Stem cell parallel reactor rotating speed measuring device, identification method, equipment and medium

Abstract

The invention provides a stem cell parallel reactor rotating speed measuring device, an identification method, equipment and a medium, and the method comprises the steps: capturing an edge signal outputted by a Hall sensor, and obtaining the duration of each high and low level, so as to obtain a high and low level time sequence containing rotating speed information in a plurality of periods; sorting the elements of the time sequence according to numerical values, comparing the ratio of front and rear elements with a threshold value to obtain a demarcation point of high and low level time, and calculating a threshold value of the demarcation point; comparing elements of the time sequence with a demarcation point threshold value in sequence to distinguish high level time and low level time; and calculating the rotating speed of the stirring paddle according to the time of the first high level, the time of the second high level and the time of all low levels between the two high levels. The device can be used in occasions where the space structure of a small parallel reactor is limited, and is compact in structure. The method can be used under the condition of strong interference or jitter, and the applicable rotating speed range is large.

Description

Technical Field

[0001] This invention relates to the field of parallel bioreactor rotation speed measurement and velocity information extraction technology, and particularly to a stem cell parallel bioreactor rotation speed measurement device, identification method, equipment, and medium. Background Technology

[0002] Existing reactors mostly use magnetic coupling drive, with a drive motor installed at the top or bottom of the reactor to drive permanent magnets, and permanent magnets installed on the internal stirring paddle. When the external motor rotates, the two permanent magnets interact to drive the stirring paddle to rotate. This method has a large spatial structure size and cannot be integrated into small-volume multi-channel parallel reactors.

[0003] Speed ​​measurement methods mostly involve measuring the speed of an external motor, thereby indirectly measuring the speed of the agitator. The speed of the agitator cannot be measured directly. If there is a malfunction in the magnetic coupling process or the agitator, the system will lose the ability to detect the speed.

[0004] Rotation speed measurement devices are typically integrated into the drive controller of an external motor, requiring the installation of encoders or multiple Hall sensors, which is costly. When there is strong external interference or vibration during the rotation of the agitator, the digital signal output by the speed sensor needs to be processed using monostable triggers and low-pass filters. In application scenarios with a large and unknown range of speed variations, it is impossible to accurately adjust the hardware and software parameters, and thus impossible to accurately measure the rotation speed. Summary of the Invention

[0005] To achieve the above-mentioned objectives and other advantages of the present invention, a first objective of the present invention is to provide a method for identifying the rotational speed of a parallel stem cell reactor, comprising the following steps: The edge signal output by the Hall sensor is captured to obtain the duration of each high and low level, so as to obtain a high and low level time sequence containing rotational speed information for multiple cycles; The elements of the time series are sorted according to their numerical values. Then, the boundary point between high and low level times is obtained by comparing the ratio of the preceding and following elements with a threshold, and the threshold of the boundary point is calculated. The elements of the time series are compared sequentially with the boundary threshold to distinguish between high-level and low-level times; The impeller speed is calculated based on the duration of the first high level, the duration of the second high level, and all low-level times between the duration of the first high level and the duration of the second high level.

[0006] Furthermore, the step of capturing the edge signal output by the Hall sensor and obtaining the duration of each high and low level to obtain a high and low level time sequence containing rotational speed information for multiple cycles includes: The rising and falling edges of the Hall sensor output trigger an interrupt and record the timer value; The duration of the corresponding high and low levels is obtained by taking the difference between two consecutive timer values. The time series containing rotational speed information across multiple periods is denoted as... .

[0007] Furthermore, prior to the step of capturing the edge signal output by the Hall sensor and obtaining the duration of each high and low level to obtain a high and low level time sequence containing rotational speed information for multiple cycles, the method further includes: Edge-triggered initialization of the microcontroller's timers and general-purpose input ports.

[0008] Further, the step of sorting the elements of the time series according to their numerical values, then comparing the ratio of consecutive elements with a threshold to obtain the boundary point between high and low level times, and calculating the boundary point threshold includes: After sorting the elements of the time series according to their numerical values, calculate them sequentially in descending order. The value; Calculated Compare the value with the threshold; like If the value is greater than the threshold, then and The interval between these points marks the boundary between high and low level durations. Calculate the threshold of the dividing point ; Otherwise, reacquire the time series. .

