Control method for a cryotube reading device and cryotube reading device

Abstract

The present application relates to the technical field of cryopreservation tube code reading, and particularly provides a control method of a cryopreservation tube code reading device and the cryopreservation tube code reading device, aiming to solve the problem that the bottom two-dimensional code of the cryopreservation tube cannot be read due to frost / icing. For this purpose, the code reading device is used for reading the codes of the cryopreservation tubes in a cryopreservation box, and the code reading device comprises a first code reading mechanism and a second code reading mechanism. The first code reading mechanism is arranged at a first code reading station and is arranged to be capable of reading the bottom identification of the cryopreservation tubes in the cryopreservation box. The second code reading mechanism is arranged at a second code reading station and is arranged to be capable of reading the side identification of a single cryopreservation tube. The present application first reads the whole box of cryopreservation tubes, and if there is a cryopreservation tube that cannot be read normally, the side identification of the cryopreservation tube is read again to make up for the reading, so as to improve the code reading efficiency and reduce the workload of subsequent operators.

Description

Technical Field

[0001] This invention relates to the field of cryopreservation tube reading technology, specifically providing a control method for a cryopreservation tube reading device and a cryopreservation tube reading device. Background Technology

[0002] Cryopreservation tubes (such as SBS standard cryopreservation tubes) are widely used cryogenic containers in biobanks, pharmaceutical research and development, and clinical testing to preserve bacterial strains, cell lines, tissue sections, or other viable biological samples. To facilitate bulk transfer and retrieval, multiple cryopreservation tubes are usually arranged in a regular pattern and stored in cryopreservation boxes, and the entire batch is handled either by automated storage equipment or manually.

[0003] Currently, the common practice for identifying cryopreservation tubes is to affix codes (such as QR codes) to the bottom of the tubes and codes (such as barcodes) to the side walls. In practice, automated code-reading systems typically use a bottom-reading scheme: a camera fixed to the bottom of the cryopreservation box scans the QR codes on the bottom of all cryopreservation tubes in the box at once or line by line, enabling rapid information entry for the entire box of cryopreservation tubes.

[0004] However, the aforementioned bottom-based batch coding method has significant technical drawbacks in practical applications. Cryopreservation tubes are typically stored in low-temperature environments for extended periods, such as ultra-low temperature freezers at -80°C or liquid nitrogen gas phase zones. When they need to be taken out of storage, inventoried, or transferred, the cryopreservation tubes are removed from the low-temperature zone and exposed to a normal-temperature laboratory environment (approximately 20°C to 25°C). During this process, water vapor in the air rapidly condenses on the extremely cold surface of the cryopreservation tubes (especially the bottom), forming dew. Subsequently, when the cryopreservation tubes are transferred again to a low-temperature operating area (e.g., inside an automated storage device at -20°C to -30°C), the liquid dew on the tube walls and bottom quickly freezes, forming a dense layer of frost or even ice.

[0005] Because the bottom QR code is completely covered by the frost or ice layer, the light emitted by the scanning camera is strongly scattered and refracted when passing through the ice crystal structure, resulting in an inability to obtain a clear QR code image and thus causing scanning failure. In existing technologies, although some devices attempt to add defrosting devices (such as hot air knives or infrared heating modules) to the bottom scanning station, the defrosting effect is extremely limited for thick frost layers or thin, already frozen ice layers, and the heating process may cause irreversible thermal damage to the bioactivity of the biological samples inside the cryopreservation tubes. More importantly, defrosting devices cannot fundamentally solve the problem of repeated frosting caused by rapid temperature changes.

[0006] Due to the aforementioned shortcomings, when bottom barcode reading fails, current automated storage equipment can only remove the failed cryopreservation tubes one by one, transfer them outside the equipment for manual defrosting by operators (e.g., using wiping or thawing agents), and then manually or with the equipment, attempt to re-insert and read the barcodes. This manual intervention process not only significantly increases the workload of operators and disrupts the continuous operation of automated equipment, but also severely reduces the overall efficiency of sample storage and retrieval, making it difficult to meet the high-throughput, fully automated operation requirements of large-scale biobanks.

[0007] Accordingly, a new technical solution is needed in this field to solve the above-mentioned technical problems. Summary of the Invention

[0008] The present invention aims to solve the above-mentioned technical problem, namely, to solve the problem that the QR code on the bottom of the existing cryopreservation tube cannot be read due to frost / ice.

[0009] In a first aspect, the present invention provides a cryopreservation tube reading device, the reading device being used to read the codes of cryopreservation tubes in a cryopreservation box, the reading device comprising a first reading mechanism and a second reading mechanism; the first reading mechanism being disposed at a first reading station and configured to read the bottom markings of the cryopreservation tubes in the cryopreservation box; the second reading mechanism being disposed at a second reading station and configured to read the side markings of a single cryopreservation tube.

