阅读说明：本技术 培养箱及控制的方法、装置 (Incubator and control method and device ) 是由 黄华明 于 2020-05-22 设计创作，主要内容包括：本申请涉及智能设备技术领域,公开一种培养箱及控制的方法、装置。培养箱内胆中每个固定面上配置了加热器件,该方法包括：通过温度测量器件,获取所述培养箱的当前内胆温度,并得到所述当前内胆温度与设定温度之间的当前温度变差量；根据所述当前温度变差量,进行比例积分微分PID模糊控制,确定所述培养箱中每个加热器件对应的当前功率值；根据所述当前功率值,控制对应所述加热器件的运行。这样,对每个加热器件进行PID模糊控制,降低了培养箱内的温度出现过冲的几率,使得培养箱内的温度波动变小,提高了培养箱温度的稳定性。(The application relates to the technical field of intelligent equipment, and discloses an incubator, and a control method and device. Each fixed surface in the inner container of the incubator is provided with a heating device, and the method comprises the following steps: acquiring the current inner container temperature of the incubator by a temperature measuring device, and acquiring the current temperature variation between the current inner container temperature and the set temperature; according to the current temperature variation quantity, carrying out Proportional Integral Derivative (PID) fuzzy control, and determining a current power value corresponding to each heating device in the incubator; and controlling the operation of the corresponding heating device according to the current power value. Therefore, PID fuzzy control is carried out on each heating device, the probability of overshoot of the temperature in the incubator is reduced, the temperature fluctuation in the incubator is reduced, and the temperature stability of the incubator is improved.)

1. An incubator, comprising:

a main body heating device positioned on each fixed surface in the inner container of the incubator;

at least one temperature measuring device for measuring the temperature of the inner container of the incubator;

and the main control module is respectively connected with each main body heating device and each temperature measuring device in a circuit manner and is configured to carry out Proportional Integral Derivative (PID) fuzzy control on each main body heating device according to the current temperature variation under the condition that the current inner container temperature of the incubator is obtained through the temperature measuring devices and the current temperature variation between the current inner container temperature and the set temperature is obtained.

2. The incubator of claim 1, further comprising:

the door body heating device is positioned on the incubator door body;

and the main control module is also configured to perform PID fuzzy control on the door body heating device according to the current temperature variation amount.

3. The incubator according to claim 1 or 2, further comprising:

the set gas electromagnetic valve is connected with the main control module through a circuit;

a gas concentration detection device which is connected with the main control module circuit and measures the set gas concentration in the incubator;

the main control module is further configured to perform PID fuzzy control on the set gas electromagnetic valve according to the current gas concentration difference under the condition that the current gas concentration of the set gas of the incubator is obtained through the gas concentration detection device and the current gas concentration difference between the current gas concentration and the set gas concentration is obtained.

4. An incubator as claimed in claim 1 or 2, characterised in that the heating means comprises heating wires having a power rating range comprising: 200- > 300 watts.

5. A method of incubator control, wherein the incubator is as claimed in any one of claims 1 to 4, the method comprising:

acquiring the current inner container temperature of the incubator by a temperature measuring device, and acquiring the current temperature variation between the current inner container temperature and the set temperature;

according to the current temperature variation quantity, carrying out Proportional Integral Derivative (PID) fuzzy control, and determining a current power value corresponding to each heating device in the incubator;

and controlling the operation of the corresponding heating device according to the current power value.

6. The method of claim 5, wherein the determining the current power value for each heating device in the incubator comprises:

determining a current control increment through a formula (1) according to the current temperature variation amount;

according to the current control increment, carrying out Proportional Integral Derivative (PID) fuzzy control, and determining a current total power value corresponding to a heating device in the incubator;

distributing the current total power value according to a stored heating device power distribution strategy to obtain a current power value corresponding to each heating device;

Δu(k)＝q₀e(k)-q₁e(k-1)+q₂e(k-2) (1)

wherein, Δ u (k) is the current control increment, e (k) is the current temperature variation amount, e (k-1) is the previous temperature variation amount, e (k-2) is the previous two temperature variation amounts, q₀，q₁，q₂Are each a constant.

