CN114793538B

CN114793538B - Biomaterial evaluation system

Info

Publication number: CN114793538B
Application number: CN202210757130.4A
Authority: CN
Inventors: 赵玥
Original assignee: Beijing Ruide Baiao Biotechnology Co ltd
Current assignee: Beijing Ruide Baiao Biotechnology Co ltd
Priority date: 2022-06-30
Filing date: 2022-06-30
Publication date: 2022-09-09
Anticipated expiration: 2042-06-30
Also published as: CN114793538A

Abstract

The invention discloses a biomaterial evaluation system which is suitable for evaluating various performances of a biomaterial, including single performance and comprehensive performance. The system can automatically acquire data such as the form of the biological material in batches, and evaluate the performance of the biological material through statistical analysis, the whole process does not need manual operation, and only needs to automatically extract the biological material from the cultivation box to the spraying area and the shooting area according to a set program, so that the workload is greatly reduced, and the analysis efficiency is improved.

Description

Biomaterial evaluation system

Technical Field

The present invention relates to the field of biological material detection, and in particular to a system for automated, batch detection, evaluation or further analysis of morphological changes in biological materials.

Background

Biological materials change their morphology over time due to their activity, and by detecting morphological changes at different time points, biological materials can be evaluated or analyzed. For example, the culture condition of the leaf can be reflected by detecting the leaf morphology at different time points. For another example, in germplasm resources preservation, it is often necessary to determine the germination of seeds before and during the period of seed preservation. According to the current national standard, one of the methods for detecting the viability of seeds is: placing one or more layers of filter paper in a culture dish to form a paper bed, placing seeds on one or more layers of wet filter paper for germination, identifying each seedling according to a specified standard, and measuring the germination speed and the growth uniformity of the seeds and the seedlings, the performance after storage and transportation, particularly the preservation of the germination capacity.

The germination rate measuring method generally performed using a culture dish has many disadvantages. For example, the uniformity of external conditions during germination of each seed cannot be guaranteed, and after germination of the seed, the shoot and root grow randomly, the bending state affects the measurement of the length, and the development of each seed cannot be easily observed and compared in parallel.

As technology advances, methods have been developed for automated or worker-assisted determination of seed germination morphology. For example, CN110063104A discloses a wheat seed germination rate testing device and a control system thereof. Wherein, testing arrangement includes the base, the top middle part fixedly connected with support frame of base, top one side fixedly connected with water tank and the first water pump of base, the top opposite side fixedly connected with fertilizer liquid case and the second water pump of base, the middle part fixedly connected with fixing base of support frame, the top of fixing base is equipped with the mount pad, and the top of mount pad is equipped with the test ware. The control system comprises a control terminal, a power supply module, a photographing module, a humidity detection module, a fertilizer content detection module, a servo motor, a lighting device, a first water pump and a second water pump. However, this patent technique has just solved the growing environment that current warm distribution box can not in time detect the wheat seed and has taken time and energy the problem when wasing the warm distribution box, can not carry out automated inspection to the germination percentage.

For another example, CN106576499A discloses a prompting method, a prompting device, a planting monitoring terminal and a server for plant germination. The prompting method for plant germination comprises the following steps: collecting a plant germination image in a designated planting area after a preset time period from a breeding starting moment; determining the germination rate of the plants according to the plant germination images and a preset statistical algorithm; detecting whether the germination rate is less than a preset germination rate; and when the germination rate is detected to be smaller than the preset germination rate, generating prompt information to prompt that the plant seeds are unqualified. What this patent technique realized is the automatic statistics of germination percentage to when detecting that the seed is unqualified, generate tip information, prevent to cultivate because the planting to unqualified seed causes the loss, improved the managerial efficiency of planting. However, the patented method is an image processing-based method, and does not disclose how to collect a germination image of seeds in a large amount and conveniently.

The information in this background is only for the purpose of illustrating the general background of the invention and should not be taken as an acknowledgement or any form of suggestion that this information forms the prior art that is known to a person skilled in the art.

Disclosure of Invention

To solve at least some of the technical problems of the prior art, the present invention provides a biomaterial evaluation system, particularly suitable for morphological analysis based on data of a large amount of active biomaterials. Specifically, the present invention includes the following.