[0009] Further, the step of comparing the elements of the time series sequentially with the boundary threshold to distinguish between high-level and low-level times includes: Time series The elements are sequentially related to the threshold of the dividing point. Compare; If it is greater than the threshold of the dividing point Then it is the high-level time; If it is less than the threshold point Then it is the low level time; The time of the first high level is denoted as . The duration of the second high level is recorded as Then and The sum of all low-level times between them is denoted as: .

[0010] Further, the step of calculating the impeller speed based on the duration of the first high level, the duration of the second high level, and all low-level times between the duration of the first high level and the duration of the second high level includes: The agitator rotation period is calculated based on the recorded high-level times and the low-level time between the two high-level times: Calculate the impeller rotation speed based on the impeller rotation cycle: Increase the length of the recorded time series to obtain multiple speed measurements, then perform a moving average filter to obtain the final speed value.

[0011] A second objective of this invention is to provide a stem cell parallel reactor rotation speed measuring device, which utilizes the above-described method and includes: Reactors, used for biological culture; A stirring paddle is mounted inside the reactor via a shaft; At least one pair of permanent magnets are fixed to the stirring paddle; Stator coils, located outside the reactor, are used to generate an alternating magnetic field that drives the permanent magnet to rotate; A Hall sensor, installed between the windings of the stator coil, is used to detect the magnetic field generated by the permanent magnet and output a square wave signal with speed information; A microcontroller, electrically connected to the Hall sensor, is used to capture the edge of the square wave signal and execute a rotational speed identification method to calculate the rotational speed of the agitator.

[0012] Furthermore, it also includes a voltage divider circuit, through which the output of the Hall sensor is connected to a general-purpose input port of the microcontroller with an edge-triggered interrupt, to capture the edge signal of the Hall sensor.

[0013] A third objective of the present invention is to provide a computer device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the steps of the above-described method.

[0014] A fourth objective of the present invention is to provide a computer-readable storage medium having a computer program stored thereon, wherein the computer program, when executed by a processor, implements the steps of the above-described method.

[0015] Compared with the prior art, the beneficial effects of the present invention are: The rotational speed measuring device provided by this invention can be used in situations where the space structure of a small parallel reactor is limited, and it has a compact structure. The rotational speed identification method provided by this invention can be used under conditions of strong interference or jitter, has a wide applicable rotational speed range, can replace digital or analog filters to process wideband rotational speed signals, has low computational complexity, does not require the introduction of frequency domain calculations, and the processing power of a general-purpose microcontroller can fully meet the computational power requirements of the rotational speed measurement algorithm, making it easy to implement in embedded systems.

[0016] The above description is merely an overview of the technical solution of the present invention. In order to better understand the technical means of the present invention and to implement it according to the contents of the specification, the preferred embodiments of the present invention are described in detail below with reference to the accompanying drawings. Specific embodiments of the present invention are given in detail below with reference to the accompanying drawings. Attached Figure Description

[0017] The accompanying drawings, which are included to provide a further understanding of the invention and form part of this application, illustrate exemplary embodiments of the invention and, together with their description, serve to explain the invention and do not constitute an undue limitation thereof. In the drawings: Figure 1 A schematic diagram of the rotation speed measuring device for a stem cell parallel reactor; Figure 2 Schematic diagram of normal and abnormal waveforms output by Hall sensor; Figure 3 Flowchart for Stem Cell Parallel Reactor Rotation Speed ​​Identification Method Figure 1 ; Figure 4 Flowchart for Stem Cell Parallel Reactor Rotation Speed ​​Identification Method Figure 2 ; Figure 5 Create flowcharts for time series data; Figure 6 Flowchart showing the high and low level time boundaries; Figure 7 Flowchart for distinguishing high and low level times; Figure 8 Flowchart for calculating impeller speed; Figure 9 This is a schematic diagram of a computer device. Figure 10 This is a schematic diagram of a computer-readable storage medium. Detailed Implementation

[0018] The present invention will now be further described with reference to the accompanying drawings and specific embodiments. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of them. It should be noted that, without conflict, the various embodiments or technical features described below can be arbitrarily combined to form new embodiments.

[0019] Based on the embodiments of this invention, all other embodiments obtained by those skilled in the art without inventive effort are within the scope of protection of this invention.

[0020] The drawing numbers in this application are only used to distinguish the steps in the scheme and are not used to limit the execution order of the steps. The specific execution order is as described in the specification.

