Mobile intelligent sample storage system

Abstract

The utility model relates to a mobile intelligent sample storage system which comprises at least one host used for storing and taking biological samples; the at least one storage container is arranged outside the host and is used for low-temperature storage of biological samples; the mobile navigation assembly is arranged on the host and / or the storage container and is used for realizing free movement of the host and the storage container; the lifting butt joint assembly is arranged on the host and / or the storage container and used for achieving butt joint or separation of the host and the storage container. The mobile intelligent sample storage system provided by the utility model aims to overcome the defects in the prior art, and is high in automation degree and convenient to operate.

Description

Technical Field

[0001] This utility model relates to the field of biological sample storage technology, and in particular to a mobile intelligent sample storage system. Background Technology

[0002] Cryogenic biobanks are essential infrastructure for research in the medical and biological fields. By cryopreserving samples in liquid nitrogen, biological tissues such as blood, stem cells, and immune cells can be preserved for extended periods. In use, frozen cells are placed in sample tubes, which are then placed on racks. Multiple racks are arranged in various configurations within a liquid nitrogen container to achieve long-term stable sample preservation. However, existing cryogenic biobanks generally suffer from low levels of automation and inconvenient sample transfer or retrieval operations. Therefore, a mobile, intelligent sample storage system is proposed to address these issues. Utility Model Content

[0003] The purpose of this invention is to overcome the shortcomings of existing systems and provide a mobile intelligent sample storage system that is highly automated and easy to operate.

[0004] The technical solution to achieve the above objectives is to provide a mobile intelligent sample storage system, which includes:

[0005] At least one host computer is used for accessing biological samples.

[0006] At least one storage container, externally located in the host, is used for cryogenic storage of biological samples;

[0007] A mobile navigation component, disposed on the host and / or the storage container, is used to enable free movement of the host and the storage container;

[0008] A lifting docking assembly is disposed on the host and / or the storage container to enable docking or separation of the host and the storage container;

[0009] The host includes: an operating chamber and a sample transfer assembly and a storage container opening assembly disposed in the operating chamber;

[0010] The storage container opening assembly is used to open or close the lid of the storage container;

[0011] The sample transfer assembly is used to transfer biological samples back and forth between the operating chamber and the storage container; and

[0012] A control component is used to receive sample access instructions and control the operating status of the sample transfer component, the storage container opening component, the lifting docking component, and the mobile navigation component according to the sample access instructions.

[0013] Preferably, it further includes: a transfer container and a transfer container conveying assembly;

[0014] The transfer container conveying assembly is disposed on one side of the host and is used to transfer the transfer container between the outside of the host 3 and the operating chamber.

[0015] The operating chamber is provided with a transport container placement area and a sample placement area. The transport container placement area is used to place the transport container, and the sample placement area is used to place biological samples taken from the transport container and biological samples taken from the storage container.

[0016] Preferably, it further includes a transfer container opening assembly, which is disposed in the operating chamber and is used to open or close the lid of the transfer container.

[0017] Preferably, the storage container has a built-in storage rack with multiple vertically arranged first storage spaces for storing sample plate racks; the transport container has a sample plate rack with multiple horizontally arranged second storage spaces for placing sample tubes for storing biological samples.

[0018] Preferably, the sample transfer component includes:

[0019] A storage rack robot, located above the storage container, is used for picking up and placing storage racks and works in conjunction with a plate rack robot to store and retrieve sample plates in the storage rack;

[0020] The sample rack robot can move back and forth between the storage container, the transfer container and the sample placement area for picking up, placing and transferring the sample rack.

[0021] The sample tube robot can move back and forth between the storage container, the transfer container, and the sample placement area for picking up, placing, and transferring the sample tubes.

[0022] Both the plate-mounted robotic arm and the storage rack robotic arm are equipped with a cold-insulating cover, which allows biological samples to remain at a low temperature during transport.

[0023] Preferably, the operating chamber is further provided with a liquid nitrogen supply tank, which is connected to the cold insulation shell of the plate rack robot and the storage rack robot to provide cooling for the plate rack robot and the storage rack robot.

[0024] Preferably, the operating chamber is further provided with a programmed cooling device, which is used to achieve programmed cooling of biological samples.

[0025] Preferably, the programmed cooling device includes a cooling chamber, a coil, a heating component, and a temperature monitoring component. A liquid nitrogen nozzle is provided on the inner side of the cooling chamber. The coil is located on the outer side of the cooling chamber. The heating component is wound around the coil. A solenoid valve is provided at the input end of the coil. The solenoid valve and the temperature monitoring component are both electrically connected to the control component. A nozzle assembly is provided at the output end of the coil. The nozzle assembly is used to connect the coil and the liquid nitrogen nozzle.

[0026] Preferably, it also includes a liquid nitrogen usage monitoring and replenishment device, which is used to monitor the remaining liquid nitrogen in the storage container and replenish the storage container according to the remaining liquid nitrogen.

[0027] Preferably, it further includes:

[0028] The first barcode scanner, installed on the host computer, is used to identify biological sample information;

[0029] The second barcode scanner is installed on the host computer and is used to identify storage container information;

[0030] Both the first and second barcode scanners are electrically connected to the control component.

[0031] The beneficial effects of this utility model are:

[0032] 1) This mobile intelligent sample storage system, through the external storage container, enables one automated main unit (i.e., host) to automatically connect to multiple storage containers. Compared with traditional sample storage devices that have the storage container built into the automated main unit, it saves on the cost of automation. Moreover, the system is scalable. It only requires adding storage containers. When a container is full, an empty container can be placed back in the original position to continue sample storage.