The invention relates to a biomaterial evaluation system, which comprises a culture area and a working area; wherein:

the culture area comprises at least one area for placing a culture box, the culture box comprises a bottom groove for containing water and at least one culture plate which is detachable from the bottom groove, the at least one culture plate can be horizontally or vertically arranged in the bottom groove, each culture plate is respectively provided with at least one culture hole which is vertical to the bottom groove, at least one part of each culture hole is made of transparent materials, and therefore the internal condition of each culture hole can be observed from the outside of the culture plate;

the workspace includes the workstation and transports the robot, the workstation includes the transfer station, sprays the station and detects the station, the transfer station sets up to placing at least one cultivate the box or cultivate the board, it sets up to spraying water to can be in this station to cultivate the inside in at least part cultivation hole of board, it can be right to detect the station the at least part of cultivation downthehole seed of cultivating the board is taken a picture to acquire the image of biomaterial form, it sets up to can following to be located to transport the robot the transfer station snatchs corresponding cultivation board, move to spray the station and/or detect the station, preferably, can further move back cultivate the box.

The biomaterial evaluation system according to the present invention, in certain embodiments, further comprises a pick and place mechanism configured to grasp a culture cassette at a corresponding position of the culture zone and transfer the culture cassette to the working zone; or the culture box which is grabbed from the working area is transported back to the culture area.

According to the biomaterial evaluation system of the present invention, in some embodiments, the pick-and-place mechanism includes a driver, and a forward-and-backward moving mechanism, an upward-and-downward moving mechanism, a leftward-and-rightward moving mechanism, a rotating mechanism, and a grasping portion.

The biomaterial evaluation system according to the present invention, in some embodiments, further comprises a housing and a base, the culture zone and the working zone are respectively disposed in the same space, such as an inner space formed by the housing and the base, preferably, the culture zone comprises a plurality of vertically disposed cultivation sites, each cultivation site for placing at least one cultivation box or cultivation plate.

According to the biomaterial evaluation system provided by the invention, in certain embodiments, the transfer station is provided with a weight measuring instrument and a water supplementing mechanism, whether the culture box needs to be supplemented with water is judged according to data acquired by the weight measuring instrument, and the water supplementing mechanism supplements water to the culture box when water supplement is needed.

In certain embodiments of the biomaterial evaluation system of the present invention, the transfer station comprises a first transfer station and a second transfer station, and at least one of the first transfer station and the second transfer station is provided with a weight scale.

In certain embodiments of the biomaterial evaluation system of the present invention, the spray station comprises a spray slot for receiving a growth plate in a vertical manner and a surface cleaning mechanism for cleaning the outer surface of the growth plate.

In some embodiments, the surface cleaning mechanism comprises at least two oppositely arranged rotating rollers, and the surface of the rotating rollers is provided with a water absorbing material layer.

In certain embodiments, the assay station comprises an assay slot allowing a culture plate to vertically enter and exit the assay area and a camera for capturing the assay area, including industrial cameras, examples of which include, but are not limited to, infrared or far infrared cameras, chlorophyll fluorescence cameras, multispectral cameras, hyperspectral cameras. The present invention can use one camera while using a plurality of cameras. Preferably, the sensor and the light source are further included. The light source may be a light source of any spectral range.

The biomaterial evaluation system according to the present invention, in certain embodiments, further comprises an image processing system. The image processing system of the present invention may comprise software. Preferably, the image processing system is a relatively independent system that, in addition to being able to analyze images of the system of the present invention, may also be used to analyze externally imported images, such as images acquired by other systems, or images acquired prior to importing the system of the present invention.

The biomaterial evaluation system of the present invention is an automatic measuring system based on automated extraction, cultivation and photographing of biomaterials, particularly seeds, which can be used to measure the morphology, quality of biomaterials such as seeds, and can also be used to classify biomaterials, depending on the photographing device. Particularly, the system can be used for automatically carrying out the whole processes of seed germination and seed detection, can monitor the culture, moisture and illumination of the seed germination period, automatically control the seed germination period, and automatically shoot the seed germination form at any time point. The system can be used for seed breeding or large-scale commercial seed vigor detection and multi-index morphology evaluation.