[0021] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. The terminology used herein in the description of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention.

[0022] Example 1 A stem cell parallel reactor rotation speed measuring device, such as Figure 1 As shown, it includes: Reactors, used for biological culture; A stirring paddle is mounted inside the reactor via a shaft; for example, the stirring paddle is connected to the reactor cover via a shaft for stirring the culture medium.

[0023] At least one pair of permanent magnets are fixed to the stirring paddle; The stator coil, located outside the reactor, is used to generate an alternating magnetic field that drives the permanent magnet to rotate; that is, the stator coil generates a rotating magnetic field that drives the permanent magnet on the agitator to rotate.

[0024] A Hall sensor, installed between the windings of the stator coil, is used to detect the magnetic field generated by the permanent magnet and output a square wave signal with speed information; In this embodiment, a Hall sensor is installed between two adjacent windings of the stator coil to detect the position of the permanent magnet and thus obtain the rotational speed information of the agitator.

[0025] A microcontroller, electrically connected to the Hall sensor, is used to capture the edge of the square wave signal and execute a rotational speed identification method to calculate the rotational speed of the agitator.

[0026] The permanent magnet is fixed to the stirring paddle in a relatively fixed position. The actuator drives the permanent magnet to rotate by controlling the stator coil to generate an alternating magnetic field, which in turn drives the stirring paddle to rotate. After detecting the magnetic field generated by the permanent magnet, the Hall sensor outputs a square wave signal containing speed information.

[0027] Due to factors such as the load not remaining constant during the rotation of the agitator, zero-crossing jitter in the alternating magnetic field, and the limited number of permanent magnets on the agitator, jitter occurs during agitator rotation. This results in irregular output signals from the Hall sensor, with a large amount of interference superimposed on the original signal, and a wide frequency spectrum. For example, taking a low-level output when the permanent magnet is near the Hall sensor and a high-level output when the permanent magnet is far away from the Hall sensor, a normal output signal has no jitter between high and low levels and is a regular square wave signal. Figure 2 As shown, in actual use, the output signal includes, but is not limited to, the following situations: Figure 2 As shown: (1) There is a very narrow negative pulse at both ends of the low level and a very wide negative pulse in the middle; (2) There is a very narrow negative pulse at both ends of the low level and a very wide high level in the middle; (3) There will be very dense narrow pulses at the low level, which occupy the entire low level, etc. When the speed change range is large, the width of the abnormal pulse will also change accordingly.

[0028] In some embodiments, a voltage divider circuit is further included, through which the output of the Hall sensor is connected to a general-purpose input port of the microcontroller with an edge-triggered interrupt to capture the edge signal of the Hall sensor. The microprocessor then executes the speed identification method described below to calculate the speed of the agitator. A detailed description of the speed identification method can be found in the corresponding description in the method embodiments below, and will not be repeated here.

[0029] The rotational speed measuring device provided by this invention can be used in situations where the space structure of a small parallel reactor is limited, and it has a compact structure.

[0030] Example 2 A method for identifying the rotational speed of a stem cell parallel reactor, based on the aforementioned rotational speed measuring device. A detailed description of the rotational speed measuring device can be found in the corresponding description in the embodiments described above, and will not be repeated here. Figure 3 , Figure 4 As shown, the method includes the following steps: S100: Capture the edge signal output by the Hall sensor to obtain the duration of each high and low level, so as to obtain a high and low level time sequence containing rotational speed information for multiple cycles; Specifically, the Hall sensor output is connected to a general-purpose input port of the microcontroller with edge-triggered interrupt after passing through a voltage divider circuit. The edge signal of the Hall sensor is captured, and the duration of each high and low level is obtained using a hardware or software timer. This yields a time series of high and low levels containing rotational speed information for multiple cycles.

[0031] To achieve digital capture of the raw speed signal and provide a high-quality data source for subsequent intelligent analysis, such as... Figure 5As shown, the step of capturing the edge signal output by the Hall sensor and obtaining the duration of each high and low level to obtain a high and low level time sequence containing rotational speed information for multiple cycles includes: S110: The rising and falling edges of the Hall sensor output trigger an interrupt and record the timer value; S120. Difference the values ​​of two consecutive timers to obtain the duration of the corresponding high and low levels; S130, Record the time series containing rotational speed information in multiple cycles as... .