[0010] When the above technical solution is adopted, the bottom markings of the entire box of cryopreservation tubes are read by the first reading mechanism, and the side markings of the cryopreservation tubes that cannot be read normally by the second reading mechanism are read by the second reading mechanism, thereby improving the reading efficiency and reducing the workload of subsequent operators.

[0011] In a specific embodiment of the cryopreservation tube reading device described above, the first reading mechanism includes a first container platform and a first reading camera. The first container platform is used to place the cryopreservation tube, and the first reading camera is located below the first container platform.

[0012] In a specific embodiment of the cryopreservation tube reading device described above, the second reading mechanism includes a first mounting bracket and a second reading camera, with the second reading camera disposed on the first mounting bracket.

[0013] In a specific embodiment of the cryopreservation tube reading device described above, the reading device further includes a defrosting mechanism, which is configured to defrost the side of a single cryopreservation tube, and the defrosting mechanism is located at the second reading station.

[0014] By adopting the above technical solution, by adding a defrosting mechanism to the second code reading station, the frost or water on the side wall of the cryopreservation tube can be removed, thereby improving the accuracy of the second code reading mechanism in reading the side markings of the cryopreservation tube.

[0015] In a specific embodiment of the cryopreservation tube reading device described above, the reading device further includes a temporary storage station, in which a second box-loading platform is provided, which is used to place empty cryopreservation boxes.

[0016] In a specific embodiment of the above-mentioned cryopreservation tube reading device, the reading device further includes a tube picking mechanism, which is configured to pick up the cryopreservation tube at the first reading station, so that the cryopreservation tube can be transferred between the first reading station and the second reading station, and between the second reading station and the temporary storage station.

[0017] In a specific embodiment of the cryopreservation tube reading device described above, the defrosting mechanism includes a second mounting bracket and a defrosting component, the defrosting component being disposed on the second mounting bracket; the tube picking mechanism is further configured to drive the gripped cryopreservation tube to rotate, so that the defrosting component can defrost the side of the cryopreservation tube.

[0018] In a second aspect, the present invention also provides a control method for a cryopreservation tube reading device, wherein the reading device is the aforementioned reading device; the control method includes: controlling a first reading mechanism to read the bottom markings of each cryopreservation tube in the cryopreservation box; obtaining the cryopreservation tubes whose bottom markings were not successfully read and their positions in the cryopreservation box, and designating the cryopreservation tubes as target cryopreservation tubes; controlling a tube-picking mechanism to transfer the target cryopreservation tubes from the first reading station to the second reading station; controlling the second reading mechanism to read the side markings of the target cryopreservation tubes; and controlling the tube-picking mechanism to perform corresponding operations based on the reading results.

[0019] In a specific implementation of the control method for the cryopreservation tube reading device described above, "controlling the tube picking mechanism to perform corresponding operations according to the reading result" includes: if the side mark is successfully read, controlling the tube picking mechanism to transfer the target cryopreservation tube from the second reading station to the original position of the cryopreservation box; if the side mark cannot be successfully read, controlling the tube picking mechanism to transfer the target cryopreservation tube from the second reading station to the temporary storage station.

[0020] In a specific embodiment of the control method for the cryopreservation tube reading device, the control method further includes: before or simultaneously with controlling the second reading mechanism to read the side markings of the target cryopreservation tube, controlling the defrosting mechanism to defrost the target cryopreservation tube.

[0021] When using the above technical solution, the cryopreservation box is first placed at the first code reading station. The first code reading mechanism reads the entire box of cryopreservation tubes. If there are cryopreservation tubes that cannot be read normally, the cryopreservation tube is transferred to the second code reading station. The second code reading mechanism reads the side markings of the cryopreservation tubes for supplementary reading, thereby improving code reading efficiency and reducing the workload of subsequent operators. Attached Figure Description

[0022] The preferred embodiments of the present invention are described below with reference to the accompanying drawings, in which: Figure 1 This is a schematic diagram of the cryopreservation tube reading device of the present invention in the first direction; Figure 2 This is a schematic diagram of the second direction of the cryopreservation tube reading device of the present invention; Figure 3 This is a schematic diagram of the cryopreservation tube reading device of the present invention from a third-party perspective; Figure 4 This is a schematic diagram of the fourth direction of the cryopreservation tube reading device of the present invention; Figure 5 This is a flowchart of the main steps of the control method for the cryopreservation tube reading device of the present invention; Figure 6 This is a possible detailed flowchart of the control method for the cryopreservation tube reading device of the present invention; The components include: 1. First barcode reading mechanism; 11. First box-loading platform; 12. First barcode reading camera; 2. Second barcode reading mechanism; 21. First mounting bracket; 22. Second barcode reading camera; 3. Defrosting mechanism; 31. Second mounting bracket; 32. Defrosting component; 4. Second box-loading platform; 5. Tube-picking mechanism; 51. Column; 52. Horizontal frame; 53. Clamping mechanism; 6. Box-picking robot; 61. Moving module; 62. Box-clamping mechanism; 7. Target cryopreservation tube. Detailed Implementation