Drawings

FIG. 1 is a perspective view of an exemplary automatic measurement system.

FIG. 2 is a top view of an exemplary automated measurement system.

Fig. 3 is a diagram of an exemplary pick and place mechanism.

Figure 4 is a diagram of an exemplary rotary mechanism.

Fig. 5 is a structure of an exemplary grasping portion.

Figure 6 is a drawing of an exemplary planter box comprised of a plurality of planter stations.

FIG. 7 is a view exemplarily showing a combination relationship of the incubation cartridge and the cartridge jig used in cooperation therewith.

Fig. 8 is a view exemplarily showing a fixing structure for fixing the cassette jig to the cultivation site.

FIG. 9 is a perspective view of an exemplary growth cage that is particularly suited for vertical germination of seeds.

FIG. 10 is a top view of an exemplary cassette.

FIG. 11 is a block diagram of another exemplary cassette particularly suited for horizontal germination of seeds.

FIG. 12 is a block diagram of an exemplary workspace.

Fig. 13 is a diagram of the structure of an exemplary transfer robot.

FIG. 14 is a diagram of an exemplary clip mechanism.

Fig. 15 is a diagram illustrating another perspective of an exemplary clip mechanism.

FIG. 16 is a diagram of an exemplary transfer station.

FIG. 17 is a perspective view of an exemplary spray station.

Description of reference numerals:

the culture box comprises a shell-10, a base-20, a culture area-100, a cultivation position-110, a fixing structure-111, a box jig-120, a bottom plate-121, a limiting hole-122, a limiting groove-123, a limiting column-112 and a spring structure-113; the device comprises a working area-200, a working table-210, a transfer robot-220, a transfer station-211, a spraying station-212, a spraying pipe-212-1, a detection station-213, a first transfer station-211-1, a second transfer station-211-2, a weight measuring mechanism-211A, a water supplementing mechanism-211B, a clamp mechanism-221, a first clamping piece 221-1, a second clamping piece 221-2, a connecting plate 221-3, a first air cylinder pushing part 221-4, a second air cylinder pushing part 221-5, a first rotating roller 212-2 and a second rotating roller 212-3; culture box- (300, 600), bottom groove-310, culture plate-320, slot-311, culture hole- (321, 610); a pick-and-place mechanism-400, a front-and-back movement mechanism-410, a left-and-right movement mechanism-420, an up-and-down movement mechanism-430, a rotation mechanism-440, a grabbing part-450, a rotation motor-441, a rotation part-442 and a hook box mechanism-451; sprout-500.

Detailed Description

Reference will now be made in detail to various exemplary embodiments of the invention, the detailed description should not be construed as limiting the invention but as a more detailed description of certain aspects, features and embodiments of the invention.

It is to be understood that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. Further, for numerical ranges in this disclosure, it is understood that the upper and lower limits of the range, and each intervening value therebetween, is specifically disclosed. Every smaller range between any stated value or intervening value in a stated range and any other stated or intervening value in a stated range is encompassed within the invention. The upper and lower limits of these smaller ranges may independently be included or excluded in the range.

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. Although only preferred methods and materials are described herein, any methods and materials similar or equivalent to those described herein can be used in the practice or testing of the present invention. All documents mentioned in this specification are incorporated by reference herein for the purpose of disclosing and describing the methods and/or materials associated with the documents. In case of conflict with any incorporated document, the present specification will control.

The terms first, second, third and the like in the description and in the claims, are used for distinguishing between similar elements and not necessarily for describing a sequential or chronological order. It is to be understood that the terms so used are interchangeable under particular conditions and that the embodiments of the invention described herein are capable of operation in other sequences than described or illustrated herein.

Furthermore, the terms top, bottom, over, under, left and right and the like in the description and the claims are used for descriptive purposes and not necessarily for describing relative positions. It is to be understood that the terms so used are interchangeable under appropriate circumstances and that the embodiments of the invention described herein are capable of operation in other orientations than described or illustrated herein.