[0033] 2) The host and / or storage container have autonomous mobility, enabling autonomous positioning and docking, thus achieving a more intelligent replacement of human-machine steps;

[0034] 3) The host has data processing and autonomous judgment functions, multiple storage containers are interconnected, and sample tubes between storage containers can be managed in a unified manner; it can also automatically divide into tanks and partitions for storage according to settings; it has high adaptability to the site, and can realize both large sample banks and small sample storage; it has a high degree of automation and is easy to operate;

[0035] 3) The whole machine adopts a modular design, and the functional parts can be freely combined and discarded, and the positional relationship can be adjusted; the functional modules can be used independently in different scenarios; for samples with high requirements, they can be placed in a clean room, and the samples can be stored and retrieved automatically and quickly throughout the process; the transfer of samples can be achieved with "zero contact" and can realize the storage and retrieval of various standard plates and racks;

[0036] 4) By setting up liquid nitrogen supply tanks to provide the liquid nitrogen required for localized low temperature, the low temperature protection inside the automated body is realized, ensuring that the plate rack robot and storage rack robot remain in a low temperature state during the transfer of biological samples;

[0037] 5) The host unit integrates a programmed cooling device, which has the function of programmed cooling of samples and can realize full-domain automation of sample storage. Even if the sample does not meet the requirements of deep cryogenic temperature, the system can still receive and store it. Attached Figure Description

[0038] Other features, objects, and advantages of this invention will become more apparent from the following detailed description of non-limiting embodiments with reference to the accompanying drawings:

[0039] Figure 1 This is a top view of a mobile intelligent sample storage system according to an embodiment of the present invention;

[0040] Figure 2 This is a top-view enlarged view of a mobile intelligent sample storage system according to an embodiment of the present invention;

[0041] Figure 3 This is a front view of a mobile intelligent sample storage system according to an embodiment of the present invention;

[0042] Figure 4 This is an isometric view of the host computer according to an embodiment of this utility model;

[0043] Figure 5 This is an isometric view of the host unit from another perspective according to an embodiment of this utility model;

[0044] Figure 6 This is a schematic diagram of the internal connections of the host in an embodiment of this utility model;

[0045] Figure 7 This is an isometric view of the lifting docking assembly according to an embodiment of this utility model;

[0046] Figure 8 This is a flowchart illustrating the sample storage method according to an embodiment of the present invention;

[0047] Figure 9 This is a flowchart illustrating the process of the host executing a single order instruction in an embodiment of this utility model.

[0048] Figure 10 This is a flowchart illustrating the workflow of the host executing multiple order instructions in this embodiment of the present invention.

[0049] Explanation of reference numerals in the attached drawings: 1. Maintenance door; 2. Charging device; 3. Main unit; 4. Storage container; 5. Clean room; 6. Transfer container; 7. Pass-through window; 10. Storage rack robot; 11. Storage container opening assembly; 12. Transfer container conveying unit; 13. Plate rack robot; 14. Sample tube robot; 15. Programmable cooling device; 16. First barcode scanner; 17. Control components; 18. UPS power supply; 19. Liquid nitrogen supply tank; 20. Second barcode scanner; 22. Main unit housing; 23. Lifting rack; 24. Lifting motor; 25. Base; 26. Telescopic guide rod; 27. Traveling wheel; 28. Charging electrode; 29. ​​LiDAR; 30. Control panel; 31. Battery. Detailed Implementation

[0050] The technical solution of this utility model will now be clearly and completely described in conjunction with the accompanying drawings. In the description of this utility model, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the accompanying drawings and are only for the convenience of describing this utility model and simplifying the description. They do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this utility model. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0051] The present invention will be further described below with reference to the accompanying drawings.

[0052] like Figure 2-7As shown, the mobile intelligent sample storage system includes at least one host 3 for storing and retrieving biological samples; at least one storage container 4 externally mounted on the host 3 for cryogenic storage of biological samples; a mobile navigation component mounted on the host 3 and / or the storage container 4 for enabling free movement between the host 3 and the storage container 4; a lifting docking component mounted on the host 3 and / or the storage container 4 for docking or separating the host 3 and the storage container 4; a first barcode scanner mounted on the host 3 for identifying biological sample information; and a second barcode scanner mounted on the host 3. The system is used to identify storage container information; wherein, the host 3 includes: an operating chamber and a sample transfer component and a storage container opening component disposed in the operating chamber; the storage container opening component is used to open or close the lid of the storage container 4; the sample transfer component is used to realize the back-and-forth transfer of biological samples between the operating chamber and the storage container 4; and a control component is used to receive sample access instructions and control the operating status of the sample transfer component, the storage container opening component, the lifting docking component and the moving navigation component according to the received biological sample information and storage container information.

[0053] Specifically, the host 3 is a gate-shaped structure. A channel for the storage container 4 to enter and exit is formed between the two vertical parts of the gate-shaped structure. An operating chamber is provided in the horizontal part of the gate-shaped structure. The operating chamber is located above the channel for the storage container to enter and exit. A docking interface is provided on the lower end face of the operating chamber. The lifting docking component and the moving navigation component cooperate to realize the movement and docking of the operating chamber and the storage container 4.

[0054] Specifically, the mobile navigation component includes a drive motor and navigation sensors, used to move the host 3 and / or the storage container 4 along a set cruise path. The lifting docking component is used to move the host 3 and / or the storage container 4 up and down, cooperating with the mobile navigation component to achieve automatic docking between the host 3 and the storage container 4.

[0055] In this embodiment, the lifting docking component and the mobile navigation component are both mounted on the host 3. The host 3 can move back and forth between the initial workstation and the storage workstation where the storage container 4 is placed under the drive of the mobile navigation component. The operating chamber of the host 3 can move up and down under the drive of the lifting docking component. When the host 3 moves to the storage workstation, its operating chamber moves down to dock with the storage container 4.

[0056] like Figure 4 and Figure 5As shown, the mobile navigation component includes a drive unit (not shown in the figure), wheels 27, and a lidar 29. The wheels 27 are mounted on the bottom of the mobile chassis. The drive unit is connected to the wheels 27 and is used to drive the wheels 27 to rotate. The lidar 29 is mounted on the four corners of the host 3. Both the drive unit and the lidar 29 are electrically connected to the control component 17.

[0057] like Figure 7 As shown, there are two lifting docking assemblies arranged symmetrically. Each lifting docking assembly includes a lifting rack 23, a lifting motor 24, a base 25, and a telescopic guide rod 26. The lower end of the base 25 is provided with a traveling wheel 27. The telescopic guide rod 26 is mounted on the base 25. The lifting rack 23 is mounted on the telescopic guide rod 26, and the lifting rack 23 meshes with the gear of the lifting motor 24. The lifting motor 24 is used to drive the telescopic guide rod 26 to move back and forth in the vertical direction. The telescopic guide rod 26 drives other parts of the main unit 3 to move up and down.