[0023] Preferred embodiments of the present invention will now be described with reference to the accompanying drawings. Those skilled in the art should understand that these embodiments are merely illustrative of the technical principles of the present invention and are not intended to limit the scope of protection of the present invention. Those skilled in the art can make adjustments as needed to adapt to specific application scenarios.

[0024] It should be noted that in the description of this invention, terms such as "inner" and "outer" that indicate direction or positional relationship are based on the direction or positional relationship shown in the accompanying drawings. This is only for the convenience of description and is not intended to indicate or imply that the relevant device or element must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, it should not be construed as a limitation of this invention.

[0025] Furthermore, it should be noted that, in the description of this invention, unless otherwise explicitly specified and limited, the terms "connected" and "linked" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0026] This invention provides a cryopreservation tube reading device for reading the codes of cryopreservation tubes in cryopreservation boxes. The device can be set up independently on a laboratory bench as a workstation or integrated into an automated sample storage device as its reading module.

[0027] In one specific embodiment, the sample storage device includes a library body and a storage area and a buffer area disposed within the library body, with the code reading device disposed within the buffer area. For example, the temperature of the storage area is -80°C, and the temperature of the buffer area is -30°C.

[0028] like Figures 1-4 As shown, the code reading device of the present invention includes a first code reading mechanism 1 and a second code reading mechanism 2; the first code reading mechanism 1 is disposed at a first code reading station and is configured to read the bottom markings of the cryopreservation tubes in the cryopreservation box; the second code reading mechanism 2 is disposed at a second code reading station and is configured to read the side markings of a single cryopreservation tube.

[0029] Specifically, the cryopreservation box is an SBS standard cryopreservation box, with dimensions conforming to the SBS international standard. It features a uniform bottom profile and positioning structure, facilitating compatibility with different automated equipment. The cryopreservation box has multiple through-holes arranged vertically to accommodate cryopreservation tubes. The cryopreservation tubes are inserted into these through-holes, and each tube has a storage cavity for placing samples. Each cryopreservation tube has a bottom label, preferably a QR code, to uniquely identify the tube and the sample it contains. Each cryopreservation tube also has a side label, preferably a barcode, as an auxiliary identification feature. The through-holes are large enough to prevent the cryopreservation tubes from falling out and to avoid obstructing the bottom labels.

[0030] The first and second code-reading stations are set up side by side. The first code-reading station is for reading the entire box of cryovials, using the first code-reading mechanism 1. The second code-reading station is for reading individual cryovials, using the second code-reading mechanism 2. In actual operation, the cryovial box is first placed at the first code-reading station, and the first code-reading mechanism 1 reads the entire box of cryovials. If any cryovial cannot be read normally, it is transferred to the second code-reading station, where the second code-reading mechanism 2 reads the side markings of the cryovial for supplementary reading.

[0031] In the above structure, the bottom markings of the entire box of cryopreservation tubes are read by the first reading mechanism 1, and the side markings of the cryopreservation tubes that cannot be read normally are read by the second reading mechanism 2, thereby improving the reading efficiency and reducing the workload of subsequent operators.

[0032] like Figures 1-4 As shown, the first code-reading mechanism 1 includes a first container stage 11 and a first code-reading camera 12. The first container stage 11 is used to place the cryopreservation box, which can support and position the cryopreservation box, keeping it in a fixed position in the horizontal plane. The first code-reading camera 12 is located below the first container stage 11, with its reading port facing upwards, directly opposite the bottom of each cryopreservation tube inside the cryopreservation box. When the cryopreservation box is placed on the first container stage 11, the first code-reading camera 12 performs a one-time image scan of the bottom QR codes of all cryopreservation tubes inside the cryopreservation box to obtain the bottom identification information of each cryopreservation tube. The field of view of the first code-reading camera 12 covers the entire bottom area of ​​the cryopreservation box, ensuring that the bottom QR codes of all cryopreservation tubes fall within the reading area.