The biomaterial evaluation system of the present invention may be in the form of a system in which a plurality of instruments are combined, for example, a system in which various instruments are disposed in a large space such as a house, or may be in the form of a single instrument in which a plurality of components are combined. When used to measure the germination morphology of biological materials, seed germination may be in either a vertical or horizontal germination format. In an alternative embodiment, the evaluation system of the invention comprises both a vertical germination apparatus and a horizontal germination apparatus, and the vertical germination apparatus and the horizontal germination apparatus are automatically grabbed by the system according to the setting, and the seeds in the apparatuses are photographed and analyzed. In a preferred embodiment, the seeds are kept in a vertical position during germination throughout the germination or measurement process.

Examples

The automatic measuring system for the morphology of the biomaterial according to the present invention is exemplified below with reference to the accompanying drawings. Fig. 1 is a perspective view exemplarily showing an automatic measuring system. Fig. 2 is a top view schematically illustrating an automatic measuring system. As shown in fig. 1 and 2, the automatic measuring system of the present embodiment has a substantially cubic structure, and includes a housing 10 and a base 20. The base 20 may be, for example, a floor. The base 20 is divided into a culture region 100 and a working region 200. Wherein the culture region 100 is divided into two parts, which are respectively located at both sides of the base 20 and respectively close to both side surfaces of the housing 10. The cultivation region 100 is composed of a plurality of cultivation sites 110 vertically arranged up and down, and the cultivation sites 110 are relatively independent spaces for storing the cultivation boxes 300. Each of the cultivation sites has an opening facing the inner space, thereby enabling free access to the cultivation box 300 inside.

As shown in fig. 1 and fig. 2, the automatic measuring system of the present embodiment further includes a pick-and-place mechanism 400 for picking up the culture box 300 of the culture region 100 and transferring to the work region 200; or the cultivation box 300 of the working section 200 is grabbed and transferred to the cultivation section 100.

Fig. 3 is a diagram illustrating an exemplary pick and place mechanism 400. As shown in fig. 3, the pick and place mechanism 400 includes a forward and backward moving mechanism 410, a leftward and rightward moving mechanism 420, an upward and downward moving mechanism 430, a rotating mechanism 440, and a gripping part 450. Each moving mechanism can correspond to one driving motor respectively. For example, as shown in fig. 4, the rotation mechanism 440 includes a rotation motor 441, a rotation portion 442 driven by the rotation motor 441, and a grip portion 450 connected to the rotation portion 442. Illustratively, the rotation mechanism 440 is configured to rotate only 0-90-180. The motor driving details of the rotating mechanism 440 are shown only by way of example, and the driving details of the other moving mechanisms are not shown. The movement of the various other moving mechanisms is fully contemplated or enabled by those skilled in the art based on the description and the accompanying drawings.

Fig. 5 is a view exemplarily showing the structure of the grasping portion 450. As shown in fig. 5, the grip portion 450 includes a hook cassette mechanism 451, an air cylinder (not shown) for moving the hook cassette mechanism 451 up and down, and a timing belt (not shown) for moving the hook cassette mechanism back and forth. When the culture box is needed, the grabbing part 450 of the picking and placing mechanism 400 moves to a designated cultivation position, the air cylinder on the box hooking mechanism 451 moves forwards to a hole position corresponding to the jig through the synchronous belt after rising, the air cylinder descends to hook the jig, and the box is pulled through the synchronous belt to complete the action.

Fig. 6 is a diagram illustrating an exemplary implantation configuration consisting of a plurality of implantation sites 110. As shown in fig. 6, the cultivation structure is a cultivation cabinet comprising three layers arranged up and down, and each layer is provided with 5 cultivation positions 110. Within each cultivation site 110 there is a fixation structure 111 for fixation of a culture cassette. Optionally, a light supplement lamp (not shown) is arranged on the upper part of at least one part of the cultivation positions, so that the illumination intensity of the corresponding cultivation box is enhanced according to needs.