[0032] To construct a high-performance signal acquisition front-end, the following steps are included before the steps of capturing the edge signal output by the Hall sensor, obtaining the duration of each high and low level to obtain a high and low level time sequence containing rotational speed information over multiple cycles: Edge-triggered initialization of the microcontroller's timers and general-purpose input ports.

[0033] S200. Sort the elements of the time series according to their numerical values, and then compare the ratio of the preceding and following elements with a threshold to obtain the boundary point between high and low level times, and calculate the boundary point threshold. To address the challenge of accurately extracting effective high and low level time information representing the true rotational speed from irregular Hall signals containing numerous jittery pulses under strong interference, such as... Figure 6 As shown, the steps of sorting the elements of the time series according to their numerical values, then comparing the ratio of consecutive elements with a threshold to obtain the boundary point between high and low level times, and calculating the boundary point threshold include: S210. After sorting the elements of the time series according to their numerical values, calculate them sequentially in descending order. The value; In the pure waveform, the duty cycle is approximately 30%. The value is approximately 2.3, and a certain margin can be reserved in actual use. The value is 2, and its value can be adjusted according to the actual situation.

[0034] S220, calculate The calculated value is compared with the threshold; that is, the value is judged. Is the value greater than the threshold? S230, if If the value is greater than the threshold, then and The interval between these points represents the boundary between high and low level times; that is, if If the value is greater than 2, then this is considered... and The interval between these points represents the boundary between high and low level times. S240, Calculate the boundary point threshold ; S250, Otherwise, reacquire the time series. .

[0035] This embodiment abandons the traditional method of using fixed thresholds and innovatively sorts and analyzes the ratios of the acquired raw time series to dynamically find natural "faults" in the data distribution, thereby automatically determining the effective boundary points for distinguishing high and low levels. This method does not rely on empirical values ​​or pre-calibration and can automatically adapt to different speed ranges, different permanent magnet configurations, and varying signal duty cycles, demonstrating the algorithm's adaptability and intelligence.

[0036] This embodiment utilizes the significant difference in "duration" between the effective high and low levels and the interference pulses. This is achieved through sorting and ratios ( The method uses a time-based filtering mechanism to reliably distinguish between narrow, abnormally short pulses (whether occurring during high or low levels) caused by jitter and valid level signals representing the passage of the true magnetic poles. Even when the amplitude of the interfering pulse is the same as the valid signal, this method effectively filters based on time characteristics, greatly enhancing the stability of speed measurement in complex electromagnetic noise environments.

[0037] This embodiment uses the boundary point threshold. Set as elements on both sides of the suspected dividing point ( and The arithmetic mean of the two time data sets. This method determines the threshold at the center of the two types of time data, serving as the basis for subsequent "greater than" criteria. Determined as high level, less than The binary classification operation of "classifying as low level" provides the optimal decision boundary, minimizes the probability of misclassification, and ensures the accuracy of level type identification.

[0038] about The comparison and judgment between the value and the threshold constitute a built-in data validity check. If no value can be found that satisfies the threshold after traversing the sorted sequence... Points with values ​​greater than the threshold indicate that the currently acquired time-series data is too chaotic to reliably distinguish between high and low levels (e.g., the signal may be completely distorted due to extreme interference). In this case, the system automatically discards the current batch of data and reacquires it. This mechanism prevents erroneous calculations based on invalid data, improving the overall reliability and fault tolerance of the system.

[0039] S300. The elements of the time series are compared sequentially with the boundary threshold to distinguish between high-level time and low-level time. In order to transform the original, mixed time series into a clean, structured set of core time parameters that directly serve the calculation of rotational speed, such as... Figure 7 As shown, the step of comparing the elements of the time series sequentially with the boundary threshold to distinguish between high-level and low-level times includes: S310, Time series The elements are sequentially related to the threshold of the dividing point. Compare; that is, judge the time series sequentially. Are the elements in the data greater than or less than the threshold? ; S320. If it is greater than the threshold of the dividing point. Then it is the high-level time; S330, If it is less than the threshold of the dividing point Then it is the low level time; S340, Record the time of the first high level as... The duration of the second high level is recorded as Then and The sum of all low-level times between them is denoted as: Because there may be multiple jitters or interferences during the low-level period, the low level is divided into multiple narrow pulses.