[0033] Specifically, the first cryopreservation platform 11 includes a platform body and a support. The support is fixedly installed in a buffer area, which is a predetermined working area within the barcode reader, providing a stable mounting base. The platform body is fixedly mounted on the upper end of the support and is used to support the cryopreservation boxes. The platform body has an opening penetrating its upper and lower surfaces. The position and size of this opening correspond to the bottom area of ​​the cryopreservation box, and the vertical projection of the opening covers the entire bottom surface of the cryopreservation box. When the cryopreservation box is placed on the platform body, the bottom of the box is exposed through this opening, allowing the reading light path of the first barcode reader 12, located below the platform body, to pass through the opening and reach the bottom QR codes of each cryopreservation tube inside the box without obstruction, thus ensuring that the first barcode reader 12 can acquire complete and clear images of the bottom markings. The upper surface of the platform body also has multiple positioning posts, which are respectively located at the four corners of the platform body. Each positioning post protrudes upward from the upper surface of the cryopreservation platform body to mate with the positioning holes or corners of the cryopreservation box at the bottom. When the cryopreservation box is placed on the cryopreservation platform body, the four corners of the cryopreservation box abut or engage with the corresponding positioning posts, thereby limiting the horizontal position of the cryopreservation box and ensuring that the cryopreservation box is in the same predetermined position each time it is placed on the cryopreservation platform body.

[0034] Continue as Figures 1-4As shown, the second barcode reading mechanism 2 includes a first mounting bracket 21 and a second barcode reading camera 22. The first mounting bracket 21 is fixedly installed in the buffer area, and the second barcode reading camera 22 is disposed on the first mounting bracket 21. The reading port of the second barcode reading camera 22 faces to the side, that is, the optical axis of the second barcode reading camera 22 extends along the horizontal direction or at a predetermined angle to the horizontal direction, for aligning with the side wall of a single cryogenic tube. When a single cryogenic tube is transported to the second barcode reading station, the second barcode reading camera 22 reads the one-dimensional barcode on the side of the cryogenic tube.

[0035] Continue as Figure 2 As shown, the code reading device also includes a temporary storage station for temporarily storing cryopreservation tubes for which both bottom and side markings could not be successfully read. The temporary storage station is equipped with a second loading platform 4 for placing empty cryopreservation boxes. These empty boxes are specifically designed to hold cryopreservation tubes that failed to be read, allowing operators to manually process the temporarily stored cryopreservation tubes after all code reading operations are completed.

[0036] In this embodiment, the structure of the second tray stage 4 is the same as that of the first tray stage 11, and will not be described again here.

[0037] Continue as Figures 1-4 As shown, the code reading device also includes a tube picking mechanism 5, which is configured to pick up the cryopreservation tube at the first code reading station so that the cryopreservation tube can be transferred between the first code reading station and the second code reading station, and between the second code reading station and the temporary storage station.

[0038] Specifically, the tube picking mechanism 5 can pick up the target cryopreservation tube 7 from the cryopreservation box at the first code reading station and transfer the target cryopreservation tube 7 to the second code reading station; it can also transfer the cryopreservation tube at the second code reading station back to its original position in the cryopreservation box at the first code reading station, or transfer the cryopreservation tube at the second code reading station to an empty cryopreservation box at the temporary storage station.

[0039] In one specific embodiment, the pipe-lifting mechanism 5 includes a column 51, a horizontal frame 52, a vertical drive mechanism (not shown in the figure), a first horizontal drive mechanism (not shown in the figure), a second horizontal drive mechanism (not shown in the figure), and a clamping mechanism 53. The vertical drive mechanism is mounted on the column 51, and the horizontal frame 52 is slidably mounted on the column 51. The drive end of the vertical drive mechanism is connected to the horizontal frame 52 to drive the horizontal frame 52 to move vertically along the Z direction. The second horizontal drive mechanism is mounted on the horizontal frame 52, and the clamping mechanism 53 is slidably mounted on the horizontal frame 52. The drive end of the second horizontal drive mechanism is connected to the clamping mechanism 53 to drive the clamping mechanism 53 to move horizontally along the Y direction. The drive end of the first horizontal drive mechanism is connected to the column 51 to drive the column 51 to move horizontally along the X direction, thereby driving the clamping mechanism 53 to move horizontally along the X direction.

[0040] Optionally, the vertical drive mechanism, the first horizontal drive mechanism, and the second horizontal drive mechanism can be configured as "motor + lead screw", "motor + sprocket + chain", electric cylinder, pneumatic cylinder, etc., as long as linear motion can be achieved.

[0041] The clamping mechanism 53 includes a gripper drive and two opposing grippers. When the gripper drive drives the two grippers to move towards each other, it can clamp the cryopreservation tube; when the gripper drive drives the two grippers to move away from each other, it can release the cryopreservation tube. In this embodiment, since the cryopreservation tube has a cylindrical structure, the opening and closing direction of the two grippers is not limited, as long as the clamping and releasing of the cryopreservation tube can be achieved.