Fig. 7 is a view exemplarily showing a combination relationship of the incubation cartridge 300 and the cartridge jig 120 mated therewith. The cassette jig 120 includes a bottom plate 121, and a stopper hole 122 and a stopper groove 123 fixed to the bottom plate. The limiting holes 122 are used to fix the box fixture 120 and the cultivation site 110, the number of the limiting holes is not limited, and may be, for example, 4, and the limiting holes are respectively located near four corners of the quadrangular bottom plate 121 and penetrate through the bottom plate 121. The retaining grooves 123 are used to fix the incubator 300 to the cassette holder 120, and the retaining grooves 123 protrude from the bottom plate 121, but the number of the retaining grooves is not limited and may be, for example, four.

Fig. 8 is a view exemplarily illustrating a fixing structure 111 for fixing the cassette jig 120 to the cultivation site 110. As shown in fig. 8, the fixing structure includes a base and four positioning posts 112 fixed on the base. The upper surface of each of the restraining posts 112 is a sloped surface, thereby facilitating the horizontal movement of the cassette holder 120 into a fixed position. The spring structure 113 is disposed in the limiting hole 122 for ejecting the limiting column 112 out of the limiting hole 122 to the outside. Thereby, the limiting column 112 and the limiting hole 122 are matched to complete the fixation of the culture box 300 in the culture cabinet. The principle of fixation is as follows: when the culture box 300 is stored, the box jig 120 pushes forward and presses down the position-limiting post 112, and after the position-limiting post 112 is pushed to the proper position, the spring structure 113 jacks up the position-limiting post 112 to complete the operation.

Fig. 9 is a view exemplarily showing a three-dimensional structure of the culture cassette 300. As shown in FIG. 9, the culture cassette 300 includes a bottom tank 310 for receiving water and a plurality of culture plates 320 vertically disposed with respect to the bottom tank 310. Each plate 320 can be freely vertically taken out of or put into the magazine 300 through the slot holes 311 provided in the bottom groove 310. Each of the culture plates 320 is provided with a plurality of culture wells 321 perpendicular to the bottom groove 310, respectively. Each culture well is arranged to enable vertical germination of, for example, a seed. Preferably, the culture wells are of an elongated straight well structure, thereby facilitating definition of the morphology of the seeds when they germinate, particularly facilitating measurement of the length of the seeds, etc. Preferably, each of the culture holes 321 extends through the entire length of the culture plate 320, and the lower portion of the culture hole 321 can communicate with water in the lower tank 310 when the culture plate 320 is vertically disposed in the culture cassette 300. In order to fix the seeds in the culture well, the culture well may be further provided with a seed position. Optionally, a water absorption strip is further provided in each culture well for allowing water to contact with the seeds through the water absorption strip. In addition, in order to ensure the light required for the germination of the seeds, it is preferable that the culture plate 320 is made of a transparent material (e.g., a glass material or a transparent plastic) having excellent light transmittance. The light-transmitting material also protects the seeds from sprouting from the outside of the culture plate 320 in each culture well 321.

FIG. 10 is an exemplary top view of a culture cassette 300. As shown in FIG. 10, the culture cassette 300 comprises 8 culture plates 320 arranged in parallel perpendicular to the bottom groove 310. Each plate is provided with 25 culture wells 321. The number of culture plates 320 in the culture cassette 300 and the number of culture wells 321 in each culture plate are not particularly limited and can be freely set by those skilled in the art as needed. The number of plates in each cassette 300 may be the same or different. Similarly, the number of wells in each plate 320 may be the same or different. The shape of the culture well 321 is not particularly limited, and can be freely set according to the size and shape of the seed. Preferably, the aperture of the culture hole 321 is slightly larger than the size of the seeds before germination.

FIG. 11 is a perspective view of another exemplary cassette 600. As shown in FIG. 11, the culture cassette 600 is designed for horizontal cultivation of seeds, and an array of culture wells 610 is provided in the bottom of the culture cassette. Each culture well may be used to hold at least one seed.