[0058] In this embodiment, the storage container 4 is fixed in position, facilitating connection and fixation with the liquid nitrogen pipeline. The host is a mobile robot capable of automatically docking with the storage container 4.

[0059] In other embodiments, the storage container 4 may also be movable, and the specific structures of the mobile navigation component and the lifting docking component are not limited to those described above. For example, the mobile navigation component is a mobile chassis, which is mounted on the bottom of the storage container 4. Correspondingly, the position of the host can be fixed or movable.

[0060] That is, the lifting docking component and the mobile navigation component are both mounted on the host 3. The lifting docking component and the mobile navigation component can also be mounted on the storage container 4, or they can be mounted on the host 3 and the storage container 4 respectively, as long as the host 3 and the storage container 4 can automatically dock. There is no limitation here.

[0061] After docking, the host 3 can open the sealed cover of the storage container 4 through the storage container opening assembly 11, and realize the transfer of biological samples between the operating chamber and the storage container 4 through the sample transfer assembly.

[0062] Specifically, such as Figure 6As shown, the sample transfer assembly includes: a storage rack robot 10, located above the storage container 4, used for picking up and placing the storage rack and cooperating with the plate rack robot 13 to store and retrieve the sample plates in the storage rack; the plate rack robot 13, capable of moving back and forth between the storage container 4, the transfer container 6, and the sample placement area, used for picking up, placing, and transferring the sample plates; and a sample tube robot 14, capable of moving back and forth between the storage container 4, the transfer container 6, and the sample placement area, used for picking up, placing, and transferring the sample tubes; wherein, both the plate rack robot 13 and the storage rack robot 10 have a cold-insulating cover, which can keep the biological samples at a low temperature during transfer.

[0063] In this embodiment, the operating chamber of the host 3 is at room temperature. Because the plate-mounted robotic arm 13 and the storage rack robotic arm 10 are equipped with cooling covers, the biological samples can be kept at a low temperature during transport. Therefore, there is no need for dedicated cooling to bring the operating chamber to a low temperature of approximately -130°C.

[0064] like Figure 1 and Figure 2 As shown, the system also includes: a transfer container 6 and a transfer container conveying assembly; the transfer container conveying assembly is disposed on one side of the host 3 and is used to transfer the transfer container 6 between the outside of the host 3 and the operating chamber; the operating chamber is provided with a transfer container placement area and a sample placement area, the transfer container placement area is used to place the transfer container 6, and the sample placement area is used to place biological samples taken from the transfer container 6 and biological samples taken from the storage container 4.

[0065] Preferably, it further includes a transfer container opening assembly (not shown in the figure), which is disposed in the operating chamber and is used to open or close the lid of the transfer container 6.

[0066] Specifically, the transport container 6 has a cryogenic storage function and is easy to move (usually a small liquid nitrogen tank), and is suitable for cryogenic transport of biological samples. The transport container 6 is equipped with a sample rack, which has multiple horizontally arranged second storage spaces. The second storage spaces are used to place sample tubes, and the sample tubes are used to store biological samples.

[0067] Specifically, the storage container 4 creates a low-temperature environment (typically a medium or large liquid nitrogen tank) for storing biological samples, suitable for cryogenic storage of biological samples. The storage container 4 has a built-in storage rack with multiple vertically arranged first storage spaces for storing sample racks; the sample racks include square cryopreservation boxes, fan-shaped racks, and other structural forms. The top of the storage container 4 has an opening with a sealing cap.

[0068] Storage container 4 and transfer container 6 are generally required to be stored at temperatures below -150°C. Most biological samples need to be stored in cryogenic environments, especially certain biobanks used to store cells for reinfusion into the human body, where the storage environment needs to be at temperatures close to liquid nitrogen. Taking a biobank storing human embryos as an example, the embryos need to undergo a complex cooling process before being placed in liquid nitrogen for preservation, requiring cryogenic protection throughout the entire process.

[0069] Preferably, the operating chamber is further provided with a programmed cooling device 15, which is used to achieve programmed cooling of biological samples.

[0070] Specifically, the programmed cooling device includes a cooling chamber, a coil, a heating component, and a temperature monitoring component (not shown in the figure). A liquid nitrogen nozzle is provided on the inner side of the cooling chamber. The coil is located on the outer side of the cooling chamber. The heating component is wound around the coil. A solenoid valve is provided at the input end of the coil. The solenoid valve and the temperature monitoring component are both electrically connected to the control component. A nozzle assembly is provided at the output end of the coil. The nozzle assembly is used to connect the coil and the liquid nitrogen nozzle.

[0071] The mobile intelligent sample storage system provided in this embodiment integrates a programmed cooling function, so there is no need to pre-cool the sample before storage. If the temperature of the biological sample in the transfer container 6 is too high (e.g., -4°C) and it is not suitable to be stored directly in the storage container 4, it can be placed in the programmed cooling device 15 for cooling before being transferred to the storage container 4.

[0072] The transfer container 6 typically enters and exits the sample storage room via a transfer window, such as... Figure 1 As shown, the sample storage room can be equipped with two transfer windows, both of which can serve as sample access windows. One sample access window is directly connected to the sample storage room; the other sample access window is located in the sample registration room and can only be reached by passing through a buffer room, changing room, and disinfection and dust removal room, to ensure the cleanliness of the sample transfer process.

[0073] Specifically, when biological samples need to be stored, the transport container transfer unit 12 transfers the transport container 6 from the transfer window 7 to the operating chamber of the host 3. Then, the plate holder robot 13 removes the plate holder from the transport container 6 and scans the sample tube using a barcode scanner to determine if programmed cooling is required. If not, the storage container opening assembly 11 opens the storage container 4, the storage rack robot 10 lifts the storage rack, and the plate holder robot 13, in conjunction with the storage rack robot 10, pushes the plate holder into the storage rack. The storage rack robot 10 then lowers the storage rack and places it into the storage container 4. If so, the plate holder robot 13 transfers the plate holder to the programmed cooling device 15. After cooling is complete, the plate holder is removed, transferred back to the storage rack, and then placed into the storage container 4.