7. The method of claim 6, further comprising:

determining an operation sequence corresponding to each heating device according to a stored heating device power distribution strategy;

and controlling the operation of the corresponding heating devices according to the current power value and the operation sequence.

8. The method of claim 6, further comprising:

save e (k) as e (k-1), and save e (k-1) as e (k-2).

9. The method according to any of claims 5-8, further comprising:

acquiring the current gas concentration of the set gas of the incubator by a gas concentration detection device, and obtaining the current gas concentration difference between the current gas concentration and the set gas concentration;

according to the current gas concentration difference, performing Proportional Integral Derivative (PID) fuzzy control to determine a current opening value of a set gas electromagnetic valve corresponding to the set gas in the incubator;

and controlling the operation of the gas electromagnetic valve according to the current opening value.

10. An incubator controlled apparatus comprising a processor and a memory storing program instructions, characterised in that the processor is configured, when executing the program instructions, to perform the method of any one of claims 5 to 9.

Technical Field

The application relates to the technical field of intelligent equipment, for example to an incubator, and a control method and device.

Background

In the biomedical field, there is a need for an apparatus for in vitro cell/tissue culture, i.e., an incubator, that requires a stable temperature, a stable gas concentration, and a high relative saturation humidity. However, at present, only a single heating device is arranged in an incubator, so that the temperature balance in the incubator is difficult to guarantee, and the stability of the temperature may not be high enough according to the process of controlling the heating device by the temperature, and the temperature needs to be improved.

Disclosure of Invention

The following presents a simplified summary in order to provide a basic understanding of some aspects of the disclosed embodiments. This summary is not an extensive overview nor is intended to identify key/critical elements or to delineate the scope of such embodiments but rather as a prelude to the more detailed description that is presented later.

The embodiment of the disclosure provides an incubator, and a control method and device thereof, so as to solve the technical problem that the stability of the incubator needs to be improved.

In some embodiments, the incubator comprises:

a main body heating device positioned on each fixed surface in the inner container of the incubator;

at least one temperature measuring device for measuring the temperature of the inner container of the incubator;

and the main control module is respectively connected with each main body heating device and each temperature measuring device in a circuit manner and is configured to carry out Proportional Integral Derivative (PID) fuzzy control on each main body heating device according to the current temperature variation under the condition that the current inner container temperature of the incubator is obtained through the temperature measuring devices and the current temperature variation between the current inner container temperature and the set temperature is obtained.

In some embodiments, the method comprises:

acquiring the current inner container temperature of the incubator by a temperature measuring device, and acquiring the current temperature variation between the current inner container temperature and the set temperature;

according to the current temperature variation quantity, carrying out Proportional Integral Derivative (PID) fuzzy control, and determining a current power value corresponding to each heating device in the incubator;

and controlling the operation of the corresponding heating device according to the current power value.

In some embodiments, the incubator-controlled apparatus includes a processor and a memory storing program instructions, the processor being configured to, upon execution of the program instructions, perform the apparatus method of incubator control described above.

The incubator, the control method and the control device provided by the embodiment of the disclosure can realize the following technical effects:

can all dispose heating device on every stationary plane in the incubator inner bag to, according to the difference between measured temperature and the settlement temperature, carry out PID fuzzy control to every heating device, reduced the probability that the temperature in the incubator appears overshooting, make the temperature fluctuation in the incubator diminish, improved the stability of incubator temperature.

The foregoing general description and the following description are exemplary and explanatory only and are not restrictive of the application.

Drawings

One or more embodiments are illustrated by way of example in the accompanying drawings, which correspond to the accompanying drawings and not in limitation thereof, in which elements having the same reference numeral designations are shown as like elements and not in limitation thereof, and wherein:

FIG. 1 is a schematic structural diagram of an incubator according to an embodiment of the present disclosure;

FIG. 2 is a schematic flow chart of a method for controlling an incubator according to an embodiment of the present disclosure;

FIG. 3 is a schematic structural diagram of an incubator according to an embodiment of the present disclosure;

FIG. 4 is a schematic flow chart diagram of a method for controlling an incubator according to an embodiment of the present disclosure;

FIG. 5 is a schematic structural diagram of an incubator control apparatus according to an embodiment of the present disclosure;

fig. 6 is a schematic structural diagram of an incubator control device according to an embodiment of the present disclosure.

