish. The gripper 532 can also be a pneumatic gripper 532, etc.

[0050] The first, second, and third rotating shaft assemblies are all existing methods for adjusting the motion direction of the robotic arm 531, such as a rotary joint driven by a servo motor, a rotating structure combining a harmonic reducer and a stepper motor, or a high-precision rotary platform with encoder feedback. Different types of rotating shaft assemblies can be selected according to load requirements and accuracy requirements. The specific structures of the first, second, and third rotating shaft assemblies are not shown in the accompanying drawings of the embodiments of this application.

[0051] Through the direction adjustment unit 522, the height adjustment unit, and the telescopic and multi-angle movable robotic arm 531, the transfer mechanism 5 enables the gripper 532 to move flexibly in three-dimensional space, meeting the needs of transferring culture dishes between different culture positions, pick-and-place stations 21, and image acquisition stations. During actual operation, the central controller 3 sends a transfer task to the transfer control module 51 according to the preset culture process or operator instructions. The transfer control module 51, combined with the real-time position information of the culture dishes fed back by each position sensor 111, accurately calculates the movement path of the gripper 532. For example, when it is necessary to transfer the target culture dish from the pick-and-place station 21 to a designated culture position in the culture chamber 1a, the transfer control module 51 first controls the direction adjustment unit 522 to drive the adjustment column 52111 to rotate, aligning the robotic arm 531 with the direction of the pick-and-place station 21. Then, it controls the lifting drive component 5212 of the height adjustment unit to move the mounting block 533 downwards. Simultaneously, it adjusts the telescopic angle of the robotic arm 531 through the first, second, and third rotating shaft assemblies, ensuring that the gripper 532 accurately reaches above the target culture dish. Next, the gripper 532 closes to grasp the culture dish, and the posture adjustment module 52 lifts and rotates the culture dish to the direction of the incubator 1. Finally, the robotic arm 531 extends into the culture chamber 1a and, based on the positioning signal from the position sensor 111, smoothly places the culture dish in the target culture position. The entire transfer process is highly automated, requiring no manual intervention, effectively avoiding disturbances to the culture environment and sample contamination that may be caused by manual operation. At the same time, multi-dimensional posture adjustment ensures the accuracy and stability of the culture dish transfer, providing a reliable guarantee for the smooth progress of subsequent culture and identification processes.

[0052] The various parts of the transfer mechanism 5 work together to achieve automatic transfer of the culture dish. The pose adjustment module 52 adjusts the position and orientation of the robotic arm 531, and the gripper 532 of the end effector module 53 grasps the culture dish. Under the control of the transfer control module 51, the culture dish is transferred to the designated position. The lighting component 6 provides good lighting conditions for image acquisition, and the status indicator device 25 allows operators to understand the working status of the system.

[0053] Below the image acquisition device 41, there is also a lighting component 6, and on the outer wall of the control box 2, there is a status indicator 25. Both the lighting component 6 and the status indicator 25 are electrically connected to the central controller 3. The lighting component 6 includes a ring light 61 and a strip light 62. The ring light 61 is coaxially arranged with the image acquisition device 41, and its central axis overlaps with the acquisition axis of the image acquisition device 41. The ring light 61 is located within the acquisition field of view of the image acquisition device 41. The strip lights 62 are symmetrically distributed above the ring light 61 with the acquisition axis of the image acquisition device 41 as the axis of symmetry. Both the ring light 61 and the strip light 62 are electrically connected to the central controller 3. The central controller 3 can adjust the light intensity and color of the lighting component 6 as needed to provide good lighting conditions for the image acquisition device 41. The status indicator 25 can be an indicator light or a display screen. The indicator light uses different colored lights to display different operating states of the system, while the display screen can display detailed operating information of the system.

[0054] A control cabinet 7 is installed on the side of the incubator 1 connected to the control box 2. The inner walls of the top, bottom, and sides of the incubator 1 connected to the control box 2 are all provided with recessed grooves. A through-slot 19 penetrating the wall thickness of the incubator 1 is provided on the side wall away from the control cabinet 7. The recessed grooves on the top, bottom, and sides of the side wall near the control cabinet 7, together with the through-slot 19 on the side wall away from the control cabinet 7, form a door mounting groove 911. A partition door 12 is slidably installed in the door mounting groove 911, and the partition door 12 can slide out of the cabinet through the through-slot 19. A recessed groove is provided on the bottom inner wall. The partition door 12 is slidably mounted on the guide rail in the recessed groove. The door drive component 13 is installed on the side of the incubator 1 near the control cabinet 7 and corresponds to the bottom recessed groove 18. The output end of the door drive component 13 is located within the coverage area of ​​the recessed groove 18 at the bottom of the incubator 1. The inner wall of the through groove 19 is equipped with a sealing strip 101. The operation box 2 is equipped with a door 22 on all side walls except the side connected to the incubator 1. The operation box 2 is equipped with a proximity sensor 23 and a safety lock 24 at the location of the door 22. The proximity sensor 23 and the safety lock 24 are electrically connected to the central controller 3.