Fig. 12 is a diagram exemplarily illustrating a structure of a work area 200. As shown in fig. 12, the table 210 has a substantially rectangular parallelepiped structure, and the lower portion thereof is fixed to the surface of the floor by a fixing mechanism. The work area 200 includes a work table 210 and a transfer robot 220. The workstation 210 includes a transfer station 211, a spray station 212, and a detection station 213. The transfer station 211 is disposed on a first side of the work table 210, and the transfer robot 220 is disposed on an opposite second side. The spraying station 212 is disposed on a third side of the worktable 210, and the detecting station 213 is disposed on a fourth side opposite to the third side. The spraying station 212 and the inspection station 213 are respectively disposed in the inner space of the table 210, and only a notch for entering and exiting the plate is shown on the surface of the table 210. The growth plate 320 is freely transferred between the transfer station 211, the spraying station 212, and the inspection station 213, respectively, by the rotary robot 220. The transfer station 211 illustratively shown in FIG. 12 includes a first transfer station 211-1 and a second transfer station 211-2.

Fig. 13 is a diagram exemplarily showing the structure of the transfer robot 220. As shown in fig. 13, the transfer robot 220 is an ABB six-axis robot arm, and a gripper mechanism 221 is provided at the end thereof for vertically gripping or storing the culture plate 320.

Fig. 14 is a diagram exemplarily showing the clip mechanism 221. Fig. 15 is a diagram exemplarily showing another view of the clip mechanism 221. As shown in fig. 14 and 15, the clip mechanism 221 includes a first jaw 221-1, a second jaw 221-2, and a connecting plate 221-3 for connecting the two. The inner sides of the first clamping piece 221-1 and the second clamping piece 221-2 are respectively provided with a clamping groove, the width of the clamping groove is equivalent to the thickness of the culture plate 320, and therefore the culture plate 320 can be clamped conveniently. The clamp mechanism 221 further comprises a first cylinder pushing part 221-4 and a second cylinder pushing part 221-5 for moving the first clamping piece 221-1 and the second clamping piece 221-2 relatively to take and place the plate 320. Also shown in FIG. 14 is a plate 320 having sprouts 500 protruding to the outside in part of the culture wells 321.

Fig. 16 is a diagram exemplarily showing a configuration of the relay station. As shown in fig. 16, the first relay station 211-1 includes a weight measuring mechanism 211A and a water replenishing mechanism 211B.

Fig. 17 is a diagram illustrating an exemplary spray station 212. As shown in fig. 16, the spray station 212 is recessed below the upper surface of the platen 210, which includes a spray tank and a cleaning station. The gripper mechanism 221 grips the growth plate 320 and inserts it vertically into the spray station 212, where the growth plate 320 receives water spray from the spray pipe 212-1 in a vertical manner. The shower pipe 212-1 is parallel to the inserted culture plate 320, and the wall of the shower pipe 212-1 is provided with a plurality of shower ports. After spraying, the clamp mechanism 221 closes and clamps the culture plate 320 through the air cylinder, the culture plate is taken out and inserted into a cleaning station, and the surface cleaning mechanism arranged in the cleaning station cleans moisture and the like on the outer surface of the culture plate 320 after spraying, so that the problems of unclear shooting or error causing and the like are prevented.

The surface cleaning mechanism includes a first rotating roller 212-2 and a second rotating roller 212-3 which are disposed opposite to each other. The outer surfaces of the first rotating roller 212-2 and the second rotating roller 212-3 are respectively provided with a water-absorbent material layer such as a water-absorbent sponge. The water absorbing material layer on the surface of each rotating roller can be one layer or multiple layers. The same rotating roller may be provided with two or more water-absorbent material layers. It should be understood by those skilled in the art that the first rotating roller 212-2 and the second rotating roller 212-3 are for convenience of illustration only and do not represent only one roller, respectively. For example, the first rotatable roller 212-2 may be understood as being comprised of two coaxial rollers secured to either side of the cleaning mechanism. Similarly, the second turning roller 212-3 can also be understood as being comprised of two coaxial rollers secured to either side of the cleaning mechanism. The gap between the first rotating roller 212-2 and the second rotating roller 212-3 is set to be equivalent to the thickness of the culture plate 320, and the outer surface of the culture plate 320 is cleaned by moving the culture plate 320 up and down between the first rotating roller 212-2 and the second rotating roller 212-3 by the clamp mechanism 221. After the cleaning is completed, the transfer robot 220 takes out the culture plate 320 by the clamp mechanism 221 and moves it to the next station.