Detailed Description

So that the manner in which the features and elements of the disclosed embodiments can be understood in detail, a more particular description of the disclosed embodiments, briefly summarized above, may be had by reference to the embodiments, some of which are illustrated in the appended drawings. In the following description of the technology, for purposes of explanation, numerous details are set forth in order to provide a thorough understanding of the disclosed embodiments. However, one or more embodiments may be practiced without these details. In other instances, well-known structures and devices may be shown in simplified form in order to simplify the drawing.

In the embodiment of the disclosure, each fixed surface in the inner container of the incubator can be provided with a heating device, and PID fuzzy control is carried out on each heating device according to the difference between the measured temperature and the set temperature, so that the probability of overshoot of the temperature in the incubator is reduced, the temperature fluctuation in the incubator is reduced, and the temperature stability of the incubator is improved. And PID fuzzy control can be performed on the gas control electromagnetic valve according to the difference between the measured gas concentration and the set concentration, so that the overshoot probability of the gas concentration in the incubator is reduced, the fluctuation of the gas concentration in the incubator is reduced, and the stability of the gas concentration in the incubator is improved.

Fig. 1 is a schematic structural diagram of an incubator according to an embodiment of the present disclosure. As shown in fig. 1, the incubator comprises: a main control module 110, a main body heating device 120 positioned on each fixed surface in the inner container of the incubator, and at least one temperature measuring device 130 for measuring the temperature of the inner container of the incubator.

In this embodiment, the incubator can be a cube, a cuboid or other shape, and generally includes two or more fixed surfaces and a movable door. For example: when the incubator is a cube or a cuboid, generally, the inner container of the incubator has five fixed surfaces, namely an upper fixed surface, a lower fixed surface, a left fixed surface, a right fixed surface and a back fixed surface, and the front surface can be a movable door body.

A heating device is arranged on each fixed surface in the inner container of the incubator, for example: a heating wire. Therefore, the heating device is arranged in each of the plurality of surfaces, so that the heating uniformity of the incubator can be guaranteed. The main body heating device on each fixed surface in the inner container of the incubator can be connected with a main control module circuit in the incubator, and the incubator is also provided with at least one temperature measuring device which is connected with the main control module circuit and can measure the temperature of the inner container, for example: two PT1000 temperature sensors, one of which is a master temperature measuring device and the other of which is a slave temperature measuring device.

In this way, the main control module 110 is electrically connected to each of the main body heating devices 120 and each of the temperature measuring devices 130, so that the temperature measuring devices 130 can be configured to obtain the current inner container temperature of the incubator and perform PID fuzzy control on each of the main body heating devices 120 according to the current temperature variation amount under the condition that the current temperature variation amount between the current inner container temperature and the set temperature is obtained, thereby reducing the overshoot probability of the temperature in the incubator, reducing the temperature fluctuation in the incubator, and improving the temperature stability of the incubator.

Because the door of the incubator is movable and has a high relative saturation humidity within the incubator, such that condensation may be generated by the door movement, in some embodiments, the incubator may further comprise: and the door body heating device is connected with the main control module circuit and is positioned on the incubator door body. Therefore, the main control module controls the door body heating device, can perform power compensation independent of the door body, can control the main body heating device and the door body heating device, enables the temperature in the incubator to be constant, and reduces condensation. And the incubator can comprise a door body heating device positioned on the incubator door body, and the main control module can be further configured to perform PID fuzzy control on the door body heating device according to the current temperature variation amount.

In some embodiments, the incubator is an apparatus for culturing cells/tissues in vitro at a stable temperature, a stable gas concentration, and a high relative saturation humidity, and thus, the concentration of the set gas can also be controlled, i.e., the incubator can further comprise: the set gas electromagnetic valve is connected with the main control module through a circuit; and the gas concentration detection device is connected with the main control module circuit and is used for measuring the set gas concentration in the incubator. Thus, the main control module may be further configured to perform PID fuzzy control on the set gas electromagnetic valve according to the current gas concentration difference when the current gas concentration of the set gas of the incubator is obtained by the gas concentration detection device and the current gas concentration difference between the current gas concentration and the set gas concentration is obtained.