[0055] A pressure sensor 82 can be installed at the bottom of the pick-and-place station 21. After the pressure sensor 82 detects that the culture dish has been placed, it transmits a signal to the central controller 3. The central controller 3 confirms that the culture dish has been placed in place and then prompts the operator to close the door 22. Example

[0056] like Figures 8-10 As shown, the difference between this embodiment and the above embodiments is that: In the robotic arm 531 of the transfer mechanism 5, the base end of the support arm 5311 is fixedly connected to the mounting block 533, and the adjusting arm 5312 is slidably installed in the support arm 5311. A telescopic drive 534 is installed in the support arm 5311, and the output end of the telescopic drive 534 is fixed to the adjusting arm 5312. Driven by the telescopic drive 534, the adjusting arm 5312 can telescopically move in the support arm 5311 to realize the length adjustment of the robotic arm 531. Mounting plate 9, extending downwards and parallel to support column 5211, is installed at the opposite end of mounting block 533 and robotic arm 531. Mounting plate 9 has an axially oriented positioning groove 91, in which a winding chain 97 is slidably mounted. One end of the winding chain 97 passes through mounting plate 9 and support column 5211 and is fixed to the free end of adjusting arm 5312. A counterweight 90 is fixed to the other end of the winding chain 97. Below mounting block 533, positioning groove 911 is located, in which a winding chain 97 is rotatably mounted. The sprocket 92 has tension sprockets installed on both sides of the winding sprocket 92 in the direction of transmission. The tension sprockets abut against the winding chain 97 to adjust the tension of the chain. The winding sprocket 92 has a side gear 93 fixed coaxially. The sprocket 95 also includes a winding roller 95. The winding roller 95 has winding gears 96 installed at both ends. The winding gears 96 are rotatably installed in the positioning groove 91 and mesh with the side gears 93. The end of the gripper 532 is fixed with a balance rib 98. The other end of the balance rib 98 is wound onto the winding roller 95. The top of the mounting block 533 is equipped with a guide ring 99 for the balance rib 98 to pass through. It also includes a culture medium stand 8 for placing the target culture dish. The upper ends of both sides of the culture medium stand 8 are provided with limiting flanges 81 extending radially along the culture medium stand 8. The gripper 532 includes a gripping arm 5321 and an extension plate 5322 and a clamping plate 5323 fixed to the lower end of the gripping arm 5321. The extension plate 5322 and the clamping plate 5323 are perpendicular to each other. The clamping plate 5323 is fixed to the free end of the extension plate 5322 and extends into the clamping space formed by the support arm 5311 and the extension plate 5322. The width of the clamping plate 5323 is greater than or equal to the width of the limiting flanges 81 on both sides of the culture medium.

[0057] In actual operation, when the extension and retraction control of the adjusting arm 5312 is required, the transfer control module 51 sends an action command to the extension drive component 534. The extension drive component 534 drives the adjusting arm 5312 to move axially within the support arm 5311. Simultaneously, the winding chain 97 slides along the positioning groove 91 under the drive of the adjusting arm 5312. Through the meshing transmission between the winding sprocket 92 and the side gear 93, the winding roller 95 rotates synchronously, thereby realizing the winding and unwinding of the balance rib 98. The counterweight 90 applies a reverse pulling force to the adjusting arm 5312 through the winding chain 97, effectively balancing the inertial force generated during the extension and retraction of the adjusting arm 5312 and reducing the swaying at the end of the robotic arm 531. The tension sprocket always remains in contact with the winding chain 97 and can automatically adjust its position according to the slack of the chain, ensuring stability and accuracy during transmission. When the gripper 532 grasps the culture medium holder 8 with the limiting flange 81, the extension plate 5322 passes under the limiting flange 81, and the clamping plate 5323 fits against the side wall of the culture medium holder 8. Through the closing action of the clamping arm 5321, the clamping plate 5323 forms a ring-shaped clamp on the culture medium holder 8. The cooperation between the limiting flange 81 and the extension plate 5322 restricts the axial movement of the culture medium holder 8, preventing the culture dish from tilting or falling off during transportation. This robotic arm 531 structure design combines rigid extension and flexible balance, ensuring both the accuracy of the extension and contraction of the adjusting arm 5312 and the load capacity. The synergistic effect of the counterweight 90 and the balancing rib 98 improves the dynamic response performance, making it particularly suitable for culture dish transportation scenarios with high stability requirements.

[0058] The implementation principle of this embodiment is as follows: The telescopic drive component 534 enables the extension and retraction of the adjusting arm 5312. Combined with the winding chain 97, counterweight 90, winding sprocket 92, winding roller 95, and balancing rib 98, this structure allows for more stable movement and operation of the gripper 532. The special structural design of the limiting flange 81 of the culture medium holder 8 and the gripper 532 allows the gripper 532 to more accurately grasp and place the culture dish, improving the stability and accuracy of the transfer. Compared to the transfer mechanism 5 of Example 1, this design may offer better performance in certain application scenarios, further improving the system's reliability and efficiency.

[0059] like Figure 11 The diagram shown is a flowchart illustrating the control method of the integrated fungal automated culture and intelligent identification system provided in this application embodiment. This method, applied to the central controller of the integrated fungal automated culture and intelligent identification systems of Embodiments 1 and 2 above, includes at least the following steps: S1, in response to the culture start signal, controls the transfer mechanism to transfer the target culture dish containing the sample to be tested from the pick-and-place station to below the image acquisition device, and controls the image acquisition device to acquire the original sample image of the sample before culture.

[0060] S2 receives the acquisition completion signal from the image acquisition device and the sample information obtained from the analysis of the original sample image by the image processing device. It controls the transfer mechanism to transfer the target culture dish into the culture chamber, determines the culture cycle and sampling time interval based on the sample information, and controls the environmental parameter adjustment component to set the target environmental parameters corresponding to the sample to be tested.

[0061] S3 receives the position determination signal from the position sensor, controls the transfer mechanism to return to the initial state, and controls the door drive component to drive the partition door to close.

[0062] S4, according to the sampling time interval, control the transfer mechanism to transfer the target culture dish from the culture chamber to below the cap removal component, control the cap removal component to perform the cap opening operation, receive the cap opening completion signal from the cap removal component, control the transfer mechanism 5 to transfer the target culture dish to below the image acquisition device, adjust the illumination component 6 to the target illumination parameters according to the sample information, and start the image acquisition device to acquire the target image of the target culture dish.