[0042] Continue as Figures 1-4 As shown, the code reading device also includes a defrosting mechanism 3, which is configured to defrost the side of a single cryopreservation tube. The defrosting mechanism 3 is located at the second code reading station.

[0043] Furthermore, the defrosting mechanism 3 and the second barcode reader 22 are positioned opposite each other, meaning their shooting ports are horizontally aligned, forming a barcode reading space between them. The size of this reading space is adapted to the diameter of the cryopreservation tube and the gripping range of the tube-picking mechanism 5. Specifically, the distance between the defrosting mechanism 3 and the second barcode reader 22 is such that the tube-picking mechanism 5 can grip and position the cryopreservation tube between them. While the defrosting mechanism 3 defrosts the side of the cryopreservation tube, the shooting port of the second barcode reader 22 can be aligned with the side marking area of ​​the cryopreservation tube to obtain a clear image of the side marking.

[0044] In one specific embodiment, the defrosting mechanism 3 includes a second mounting bracket 31 and a defrosting component 32. The second mounting bracket 31 is fixedly installed in the buffer area, and the defrosting component 32 is disposed on the second mounting bracket 31. The defrosting mechanism 3 and the second barcode reader 22 are respectively disposed on both sides of the second barcode reader station. The defrosting component 32 and the shooting port of the second barcode reader 22 are arranged opposite each other, so that a barcode reader space is formed between the defrosting component 32 and the shooting port. This barcode reader space is used to accommodate the target cryopreservation tube 7. When the target cryopreservation tube 7 is located in the barcode reader space, the defrosting component 32 is located on the side of the target cryopreservation tube 7 that is away from the second barcode reader 22. The direction of action of the defrosting component 32 is towards the side wall surface of the target cryopreservation tube 7, and the shooting port of the second barcode reader 22 is towards the side marking area of ​​the target cryopreservation tube 7. The direction of action of the defrosting component 32 is opposite to the shooting direction of the second barcode reader 22.

[0045] Optionally, the defrosting component 32 can also be disposed on the side of the target cryopreservation tube 7, that is, the direction of action of the defrosting component 32 is at a predetermined angle to the shooting direction of the second barcode reader 22, so that the defrosting component 32 can apply defrosting action to the side wall surface of the target cryopreservation tube 7 from the side, without blocking the shooting light path of the second barcode reader 22.

[0046] The tube picking mechanism 5 is also configured to drive the gripped cryopreservation tube to rotate, so that the defrosting component 32 can defrost the side of the cryopreservation tube.

[0047] In one specific embodiment, the tube-picking mechanism 5 further includes a rotary drive mechanism (not shown in the figure). The drive end of the second horizontal drive mechanism is connected to the rotary drive mechanism, and the drive end of the rotary drive mechanism is connected to the clamping mechanism 53 to drive the clamping mechanism 53 to rotate. When the defrosting mechanism 3 defrosts the side of the cryopreservation tube, the clamping mechanism 53 clamps the cryopreservation tube, and the rotary drive mechanism drives the clamping mechanism 53 to rotate, thereby causing the cryopreservation tube to rotate around its own axis and cooperate with the defrosting component 32, thereby realizing the defrosting of the side of the cryopreservation tube.

[0048] Optionally, the rotary drive mechanism can be configured as a rotary motor, rotary cylinder, or other mechanism, as long as it can achieve rotary motion.

[0049] Optionally, since the sidewalls of the cryovials are protected by the cryovial box, frost formation is generally light or nonexistent, making them easy to wipe off. Therefore, the defrosting component 32 is configured as a sponge or roller brush, the roller brush comprising a roller rotatable about its own axis and a bristle layer or sponge layer covering the outer periphery of the roller.

[0050] In the above structure, by adding a defrosting mechanism 3 to the second code reading station, the frost or water on the side wall of the cryopreservation tube can be removed, thereby improving the accuracy of the second code reading mechanism 2 in reading the side markings of the cryopreservation tube.

[0051] Furthermore, the code reading device of the present invention is also used in conjunction with other transfer devices to transfer the cryopreservation box to be read to the first code reading station, and to transfer the cryopreservation box that has been read to the storage area or outside the warehouse; and to transfer the empty cryopreservation box to the temporary storage station, and to transfer the cryopreservation box with the cryopreservation tube that failed to be read to the designated area so that it can be uniformly and manually processed by the operator later.

[0052] In one specific embodiment, the transfer device is configured as a box-picking robot 6. The box-picking robot 6 is disposed on at least one side of the barcode reader and includes a moving module 61 and a box-clamping mechanism 62. The drive end of the moving module 61 is connected to the box-clamping mechanism 62 to drive the box-clamping mechanism 62 to move along the XYZ directions. The moving module 61 is an XYZ linear module, and its specific structure is well-known to those skilled in the art and will not be described in detail here. In this embodiment, the X-line module in the XYZ linear module shares a column 51 with the box-picking mechanism.