Incubators may require a steady concentration of CO₂、O₂And the like, each gas pipe or gas tank can be connected with the main control module through a corresponding electromagnetic valve, and a corresponding gas concentration detection device is arranged in the incubator, so that the gas concentration checked by the main control module circuit through the gas concentration detection device is different from the set gas concentration, and the corresponding electromagnetic valve is subjected to proportional-integral-derivative PID fuzzy control, thereby reducing the overshoot probability of the gas concentration in the incubator, reducing the fluctuation of the gas concentration in the incubator, and improving the stability of the gas concentration in the incubator.

Of course, still can dispose the fan that makes the temperature even in the incubator, realize modules such as communication module of data communication, specifically just not the one-tenth, after having disposed the incubator, can control the incubator, realize the invariant of temperature, gas concentration.

Fig. 2 is a schematic flow chart of an incubator control method according to an embodiment of the present disclosure. As shown in fig. 2, the process of incubator control includes:

step 201: and acquiring the current inner container temperature of the incubator by using a temperature measuring device, and acquiring the current temperature variation between the current inner container temperature and the set temperature.

As described above, one, two or more temperature measuring devices are configured in the incubator, and the current inner container temperature of the incubator can be obtained from any one temperature measuring device; or, one temperature measuring device is designated as a main temperature measuring device, the other temperature measuring device is designated as a slave temperature measuring device, the current inner container temperature of the incubator can be obtained through the main temperature measuring device when temperature acquisition is carried out each time, and the current inner container temperature of the incubator can be obtained through the slave temperature measuring device when the main temperature measuring device fails; or, acquiring the corresponding inner container temperature through each temperature measuring device, and determining the average value of the inner container temperatures as the current inner container temperature of the incubator. The method for obtaining the current temperature of the inner container of the incubator is various, and is not limited specifically.

After the current inner container temperature is obtained, the current temperature variation amount between the current inner container temperature and the set temperature can be obtained. For example: k is the current sample, the current temperature variance amount is e (k), the temperature is set to r (k), and the current bladder temperature is c (k), so that e (k) r (k) -c (k).

Step 202: and performing Proportional Integral Derivative (PID) fuzzy control according to the current temperature variation amount, and determining the current power value corresponding to each heating device in the incubator.

And obtaining the current temperature variation amount e (k), namely determining the current control increment through a formula (1) according to the current temperature variation amount.

Δu(k)＝q₀e(k)-q₁e(k-1)+q₂e(k-2) (1)

Wherein, Δ u (k) is the current control increment, e (k) is the current temperature variation amount, e (k-1) is the previous temperature variation amount, e (k-2) is the previous two temperature variation amounts, q₀，q₁，q₂Are each a constant.

Then, according to the current control increment delta u (k), proportional integral derivative PID fuzzy control is carried out, and the current total power value corresponding to the heating device in the incubator is determined. Then, the current total power value can be distributed according to the stored power distribution strategy of the heating devices, and the current power value corresponding to each heating device is obtained.

In the embodiment of the present disclosure, the main body heating device on each fixed surface in the inner container of the incubator, i.e. two or more main body heating devices are provided in the incubator, for example: there may be five fixed surfaces in the square incubator, top, bottom, left, right and back, thus, there are five body heating devices. In some embodiments, the door heating device is further disposed on the door in the incubator, and six heating devices may be disposed in the square incubator. Due to the different locations of the heating devices, the contribution to the heating and temperature stability is also not exactly the same, for example: the heating devices at the bottom will contribute more to the temperature than the top heaters, while the corresponding heating devices at the left, right and back side contribute more or less to the temperature. Of course, if a door heating device is present, the contribution of the door heating device to the temperature is also different due to the franchise of the door. Therefore, in the embodiment of the present disclosure, the heating device power distribution strategy may be configured and saved in advance according to the position of each heating device. Wherein the heating device power allocation strategy may include: the power distribution proportion. Therefore, the current total power value can be distributed according to the stored power distribution strategy of the heating devices, and the current power value corresponding to each heating device is obtained.

In some embodiments, the heating device power allocation strategy may include not only: the power distribution ratio may further include: power compensation, sequence of operation, etc. Then, the corresponding operation sequence of each heating device can be determined according to the stored power distribution strategy of the heating devices; and controlling the operation of the heating device according to the current power value and the operation sequence.