[0074] Specifically, when a biological sample needs to be retrieved, the storage container opening assembly 11 opens the storage container 4, the storage rack robot 10 lifts the storage rack, the plate rack robot 13 grasps the plate rack in the storage rack, scans the sample tubes on the plate rack using a barcode scanner, and then transfers the plate rack to the transport container 6. Simultaneously, the storage rack robot 10 lowers the storage rack and places it into the storage container 4, and the storage container opening assembly 11 closes the storage container 4. Afterwards, the transport container conveying unit 12 transports the transport container 6 to the transfer window 7. When it is necessary to adjust the position of the sample tubes on the same or different plates racks, the sample tube robot 14 grasps the sample tubes, moves them to the target position, and then places them down.

[0075] Specifically, such as Figure 6 As shown, a liquid nitrogen supply tank is also provided in the operating chamber. The liquid nitrogen supply tank is connected to the cooling shell of the plate-mounted robotic arm 13 and the storage rack robotic arm 10, and is used to provide cooling for the plate-mounted robotic arm 13 and the storage rack robotic arm 10. This ensures that the grasping and transfer of biological samples are protected by cryogenics.

[0076] Preferably, it also includes a liquid nitrogen usage monitoring and replenishment device, which is used to monitor the remaining liquid nitrogen in the storage container 4 and replenish the storage container 4 according to the remaining liquid nitrogen.

[0077] like Figure 5 and Figure 6As shown, the host 3 also includes: a first barcode scanner 16, a second barcode scanner 20, a control panel 30, and a control component 17; the first barcode scanner 16 is installed in the operating chamber and corresponds to the sample placement area in the operating chamber, and is used to scan the QR codes of biological samples (including sample tube QR codes and sample plate rack QR codes); the second barcode scanner 20 is installed on the lower end face of the operating chamber and is used to scan the QR codes of the storage container 4; an installation window is provided on one side of the host 3, and the control panel 30 is fixed in the installation window. The first barcode scanner 16, the second barcode scanner 20, the control panel 30, the programmed cooling device 15, and the sample transfer component are all electrically connected to the control component 17. The control component 17 is used to preset access instructions and control the working status of the sample transfer component, the programmed cooling device 15, the first barcode scanner 16, the second barcode scanner 20, the mobile navigation component, the lifting docking component, and other components according to the access instructions.

[0078] like Figure 5 and Figure 6 As shown, the main unit 3 also includes: a battery 31, which is electrically connected to the control component 17 to supply power to the control component 17; and a charging electrode 28, which is installed on the main unit housing 22 and is electrically connected to the battery 31 to charge the battery 31.

[0079] Specifically, the host unit 3 also includes a UPS power supply 18, which is electrically connected to the control component 17 to provide uninterrupted power to the control component 17.

[0080] In this embodiment, the control component 17, liquid nitrogen supply tank 19, programmed cooling device 15, UPS power supply 18, and sample transfer component are all installed on the same platform.

[0081] like Figure 1 , 2 As shown in Figure 3, the mobile intelligent sample storage system can be installed in a cleanroom 5 to ensure the cleanliness and contamination-free nature of the storage area. The cleanroom 5 is equipped with a maintenance door 1 and a pass-through window 7. The maintenance door 1 serves as the maintenance passage for the equipment (normally closed). When maintenance is required on the main unit 3, maintenance personnel can enter the cleanroom 5 through the maintenance door 1. The pass-through window 7 can automatically open and close (normally closed), opening when there is a storage / retrieval task and closing after completion. A charging device 2 is installed in the cleanroom 5 to charge the main unit 3. When charging is required, the main unit 3 can automatically move to the charging position, and the charging electrode 28 docks with the charging device 2.

[0082] The mobile intelligent sample storage system provided in this embodiment allows one automated main unit (i.e., host 3) to automatically connect to multiple storage containers 4. Because the storage containers 4 are externally located, they are easy to replace; when a container is full, an empty container can be placed back in its original position to continue sample storage. Compared to sample storage devices where the storage containers are built into the automated main unit, this significantly reduces the cost of the automation component. The system automatically distributes and partitions storage according to settings and achieves data interconnection among multiple units (storage containers); moreover, it is highly adaptable to different sites, suitable for both large sample banks and small sample storage facilities.

[0083] The mobile intelligent sample storage system provided in this embodiment is highly automated, easy to operate, and can automatically and quickly store and retrieve samples throughout the entire process. The whole machine adopts a modular design, allowing for free combination and selection of functional parts, and the positional relationship can also be adjusted. The functional modules can be used independently in various scenarios. Autonomous mobility enables more intelligent replacement of human-machine interaction. It has autonomous positioning, data processing, and autonomous judgment functions. It is compatible and can store and retrieve various standard racks. The liquid nitrogen supply tank provides the liquid nitrogen needed for localized low temperatures to enhance the cryogenic protection of biological samples during storage and retrieval. The programmed cooling function of the samples realizes full automation of sample storage.

[0084] Accordingly, this utility model also provides a sample storage method, which includes the following steps:

[0085] S1: Provides the mobile intelligent sample storage system as described above, and issues order instructions to the host for accessing biological samples;

[0086] S2: The host parses the target sample ID and the corresponding target storage container information, and automatically plans the cruise route based on the location information of the target storage container and the host.

[0087] S3: The host and / or the storage container are automatically moved to the docking position along the cruise path by the mobile navigation component;

[0088] S4: Read the information of the storage container using the second barcode scanner and determine whether the storage container is the target storage container;

[0089] S5: If yes, the host and the storage container are automatically docked through the lifting docking component; if no, an error is prompted and the process is returned to its original state, and the error information is manually corrected before steps S2-S4 are re-executed.

[0090] S6: After docking is completed, the host computer performs sample storage or retrieval operations according to the order instructions. Since the cold storage time of the transfer container is limited and liquid nitrogen needs to be replenished in a timely manner, the transfer container will not be stored in the host computer indefinitely after the storage or retrieval operation is completed. It will usually be transferred to the transfer window.