[0040] This embodiment utilizes the adaptive boundary threshold calculated using the above steps. As the sole criterion, each duration element in the sequence is classified into two categories. This threshold is derived from real-time analysis of the current signal characteristics (e.g., obtained through sorting ratio method), rather than a fixed value. Therefore, it can dynamically adapt to the actual fluctuation range of the signal, ensuring that the classification decision has high accuracy and environmental adaptability under different rotational speeds and signal intensities.

[0041] This embodiment clarifies the meaning of "greater than the threshold". If the high-level time is less than the threshold value, then it is considered a high-level time. The binary rule of "if the threshold value is low, then the time is low" eliminates the classification ambiguity that may arise in traditional methods due to unreasonable threshold range settings or fluctuations around the threshold. This deterministic logic ensures the clarity and accuracy of each judgment result, providing pure and reliable data labels for subsequent calculations.

[0042] This embodiment intelligently locates and extracts several core parameters necessary for calculating the rotational speed from the classified sequence: the first high-level time. The second high-level time and the sum of all low-level times between the two. This extraction method directly corresponds to the physical process of the agitator rotation (e.g., and This likely corresponds to the time intervals during which the two magnetic poles pass the sensor. This corresponds to the window period without magnetic poles, thus preparing the data for constructing a speed model with clear physical meaning.

[0043] This embodiment extracts continuous... and This method utilizes two high-level events for verification and calculation, which is more robust than relying on a single pulse and can partially offset the impact of a single magnet signal anomaly. Simultaneously, it accumulates the low-level time. Instead of taking a single value, this further smooths out measurement errors that may be caused by minute jitters, enhancing the data's robustness to noise.

[0044] In practical applications, due to mechanical vibration or electromagnetic interference, occasional "glitch" signals with abnormal durations may occur. In this embodiment, such outliers may have been excluded from the boundary point calculation by threshold determination in the aforementioned steps, or may have been explicitly classified in the current step due to their significant deviation from the threshold (but may still be considered outliers). More importantly, subsequent rotational speed calculations will use the extracted... , and The parameters after aggregation, this calculation method based on the fusion of key information from multiple cycles, has a certain ability to smooth and suppress the random errors of individual data points, thereby improving the stability of the final output results.

[0045] When a pair of permanent magnets are installed on the impeller (or multiple pairs of permanent magnets can be installed), S400 calculates the impeller speed based on the duration of the first high level, the duration of the second high level, and all low level times between the duration of the first high level and the duration of the second high level.

[0046] To improve the completeness, accuracy, and stability of speed calculations, such as Figure 8 As shown, the step of calculating the impeller speed based on the duration of the first high level, the duration of the second high level, and all low-level times between the duration of the first high level and the duration of the second high level includes: S410. Calculate the impeller rotation cycle based on the recorded two high-level times and the low-level time between the two high-level times: S420. Calculate the impeller rotation speed based on the impeller rotation cycle: The impeller speed can be calculated using the above method. By increasing the length of the recorded time series, multiple speed measurements can be obtained. Then, a moving average filter is performed to obtain the final speed value, which can improve the measurement accuracy and reduce random errors.

[0047] This embodiment no longer uses a single high-level or low-level time directly, but combines two consecutive effective high-level times ( ) and all low-level times in between ( The agitator rotation cycle is calculated by summing up the low-level periods that may be "cut off" or "contaminated" by multiple narrow interference pulses. The method restores the total low-level time to a complete time corresponding to the physical rotation angle. This ensures that even if there are multiple jitters within a rotation cycle, the "high-low-high" time structure on which the calculation is based can still completely and accurately correspond to the actual mechanical rotation cycle of the agitator, fundamentally eliminating the fatal impact of single-point interference on cycle measurement.

[0048] The period calculation formula provided in this embodiment is a precise model derived from the physical fact that a pair of permanent magnets generate two high-level signals through a sensor. It correctly adds the two high-level times and the total low-level time in between, which is equivalent to measuring the time required for the impeller to rotate one full revolution. Based on this precise period, the rotational speed calculation has a solid physical basis, and the calculation result directly and accurately reflects the actual angular velocity of the impeller.