Table 1 is a corresponding relationship between a heating device position and a heating device power distribution strategy provided in the embodiments of the present disclosure.

Position of heating device	Heating device power distribution strategy
		Bottom part	Power distribution ratio A%, power compensation value alpha, first operation sequence
Left part, right part and back part	Power distribution proportion B%, power compensation value beta, second operation sequence
		Top part	Power distribution proportion C%, power compensation value gamma, and third operation sequence
Door body	Power distribution proportion D%, power compensation value mu, fourth operation sequence

TABLE 1

In table 1, it is needless to say that the values of a% + 3B% + C% + D% are 100%, A, B, C, D, and the values of α, β, γ, μ, and the like, which are all disposed and stored after a plurality of tests, are not necessarily the same depending on the set temperature, i.e., different set temperatures. The order of operation of each heating device may be the same or different. According to table 1, the heating device control in the incubator can be divided into four ways, the heating devices respectively corresponding to the bottom, the top and the door body, and the way consisting of the left part, the right part and the back in parallel. Thus, after determining the current total power value Φ corresponding to the heating device in the incubator by PID fuzzy control, the power of the bottom heating device can be determined to be Φ × a% + α according to the corresponding heating device power distribution strategy in table 1, and the operation is performed first. And the power corresponding to the heating devices on the left part, the right part and the back part is phi x B% + beta, and the operation is carried out after the set time. And the door body can carry out independent compensation, namely the power of the door body can be determined to be phi x D% + mu.

The power distribution strategy of the heating devices can be configured and maintained in advance, the power distributed by each heating device and the heating time are not necessarily the same, and therefore, the uniformity of the temperature in the incubator can be guaranteed. The door body heating device is independently controlled and carries out power compensation, the influence of door opening disturbance temperature is reduced, and the generation of condensation can be reduced.

Step 203: and controlling the operation of the corresponding heating device according to the current power value.

And determining the current power value of each heating device, namely controlling the operation of the corresponding heating device. For example: and after controlling the bottom heating device to operate at the power of phi A% + alpha for a first set time, continuously controlling the heating devices at the left part, the right part and the back part to operate at the power of phi B% + beta.

Therefore, in the embodiment, PID fuzzy control can be performed on the heating devices on different surfaces according to the difference value between the measured temperature and the set temperature, so that the probability of overshoot of the temperature in the incubator is reduced, the temperature fluctuation in the incubator is reduced, and the stability of the temperature in the incubator is improved

Because the incubator continuously collects the current inner container temperature of the incubator, the temperature in the incubator is controlled in real time, and therefore, after the operation of the heating device is controlled according to the current power value, e (k) is stored as e (k-1), and e (k-1) is stored as e (k-2). Thus, the temperature control can be continuously carried out in real time.

Of course, the incubator is a device for culturing cells/tissues in vitro under the conditions of stable temperature, stable gas concentration and high relative saturation humidity, so that the concentration of the set gas can be controlled, and therefore, in some embodiments, the current gas concentration of the set gas in the incubator is obtained through the gas concentration detection device, and the current gas concentration difference between the current gas concentration and the set gas concentration is obtained; according to the current gas concentration difference, carrying out Proportional Integral Derivative (PID) fuzzy control, and determining the current opening value of a set gas electromagnetic valve corresponding to the set gas in the incubator; and controlling the operation of the gas electromagnetic valve according to the current opening value. The PID fuzzy control can be carried out on the corresponding electromagnetic valve according to the difference between the detected gas concentration and the set gas concentration, so that the overshoot probability of the gas concentration in the incubator can be reduced, the fluctuation of the gas concentration in the incubator is reduced, and the stability of the gas concentration in the incubator is improved. The specific PID fuzzy control may be similar to the PID fuzzy control of the temperature described above, except that the specific control increments are different.

The following operational flow is integrated into the specific embodiment to illustrate the incubator control process provided by the embodiment of the present invention.