[0063] S5 receives feedback signals from the image acquisition device regarding the colony growth status, generated by analyzing the target image.

[0064] S6. If the culture cycle has not ended and the feedback signal indicates that the colony growth has not reached the preset threshold, the control transfer mechanism will transfer the target culture dish to the bottom of the cap removal component, control the cap removal component to perform the cap closing operation, receive the cap closing completion signal from the cap removal component, control the transfer mechanism to transfer the target culture dish to the culture position corresponding to the target culture dish, control the door drive component to drive the partition door to close, and continue the subsequent culture and monitoring process according to the set culture cycle and sampling time interval.

[0065] S7. If the culture cycle ends or the feedback signal indicates that the colony growth has reached the preset threshold, the control transfer mechanism will transfer the target culture dish to the disinfection chamber, and the control disinfection equipment will start the disinfection program to disinfect the target culture dish. After the preset disinfection time, the control transfer mechanism will transfer the disinfected target culture dish to the pick-up and drop-off station, and the control status prompt device will send a culture completion prompt to the user.

[0066] Specifically, before the equipment operates, the moving parts of the transfer mechanism 5 are initialized and calibrated. The central controller 3 sends a calibration command to the transfer control module 51. The transfer control module 51 drives the robotic arm 531 to move sequentially to each extreme position and standard calibration point. The position sensor collects the actual coordinate data and compares it with the preset theoretical coordinates. If the deviation exceeds the allowable range, compensation parameters are automatically generated to adjust the motion stroke and speed parameters of each drive component, ensuring that the positioning accuracy error of the robotic arm 531 is controlled within 0.5mm. At the same time, the opening and closing force of the gripper 532 is tested. The pressure sensor 82 detects the force feedback of the culture dish under different gripping forces. The central controller 3 presets the gripping force threshold according to the material and specifications of the culture dish to avoid the culture dish breaking due to excessive force or slipping due to insufficient force. In addition, the stability of the light source of the lighting component 6 needs to be checked. The central controller 3 controls the ring light 61 and the strip light 62 to switch cyclically at different brightness levels. The spectrum analyzer collects the illumination data in real time to ensure that the light intensity fluctuation range does not exceed ±5% and the color temperature deviation is controlled within ±200K, so as to provide a stable illumination basis for subsequent image acquisition.

[0067] In actual operation, the staff loads the sample to be tested into the target culture dish, and then enters the opening request command to open the door 22 on the human-machine interface. After receiving the opening request command, the central controller 3 controls the safety lock 24 to unlock. The proximity sensor 23 monitors the status of the door 22 in real time. When it detects that the door 22 is open and there is no abnormality, it sends a signal to the central controller 3. The operator places the culture dish containing the sample to be tested into the pick-and-place station 21 in the operation box 2. After the operator closes the door 22, the proximity sensor 23 detects that the door 22 is closed. The central controller 3 controls the safety lock 24 to lock again and starts the culture process. At this time, the central controller 3 controls the transfer mechanism 5 to transfer the target culture dish on the pick-and-place station 21 to below the image acquisition device 41, and controls the image acquisition device 41 to capture the original image of the sample before culture. After the image processing device 43 analyzes the original image of the sample, it obtains the sample information. According to the preset culture plan, the central controller 3 controls the environmental parameter adjustment component 16 to adjust the temperature and humidity in the culture chamber 1a to the culture environment corresponding to the sample to be tested, and monitors the environmental parameters in the culture chamber 1a in real time through the temperature and humidity sensor 15. If there is a deviation between the current parameters and the target parameters, the environmental parameter adjustment component 16 is immediately controlled to make dynamic adjustments. For example, when the temperature in the culture chamber 1a is lower than the set value, the central controller 3 drives the heating wire of the heating device to be energized and heats up, raising the temperature of the culture chamber 1a through heat conduction until the data fed back by the temperature and humidity sensor 15 reaches a stable range.

[0068] During the cultivation process, the central controller 3 sends image acquisition commands to the transfer control module 51 at set time intervals. After receiving the commands, the transfer control module 51 plans the transfer path according to the target culture dish to be transferred: the rotation drive 5221 of the control direction adjustment unit 522 drives the adjustment column 52111 to rotate, so that the robotic arm 531 is aligned with the target culture position. At the same time, the lifting drive 5212 of the height adjustment unit is activated, which drives the mounting block 533 to move down along the support column 5211. The extension angle of the robotic arm 531 is adjusted in conjunction with the first, second and third rotating shaft assemblies, so that the gripper 532 is accurately positioned above the target culture dish. Under the control of the transfer control module 51, the gripper 532 closes and grabs the culture dish. After that, the posture adjustment module 52 drives the robotic arm 531 to lift and rotate, transferring the culture dish to the area below the cap removal assembly 42. At this time, the central controller 3 controls the solenoid valve 424 to open, the vacuum generator 423 generates negative pressure, and the suction nozzle 422 adsorbs the petri dish lid to open it. After opening, the transfer mechanism 5 moves the petri dish to below the image acquisition device 41. The central controller 3 simultaneously starts the lighting component 6, adjusting the light intensity and color temperature of the ring light 61 and the strip light 62 according to the sample type in the petri dish to ensure a stable image acquisition environment. The image acquisition device 41 takes multi-angle pictures of the sample in the petri dish and transmits the acquired target images to the image processing device 43 in real time. The image preprocessing module of the image processing device 43 first performs noise reduction, enhancement, and distortion correction on the image. Then, the image segmentation module separates the fungal colony area from the background using a differential contrast algorithm to extract the target colony image. The fungal area determination module calculates the colony pixel area and converts it into the actual physical area. Combined with the preset fungal growth model, it analyzes the growth rate and morphological characteristics, and feeds the analysis results back to the central controller 3 through the communication module. The central controller 3 updates the culture database based on feedback information. If abnormal fungal growth is detected, the culture cycle is completed, or the fungal growth reaches a preset threshold, an early warning signal is immediately issued via the indicator light on the status indicator device 25, and the abnormal culture position number and specific parameters are displayed on the screen. After image acquisition, if the analysis results of the image processing device 43 indicate that the fungal growth has not reached the preset threshold and the culture cycle has not ended, the control transfer mechanism 5 sends the culture dish back to the cap-removing assembly 42 for cap-closing operation, and then transfers it to the original culture position for continued culture. Throughout the process, the human-machine interaction module of the image processing module displays the temperature and humidity data, culture time, and fungal growth stage of each culture position in real time. The ring supplement light 61 and the strip supplement light 62 automatically switch working states according to the image acquisition progress to ensure that all components of the system operate in a coordinated and efficient manner.

