WO2021104107A1

WO2021104107A1 - Microorganism culturing and movement automatic tracking system and method

Info

Publication number: WO2021104107A1
Application number: PCT/CN2020/129401
Authority: WO
Inventors: 傅雄飞; 苏颖彤; 黄术强; 李思宏; 祁飞; 朱伟; 唐钰轩; 张易
Original assignee: 深圳先进技术研究院
Priority date: 2019-11-29
Filing date: 2020-11-17
Publication date: 2021-06-03
Also published as: CN112877199A

Abstract

Disclosed are a microorganism culturing and movement automatic tracking system and method. The system comprises a monitoring subsystem and a culturing subsystem, wherein the monitoring subsystem comprises an object carrying tray and an image collection element; the culturing subsystem comprises a closed incubator, a temperature and humidity measurer, a temperature and humidity controller, a heating apparatus and a humidification apparatus; the object carrying tray, the image collection element and the temperature and humidity measurer are arranged inside the incubator, and the temperature and humidity controller, the heating apparatus and the humidification apparatus are arranged outside the incubator; and the temperature and humidity controller is used for controlling the operating states of the heating apparatus and the humidification apparatus according to the temperature and humidity in the incubator that are measured by the temperature and humidity measurer in real time. According to the present invention, a temperature and humidity controllable incubator is built to provide a stable environment for the long-term culture of microorganisms, and except for a necessary image collection element, all instruments are arranged outside the temperature and humidity controllable incubator as much as possible, such that the normal operation of all the instruments can be guaranteed, and an experimenter can directly perform operations and activities outside the incubator without affecting the environment inside the incubator.

Description

Microorganism cultivation and movement automatic tracking system and method

Technical field

The invention relates to the technical field of microbial monitoring, in particular to a system and method for microbial cultivation and movement automatic tracking.

Background technique

The mechatronics system is a modern mechanical system that uses the information processing and program control capabilities of the computer to complete mechanical movements and actions. The emergence of mechatronics systems benefited from the rapid development of electronic technology and computer technology, as well as the penetration of scientific and technological exchanges. This system organically combines the micro-integration of electronic technology and the sophisticated intelligence of computer technology, which promotes the traditional industry to become intelligent and automated. , The change in the direction of environmental protection has greatly improved the level of industrial technology. After decades of development, China has made significant progress in the research and application of mechatronics systems. At present, it is widely used in the fields of CNC machine tools, intelligent manufacturing, computer integrated manufacturing systems and industrial robots. It is the key to many high-tech industries. basis.

Microorganisms are a large group of microorganisms including bacteria, fungi, viruses, rickettsiae, mycoplasma, chlamydia, spirochetes, protists, and single-celled algae. Although most microorganisms are difficult to distinguish with the naked eye, there are many kinds of microorganisms. The number is huge, and the relationship with humans is very close. Scientists' research on microorganisms involves all aspects of human life and production, and has achieved many beneficial results, such as the use of electricity-producing microorganisms to develop biofuel cells, the transformation of probiotics to help the human body fight pathogenic bacteria and treat tumors, and the use of microbial fermentation technology for efficient production Cannabinoids are used in the treatment of diseases such as epilepsy and immune hepatitis. In the process of conducting microbial research, researchers often need to monitor and record the growth of microorganisms in real time. This process is often time-consuming and cumbersome to operate. Manual operation will inevitably increase the error of experimental results, so it needs to be more automated And intelligent mechanical equipment to assist scientific research. Applying the integrated system of the organism to some simple and repetitive operation processes in biological experiments not only greatly improves the repeatability and accuracy of the experiment, but also reduces the time and economic costs of research, and promotes biological research to engineering and automation The direction of development.

In the prior art, some people use sensors to detect the position of the moving bacteria carrier, and use a camera to take pictures of the bacteria at the detection position. When it is detected that the bacteria carrier is in the shooting field of view of the camera, the bacteria carrier is controlled to suspend the movement and take pictures. After the picture is taken, the bacteria carrier is controlled to continue to move. However, in theory, the cultivation of microorganisms requires a constant temperature and humidity environment, and the device needs to be in a specially designed greenhouse to achieve its function. However, the temperature of the greenhouse is easily affected by the entry and exit of the experimenter, and the humidity environment in the greenhouse will be seriously affected The normal operation of computers and instruments makes it difficult to truly realize the environment required for microbial cultivation, and it is impossible to accurately monitor the growth of microorganisms.

technical problem

In view of the shortcomings of the prior art, the present invention provides a microbial cultivation and movement automatic tracking system and method close to an ideal environment, which can accurately monitor the growth of microbes and is beneficial to smooth microbial research.