In an embodiment of the present disclosure, fig. 3 is a schematic structural diagram of an incubator provided in the embodiment of the present disclosure. As shown in fig. 3, the heating wire is adhered to five surfaces of the inner container of the main control module 310, the bottom heating wire 320 is connected to one port of the main control module 310 through the corresponding thyristor, the left, right and back heating wires 320 form a group of circuits and are connected to one port of the main control module 310 through the corresponding thyristor, and the top heating wire 320 is connected to one port of the main control module 310 through the corresponding thyristor. In addition, the door body is also provided with a heating wire 320, and is also connected with one port of the main control module 310 through a corresponding thyristor. Namely, four heating wire control circuits are arranged in the incubator.

And, the temperature measuring devices are two PT1000 temperature sensors 330 respectively connected to the ports of the main control module 310. Meanwhile, the carbon dioxide solenoid valve 340 and the oxygen solenoid valve 350 are also respectively connected to the ports of the main control module 310, and the corresponding carbon dioxide concentration sensor 360 and the oxygen concentration sensor 370 are also respectively connected to the ports of the main control module 310. Other devices, such as fans, door switches, network communication connections, etc., are illustrated.

In this embodiment, the set temperature may be 37 ℃ and the set concentration of CO2 may be 5%, so that the main control module 310 configures and stores a power distribution policy of the heating device corresponding to the set temperature, which may be specifically shown in table 1. In addition, a PID parameter initial value of PID control is configured.

Because six heating wires are arranged in the incubator, if the rated power of the heating wires is overlarge, the current is too large under the condition of full-power heating, potential safety hazards exist, and if chopped wave control power is used, interference can be caused to a power grid. Therefore, the rated power of each heating wire is not excessively large, and the rated power range of the general heating wire comprises: 200 and 300 watts, so that the heating wire with two hundred watts is used, and the whole work is also one thousand watts. And because the power of the heating wire is reduced, the temperature is controlled more accurately, and large fluctuation can not be caused.

Fig. 4 is a schematic flow chart of an incubator control method according to an embodiment of the present disclosure. As shown in fig. 4, the process of incubator control includes:

step 401: and acquiring the current inner container temperature of the incubator and the current CO2 concentration value.

The current inner container temperature c (k) can be obtained by setting the main PT1000 temperature sensor 340, and the current CO2 concentration value n (k) can be obtained by the carbon dioxide concentration sensor 360.

Step 402: and obtaining the current temperature variation difference between the current inner container temperature and the set temperature and the current gas concentration difference between the current CO2 concentration value and the CO2 set concentration.

To yield e (k) ═ 37-c (k), and m (k) ═ 5-n (k).

Step 403: the current temperature control increment is determined, as well as the current CO2 control increment.

From equation (1), the current temperature control increment Δ u (k) may be determined. Likewise, the current CO2 control delta may be determined by a corresponding formula.

Step 404: and performing proportional integral derivative PID fuzzy control according to the current temperature control increment to determine the current total power value corresponding to the heating device in the incubator, and performing proportional integral derivative PID fuzzy control according to the current CO2 control increment to determine the current opening value of the CO2 electromagnetic valve in the incubator.

Step 405: and distributing the current total power value according to the stored power distribution strategy of the heating devices to obtain the current power value, the compensation power and the heating operation sequence corresponding to each heating device.

The stored corresponding relation between the positions of the heating devices and the power distribution strategy of the heating devices is shown in table 1, so that the current power value, the compensation power and the heating operation sequence of each heating wire are obtained, wherein the bottom heating wire and the door body heating wire operate simultaneously and perform power compensation, so that the temperature overshoot can be eliminated, and after the bottom heating wire and the door body heating wire operate for a certain time, the left heating wire, the right heating wire, the back heating wire and the top heating wire start to operate, so that the uniformity of the temperature in the incubator is ensured. And the independent control and compensation of the door body heating wire can reduce the generation of condensation. Through the control and the power compensation of the four heating wires, the time for opening the door and returning the temperature can be shortened, thereby improving the stability of the temperature in the incubator.

Step 406: and controlling the operation of the heating device according to the power distribution strategy corresponding to each heating wire, and controlling the operation of the CO2 electromagnetic valve according to the current opening value.

Step 407: and updating the current temperature variation amount to the previous temperature variation amount and storing the current temperature variation amount, and updating the current gas concentration variation amount to the previous gas concentration variation amount and storing the previous gas concentration variation amount.