[0069] After receiving sample information generated by the image processing device 43 through analysis of the original sample image, the central controller 3 retrieves the culture parameters and supplementary lighting parameters for the sample from a pre-stored database. It then matches these parameters with the sample information. If any parameters conflict or are missing, a parameter confirmation prompt is sent to the operator via the human-machine interface. After the operator confirms or supplements the parameters, the central controller 3 stores the final determined culture cycle, sampling time interval, target environmental parameters, and target illumination parameters in the task information table of the corresponding culture dish. Each culture dish is assigned a unique identification code for accurate tracking and management during subsequent culture, transfer, and image acquisition processes. During the culture process, the central controller 3 compares the actual environmental parameters within the culture chamber 1a with the target environmental parameters in real time. When fluctuations in parameters such as temperature, humidity, and CO2 concentration are detected, corresponding adjustment mechanisms are immediately activated. For example, the temperature is adjusted by controlling the power output of the heating element, or the humidity is maintained through the coordinated operation of the humidifier and dehumidifier, ensuring that the culture environment remains optimal. Meanwhile, the system will periodically calibrate the image acquisition device 41 by taking pictures of standard color charts and resolution test images to check the color reproduction and clarity of the camera. If a deviation is found, the system will automatically call the image correction algorithm to compensate for the acquired images to ensure the accuracy of the analysis of colony growth.

[0070] The image processing device 43 processes the original sample image and the target image acquired after cultivation as follows: First, the image is preprocessed, including grayscale conversion, Gaussian filtering for noise reduction, and contrast enhancement, to eliminate the influence of ambient light changes and reflections at the edges of the culture dish on image quality. Next, the contour region of the culture dish is extracted using an edge detection algorithm, and the center and radius of the culture dish are determined using Hough transform, thereby cropping out the effective cultivation area image. For the original sample image before cultivation, a threshold segmentation method is used to separate the initial inoculation area from the culture medium background, recording the position coordinates and pixel area of ​​the initial colonies. For the target image after cultivation, differential image analysis technology is used to perform pixel-level comparison between the current image and the original image of the same culture dish, automatically marking the newly added colony growth areas. Subsequently, the image segmentation module combines morphological operations (such as erosion and dilation) to remove noise interference, and uses a region growing algorithm to accurately segment the colony area, extracting the contour features of each independent colony, including geometric parameters such as perimeter, area, roundness, and concavity / convexity. The fungal identification module calls a pre-trained convolutional neural network model, inputting extracted colony feature parameters into the model for classification and identification. It determines the type, growth stage, and presence of contamination of the colonies, and calculates the real-time growth rate (area increase per unit time) and predicts growth trends. Finally, all analysis results are generated into a standardized detection report, including the original image, segmented image, feature parameter data, and growth curve chart. This report is transmitted in real-time to the central controller 3 via a communication interface, providing data support for adjusting the system's culture process and determining culture completion.

[0071] Image acquisition device 41 can use a high-definition camera (≥12MP) to vertically photograph the target culture dish in the operation box 2. A low-angle ring light 61 is used to highlight the bacterial plaques of the sample to be tested, ensuring uniform light source. After converting to grayscale image, Gaussian filtering is applied for noise reduction. The formula for Gaussian filtering noise reduction is:

[0072] In the formula, Take 1.5-2.0.

[0073] Image segmentation employs adaptive thresholding combined with morphological methods to separate the mold region from the background: First, the Otsu binarization algorithm is applied to binarize the grayscale image, yielding preliminary foreground and background separation results; then, a closing operation (dilation followed by erosion) is performed to fill the tiny holes within the mold region. Dilation expands the region and fills gaps, while erosion restores the original size, ultimately completing the holes and enhancing the region's integrity; finally, Canny edge detection (gradient thresholds Llow=50, Lhigh=150) is used to extract edge information from the mold region, providing a foundation for subsequent contour extraction.

[0074] The formula for Otsu's binarization algorithm is:

[0075] In the formula, t is the candidate threshold (the boundary value that divides image pixels into "foreground" and "background"). Let arg max be the inter-class variance between the foreground and background when the threshold is t. t To find the threshold T that maximizes the "between-class variance".

[0076] The inter-class variance is maximized when the difference between the foreground (e.g., mold) and the background (e.g., sample substrate) is greatest, and the threshold T at this point can best segment the target region.

[0077] The fungal identification module extracts contours from the segmented image and filters out non-mold areas with an area smaller than 50px² (considered as noise). It calculates the pixel percentage of mold areas and converts the pixels to their actual size using initial calibration values ​​(such as petri dish scales) to obtain the absolute area of ​​the plaques. For complex colonies, a U-Net deep learning segmentation model is used to improve segmentation accuracy.

[0078] The formula for calculating the percentage of pixels in the moldy area is: The value is calculated by comparing the pixel values ​​of the moldy area with the total pixel values ​​of the sample under test.