[0049] This embodiment does not include a single cycle ( The calculation result is used as the final output. Multiple speed measurement values ​​can be obtained by increasing the time series length and then a moving average filter is applied. This smooths out the accidental measurement fluctuations caused by small jitters in signal edge detection or timer quantization errors. Even if the calculated value is abnormal due to strong interference in a particular period, the moving average can effectively dilute its influence and prevent the final speed output from jumping. The filtered speed value changes smoothly, which is more in line with the human-computer interaction experience and provides a stable and reliable feedback signal for the downstream control system.

[0050] The speed identification method provided by this invention can be used under strong interference or jitter conditions, has a wide applicable speed range, can replace digital or analog filters to process wideband speed signals, has low computational complexity, does not require the introduction of frequency domain calculations, and the processing power of a general-purpose microcontroller can fully meet the computing power requirements of the speed measurement algorithm, and is easy to implement in embedded systems.

[0051] Example 3 A computer device 500, such as Figure 9 As shown, the system includes a memory 510, a processor 520, and a computer program 530 stored in the memory and executable on the processor. When the processor executes the computer program, it implements the steps of a method for identifying the rotational speed of a stem cell parallel reactor. For a detailed description of the method, please refer to the corresponding description in the above method embodiments; it will not be repeated here.

[0052] Example 4 A computer-readable storage medium, such as Figure 10 As shown, a computer program is stored thereon. When executed by a processor, the computer program implements the steps of a method for identifying the rotational speed of a stem cell parallel reactor. For a detailed description of the method, please refer to the corresponding description in the above method embodiments, which will not be repeated here.

[0053] The number of devices and processing scale described herein are for the purpose of simplifying the description of the invention. Applications, modifications, and variations of the invention will be readily apparent to those skilled in the art.

[0054] Although embodiments of the present invention have been disclosed above, they are not limited to the applications listed in the specification and embodiments. They can be applied to various fields suitable for the present invention. For those skilled in the art, other modifications can be easily made. Therefore, without departing from the general concept defined by the claims and their equivalents, the present invention is not limited to the specific details and illustrations shown and described herein.

[0055] The apparatus, computer device, and non-volatile computer storage medium and method provided in the embodiments of this specification are corresponding. Therefore, the apparatus, computer device, and non-volatile computer storage medium also have similar beneficial technical effects as the corresponding method. Since the beneficial technical effects of the method have been described in detail above, the beneficial technical effects of the corresponding apparatus, computer device, and non-volatile computer storage medium will not be repeated here.

[0056] Those skilled in the art will also know that, besides implementing the controller in the form of purely computer-readable program code, the same functions can be achieved by logically programming the method steps, making the controller take the form of logic gates, switches, application-specific integrated circuits (ASICs), programmable logic controllers (PLCs), and embedded microcontrollers. Therefore, such a controller can be considered a hardware component, and the devices included within it for implementing various functions can also be considered structures within that hardware component. Alternatively, the devices for implementing various functions can be considered as both software units implementing the method and structures within a hardware component.

[0057] The systems, apparatuses, or units described in the above embodiments can be implemented by computer chips or physical entities, or by products with certain functions. For ease of description, the above apparatuses are described separately by function as various units. Of course, when implementing one or more embodiments of this specification, the functions of each unit can be implemented in one or more software and / or hardware.

[0058] Those skilled in the art will understand that the embodiments of this specification can be provided as methods, systems, or computer program products. Therefore, the embodiments of this specification can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the embodiments of this specification can take the form of a computer program product implemented on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0059] This specification is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this specification. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart illustrations and / or block diagrams. Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0060] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0061] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0062] It should also be noted that the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0063] This specification may be described in the general context of computer-executable instructions, such as program units, that are executed by a computer. Generally, program units include routines, programs, objects, components, data structures, etc., that perform a specific task or implement a specific abstract data type. This specification may also be practiced in distributed computing environments, where tasks are performed by remote processing devices connected via a communication network. In distributed computing environments, program units may reside in local and remote computer storage media, including storage devices.

[0064] The various embodiments in this specification are described in a progressive manner. Similar or identical parts between embodiments can be referred to mutually. Each embodiment focuses on describing the differences from other embodiments. In particular, the system embodiments are basically similar to the method embodiments, so the description is relatively simple; relevant parts can be referred to the descriptions in the method embodiments.

[0065] The above description is merely an embodiment of this specification and is not intended to limit the scope of one or more embodiments of this specification. Various modifications and variations can be made to one or more embodiments of this specification by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principle of one or more embodiments of this specification should be included within the scope of the claims of one or more embodiments of this specification.