[0091] Specifically, in the mobile intelligent sample storage system, the intelligent host integrates a robotic arm, a barcode scanning module, positioning sensors, and a control unit, supporting autonomous navigation and task scheduling. The storage container uses a medium-to-large liquid nitrogen tank with built-in storage racks, supporting active or passive docking modes. The transfer container is a small, insulated container used for temporary storage of samples awaiting retrieval, equipped with a liquid nitrogen replenishment interface. The control system, based on the BIS information management platform, is responsible for task distribution, path planning, and status monitoring.

[0092] The sample storage method provided in this embodiment achieves low-cost capacity expansion, efficient automated storage and retrieval, and full-process protection of sample viability through intelligent navigation, precise positioning and docking, and dynamic task scheduling. The specific process includes:

[0093] 1) Task analysis and path planning

[0094] After receiving the access command, parse the target sample ID and the location of the storage container;

[0095] Based on the storage container distribution map, the optimal cruising path is generated using the A* algorithm for dynamic obstacle avoidance.

[0096] 2) Intelligent cruise and positioning docking

[0097] The intelligent host moves along the planned path and uses the UWB positioning module to detect its relative position to the target container in real time.

[0098] After the signal is triggered, precise positioning calibration is initiated (error ≤ 1mm), and the positioning status is confirmed via audible and visual alerts; active docking is then performed.

[0099] Mode 1 (Host-Active): The intelligent host adjusts its posture to align with the access port of the fixed storage container;

[0100] Mode 2 (Storage Container Active): The storage container moves along the track to the fixed docking position of the smart host.

[0101] 3) Sample storage and temperature control

[0102] The robotic arm grasps the sample container (including sample tubes and sample racks) and scans the code to verify the ID matching. If the sample temperature does not meet the standard, it is temporarily stored in the program cooling zone for gradient cooling. During the transportation process, the cold insulation cover is activated to maintain a low temperature environment below -150℃.

[0103] 4) One-to-many task scheduling

[0104] Multiple tasks are sorted by priority, path distance, and urgency to generate a dynamic scheduling queue; the intelligent host executes the tasks in sequence and reports the status to the control center in real time.

[0105] 5) Anomaly Handling and Disaster Recovery

[0106] A retry mechanism is triggered when docking fails (maximum 3 times);

[0107] If the connection fails a few times, the temperature exceeds the limit, or the scanning is incorrect, the operation will be suspended and the process will be switched to manual intervention.

[0108] Preferably, the generation of the cruise path in step S2 includes: planning the optimal path using the A* algorithm based on the distribution map of the storage container; monitoring obstacles in the movement path in real time and dynamically adjusting the path using lidar.

[0109] In this embodiment, the core formula of the A* algorithm is: f(n) = g(n) + h(n); g(n): the actual movement cost from the starting point to the current node n (e.g., physical distance, time cost, etc.); h(n): the heuristically estimated cost from the current node n to the target node (must satisfy acceptability, i.e., h(n) ≤ actual minimum cost); f(n): the comprehensive evaluation value, used for priority ranking and selecting the optimal expansion node. First, the distribution of storage containers is abstracted as a grid map, where each node represents a storage unit or walkable area. Fixed devices and occupied containers are marked as impassable nodes. While ensuring the shortest path is found, the search direction is guided by the heuristic function h(n), reducing the expansion of invalid nodes.

[0110] In this embodiment, the storage container is a cylinder. Considering that the path needs to move along the outer surface or inside of the cylinder, such as when a robotic arm climbs, the cylindrical surface needs to be unfolded into a two-dimensional plane, similar to a map projection, and the node adjacency relationships need to be redefined, such as allowing movement along meridians or parallels. Through reasonable design, it is possible to adapt to complex three-dimensional or ring-shaped spatial requirements while ensuring optimal path performance.

[0111] Preferably, the implementation of the arrival signal and arrival reminder in step S3 includes: obtaining the relative position of the smart host and the target storage container in real time through the UWB positioning module; when the distance between the two is less than a preset threshold, triggering an audible and visual reminder and starting precise positioning calibration.

[0112] In this embodiment, the AGV carrying the sample rack arrives at the warehouse entrance. The scheduling platform uses UWB signals (3.1-10.6GHz band) to obtain the relative position of the AGV and the target storage container in real time, generating a three-dimensional polar coordinate path (radius R = 12m, floor height Z = 3.2m, azimuth angle θ = 215°). The AGV moves along the circular channel, and the UWB system updates the coordinates at 1-10Hz, while the IMU compensates for positioning deviations caused by AGV bumps at 100Hz. When a temporary obstacle (maintenance equipment) is detected 2.3 meters ahead, the D*Lite algorithm is immediately triggered to replan the detour path. The AGV stops in the 0.5-meter safety zone below the target container, and the robotic arm uses UWB positioning to calibrate the grasping angle: horizontal calibration: using time difference of arrival (TDOA) to eliminate multipath effects, improving accuracy to ±3cm; vertical calibration: using pulse signal phase difference measurement to control the robotic arm's Z-axis lifting error to <1cm. The moment the robotic arm touches the container's electronic lock, the UWB tag sends a near-field encrypted pulse (-41.3dBm / MHz). Upon successful verification, the lock unlocks automatically. After storage and retrieval, the system records the coordinates of the new sample rack and updates the inventory database, while the electronic lock status is synchronized to the central platform. Kalman filtering is used to fuse UWB and IMU data, eliminating attitude drift errors during movement. During the docking phase, vision-assisted positioning is switched to improve accuracy through feature point matching.

[0113] Preferably, after issuing an order instruction to the host to access the biological sample before automatically moving the host and / or the storage container along the cruise path to the docking position via the mobile navigation component, the method further includes:

[0114] A transfer container is provided, and the transfer container is placed in a transfer window;

[0115] The transfer container is then transferred to the host computer.

[0116] The first barcode scanner reads the information of the transport container, and after the information matches successfully, the transport container is transferred to the sample storage area.

[0117] After receiving a task order from the system, host 3 moves according to the order requirements and automatically docks with the designated storage container 4. A robotic arm then automatically performs storage and retrieval operations. For details, please refer to [link to documentation]. Figure 9 .