[0079] Pixel-to-actual-size conversion using initial calibration values ​​(such as petri dish scales): , This represents the actual physical area of ​​the mold region in the target image. The pixel area of ​​the mold region in the target image. The actual physical length, such as the actual length of the petri dish. This represents the number of pixels occupied by the moldy area in the petri dish within the target image.

[0080] First, obtain the pixel-to-actual-size ratio (d) using the "actual length / pixel length" of the scale. real / d pixel (This is the length ratio, and the squared ratio is the area ratio.) Then, multiply the pixel area by this ratio to get the actual physical area.

[0081] In step S1, after receiving the culture start signal, the transfer mechanism 5 first confirms its current coordinates relative to the pick-and-place station 21 through the position calibration module. Then, it drives the robotic arm 531 to move along the X, Y, and Z axes to directly above the target culture dish. It then uses a vacuum adsorption device or gripper 532 to stably grasp the edge of the culture dish, ensuring the dish remains horizontal during transfer and preventing sample spillage. When acquiring the original sample image, the image acquisition device 41 first performs an automatic focusing operation, adjusting the lens focal length to clearly image the sample area at the bottom of the culture dish. Simultaneously, it triggers a supplementary lighting device to provide a uniform white light source, eliminating shadow interference and ensuring the clarity and color accuracy of the original image. This allows the subsequent image processing device 43 to accurately extract the initial morphological characteristics of the sample, such as sample distribution density and initial colony count.

[0082] In step S2, after the image processing device 43 completes the analysis of the original sample image and outputs the sample information, the system main control unit compares the sample information with the preset sample database, matches the corresponding culture scheme according to the sample type, and thus determines the culture cycle and sampling time interval. After receiving the target environmental parameter command, the environmental parameter adjustment component 16 uses the temperature control module to stabilize the temperature of the culture chamber 1a within the target value ±0.5℃ range through the coordinated work of the heating wire and the cooling plate. The humidity adjustment module uses an ultrasonic humidifier and a dehumidifier to maintain the relative humidity at 90% ±5%. All environmental parameters are monitored in real time by sensors and fed back to the main control unit to form a closed-loop control.

[0083] The interval between image acquisitions can be set according to the early and late stages of the culture cycle. For example, it can be set to once every 6 hours in the early stage and adjusted to once every 12 hours in the later stage depending on the growth.

[0084] During step S3, position sensor 111 uses a combination of infrared beam sensor and encoder to monitor the status of each culture position on the carrier platform 11 in real time. When the transfer mechanism 5 places the target culture dish into the corresponding culture position, position sensor 111 sends a position confirmation signal to the main control unit. When the transfer mechanism 5 returns to its original state, the main control unit controls the door drive component 13 to use a servo motor and gear rack transmission structure to drive the partition door 12 to move smoothly along the guide rail. During the closing process, the sealing strip on the edge of the door will fit tightly with the door frame of the culture chamber 1a to form an airtight space. At the same time, the safety lock 24 on the door will automatically engage to ensure that the environmental parameters inside the culture chamber 1a are not disturbed by the outside during the culture process.

[0085] Status monitoring of the transfer mechanism 5 can be achieved by installing angle and torque sensors at the joints of the robotic arm 531. The angle sensors collect the rotation angle of each rotating shaft assembly in real time. If the movement angle of the robotic arm 531 exceeds the preset safety range, an emergency stop protection is immediately triggered. The torque sensors monitor the clamping force of the gripper 532. When the clamping force exceeds the load-bearing threshold of the culture dish (e.g., 20N), the air pressure value of the cylinder of the gripper 532 is automatically adjusted to avoid over-clamping and causing the culture dish to break. In addition, the drive motors of the transfer mechanism 5 are equipped with overload protection modules. When the motor operating current exceeds 1.2 times the rated value, the protection module cuts off the power and sends a fault signal to the central controller 3. The central controller 3 simultaneously displays the alarm message "Transfer mechanism 5 motor overload" on the display screen and starts the backup transfer path planning program to ensure that the culture process is not interrupted.

[0086] In the sampling stage of step S4, when the transfer mechanism 5 removes the target culture dish from the culture chamber 1a, it first triggers the guiding and positioning device inside the culture chamber 1a to ensure the accurate position of the culture dish on the culture position, facilitating precise gripping by the robotic arm 531. The cap removal assembly 42 consists of a rotary motor and a clamping cylinder. Upon receiving the cap opening operation command, the clamping cylinder first clamps the edge of the culture dish cap, and the rotary motor drives the gripper 532 to rotate 30° clockwise, creating a gap between the cap and the culture dish body. Then, the clamping cylinder lifts upward by 20mm to complete the cap opening action and temporarily stores the cap on the adjacent sterile storage rack. Before acquiring the target image, the image acquisition device 41 uses an illumination component 6 to adjust the spectral wavelength and light intensity of the LED beads according to the colony color characteristics in the sample information (e.g., blue light source for white colonies and green light source for red colonies). At the same time, a polarizer is used to eliminate reflections on the surface of the culture dish glass. The image acquisition device 41 uses a high-resolution industrial camera to continuously capture three images at a resolution of 16 million pixels and a frame rate of 20 fps. The image is then fused by the image processing device 43 to improve the detail representation of the target image.

[0087] In step S5, the image processing device 43 analyzes the target image, including edge detection, morphological processing, and feature extraction. By comparing the differences between the target image and the original sample image, it calculates parameters such as the growth area, diameter, and number of colonies, forming a feedback signal of colony growth. The feedback signal is transmitted to the main control unit in digital quantification form (such as the growth rate of the growth area, the proportion of colonies reaching the preset diameter, etc.). The main control unit compares these data with the preset threshold in real time to determine whether the colony growth status meets expectations.