Technical solutions

In order to achieve the above objectives, the present invention adopts the following technical solutions:

An automatic tracking system for microorganism cultivation and movement, including a monitoring subsystem and a cultivation subsystem;

The monitoring subsystem includes a carrier plate for carrying a microbial culture dish and an image acquisition element for acquiring images of the microorganisms in the culture dish;

The culture subsystem includes a closed incubator, a temperature and humidity detector, a temperature and humidity controller, a heating device, and a humidification device. The carrier plate, the image acquisition element, and the temperature and humidity detector are provided in the culture Inside the box, the temperature and humidity controller, the heating device and the humidifying device are arranged outside the incubator;

The temperature and humidity controller is electrically connected to the temperature and humidity detector, the heating device, and the humidification device at the same time, and is configured to control the temperature and humidity in the incubator according to the temperature and humidity in the incubator detected in real time by the temperature and humidity detector. The operating state of the heating device and the humidifying device.

As one of the embodiments, the culture subsystem further includes a hot air pipe and a non-reverse fan; the incubator includes an air inlet and an air outlet, and the heating device and the humidifying device are simultaneously connected to the hot air pipe through the hot air pipe. The air inlet and the air outlet are in communication; the air inlet and the air outlet of the incubator are each provided with a non-reverse fan, and the non-reverse fan on the side of the air inlet is used for Air is sucked into the incubator, and the non-return fan on the side of the air outlet is used to suck air out of the incubator.

As one of the embodiments, the culture subsystem includes a porous air inlet plate arranged in the incubator, the air inlet plate is directly opposite and close to the air inlet hole, and is blocked between the air inlet hole and the air inlet. Between the loading trays.

As one of the embodiments, the air outlet is closer to the bottom surface of the incubator than the air inlet.

As one of the embodiments, at least one side of the incubator is also provided with a door for opening and closing.

As one of the embodiments, the carrier disk is rotatably arranged on the bottom surface of the incubator around its center, and the carrier disk is provided with a plurality of places for placing petri dishes at intervals along its circumference. Slots, during the rotation of the carrier plate, each placement slot is in turn directly opposite to the image collection element above.

As one of the implementation manners, the monitoring subsystem further includes a closed-loop stepping motor and a rotating table that are connected to each other, the carrier plate is fixedly carried on the rotating table, and the closed-loop stepping motor drives the rotating table. The table drives the carrier plate to rotate.

As one of the implementations, the monitoring subsystem further includes a light strip arranged in a ring on the bottom of the incubator for illuminating the petri dish, and the center of the viewing area of the image acquisition element is directly on the bottom surface of the incubator. The projection and the orthographic projection of the center of the light strip on the bottom surface of the incubator overlap, and the light strip includes multiple groups of sub-light strips that display different colors at different times.

As one of the embodiments, the monitoring subsystem further includes a cover plate fixed on the incubator and suspended above the light strip, the cover plate includes an annular light-transmitting channel, and the light strip is located in the The orthographic projection of the bottom surface of the incubator surrounds the orthographic projection of the light-transmitting channel on the bottom surface of the incubator; the cover is shielded between the light strip and the tray, and emits from the light strip The light covers the petri dish directly below the image acquisition element, and is irradiated to the outside of the image acquisition element without irradiating the image acquisition element.

Another object of the present invention is to provide a microorganism cultivation and movement automatic tracking method of the above-mentioned microorganism cultivation and movement automatic tracking system, including:

Real-time detection of temperature and humidity in the incubator;

When the temperature and/or humidity in the incubator do not meet the requirements, change the operating status of the heating device and/or humidifying device;

When the temperature and humidity in the incubator meet the requirements, the image acquisition element is used to obtain the image of the microorganisms in the petri dish on the carrier plate.

Beneficial effect

The present invention detects the temperature and humidity in the incubator in real time through the temperature and humidity detector, and uses the heating device and the humidifying device to control the operation status of the heating device and the humidifying device according to the detection result, builds an incubator that can control temperature and humidity, and provides microorganisms In a stable environment for long-term cultivation, except for the necessary image acquisition components, all instruments should be placed outside the temperature and humidity control incubator as much as possible to ensure the normal operation of all instruments, and experimenters can operate and move directly outside the incubator Without affecting the environment in the incubator, it is convenient to carry out researches such as motion tracking and photographing of microorganisms.