[0118] Preferably, the sample storage method further includes: when there are multiple access tasks in the order instruction of step S1, generating a scheduling queue according to sample priority, storage container location and task urgency;

[0119] The host executes the transfer operations sequentially according to the queue order, and reports the status to the control center after completing a single task.

[0120] like Figure 10 As shown, generating a scheduling queue based on sample priority, storage container location, and task urgency includes the following steps:

[0121] SS1: After receiving multiple order instructions, the host checks the host status;

[0122] SS2: If the host is in a working state, continue to execute the original order instruction; if the host is in a non-working state, determine the priority of the multiple order instructions.

[0123] SS3: If multiple order instructions have priority requirements, they are sorted according to priority and connected to the corresponding target storage containers to execute access tasks sequentially; if multiple order instructions do not have priority requirements, it is determined whether the nearest storage container has an order instruction.

[0124] SS4: If there is an order instruction in the nearest storage container, the host will connect to the nearest storage container and determine the access type of the multiple order instructions; if there is no order instruction in the nearest storage container, the host will directly determine the access type of the multiple order instructions.

[0125] SS5: If the access type of a multi-order instruction includes both storage and retrieval, then select storage first and retrieval later; if the access type of a multi-order instruction only includes storage or only retrieval, then determine whether the order tasks to be executed have the same storage container.

[0126] SS6: If yes, then choose to store first and then retrieve; if no, then determine whether an order task corresponds to multiple storage containers.

[0127] SS7: If yes, then re-evaluate whether the nearest storage container has an order instruction and re-execute SS4-SS6; if no, then perform storage and retrieval operations according to the principle of first the whole board, then a few sample tubes.

[0128] In this embodiment, the process involves defining and collecting task parameters, generating scheduling queues, executing tasks and providing status feedback, and verifying and comparing the results.

[0129] Preferably, the automatic docking in step S5 includes one of the following two modes:

[0130] a. Host active docking mode: The host moves to the docking position of the fixed storage container and locks the access port by fine adjustment through the robotic arm;

[0131] In this embodiment, when the host 3 is movable and the storage container 4 is immovable, multiple storage containers 4 are placed at designated locations, and one host 3 can automatically dock with multiple storage containers 4. The host 3 has functions such as automatic robotic arm for sample storage and retrieval, sample tube barcode scanning, sample tube data acquisition and processing, automatic navigation, and automatic positioning. After receiving a task order from the system, the host moves according to the order requirements, docks with the designated storage container, and automatically performs storage and retrieval operations via the robotic arm. The specific process includes:

[0132] Sample storage (transfer of biological samples from the transfer window to the storage container): After receiving the task, the intelligent host moves to the transfer window and takes or receives the transfer container containing the biological sample from the transfer window. Then it moves to the designated storage container and docks with it. The robotic arm automatically performs the sample storage operation, taking out the biological sample from the transfer container and transferring it to the storage container. After the operation is completed, the intelligent host automatically detaches from the storage container.

[0133] Sample retrieval (transfer of biological samples from storage container to transfer window): After receiving the task, the intelligent host moves to the transfer window and picks up or receives the transfer container from the transfer window. Then it moves to the designated storage container and docks with it. The robotic arm automatically performs the sampling operation, takes out the biological sample from the storage container and transfers it to the transfer container, and then further transfers it to the transfer window. After completion, the intelligent host automatically detaches from the storage container.

[0134] Changing sample storage containers (transferring biological samples from one storage container to another): After receiving the task, the intelligent host moves to the designated storage container, docks with it, and automatically performs a sampling operation using a robotic arm, transferring the biological sample from the storage container to a temporary storage area. After completion, it automatically detaches from the storage container. Then, the intelligent host moves to another storage container, docks with it, and automatically performs a sample storage operation using a robotic arm, retrieving the biological sample from the temporary storage area and transferring it to another storage container. After completion, the intelligent host automatically detaches from the storage container.

[0135] Changing the sample's position within the storage container (transferring biological samples from one shelf to another, or repositioning shelves within a designated storage container): After receiving the task, the intelligent host moves to the designated storage container and docks with it. A robotic arm automatically performs sampling, transferring the biological sample or the entire storage shelf from the container to a temporary storage area. The robotic arm then automatically stores the sample, retrieving the biological sample or shelf from the temporary storage area and placing it in the designated location within the new storage container. Once completed, the intelligent host automatically detaches from the storage container.

[0136] b. Active docking mode for storage containers: The storage container is moved to the host position via a mobile chassis or rail and docks with the host's operating chamber, whereby the host performs the storage and retrieval operations.

[0137] When the intelligent host receives a task order from the system, it communicates with the corresponding storage container. The storage container moves according to the command line and docks with the intelligent host. Then, the intelligent host automatically performs storage and retrieval operations via a robotic arm. The specific process is as follows:

[0138] Sample storage: After receiving the task, the intelligent host receives the transport container containing the biological sample from the transfer window and notifies the designated storage container. Upon receiving the command, the storage container automatically moves to the intelligent host and docks with it. The intelligent host automatically performs the sample storage operation through the robotic arm, taking out the biological sample from the transport container and transferring it to the storage container. After completion, the intelligent host automatically detaches from the storage container.

[0139] Sample collection: After receiving the task, the intelligent host picks up or receives the transfer container from the transfer window and notifies the designated storage container. Upon receiving the command, the storage container automatically moves to the intelligent host and docks with it. The intelligent host automatically performs the sampling operation through the robotic arm, takes out the biological sample from the storage container, transfers it to the transfer container, and then further delivers it to the transfer window. After completion, the intelligent host automatically detaches from the storage container.

[0140] Replacing the sample storage container: After receiving the task, the intelligent host moves to the designated storage container and docks with it. The intelligent host automatically performs the sampling operation using a robotic arm, transferring the biological sample from the storage container to a temporary storage area. After completion, it automatically detaches from the storage container and notifies another storage container. This storage container then moves to the intelligent host and docks with it. The intelligent host automatically performs the sample storage operation using a robotic arm, retrieving the biological sample from the temporary storage area and transferring it to another storage container. After completion, the intelligent host automatically detaches from the storage container.