[0088] In step S6, if the culture cycle is not yet complete and colony growth has not reached the target, the transfer mechanism 5 will place the target culture dish back into its original culture position when returning it to the culture chamber 1a, facilitating rapid positioning during subsequent sampling. When the cap-removing component 42 performs the cap-closing operation, the transfer mechanism 5 transfers the target culture dish to below the cap-removing component 42. Both cap removal and cap closing occur in the same position, and the position of the cap-removing component 42 remains relatively fixed, ensuring the cap accurately engages with the culture dish. After cap closing, the transfer mechanism 5 smoothly places the culture dish in the culture position. Once the position sensor detects that the target culture dish has been placed in the culture position, the main control unit controls the partition door 12 to close, continuing to maintain the target environmental parameters within the culture chamber 1a, awaiting the next sampling interval.

[0089] In step S7, during the disinfection process, a disinfection device 17 is installed inside the disinfection chamber 1b. After the target culture dish enters the disinfection chamber 1b, the central controller 3 controls the disinfection device 17 to start disinfecting the target culture dish. After disinfection is completed, when the transfer mechanism 5 transfers the disinfected culture dish to the pick-up and drop-off station 21, the indicator light on the station will turn green, and the status prompt device will emit a "beep beep" sound through the buzzer and display the text message "Cultivation complete, culture dish can be removed" on the system operation interface to remind the user to handle it in time.

[0090] For example, the disinfection device 17 can be an ultraviolet disinfection lamp. When the target culture dish is transferred to the disinfection chamber 1b, the ultraviolet disinfection lamp first irradiates at a wavelength of 254nm for 30 minutes to kill the residual microorganisms on the surface of the culture dish.

[0091] The implementation principle of this embodiment is as follows: This control method, through precise control of various mechanisms within the system by the central controller 3, automates the fungal culture and detection process. Following the set procedures and parameters, the system accurately acquires information on fungal growth, improving detection accuracy and efficiency. Simultaneously, functions such as disinfection and culture completion notifications ensure the system's safety and ease of use. Compared to traditional manual detection methods, this control method offers advantages such as high automation and accurate results, effectively addressing the problems inherent in traditional detection methods.

[0092] The above description is merely an exemplary embodiment of this disclosure and should not be construed as limiting the scope of this disclosure. Any equivalent changes and modifications made in accordance with the teachings of this disclosure shall still fall within the scope of this disclosure. Other embodiments of this disclosure will be readily apparent to those skilled in the art upon consideration of the specification and the disclosure of practical truths.

[0093] This application is intended to cover any variations, uses, or adaptations of this disclosure that follow the general principles of this disclosure and include common knowledge or customary techniques in the art not described in this disclosure. The specification and embodiments are to be considered exemplary only, and the scope and spirit of this disclosure are defined by the claims.

Claims

1. A system integrating automated fungal culture and intelligent identification, characterized in that, The system includes a culture cabinet (1), an operation box (2), and a central controller (3), an identification mechanism (4), a transfer mechanism (5), and a pick-and-place station (21) for placing target culture dishes containing test samples, all housed in the operation box (2). One side of the culture cabinet (1) is connected to the operation box (2), and a partition door (12) is installed at the connection between the culture cabinet (1) and the operation box (2). A door drive component (13) is installed at the location of the partition door (12). The output end is fixedly connected to the partition door (12) to drive the opening and closing of the partition door (12). The interior of the incubator (1) is divided into an incubation chamber (1a) and a sterilization chamber (1b) by a partition (14). The incubation chamber (1a) is equipped with a temperature and humidity sensor (15), an environmental parameter adjustment component (16), and at least one layer of support platform (11) spaced apart along the height direction of the incubator (1). Each support platform (11) is provided with at least one incubation position, and each incubation position is provided with a position sensor (11). 1) The disinfection chamber (1b) is equipped with a disinfection device (17); the identification mechanism (4) includes an image acquisition device (41), a cap removal component (42) and an image processing device (43). The cap removal component (42) is used to perform opening and closing operations on the target culture dish. The image processing device (43) is communicatively connected to the image acquisition device (41). The image acquisition device (41) is used to acquire the target image of the target culture dish and transmit the target image to the image processing device (43). The image processing device (43) is used to analyze the target image according to a preset fungal identification algorithm to monitor the fungal growth of the sample to be tested in the target culture dish in real time. The image processing device (43) is communicatively connected to the central controller (3). The image processing device (43) feeds back the fungal growth of the sample to be tested in the target culture dish to the central controller (3). The central controller (3) is also used to control the environmental parameter adjustment component (16) to adjust the environmental parameters in the culture cabinet (1) according to the fungal growth.The transfer mechanism (5) includes a transfer control module (51), a pose adjustment module (52), and an end effector module (53). The output end of the pose adjustment module (52) is fixed to the end effector module (53). The end effector module (53) includes a robotic arm (531) and a gripper (532) fixed to the free end of the robotic arm (531). The robotic arm (531) includes a support arm (5311) and an adjusting arm (5312) that are movably mounted relative to each other. By combining the pose adjustment module (52) and the adjusting arm (5312) with the support arm (5311), the gripper (532) can move in multiple dimensions in the incubator (1) through relative adjustment. The transfer control module (51) is connected to the pose adjustment module (52) and the end effector module (53) respectively. Module (53) is electrically connected and is used to control the posture adjustment module (52) to drive the end effector module (53) to grasp the culture dish and transfer it between the pick-and-place station (21), different culture positions in the incubator, the cap removal component (42), and the image acquisition device (41). The image acquisition device (41) is also equipped with a lighting component (6) below it. The operation box (2) is also equipped with a status indicator device (25). The door drive component (13), temperature and humidity sensor (15), environmental parameter adjustment component (16), position sensor (111), image acquisition device (41), lighting component (6), status indicator device (25), disinfection device (17), cap removal component (42), and transfer control module (51) are all electrically connected to the central controller (3).