Description of the drawings

Figure 1 is a schematic structural diagram of an incubator according to an embodiment of the present invention;

Figure 2 is a schematic diagram of the structure of a culture subsystem according to an embodiment of the present invention;

Figure 3 is a schematic structural diagram of the main components of a monitoring subsystem of an embodiment of the present invention;

4 is a block diagram of the working principle of the cultivation subsystem of the embodiment of the present invention;

Fig. 5 is a working principle diagram of the microorganism cultivation and movement automatic tracking system according to an embodiment of the present invention.

Embodiments of the present invention

In order to make the objectives, technical solutions, and advantages of the present invention clearer, the following further describes the present invention in detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present invention, but not used to limit the present invention.

Referring to Figures 1 and 2, the microorganism cultivation and movement automatic tracking system of the embodiment of the present invention includes a monitoring subsystem 1 and a cultivation subsystem 2 and a main control center (not shown) connecting the two. The main control center is used for After the environment in the culture sub-system 2 meets the requirements, the monitoring sub-system 1 is controlled to work. The monitoring sub-system 1 mainly includes a carrier plate 11 for carrying a microbial culture dish (not shown) and for obtaining microorganisms in the culture dish. The image acquisition component 12 of the image, the culture subsystem 2 mainly includes a closed incubator 20, a temperature and humidity detector 21, a temperature and humidity controller 22, a heating device 23, and a humidification device 24. The carrier plate 11, the image acquisition element 12, and the temperature and humidity detector 21 are arranged in the incubator 20, the temperature and humidity controller 22, the heating device 23, and the humidification device 24 are arranged outside the incubator 20, and the temperature and humidity controller 22 is electrically connected at the same time The temperature and humidity detector 21, the heating device 23, and the humidifying device 24 are used to control the operation status of the heating device 23 and the humidifying device 24 according to the temperature and humidity in the incubator 20 detected by the temperature and humidity detector 21 in real time.

Here, the image acquisition element 12 is a device/structure with an image acquisition function, for example, a camera, an image sensor and other electronic components or electronic products with a photographing function, which are used to face the petri dish on the carrier plate 11 to photograph the corresponding Microbial images for further study.

The image acquisition element 12 for taking microbial images is located in the incubator 20. In this way, the temperature and humidity in the incubator are detected in real time by the temperature and humidity detector, and the heating device and the humidifying device are used to control the heating device and the humidifying device according to the detection result. In the running state, an incubator that can control temperature and humidity is built to provide a stable environment for long-term cultivation of microorganisms. In addition to the necessary image acquisition components, all the instruments that are not necessarily located in the incubator are set outside the temperature and humidity control incubator, which can ensure the normal operation of all the instruments, and the experimenters can directly operate and move outside the incubator. Affect the environment in the incubator, the image acquisition element above the tray can directly take pictures of the petri dish in the opposite position, ensuring that the internal environment of the incubator is not disturbed.

Specifically, as shown in FIG. 2, the culture subsystem 2 further includes a hot air pipe 25 connected to the incubator 20 and a non-return fan 26 installed in the incubator 20. The incubator 20 includes an air inlet 201 and an air outlet 202. , The heating device 23 and the humidifying device 24 are connected to the air inlet 201 and the air outlet 202 through the hot air pipe 25 at the same time, and a non-return fan is provided inside each of the air inlet 201 and the air outlet 202 of the incubator 20 26. The non-return fan 26 on the side of the air inlet 201 is used to draw air into the incubator 20, and the non-return fan 26 on the side of the air outlet 202 is used to draw air to the outside of the incubator 20, and the airflow can enter from the air inlet 201. And it exits from the air outlet 202 without backflow, which realizes the circulating flow of gas in the incubator. The heating device 23 can adjust the temperature in the incubator 20 by adjusting the temperature of the air passing through the hot air pipe 25 when necessary, and the humidifying device 24 can adjust the incubator 20 by adjusting the humidity of the air passing into the hot air pipe 25 when necessary. Humidity inside.