E (k) may be saved as e (k-1) and e (k-1) may be saved as e (k-2). This is also true for the current gas concentration delta and is not further enumerated.

Therefore, in the embodiment, six heating wires are configured in the incubator, and four heating wire control circuits are formed, so that PID fuzzy control is performed on each heating wire according to the difference value between the measured temperature and the set temperature, the probability of overshoot of the temperature in the incubator is reduced, the temperature fluctuation in the incubator is reduced, and the temperature stability of the incubator is improved. And PID fuzzy control can be performed on the CO2 electromagnetic valve according to the difference between the measured CO2 concentration and the set concentration, so that the probability of overshoot of the CO2 concentration in the incubator is reduced, the fluctuation of the gas concentration in the incubator is reduced, and the stability of the gas concentration in the incubator is improved.

According to the above described incubator control process, an incubator control apparatus can be constructed.

Fig. 5 is a schematic structural diagram of an incubator control device according to an embodiment of the present disclosure. As shown in fig. 5, the incubator control apparatus includes: a temperature acquisition module 510, a first temperature control module 520, and a second temperature control module 530.

A temperature obtaining module 510 configured to obtain a current inner container temperature of the incubator through a temperature measuring device, and obtain a current temperature variation amount between the current inner container temperature and a set temperature;

and the first temperature control module 520 is configured to perform Proportional Integral Derivative (PID) fuzzy control according to the current temperature variation amount, and determine a current power value corresponding to each heating device in the incubator.

A second temperature control module 530 configured to control an operation of the corresponding heating device according to the current power value.

In some embodiments, the first temperature control module 520 is specifically configured to determine a current control increment from the current temperature variance amount by equation (1); according to the current control increment, carrying out proportional integral derivative PID fuzzy control, and determining the current total power value corresponding to the heating device in the incubator; distributing the current total power value according to the stored power distribution strategy of the heating devices to obtain the current power value corresponding to each heating device;

Δu(k)＝q₀e(k)-q₁e(k-1)+q₂e(k-2) (1)

wherein, Δ u (k) is the current control increment, e (k) is the current temperature variation amount, e (k-1) is the previous temperature variation amount, e (k-2) is the previous two temperature variation amounts, q₀，q₁，q₂Are each a constant.

In some embodiments, further comprising: the third temperature control module is configured to determine an operation sequence corresponding to each heating device according to the saved heating device power distribution strategy; and controlling the operation of the heating device according to the current power value and the operation sequence.

In some embodiments, further comprising: an update module configured to save e (k) as e (k-1) and e (k-1) as e (k-2).

In some embodiments, further comprising: the gas control module is configured to acquire the current gas concentration of the set gas of the incubator through the gas concentration detection device and obtain the current gas concentration difference between the current gas concentration and the set gas concentration; according to the current gas concentration difference, carrying out Proportional Integral Derivative (PID) fuzzy control, and determining the current opening value of a set gas electromagnetic valve corresponding to the set gas in the incubator; and controlling the operation of the gas electromagnetic valve according to the current opening value.

Therefore, in the embodiment, each fixing surface in the inner container of the incubator is provided with the heating device, and the incubator control device can perform PID fuzzy control on the heating devices according to the difference value between the measured temperature and the set temperature, so that the overshoot probability of the temperature in the incubator is reduced, the temperature fluctuation in the incubator is reduced, and the temperature stability of the incubator is improved. And PID fuzzy control can be carried out on the gas control electromagnetic valve according to the difference between the measured gas concentration and the set concentration, so that the probability of overshoot of the gas concentration in the incubator is reduced, the fluctuation of the gas concentration in the incubator is reduced, and the stability of the gas concentration in the incubator is improved.

The embodiment of the present disclosure provides an apparatus for controlling an incubator, which is structurally shown in fig. 6, and includes:

a processor (processor)100 and a memory (memory)101, and may further include a Communication Interface (Communication Interface)102 and a bus 103. The processor 100, the communication interface 102, and the memory 101 may communicate with each other via a bus 103. The communication interface 102 may be used for information transfer. Processor 100 may call logic instructions in memory 101 to perform the method of incubator control of the above-described embodiments.