[0053] Furthermore, the code reading device also includes a controller, which is used to execute the control method of the cryopreservation tube code reading device of the present invention.

[0054] like Figure 5 As shown, the present invention provides a control method for a cryopreservation tube reading device. Specifically, the control method of the present invention includes: S1, control the first code reading mechanism 1 to read the bottom markings of each cryopreservation tube in the cryopreservation box.

[0055] In some embodiments, the cryopreservation box with the code to be read is placed on the first box-loading platform 11 of the first code-reading station, and the first code-reading camera 12 is activated. The first code-reading camera 12 images and acquires the bottom of all cryopreservation tubes in the cryopreservation box, obtaining the identification image of the bottom of each cryopreservation tube in the cryopreservation box. The field of view of the first code-reading camera 12 covers the entire bottom area of ​​the cryopreservation box, and a whole image containing the bottom identification of all cryopreservation tubes is acquired in a single imaging mode.

[0056] S2, obtain the cryopreservation tubes whose bottom markings could not be read successfully and their positions in the cryopreservation box, and designate the cryopreservation tubes as target cryopreservation tubes 7.

[0057] In some embodiments, the controller determines the reading status of each hole in the cryopreservation box based on the reading result of the first reading mechanism 1. The controller invokes the first reading camera 12 to capture images of the cryopreservation box and runs a preset reading algorithm to process the captured images. After preprocessing the images, the reading algorithm identifies whether a cryopreservation tube exists in each hole in the cryopreservation box and decodes the bottom QR code corresponding to each hole containing a cryopreservation tube to obtain the bottom QR code encoding result for each cryopreservation tube. The reading algorithm outputs the reading results of each hole according to the row and column order of the cryopreservation box. For example, the data format of the reading results is as follows: 1-1:none,1-2:F0FFF999IKK,1-3:unrecognized,1-4:A3K9L2M8NQ…… 2-1:B4C5D6E7F8,2-2:none,2-3:unrecognized,2-4:H9I0J1K2L3…… In this context, "1-1" represents the first row and first column of the cryopreservation box, "1-2" represents the second row and second column of the first row, and so on; "none" indicates that no cryopreservation tube is placed in that position; "unrecognized" indicates that a cryopreservation tube is placed in that position but the QR code on the bottom cannot be successfully decoded and recognized; and the encoded string consisting of letters and numbers represents the encoded information obtained after the QR code on the bottom of the cryopreservation tube in that position is successfully read and decoded.

[0058] Furthermore, failure to successfully read the cryovial with the bottom marking means that the bottom of the cryovial is partially or completely covered by frost or ice, causing the first barcode reader 12 to fail to acquire a clear QR code image, thus resulting in reading failure. The reading result corresponding to this hole is "unrecognized".

[0059] Based on the reading results of each hole, the controller marks the cryopreservation tube corresponding to the hole with the reading result of "unrecognized" as the target cryopreservation tube 7, and records the position information of the target cryopreservation tube 7 in the cryopreservation box. The position information includes at least the row number and column number of the hole where the target cryopreservation tube 7 is located.

[0060] S3, control the tube picking mechanism 5 to transfer the target cryopreservation tube 7 from the first code reading station to the second code reading station.

[0061] In some embodiments, the controller generates a movement path instruction for the tube picking mechanism 5 based on the position information of the target cryopreservation tube 7 in the cryopreservation box, and drives the tube picking mechanism 5 to pick up the target cryopreservation tube 7, move it from the first code reading station to the second code reading station, and continue to pick up the target cryopreservation tube 7 and stop it at the preset position.

[0062] S4, control the second code reading mechanism 2 to read the side markings of the target cryopreservation tube 7.

[0063] In some embodiments, the controller controls the second code-reading camera 22 to image and acquire the side markings of the target cryopreservation tube 7 at the same time or after the target cryopreservation tube 7 reaches the preset position of the second code-reading station, and then decodes and identifies the image.

[0064] S5 controls the pipe-picking mechanism 5 to perform corresponding operations based on the reading results.

[0065] Among them, "controlling the pipe-picking mechanism 5 to perform corresponding operations based on the reading results" includes: If the side marking is successfully read, the tube picking mechanism 5 is controlled to transfer the target cryopreservation tube 7 from the second code reading station to the original position of the cryopreservation box; If the side identifier is not successfully read, the control tube picking mechanism 5 will transfer the target cryopreservation from the second code reading station to the temporary storage station.