As shown in Figure 4, the present invention also provides a method for microbial cultivation and automatic movement tracking:

When the system is working, the temperature and humidity detector 21 detects the temperature and humidity in the incubator 20 in real time;

When the temperature and humidity detector 21 detects that the temperature and/or humidity conditions in the incubator 20 do not meet the experimental requirements, the temperature and humidity controller 22 controls the heating device 23 and/or the humidifying device 24 to operate; at this time, the heating device 23 and /Or the humidifying device 24 correspondingly adjusts the temperature and/or humidity environment in the incubator 20 through the air introduced into the hot air pipe 25 to meet the experimental requirements;

When the temperature and humidity in the incubator 20 meet the requirements, and the heating device 23 and the humidifying device 24 stop working, the main control center issues a control instruction to instruct the monitoring subsystem 1 to start working, and the image acquisition component 12 to perform the next step of acquisition The action of the image of microorganisms in the petri dish on the tray 11.

The incubator 20 is designed to have a substantially rectangular parallelepiped structure. At least one side of the incubator 20 is also provided with a door 204 for opening and closing. The door 204 can put the culture dish into the carrier tray 11 or take it out from the carrier tray 11. The incubator 20 The sidewalls of the S2 are also provided with outlet holes 203, and the outlet holes 203 can be used for various wires to pass through.

As shown in Figure 2, the incubator 20 is in a top view state, the air inlet 201 is far from the door 204 of the incubator 20 and is closer to the back of the incubator 20, and the air outlet 202 is closer to the incubator 20 than the air inlet 201 The bottom surface makes the hot air introduced from the top fill the incubator 20 sequentially from top to bottom and then is discharged from the air outlet 202 below, so as to achieve a uniform temperature air environment in the incubator 20.

Furthermore, the culture subsystem 2 of this embodiment includes a porous air inlet plate 27 arranged in the incubator 20. The air inlet plate 27 is opposite to and close to the air inlet 201, and is blocked between the air inlet 201 and the carrier plate. Between 11. Preferably, the four sides of the air inlet plate 27 are in contact with the inner wall of the incubator 20, and the incubator 20 is divided into two left and right cavity parts. In the porous air inlet plate 27, air holes are arranged on the air inlet plate 27 in an array. The air entering the incubator 20 from the air inlet 201 passes through the air inlet plate 27 and the air flow is more uniform and stable, thereby ensuring that the air environment in the incubator 20 is full and the air flow is gentle, and the impact on microorganisms is minimized.

As shown in FIG. 3, the monitoring subsystem 1 includes a base 13, a connected closed-loop stepper motor 14 and a rotating table 15, and a light strip 16 in addition to a carrier plate 11 and an image acquisition component 12. The base 13 is fixed on the bottom surface of the incubator 20, and can also be integrally formed with the bottom surface of the incubator 20. The image acquisition element 12 is fixed on the base 13 through a bracket. The carrier plate 11 is in the shape of a disc. A plurality of placement grooves 110 (6 in this embodiment are taken as an example) for placing petri dishes are provided circumferentially at intervals. The centers of these placement grooves 110 are arranged on a circle concentric with the carrier plate 11, and the carrier plate 11 It is rotatably arranged on the bottom surface of the incubator 20 around its center, and during the rotation of the carrier plate 11, the placement grooves 110 alternately face the upper image acquisition element 12, that is, the image acquisition element 12 The orthographic projection of the center of the viewing zone on the tray 11 is located on the circle where the center of each placement slot 110 is located. As shown in FIG. 5, during the rotation of the tray 11, when one of the petri dishes rotates to a position directly below the image acquisition element 12, the tray 11 stops rotating, and the image acquisition element 12 takes pictures of the microorganisms in the petri dish After the photo is taken, the tray 11 continues to rotate until the next petri dish rotates to a position directly below the image capture element 12, the tray 11 stops rotating, and the image capture element 12 takes pictures again..., and so on. After the last photo is taken, the petri dish will stay in the incubator for a period of time, and then take photos and record again to compare the growth status.

In order to realize the precise rotation and positioning of the carrier plate 11, so as to accurately ensure the work coordination between the image acquisition element 12 and the carrier plate 11 (the carrier plate 11 will take pictures when the rotation stops, and the carrier plate 11 will continue to rotate when the picture is completed), It is also considered that if a two-phase stepping motor is used, a Hall sensor is required to correct the position of the rotating turntable, and the sensitivity is not high. The monitoring subsystem 1 of this embodiment also has a closed-loop stepper motor 14 and a rotating table 15 connected to each other. The main control center is connected to the closed-loop stepper motor 14 to control the closed-loop stepper motor 14 to work. The carrier plate 11 is fixedly carried on the rotating table. At 15, the closed-loop stepping motor 14 drives the rotating table 15 to drive the carrier plate 11 to rotate and suspend.