In addition, the logic instructions in the memory 101 may be implemented in the form of software functional units and stored in a computer readable storage medium when the logic instructions are sold or used as independent products.

The memory 101, which is a computer-readable storage medium, may be used for storing software programs, computer-executable programs, such as program instructions/modules corresponding to the methods in the embodiments of the present disclosure. The processor 100 executes functional applications and data processing, i.e. the method of incubator control in the above-described method embodiments, by executing program instructions/modules stored in the memory 101.

The memory 101 may include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required for at least one function; the storage data area may store data created according to the use of the terminal device, and the like. In addition, the memory 101 may include a high-speed random access memory, and may also include a nonvolatile memory.

The embodiment of the disclosure provides an incubator, which comprises the incubator control device.

The disclosed embodiments provide a computer-readable storage medium storing computer-executable instructions configured to perform the above described incubator control method.

The disclosed embodiments provide a computer program product comprising a computer program stored on a computer readable storage medium, the computer program comprising program instructions which, when executed by a computer, cause the computer to perform the above described incubator control method.

The computer-readable storage medium described above may be a transitory computer-readable storage medium or a non-transitory computer-readable storage medium.

The technical solution of the embodiments of the present disclosure may be embodied in the form of a software product, where the computer software product is stored in a storage medium and includes one or more instructions to enable a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method of the embodiments of the present disclosure. And the aforementioned storage medium may be a non-transitory storage medium comprising: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes, and may also be a transient storage medium.

The above description and drawings sufficiently illustrate embodiments of the disclosure to enable those skilled in the art to practice them. Other embodiments may incorporate structural, logical, electrical, process, and other changes. The examples merely typify possible variations. Individual components and functions are optional unless explicitly required, and the sequence of operations may vary. Portions and features of some embodiments may be included in or substituted for those of others. The scope of the disclosed embodiments includes the full ambit of the claims, as well as all available equivalents of the claims. As used in this application, although the terms "first," "second," etc. may be used in this application to describe various elements, these elements should not be limited by these terms. These terms are only used to distinguish one element from another. For example, a first element could be termed a second element, and, similarly, a second element could be termed a first element, unless the meaning of the description changes, so long as all occurrences of the "first element" are renamed consistently and all occurrences of the "second element" are renamed consistently. The first and second elements are both elements, but may not be the same element. Furthermore, the words used in the specification are words of description only and are not intended to limit the claims. As used in the description of the embodiments and the claims, the singular forms "a", "an" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. Similarly, the term "and/or" as used in this application is meant to encompass any and all possible combinations of one or more of the associated listed. Furthermore, the terms "comprises" and/or "comprising," when used in this application, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof. Without further limitation, an element defined by the phrase "comprising an …" does not exclude the presence of other like elements in a process, method or apparatus that comprises the element. In this document, each embodiment may be described with emphasis on differences from other embodiments, and the same and similar parts between the respective embodiments may be referred to each other. For methods, products, etc. of the embodiment disclosures, reference may be made to the description of the method section for relevance if it corresponds to the method section of the embodiment disclosure.

Those of skill in the art would appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software may depend upon the particular application and design constraints imposed on the solution. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the disclosed embodiments. It can be clearly understood by the skilled person that, for convenience and brevity of description, the specific working processes of the system, the apparatus and the unit described above may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.

In the embodiments disclosed herein, the disclosed methods, products (including but not limited to devices, apparatuses, etc.) may be implemented in other ways. For example, the above-described apparatus embodiments are merely illustrative, and for example, the division of the units may be merely a logical division, and in actual implementation, there may be another division, for example, multiple units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form. The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to implement the present embodiment. In addition, functional units in the embodiments of the present disclosure may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit.

The flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to embodiments of the present disclosure. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). In some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. In the description corresponding to the flowcharts and block diagrams in the figures, operations or steps corresponding to different blocks may also occur in different orders than disclosed in the description, and sometimes there is no specific order between the different operations or steps. For example, two sequential operations or steps may in fact be executed substantially concurrently, or they may sometimes be executed in the reverse order, depending upon the functionality involved. Each block of the block diagrams and/or flowchart illustrations, and combinations of blocks in the block diagrams and/or flowchart illustrations, can be implemented by special purpose hardware-based systems that perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.