2. The integrated system for automatic fungal culture and intelligent identification according to claim 1, characterized in that, The pose adjustment module (52) includes a direction adjustment unit (522) and a height adjustment unit. The height adjustment unit includes a support column (5211) and a lifting drive (5212). The robotic arm (531) also includes a mounting block (533) disposed at the base end of the support arm (5311). The mounting block (533) is slidably mounted on the support column (5211). The output end of the lifting drive (5212) is fixedly connected to the mounting block (533). The support column (5211) The system includes a base (52112) and an adjusting column (52111). The direction adjustment unit (522) includes a rotary drive (5221) installed in the base (52112). The adjusting column (52111) is rotatably installed on the base (52112). The output end of the rotary drive (5221) is fixed to the bottom end of the adjusting column (52111). The lifting drive (5212) and the rotary drive (5221) are electrically connected to the transfer control module (51).

3. The integrated system for automatic fungal culture and intelligent identification according to claim 2, characterized in that, The base end of the robotic arm (531) is rotatably connected to the mounting block (533) via a first rotating shaft assembly. The other end of the support arm (5311) is rotatably connected to one end of the adjusting arm (5312) via a second rotating shaft assembly. The other end of the adjusting arm (5312) is rotatably connected to the mounting seat of the gripper (532) via a third rotating shaft assembly. The first rotating shaft assembly, the second rotating shaft assembly, the third rotating shaft assembly, and the gripper (532) are all electrically connected to the transfer control module (51).

4. The integrated system for automatic fungal culture and intelligent identification according to claim 2, characterized in that, The base end of the support arm (5311) is fixedly connected to the mounting block (533). The adjustable sliding part is installed in the support arm (5311). A telescopic drive (534) is installed in the support arm (5311). The output end of the telescopic drive (534) is fixed to the adjusting arm (5312). The mounting block (533) and the mechanical arm (531) are respectively mounted with a mounting plate (9) extending downward and parallel to the support column (5211). The mounting plate (9) has a positioning groove (91) along the axial direction. A winding chain (97) is slidably installed in the positioning groove (91). One of the winding chains (97) The end of the winding chain (97) passes through the mounting plate (9) and the support column (5211) and is fixed to the free end of the adjusting arm (5312). The other end of the winding chain (97) is fixed with a counterweight (90). The positioning groove (91) is located below the mounting block (533) and has a mounting groove (911). A winding sprocket (92) that is connected to the winding chain (97) is rotatably installed in the mounting groove (911). Tensioning sprockets are installed on both sides of the winding sprocket (92) in the transmission direction. The tensioning sprockets abut against the winding chain (97) to adjust the tension of the chain. A side gear (93) is coaxially fixed to the winding sprocket (92). The winding chain (95) also includes a winding roller (95). The winding roller (95) has winding gears (96) installed at both ends. The winding gears (96) are rotatably installed in the positioning groove (91) and mesh with the side gear (93). The end of the gripper (532) is fixed with a balancing rib (98). The other end of the balancing rib (98) is wound onto the winding roller (95). The top of the mounting block (533) is equipped with a guide ring (99) for the balancing rib (98) to pass through. The system also includes a culture medium seat (8) for placing the target culture dish. The upper ends of both sides of the culture medium seat (8) are provided with limiting flanges (81) extending radially along the culture medium seat (8). The gripper (532) is fixed with a balancing rib (98) at both ends. 2) Includes a clamping arm (5321) and an extension plate (5322) and a clamping plate (5323) fixed at the lower end of the clamping arm (5321). The extension plate (5322) is perpendicular to the clamping plate (5323), and the clamping plate (5323) is fixed at the free end of the extension plate (5322) and extends into the clamping space formed by the support arm (5311) and the extension plate (5322). The width of the clamping plate (5323) is greater than or equal to the width of the limiting flanges (81) on both sides of the culture medium seat (8). The telescopic drive (534) and the gripper (532) are both electrically connected to the transfer control module (51).

5. The integrated system for automatic fungal culture and intelligent identification according to claim 1, characterized in that, The cap removal assembly (42) includes an angle bracket (421), a suction nozzle (422) is mounted on the horizontal arm of the angle bracket (421), the suction nozzle (422) is connected to a vacuum generator (423), a solenoid valve (424) and a filter (425) are provided between the vacuum generator (423) and the suction nozzle (422), and the solenoid valve (424) is electrically connected to the central controller (3).

6. The system for integrating automated fungal culture and intelligent identification according to claim 1, characterized in that, The lighting assembly (6) includes a ring fill light (61) and a strip fill light (62). The ring fill light (61) is coaxially arranged with the image acquisition device (41). The center axis of the ring fill light (61) overlaps with the acquisition axis of the image acquisition device (41), and the ring fill light (61) is located within the acquisition field of view of the image acquisition device (41). The strip fill light (62) is symmetrically distributed above the ring fill light (61) with the acquisition axis of the image acquisition device (41) as the axis of symmetry. Both the ring fill light (61) and the strip fill light (62) are electrically connected to the central controller (3).

7. The system for integrating automated fungal culture and intelligent identification according to claim 1, characterized in that, The image processing device (43) includes an image central module, an image preprocessing module, an image segmentation module, a fungal area determination module, a human-computer interaction module, and a communication module. The image central module is used to coordinate the data interaction and working sequence of each module, receive the target image transmitted by the image acquisition device (41), and transmit the target image to the image preprocessing module. The image preprocessing module is used to perform image enhancement, noise filtering, and distortion correction on the target image. The image segmentation module is used to segment the sample to be tested and the culture dish in the preprocessed target image using a preset segmentation algorithm to obtain the target sample image corresponding to the target image. It is also used to perform differential analysis between the original sample image before culture and the target sample image. The fungal colony area is segmented from the sample background to obtain the target colony image; the fungal area determination module is used to calculate the colony pixel area of ​​the fungi in the target colony image, and convert the colony pixel area into the actual physical area in combination with the calibration parameters of the image acquisition device (41) to obtain the colony growth status corresponding to the sample to be tested; the human-computer interaction module is used to display the colony growth status formed by the image processing device (43) and the system operation status; the communication module is used to realize the communication connection between the central controller (3) and the image processing device (43), and the image preprocessing module, image segmentation module, fungal area determination module, human-computer interaction module and communication module are all electrically connected to the image central module.