[0066] In some embodiments, frost may form on the sides of the cryovials due to temperature differences. However, since the side walls of the cryovials are protected by the cryovial box, the frost is generally light or nonexistent. Successful reading of the side marking specifically means that the side marking of the target cryovial 7 is not obscured by frost, and the second barcode reader 22 can acquire a clear one-dimensional barcode image, thus successfully reading the barcode. Unsuccessful reading of the side marking specifically means that the side marking of the target cryovial 7 is obscured by frost, and the second barcode reader 22 fails to acquire a clear one-dimensional barcode image, resulting in reading failure.

[0067] For target cryopreservation tubes 7 that fail to read the side markings, the tube picking mechanism 5 places them in an empty cryopreservation box in the temporary storage station.

[0068] The controller sequentially executes steps S3 to S5 for all cryovials marked as target cryovials 7 in the cryopreservation box until all target cryovials 7 have been processed.

[0069] In the above steps, the cryopreservation box is first placed at the first code reading station, and the entire box of cryopreservation tubes is read by the first code reading mechanism 1. If there are cryopreservation tubes that cannot be read normally, the cryopreservation tube is transferred to the second code reading station, and the side mark of the cryopreservation tube is read by the second code reading mechanism 2 to make up for the failure, thereby improving the code reading efficiency and reducing the workload of subsequent operators.

[0070] Furthermore, in step S2, when the controller determines, based on the reading result of the first code-reading mechanism 1, that none of the holes in the cryogenic box contain cryogenic tubes, the controller determines that the cryogenic box is empty and controls the transfer device to directly transfer the empty box to a temporary storage station or a designated area outside the warehouse, without performing subsequent tube picking and rereading operations. When the controller determines, based on the reading result of the first code-reading mechanism 1, that the bottom markings of all holes containing cryogenic tubes in the cryogenic box have been successfully read, the controller determines that the entire cryogenic box has been read, and controls the transfer device to transfer the cryogenic box to the storage area or outside the warehouse, without performing subsequent tube picking and rereading operations.

[0071] Furthermore, when the number of cryopreservation tubes with failed readings stored in the empty cryopreservation box in the temporary storage station reaches a predetermined threshold, the controller controls the transfer device to transfer the cryopreservation box containing the cryopreservation tubes with failed readings to the designated area, and controls the transfer device to transfer new empty cryopreservation boxes to the temporary storage station, so as to realize the automatic box replenishment of the temporary storage station.

[0072] Furthermore, the control method of the present invention also includes: Before or simultaneously with the second code reading mechanism 2 reading the side markings of the target cryopreservation tube 7, the defrosting mechanism 3 defrosts the target cryopreservation tube 7.

[0073] In some embodiments, after the target cryopreservation tube 7 is transferred from the tube picking mechanism 5 to the second code reading station, before or simultaneously with the execution of step S4, the tube picking mechanism 5 picks up the target cryopreservation tube 7 and moves it to the front of the defrosting mechanism 3. Then, the tube picking mechanism 5 picks up the target cryopreservation tube 7 and rotates it, cooperating with the defrosting component 32 to remove the frost or water from the side marking surface, thereby ensuring that the second code reading camera 22 obtains a clear side marking image.

[0074] Specifically, the tube-picking mechanism 5 grips the target cryopreservation tube 7 and brings it into contact with the sponge wiping component. It rotates clockwise twice and then counterclockwise twice to remove water or frost from the side wall surface of the target cryopreservation tube 7. Simultaneously, the controller controls the second barcode reader 22 to read the side markings on the target cryopreservation tube 7. It should be noted that the direction and number of rotations of the tube-picking mechanism 5 in gripping the target cryopreservation tube 7 described above are merely exemplary. Those skilled in the art can set them as needed. For example, the tube-picking mechanism 5 can be controlled to grip the target cryopreservation tube 7 and rotate it in the same direction (e.g., only counterclockwise or clockwise).

[0075] Furthermore, in step S5, when the controller detects that the side markings of multiple consecutive target cryopreservation tubes 7 at the second code reading station have failed to be successfully read, the controller generates an alarm signal to prompt the operator to check the status of the defrosting mechanism 3 or the second code reading camera 22.

[0076] like Figure 6 As shown, one possible detailed step of the control method for the cryopreservation tube reading device of the present invention is as follows: S101, control the first code reading mechanism 1 to read the bottom markings of each cryopreservation tube in the cryopreservation box; S102, obtain the cryopreservation tube whose bottom label was not successfully read and its position in the cryopreservation box, and use the cryopreservation tube as the target cryopreservation tube 7; S103, control the tube picking mechanism 5 to transfer the target cryopreservation tube 7 from the first code reading station to the second code reading station; S104, control the defrosting mechanism 3 to defrost the target cryopreservation tube 7; S105, control the second code reading mechanism 2 to read the side markings of the target cryopreservation tube 7; S106, Determine whether the read was successful; If so, proceed to step S107; If not, proceed to step S108; S107, control the tube picking mechanism 5 to transfer the target cryopreservation tube 7 from the second code reading station to the original position of the cryopreservation box; S108, control the tube picking mechanism 5 to transfer the target cryopreservation from the second code reading station to the temporary storage station.