In the method of microbial cultivation and automatic movement tracking, when the monitoring subsystem 1 is working, the closed-loop stepping motor 14 receives the command from the computer program of the main control center to drive the rotating table 15 to work, so that the carrier plate 11 is at a fixed speed and time. Rotate at intervals. Since the closed-loop stepper motor 14 has a feedback circuit for correcting the output, every time the carrier plate 11 rotates 360°, the main control center determines the phase corresponding to the rotor position according to the positioning position of the carrier plate 11 Conversion, thereby correcting the rotation of the closed-loop stepping motor 14. For example, the closed-loop stepper motor 14 rotates according to the number of steps set by the program and then stops. During this time, the carrier plate 11 drives one of the petri dishes to rotate to just below the image acquisition element 12, and the main control center controls the image acquisition element 12 to take pictures, and the picture is taken. After that, the closed-loop stepper motor 14 rotates again, and repeats this process. After completing the recording of the experimental objects in the six petri dishes on the carrier plate 11, the main control center determines that it is compatible with the rotor position according to the position feedback information of the closed-loop stepper motor 14. According to the feedback information, the next action of the closed-loop stepper motor 14 is corrected, so that there will be no deviation in the next rotation and positioning of the carrier plate 11, and the rotation and positioning accuracy of the closed-loop stepper motor 14 can be ensured.

In addition, the monitoring subsystem 1 also has a light source for compensating the light required for photographing. Specifically, the light source is formed as a ring-shaped lamp strip 16 arranged at the bottom of the incubator 20 for illuminating the culture dish, and the viewing area of the image acquisition element 12 The orthographic projection of the center on the bottom of the incubator 20 and the orthographic projection of the center of the light strip 16 on the bottom of the incubator 20 coincide. And considering that if only a light source of one wavelength is provided, it is impossible to track the movement of fluorescent microorganisms. Therefore, the light strip 16 of this embodiment has multiple sets of sub-light strips that display different colors at different times, so that The light strip 16 can be switched between different colors to emit light of different colors, and can detect the fluorescence signal of microorganisms. Preferably, the light strip 16 includes an LED light strip that can emit red light, blue light, and white light.

In order to realize the color switching of the light strip 16, the monitoring subsystem 1 includes a connected micro-chip and a relay. The relay is connected to the three-color light strip 16, and the sub-light strip that emits white light, red light or blue light is selectively used as the monitoring subsystem 1 Provide a light source when shooting and recording. The micro single-chip microcomputer controls the switch and color switching of the light strip 16 through the relay according to the command issued by the main control center. Each time, when the carrier plate 11 drives one of the petri dishes to rotate directly below the image capture element 12, the main control center controls the light strip 16 to switch among the three colors in turn, and controls the image capture element 12 to switch between the three colors. Shoot separately under light, and store the captured images for further analysis.

In addition, in this embodiment, a light-shielding cover plate 17 is provided above the light strip 16 to reduce the influence of direct light on the image collection element 12 and obtain a clear photographing effect. As shown in FIG. 3, the monitoring subsystem 1 has a cover plate 17 fixed on the incubator 20 and suspended above the light strip 16. The cover plate 17 includes an annular light-transmitting channel 170. The light strip 16 is on the bottom of the incubator 20. The orthographic projection is enclosed by the orthographic projection of the light-transmitting channel 170 on the bottom surface of the incubator 20; the cover plate 17 is shielded between the light strip 16 and the carrier plate 11, and the light emitted from the light strip 16 covers the light directly below the image acquisition element 12 The petri dish is irradiated to the outside of the image capturing element 12 without irradiating the image capturing element 12. Preferably, the center of the circle where the ring-shaped light transmission channel 170 is located, the center of the circle where the light strip 16 is located, and the center of the viewing area of the image capture element 12 are on the same vertical line.

The above are only specific implementations of this application. It should be pointed out that for those of ordinary skill in the art, without departing from the principles of this application, several improvements and modifications can be made, and these improvements and modifications are also Should be regarded as the scope of protection of this application.