Optionally, in an exemplary embodiment, a control cabinet is further arranged on the outer shell or the outer wall of the automatic measuring system, the control cabinet can comprise a CCD display screen, and an operator can observe the shooting condition at any time, such as operation and maintenance. The keyboard drawer can be opened for operation. Optionally, further include the switch board, its preferred box quantity that sets up shows the interface, and operating personnel can look over at any time and need get and put the box, shows green under the full box condition, when the interface display is red, reminds operating personnel to get and put the box.

Optionally, in an exemplary embodiment, the automated measurement system of the present invention further comprises conventional instruments for quantifying at least the temperature, air, and light conditions within the culture zone, and the controller may further adjust the culture conditions based on the measurement results.

While the present invention has been described with reference to exemplary embodiments, it is to be understood that the invention is not limited to the disclosed exemplary embodiments. Many modifications and variations may be made to the exemplary embodiments of the present description without departing from the scope or spirit of the present invention. The scope of the claims is to be accorded the broadest interpretation so as to encompass all modifications and equivalent structures and functions.

Claims

1. A biomaterial evaluation system is characterized by comprising a culture area, a working area and an image processing system; wherein:

the culture area comprises at least one area for placing a culture box, the culture box comprises a bottom groove for containing water and at least one culture plate which is detachable from the bottom groove, each culture plate is respectively provided with at least one culture hole which is vertical to the bottom groove, and at least the culture holes in the culture plates are made of transparent materials, so that the internal condition of each culture hole can be observed from the outside of the culture plate;

the workspace includes the workstation and transports the robot, the workstation includes the transfer station, sprays the station and detects the station, the transfer station sets up to placing at least one cultivate box or at least one culture plate, it sets up to spraying water extremely to spray at this station to cultivate the inside in at least part cultivation hole of board, it can be right to detect the station the at least part of cultivation downthehole portion's of culture plate biomaterial is shot to acquire the image of biomaterial form, it sets up to being located to transport the robot the transfer station snatchs corresponding culture plate, moves extremely spray the station and/or detect the station.

2. The biomaterial evaluation system as claimed in claim 1, further comprising a pick and place mechanism configured to grasp a culture cassette or plate at a corresponding location in the culture zone for transfer to the work zone; or a culture box or a culture plate which is used for grabbing the working area is transported back to the culture area.

3. The biomaterial evaluation system as claimed in claim 2, wherein the pick and place mechanism comprises a driver and a forward and backward moving mechanism, an upward and downward moving mechanism, a leftward and rightward moving mechanism, a rotating mechanism, and a grasping portion.

4. A biomaterial evaluation system as claimed in claim 1 further comprising a housing and a base, the culture zone and the working zone being respectively provided in the same interior space, the culture zone comprising a plurality of vertically arranged cultivation sites, each cultivation site being for the placement of at least one culture cassette or at least one culture plate.

5. The biomaterial evaluation system as claimed in claim 1, wherein the transfer station is provided with a weight scale and a water replenishment mechanism, and the water replenishment mechanism is used for determining whether the culture box needs to be replenished with water according to data acquired by the weight scale, and replenishing water to the culture box or the culture plate when the water replenishment is needed.

6. The biomaterial evaluation system as claimed in claim 5, wherein the transfer stations include a first transfer station and a second transfer station, and at least one of the first transfer station and the second transfer station is provided with a weight scale.

7. The biomaterial evaluation system as claimed in claim 1, wherein the spray station comprises a spray slot for receiving a growth plate in a vertical manner and a surface cleaning mechanism for cleaning an outer surface of the growth plate.

8. A biomaterial evaluation system as claimed in claim 7, wherein the surface cleaning mechanism comprises at least two oppositely disposed rotating rollers, the surfaces of which are provided with a layer of water absorbing material.

9. The biomaterial evaluation system as claimed in claim 1, wherein the detection station comprises a detection slot allowing a growth plate to vertically enter and exit the detection zone and a photographing camera for photographing the detection zone.