Claims

1. A stem cell parallel reactor rotation speed identification method, characterized in that, Includes the following steps: The edge signal output by the Hall sensor is captured to obtain the duration of each high and low level, so as to obtain a high and low level time sequence containing rotational speed information for multiple cycles; The elements of the time series are sorted according to their numerical values. Then, the boundary point between high and low level times is obtained by comparing the ratio of the preceding and following elements with a threshold, and the boundary point threshold is calculated. The elements of the time series are compared sequentially with the boundary threshold to distinguish between high-level and low-level times; The impeller speed is calculated based on the duration of the first high level, the duration of the second high level, and all low-level times between the duration of the first high level and the duration of the second high level.

2. The method for identifying the rotational speed of a parallel stem cell reactor as described in claim 1, characterized in that, The steps of capturing the edge signal output by the Hall sensor and obtaining the duration of each high and low level to obtain a high and low level time sequence containing rotational speed information for multiple cycles include: The rising and falling edges of the Hall sensor output trigger an interrupt and record the timer value; The duration of the corresponding high and low levels is obtained by taking the difference between two consecutive timer values. The time series containing rotational speed information across multiple periods is denoted as... .

3. The method for identifying the rotational speed of a parallel stem cell reactor as described in claim 2, characterized in that, Before the step of capturing the edge signal output by the Hall sensor and obtaining the duration of each high and low level to obtain a high and low level time sequence containing rotational speed information for multiple cycles, the following steps are also included: Edge-triggered initialization of the microcontroller's timers and general-purpose input ports.

4. The method for identifying the rotational speed of a parallel stem cell reactor as described in claim 2, characterized in that, The steps of sorting the elements of the time series according to their numerical values, then comparing the ratio of consecutive elements with a threshold to obtain the boundary point between high and low level times, and calculating the boundary point threshold include: After sorting the elements of the time series according to their numerical values, calculate them sequentially in descending order. The value; Calculated Compare the value with the threshold; like If the value is greater than the threshold, then and The interval between these points marks the boundary between high and low level durations. Calculate the threshold of the dividing point ; Otherwise, reacquire the time series. .

5. The method for identifying the rotational speed of a parallel stem cell reactor as described in claim 4, characterized in that, The step of comparing the elements of the time series sequentially with the boundary threshold to distinguish between high-level and low-level times includes: Time series The elements are sequentially related to the threshold of the dividing point. Compare; If it is greater than the threshold of the dividing point Then it is the high-level time; If it is less than the threshold point Then it is the low level time; The time of the first high level is denoted as . The duration of the second high level is recorded as Then and The sum of all low-level times between them is denoted as: .

6. The method for identifying the rotational speed of a parallel stem cell reactor as described in claim 5, characterized in that, The step of calculating the impeller speed based on the duration of the first high level, the duration of the second high level, and all low-level times between the duration of the first high level and the duration of the second high level includes: The agitator rotation period is calculated based on the recorded high-level times and the low-level time between the two high-level times: Calculate the impeller rotation speed based on the impeller rotation cycle: Increase the length of the recorded time series to obtain multiple speed measurements, then perform a moving average filter to obtain the final speed value.

7. A stem cell parallel reactor rotation speed measuring device, using the method as described in any one of claims 1 to 6, characterized in that, include: Reactors, used for biological culture; A stirring paddle is mounted inside the reactor via a shaft; At least one pair of permanent magnets are fixed to the stirring paddle; Stator coils, located outside the reactor, are used to generate an alternating magnetic field that drives the permanent magnet to rotate; A Hall sensor, installed between the windings of the stator coil, is used to detect the magnetic field generated by the permanent magnet and output a square wave signal with speed information; A microcontroller, electrically connected to the Hall sensor, is used to capture the edge of the square wave signal and execute a rotational speed identification method to calculate the rotational speed of the agitator.

8. The stem cell parallel reactor rotation speed measuring device as described in claim 7, characterized in that, It also includes a voltage divider circuit, through which the output of the Hall sensor is connected to a general-purpose input port of the microcontroller with an edge-triggered interrupt, to capture the edge signal of the Hall sensor.

9. A computer device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the computer program, it implements the steps of the method as described in any one of claims 1 to 6.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by a processor, it implements the steps of the method as described in any one of claims 1 to 6.

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