8. The integrated system for automatic fungal culture and intelligent identification according to claim 1, characterized in that, A control cabinet (7) is installed on the side of the culture cabinet (1) connected to the operation box (2). The inner wall of the top, bottom and the inner wall of the culture cabinet (1) on the side connected to the operation box (2) are provided with embedded grooves. The side wall away from the control cabinet (7) is provided with a through groove (19) that penetrates the wall thickness of the culture cabinet (1). The embedded grooves on the top, bottom and the side wall near the control cabinet (7) and the through groove (19) on the side wall away from the control cabinet (7) together form a door mounting groove (911). A partition door (12) is slidably installed in the door mounting groove (911), and the partition door (12) can slide out of the cabinet through the through groove (19). The embedded grooves on the bottom inner wall are provided with embedded grooves. A guide rail is installed in the groove, and the partition door (12) is slidably installed on the guide rail. The door drive (13) is installed on the side of the incubator (1) near the control cabinet (7) and corresponds to the bottom embedded groove (18). The output end of the door drive (13) is located within the coverage area of ​​the embedded groove (18) at the bottom of the incubator (1). A sealing strip (101) is installed on the inner wall of the through groove (19). The operation box (2) is provided with a door (22) on all side walls except the side connected to the incubator (1). The operation box (2) is provided with a proximity sensor (23) and a safety lock (24) at the location of the door (22). The proximity sensor (23) and the safety lock (24) are electrically connected to the central controller (3).

9. A control method for a system integrating automated fungal culture and intelligent identification, characterized in that, The method, which is applied to a central controller in a system integrating automated fungal culture and intelligent identification as described in any one of claims 1-8, comprises: In response to the start of culture signal, the control transfer mechanism (5) transfers the target culture dish containing the sample to be tested on the pick-and-place station (21) to the image acquisition device (41) below, and controls the image acquisition device (41) to acquire the original sample image of the sample to be tested before culture. The image acquisition device (41) receives the acquisition completion signal and the image processing device (43) analyzes the original sample image to obtain sample information. The transfer mechanism (5) is controlled to transfer the target culture dish to the culture chamber (1a). Based on the sample information, the culture cycle and sampling time interval are determined, and the environmental parameter adjustment component (16) is controlled to set the target environmental parameters corresponding to the sample to be tested. Receive the position determination signal from the position sensor (111), control the transfer mechanism (5) to return to the initial state, and control the door drive component (13) to drive the partition door (12) to close; According to the sampling time interval, the transfer mechanism (5) is controlled to transfer the target culture dish from the culture chamber (1a) to below the cap removal assembly (42), the cap removal assembly (42) is controlled to perform the cap opening operation, the cap opening completion signal is received from the cap removal assembly (42), the transfer mechanism (5) is controlled to transfer the target culture dish to below the image acquisition device (41), the illumination assembly (6) is adjusted to the target illumination parameters according to the sample information, and the image acquisition device (41) is started to acquire the target image of the target culture dish; Receive feedback signals from the image acquisition device (41) regarding the growth of bacterial colonies formed by analyzing the target image; If the culture cycle has not ended and the feedback signal indicates that the colony growth has not reached the preset threshold, the control transfer mechanism (5) will transfer the target culture dish to the bottom of the cap removal component (42), control the cap removal component (42) to perform the cap closing operation, receive the cap closing completion signal from the cap removal component (42), control the transfer mechanism (5) to transfer the target culture dish to the culture position corresponding to the target culture dish, control the door drive component (13) to drive the partition door (12) to close, and continue to carry out the subsequent culture and monitoring process according to the set culture cycle and sampling time interval; If the culture cycle ends or the feedback signal indicates that the colony growth has reached the preset threshold, the control transfer mechanism (5) transfers the target culture dish to the disinfection chamber (1b), the control disinfection device (17) starts the disinfection program to disinfect the target culture dish, after the preset disinfection time, the control transfer mechanism (5) transfers the disinfected target culture dish to the bottom of the cap removal component (42), the control cap removal component (42) performs the cap closing operation and the control transfer mechanism (5) transfers the target culture dish to the pick-and-place station (21), and the control status prompt device sends a culture completion prompt to the user.

10. The control method for a system integrating automated fungal culture and intelligent identification according to claim 9, characterized in that, The feedback signal of colony growth generated by the image acquisition device (41) through analysis of the target image includes: After receiving the target image transmitted by the image acquisition device (41), the image processing device (43) performs image enhancement, noise filtering and distortion correction on the target image; The sample to be tested and the culture dish in the preprocessed target image are segmented using a preset segmentation algorithm to obtain the target sample image. The fungal colony area and the sample texture are segmented by differential comparison based on the original sample image before culture to obtain the target colony image. Calculate the colony pixel area of ​​fungi in the target colony image, obtain the pixel ratio of the mold area based on the colony pixel area and the pixel area of ​​the sample to be tested, convert the colony pixel area into the actual physical area based on the calibration parameters of the image acquisition device (41) to obtain the actual ratio of the mold area, and generate a feedback signal of colony growth based on the actual ratio of the mold area and / or the pixel ratio of the mold area.

Images