[0141] Replacing the sample position within the storage container: After receiving the task, the intelligent host notifies the designated storage container. Upon receiving the command, the storage container moves to the intelligent host and docks with it. The intelligent host automatically performs a sampling operation using a robotic arm, transferring the biological sample or the entire storage rack from the storage container to a temporary storage area. Then, the robotic arm automatically performs a sample storage operation, retrieving the biological sample or the entire storage rack from the temporary storage area and placing it in the designated position within the storage container. Once completed, the intelligent host automatically detaches from the storage container.

[0142] When the host 3 is movable and the storage container 4 is not movable, the intelligent host is usually located at the transfer window position, which facilitates the retrieval and placement of the transfer container.

[0143] Preferably, both the sample storage operation and the sampling operation in step S6 include:

[0144] The temperature of biological samples is maintained by an insulated enclosure, and temperature changes are monitored in real time.

[0145] If the temperature exceeds the safety threshold, suspend the operation and transfer the biological sample to a transport container or a programmed cooling device.

[0146] Preferably, the sample storage operation includes storing a plurality of sample tubes, and the process of storing a plurality of sample tubes includes:

[0147] S11: Remove the first sample rack from the transfer container and transfer it to the sample storage area;

[0148] S12: Read the information of the first sample board frame and the sample tubes on the first sample board frame through the first barcode scanner, and determine whether the sample tubes on the first sample board frame are target sample tubes;

[0149] S13: If so, open the lid of the storage container, remove the second sample plate holder from the storage container, and transfer it to the sample storage area;

[0150] S14: Read the information of the second sample board frame through the first barcode scanner, and determine whether the second sample board frame is the target sample board frame;

[0151] S15: If so, then perform tube picking operation on the target sample tubes until all target sample tubes are transferred to the target sample plate rack;

[0152] S16: Read the information of the sample tubes on the first sample board frame and the second sample board frame using the first barcode scanner, and determine whether all target sample tubes are successfully matched;

[0153] S17: If so, return the second sample tray to the storage container and close the lid of the storage container;

[0154] Preferably, the sample storage operation includes storing the sample in the entire rack, and the process of storing the sample in the entire rack includes:

[0155] S21: Remove the first sample rack from the transfer container and transfer it to the sample storage area;

[0156] S22: Read the information of the first sample board frame through the first barcode scanner, and determine whether the first sample board frame is the target sample board frame;

[0157] S23: If yes, open the lid of the storage container; if no, report an error and transfer to manual processing. You can choose to proceed directly to the next step, or you can choose to put the first sample plate holder back into the transfer container and repeat steps S21-S22.

[0158] S24: Place the first sample plate holder into the storage container and close the lid of the storage container.

[0159] Preferably, the sampling operation includes removing several sample tubes, and the process of removing several sample tubes includes:

[0160] S31: Remove the first sample rack from the transfer container and transfer it to the sample storage area;

[0161] S32: Read the first sample board frame using the first barcode scanner and determine whether the first sample board frame is the target sample board frame;

[0162] S33: If yes, open the lid of the storage container, take out the second sample tray from the storage container, and transfer it to the sample storage area or the barcode scanning area; if no, report an error and transfer to manual processing. You can choose to proceed directly to the next step, or you can choose to put the first sample tray back into the transfer container and repeat steps S31-S32.

[0163] S34: Read the information of the second sample board frame and the sample tubes on the second sample board frame through the first barcode scanner, and determine whether the sample tubes on the second sample board frame are target sample tubes;

[0164] S35: If yes, then perform tube picking operation on the target sample tubes until all target sample tubes are transferred to the first sample plate rack; if no, then report an error and transfer to manual processing. You can choose to proceed directly to the next step, or you can choose to put the second sample plate rack back into the storage container and re-execute steps S33-S34.

[0165] S36: Read the information of the sample tubes on the first sample board frame and the second sample board frame using the first barcode scanner, and determine whether all target sample tubes are successfully matched;

[0166] S37: If yes, transfer the first sample plate rack to the transport container; if no, report an error and proceed to manual processing, and you can choose to repeat the tube picking operation.

[0167] S38: Transfer the transfer container to the transfer window; at the same time, return the second sample tray to the storage container and close the lid of the storage container.

[0168] Preferably, the sampling operation includes removing the entire plate holder, and the process of removing the entire plate holder includes:

[0169] S41: Open the lid of the storage container;

[0170] S42: Remove the designated sample rack from the storage container and transfer it to the sample storage area or barcode scanning area;

[0171] S43: Read the information of the sample board frame through the first barcode scanner and determine whether the sample board frame is the target sample board frame;

[0172] S44: If yes, transfer the target sample tray to the transport container; at the same time, close the lid of the storage container; if no, report an error and proceed to manual processing. You can choose to proceed directly to the next step, or you can choose to put the sample tray back into the storage container and repeat steps S42-S43.

[0173] S45: Transfer the transfer container to the transfer window.

[0174] The following embodiments are storage methods provided by various specific devices in the storage system to facilitate a better understanding of the specific process of this method.

[0175] The storage containers 4 are placed one by one on the corresponding storage station, and the host 3 scans the storage containers 4 on each storage station using the second barcode scanner.

[0176] Place the transfer container 6 in the transfer window 7 and open the lid of the transfer container 6; issue a control command to the host 3 to store or retrieve the sample;

[0177] The host 3 transfers the transfer container 6 in the transfer window 7 to the operating chamber of the host 3 through the transfer container transfer unit 12;

[0178] The host 3 automatically moves to the corresponding storage station according to the control command and automatically docks with the storage container 4 at the storage station.

[0179] The host 3 transfers biological samples from the transfer container 6 to the storage container 4 via the sample transfer component, or transfers biological samples from the storage container 4 to the transfer container 6.

[0180] The automatic docking process between the host 3 and the storage container 4 includes: the host 3 scanning the storage container 4 below it with a second barcode scanner, and determining whether it is the target storage container 4 based on the scanning result;

[0181] If so, the height of the interface is adjusted by the lifting docking component, and the host 3 and the storage container 4 are automatically docked in conjunction with the mobile navigation component;

[0182] If not, move to the next storage station and scan the storage container 4 at the next storage station. Once the target storage container 4 is found, automatically dock with the storage container 4. If the target storage container 4 is still not found after scanning all the codes, an alarm will be triggered.