[0077] It should be noted that although the steps of the control method of the present invention are described in a specific order in the description of the present invention, these orders are not restrictive. For example, steps S104 and S105 can be performed simultaneously, or step S104 can be performed first, followed by step S105. Without departing from the basic principles of the present invention, those skilled in the art can perform the steps in different orders.

[0078] The technical solution of the present invention has been described above with reference to the preferred embodiments shown in the accompanying drawings. However, it will be readily understood by those skilled in the art that the scope of protection of the present invention is obviously not limited to these specific embodiments. Without departing from the principles of the present invention, those skilled in the art can make equivalent changes or substitutions to the relevant technical features, and the technical solutions after such changes or substitutions will all fall within the scope of protection of the present invention.

Claims

1. A cryopreservation tube reading device, characterized in that, The code reading device is used to read the codes of the cryopreservation tubes in the cryopreservation box. The code reading device includes a first code reading mechanism (1) and a second code reading mechanism (2). The first code reading mechanism (1) is located at the first code reading station, and the first code reading mechanism (1) is configured to read the bottom mark of the cryopreservation tube in the cryopreservation box; The second code reading mechanism (2) is located at the second code reading station and is configured to read the side markings of a single cryopreservation tube.

2. The cryopreservation tube reading device according to claim 1, characterized in that, The first code reading mechanism (1) includes a first box-carrying platform (11) and a first code reading camera (12). The first box-carrying platform (11) is used to place the cryopreservation box, and the first code reading camera (12) is located below the first box-carrying platform (11).

3. The cryopreservation tube reading device according to claim 1, characterized in that, The second code reading mechanism (2) includes a first mounting bracket (21) and a second code reading camera (22), with the second code reading camera (22) mounted on the first mounting bracket (21).

4. The cryopreservation tube reading device according to claim 3, characterized in that, The code reading device further includes a defrosting mechanism (3), which is configured to defrost the side of a single cryopreservation tube and is located at the second code reading station.

5. The cryopreservation tube reading device according to claim 1, characterized in that, The code reading device also includes a temporary storage station, in which a second box carrier (4) is provided, which is used to place empty cryopreservation boxes.

6. The cryopreservation tube reading device according to claim 5, characterized in that, The code reading device further includes a tube picking mechanism (5), which is configured to pick up the cryopreservation tube at the first code reading station so that the cryopreservation tube can be transferred between the first code reading station and the second code reading station, and between the second code reading station and the temporary storage station.

7. The cryopreservation tube reading device according to claim 6, characterized in that, The defrosting mechanism (3) includes a second mounting bracket (31) and a defrosting component (32), wherein the defrosting component (32) is disposed on the second mounting bracket (31); The tube picking mechanism (5) is also configured to drive the gripped cryopreservation tube to rotate, so that the defrosting component (32) can defrost the side of the cryopreservation tube.

8. A control method for a cryopreservation tube reading device, characterized in that, The code reading device is the code reading device according to any one of claims 1 to 7; The control method includes: Control the first code reading mechanism (1) to read the bottom markings of each cryopreservation tube in the cryopreservation box; Obtain the cryopreservation tube whose bottom label was not successfully read and the position of the cryopreservation tube in the cryopreservation box, and use the cryopreservation tube as the target cryopreservation tube (7). The tube picking mechanism (5) is controlled to transfer the target cryopreservation tube (7) from the first code reading station to the second code reading station; Control the second code reading mechanism (2) to read the side markings of the target cryopreservation tube (7); The reading result is used to control the pipe-picking mechanism (5) to perform the corresponding operation.

9. The control method for the cryopreservation tube reading device according to claim 8, characterized in that, "Controlling the pipe-picking mechanism (5) to perform corresponding operations based on the reading results" includes: If the side mark is successfully read, the picking mechanism (5) is controlled to transfer the target cryopreservation tube (7) from the second code reading station to the original position of the cryopreservation box; If the side identifier cannot be read successfully, the picking mechanism (5) is controlled to transfer the target cryopreservation from the second code reading station to the temporary storage station.

10. The control method for the cryopreservation tube reading device according to claim 8, characterized in that, The control method further includes: Before or simultaneously with the control of the second code reading mechanism (2) to read the side markings of the target cryopreservation tube (7), the control of the defrosting mechanism (3) to defrost the target cryopreservation tube (7).

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