Claims

An automatic tracking system for microorganism cultivation and movement, which is characterized in that it includes a monitoring subsystem (1) and a cultivation subsystem (2);

The monitoring subsystem (1) includes a carrier plate (11) for carrying a culture dish of microorganisms and an image acquisition element (12) for acquiring images of microorganisms in the culture dish;

The culture subsystem (2) includes a closed incubator (20), a temperature and humidity detector (21), a temperature and humidity controller (22), a heating device (23), and a humidifying device (24). (11) The image acquisition element (12), the temperature and humidity detector (21) are arranged in the incubator (20), the temperature and humidity controller (22), and the heating device (23) And the humidification device (24) is arranged outside the incubator (20);

The temperature and humidity controller (22) is electrically connected to the temperature and humidity detector (21), the heating device (23), and the humidification device (24) at the same time, so as to be used according to the temperature and humidity detector (21) The real-time detected temperature and humidity in the incubator (20) control the operating state of the heating device (23) and the humidifying device (24).
The microorganism cultivation and movement automatic tracking system according to claim 1, wherein the cultivation subsystem (2) further comprises a hot air pipe (25) and a non-return fan (26); the incubator (20) It includes an air inlet (201) and an air outlet (202). The heating device (23) and the humidifying device (24) pass through the hot air pipe (25) simultaneously with the air inlet (201) and the air outlet (202). The air outlet (202) is connected; the inside of the air inlet (201) and the air outlet (202) of the incubator (20) are each provided with a non-return fan (26), and the air inlet The non-return fan (26) on the side (201) is used to draw air into the incubator (20), and the non-return fan (26) on the side of the air outlet (202) is used to move toward the incubator (20). ) Exhaust air.
The microorganism cultivation and movement automatic tracking system according to claim 2, wherein the cultivation subsystem (2) comprises a porous air inlet plate (27) arranged in the incubator (20), and the The air inlet plate (27) is directly opposite and close to the air inlet hole (201), and is blocked between the air inlet hole (201) and the carrier plate (11).
The microorganism cultivation and movement automatic tracking system according to claim 2, wherein the air outlet (202) is closer to the bottom surface of the incubator (20) than the air inlet (201).
The microorganism cultivation and automatic movement tracking system according to claim 1, wherein at least one side of the incubator (20) is also provided with a door (204) for opening and closing.
The microorganism cultivation and movement automatic tracking system according to any one of claims 1 to 5, wherein the carrier plate (11) is rotatably arranged on the bottom surface of the incubator (20) around its center, and The carrier plate (11) is provided with a plurality of placement grooves (110) for placing petri dishes at intervals along its circumferential direction. During the rotation of the carrier plate (11), each placement groove (110) ) Directly face the upper image acquisition element (12) in turn.
The microbial cultivation and movement automatic tracking system according to claim 6, characterized in that the monitoring subsystem (1) further comprises a closed-loop stepping motor (14) and a rotating table (15) connected, the carrier plate (11) It is fixedly carried on the rotating table (15), and the closed-loop stepping motor (14) drives the rotating table (15) to drive the carrier plate (11) to rotate.
The microorganism cultivation and movement automatic tracking system according to claim 7, characterized in that, the monitoring subsystem (1) further comprises a light strip arranged annularly at the bottom of the incubator (20) for illuminating the culture dish (16), the orthographic projection of the center of the viewing area of the image acquisition element (12) on the bottom surface of the incubator (20), and the orthographic projection of the center of the light strip (16) on the bottom surface of the incubator (20) The light strip (16) is overlapped, and the light strip (16) includes a plurality of groups of sub light strips that respectively display different colors at different times.
The microorganism cultivation and movement automatic tracking system according to claim 8, characterized in that, the monitoring subsystem (1) further comprises fixed on the incubator (20) and suspended above the light strip (16) The cover plate (17), the cover plate (17) includes an annular light-transmitting channel (170), and the orthographic projection of the light strip (16) on the bottom surface of the incubator (20) surrounds the light-transmitting channel (170) outside the orthographic projection of the bottom surface of the incubator (20); the cover plate (17) is shielded between the light strip (16) and the carrier plate (11), from the light strip (16) The emitted light covers the petri dish directly below the image acquisition element (12), and is irradiated to the outside of the image acquisition element (12) without irradiating the image acquisition element (12).
A method for microorganism cultivation and automatic movement tracking of the microorganism cultivation and movement automatic tracking system according to any one of claims 1-9, characterized in that it comprises:

Real-time detection of the temperature and humidity in the incubator (20);

When the temperature and/or humidity in the incubator (20) do not meet the requirements, change the operating state of the heating device (23) and/or the humidifying device (24);

When the temperature and humidity in the incubator (20) meet the requirements, the image acquisition element (12) is used to obtain the image of the microorganisms in the culture dish on the carrier plate (11).