[0183] Specifically, before the biological sample in the transport container 6 is transferred to the storage container 4, and after the transport container 6 is transferred to the operating chamber of the host 3, the method further includes: scanning the plate rack and / or the sample tube with the first barcode scanner 16, and determining whether the biological sample needs to be cooled according to the scanning result.

[0184] If so, the biological sample is transferred to the programmed cooling device 15 via the sample transfer component for programmed cooling, and after programmed cooling, the biological sample is transferred to the storage container 4 via the sample transfer component.

[0185] If not, the biological sample is directly transferred to storage container 4 via the sample transfer component.

[0186] Information regarding the storage and retrieval of biological samples is automatically recorded on the control panel 30 of the host 3. When the storage container 4 at a certain storage station is full, the control panel 3 will prompt that the storage station needs to be replaced with a new storage container 4.

[0187] This mobile intelligent sample storage method achieves the following technical effects: Multi-functionality: In addition to storage, it can be equipped with various functions, such as robotic inspection. Low cost: The intelligent host can connect to multiple storage containers, maximizing the utilization of the host's internal automation functions. Rapid and low-cost expansion of the sample storage area: As storage volume increases, only additional storage containers are needed, significantly reducing costs and allowing for rapid deployment. Easy relocation: In case of sample storage relocation or disaster recovery, storage containers can be quickly moved. Easy maintenance and repair: Maintenance mainly focuses on periodic maintenance of the automation components. The separation of the host and storage containers facilitates maintenance, ensuring that host maintenance does not affect the storage containers and avoids sample damage. Furthermore, it allows for rapid inspection or replacement of the entire storage container. It can be manually accessed, offering high flexibility; since the storage containers are exposed to the outside, manual access is possible (similar to ordinary low-temperature freezers, manual liquid nitrogen storage containers, etc.), and data rewriting is supported; it facilitates the management of the storage area. When a storage container is full, if it will not be used for a long time, it can be moved to the long-term storage room and replaced with an empty storage container for storage again.

Claims

1. A mobile intelligent sample storage system, characterized in that, include: At least one host (3) is used for accessing biological samples; At least one storage container (4) is externally placed on the host (3) for cryogenic storage of biological samples; A mobile navigation component is disposed on the host (3) and / or the storage container (4) to enable free movement of the host (3) and the storage container (4); A lifting docking assembly is disposed on the host (3) and / or the storage container (4) to realize the docking or separation of the host (3) and the storage container (4); The first barcode scanner is installed on the host (3) and is used to identify biological sample information; The second barcode scanner is installed on the host (3) and is used to identify storage container information; The host (3) includes: an operating chamber and a sample transfer component and a storage container opening component disposed in the operating chamber; The storage container opening assembly is used to open or close the lid of the storage container (4); The sample transfer assembly is used to transfer biological samples back and forth between the operating chamber and the storage container (4); and A control component is used to receive sample access instructions and, based on the received biological sample information and storage container information, control the operating status of the sample transfer component, the storage container opening component, the lifting and docking component, and the mobile navigation component.

2. The mobile intelligent sample storage system of claim 1, wherein, Also includes: Transfer container (6) and transfer container conveying assembly; The transfer container conveying assembly is disposed on one side of the host (3) and is used to transfer the transfer container (6) between the outside of the host (3) and the operating chamber. The operating chamber is provided with a transport container placement area and a sample placement area. The transport container placement area is used to place the transport container (6), and the sample placement area is used to place biological samples taken from the transport container (6) and biological samples taken from the storage container (4).

3. The mobile intelligent sample storage system of claim 2, wherein, It also includes a transfer container opening assembly, which is disposed in the operating chamber and is used to open or close the lid of the transfer container (6).

4. The mobile intelligent sample storage system of claim 2, wherein, The storage container (4) has a built-in storage rack with multiple vertically arranged first storage spaces for storing sample plate racks; the transfer container (6) has a sample plate rack with multiple horizontally arranged second storage spaces for placing sample tubes for storing biological samples.

5. The mobile intelligent sample storage system of claim 4, wherein, The sample delivery component includes: Storage rack robot (10) is located above the storage container (4) and is used for picking up and placing storage racks and cooperating with plate rack robot (13) to realize the storage and retrieval of sample plates in the storage rack; The plate rack robot (13) is able to move back and forth between the storage container (4), the transfer container (6) and the sample placement area for picking up, placing and transferring the sample plate rack; The sample tube robot (14) is able to move back and forth between the storage container (4), the transfer container (6) and the sample placement area for picking up, placing and transferring the sample tubes; Both the plate rack robot (13) and the storage rack robot (10) have a cold insulation cover, which can keep the biological sample at a low temperature during the transfer process.

6. The mobile intelligent sample storage system of claim 5, wherein, The operating chamber is also equipped with a liquid nitrogen supply tank (19), which is connected to the cold insulation shell of the plate frame robot (13) and the storage rack robot (10) to provide cooling for the plate frame robot (13) and the storage rack robot (10).

7. The mobile intelligent sample storage system of claim 1, wherein, The operating chamber is also equipped with a programmed cooling device, which is used to achieve programmed cooling of biological samples.

8. The mobile intelligent sample storage system according to claim 7, characterized in that, The programmed cooling device includes a cooling chamber, a coil, a heating component, and a temperature monitoring component. A liquid nitrogen nozzle is provided on the inner side of the cooling chamber. The coil is located on the outer side of the cooling chamber. The heating component is wound around the coil. A solenoid valve is provided at the input end of the coil. The solenoid valve and the temperature monitoring component are both electrically connected to the control component. A nozzle assembly is provided at the output end of the coil. The nozzle assembly is used to connect the coil and the liquid nitrogen nozzle.

9. The mobile intelligent sample storage system of claim 1, wherein, It also includes a liquid nitrogen usage monitoring and replenishment device, which is used to monitor the liquid nitrogen balance in the storage container (4) and replenish the storage container (4) according to the liquid nitrogen balance.

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