US-12617572-B2 - Fully automated filling line for tissue culture flasks and control method therefor

Abstract

The present disclosure provides a fully automated filling line for tissue culture flasks and a control method therefor. The line covers stations for material loading, flask loading, flask sorting, flask righting, degreasing, cleaning, filling, cap screwing, material unloading, transferring, sterilization, etc. Through the collaborative operation of a mechanical arm and a conveying line, an automatic processing flow of tissue culture flasks is achieved. The flask righting station accurately detects and processes a fallen flask through an image recognition algorithm. A visual detection mechanism includes steps of image collection, preprocessing, and feature extraction and matching, where camera parameters are optimized according to a conveying speed and a light intensity, image quality is improved through a composite filtering and correction algorithm, and a plurality of feature group vectors are extracted and input into a model to recognize a flask posture.

Inventors

• Guohong Yu
• Hang Zheng
• Xianglei Xue
• Yunxiang Ye
• Tian Liu
• Ning Ren

Assignees

• ZHEJIANG ACADEMY OF AGRICULTURAL SCIENCES

Dates

Publication Date

20260505

Application Date

20250624

Priority Date

20250108

Claims (19)

1. 1 . A fully automated filling line for tissue culture flasks, comprising: a material loading and conveying line, configured to input to-be-cleaned tissue culture flask boxes, wherein each of the tissue culture flask boxes comprises a material box and a tissue culture flask placed in the material box; a flask loading station, arranged at one side of a tail end of the material loading and conveying line and provided with a flask loading mechanical arm having a working range covering the tail end of the loading and conveying line and a flask sorting station, wherein the flask loading mechanical arm is configured to transfer the tissue culture flasks on the material loading and conveying line from the tissue culture flask boxes to the flask sorting station in batches; the flask sorting station, provided with a flask sorting apparatus and configured to temporarily accommodate the tissue culture flasks and sequentially input the tissue culture flasks into a flask righting station; the flask righting station, configured to detect the passing tissue culture flasks through an image recognition algorithm, mark the fallen tissue culture flask, and push the fallen tissue culture flask out through an execution component when the fallen tissue culture flask moves to a preset position; a degreasing station, provided with a degreasing apparatus, wherein the degreasing apparatus is arranged at an output end of the flask righting station and configured to receive the detected tissue culture flasks and perform degreasing on them; an external cleaning station, provided with an external cleaning apparatus, wherein the external cleaning apparatus is arranged at an output end of the degreasing apparatus and configured to receive the degreased tissue culture flasks and perform external cleaning on them; an internal cleaning station, provided with an internal cleaning apparatus, wherein the internal cleaning apparatus is arranged at an output end of the external cleaning apparatus and configured to receive the externally cleaned tissue culture flasks and perform internal cleaning on them; a filling station, provided with a filling apparatus, wherein the filling apparatus is arranged at an output end of the internal cleaning apparatus and configured to receive the internally cleaned tissue culture flasks and perform filling on them; a cap screwing station, provided with a cap screwing apparatus, wherein the cap screwing apparatus is arranged at an output end of the filling apparatus and configured to receive the filled tissue culture flasks and perform cap placing and screwing on them; a cap placing station, provided with a cap placing apparatus, wherein the cap placing apparatus is arranged at an input end of one side of the cap screwing apparatus and configured to provide caps for the tissue culture flasks; a box loading and conveying line, connected to the material loading and conveying line and configured to convey the material boxes from which the tissue culture flasks have been taken on the material loading and conveying line to one side of a transferring station so as to be taken away; a material unloading station, provided with a material unloading mechanical arm having a working range covering a tail end of the box loading and conveying line, the transferring station, and an output end of the cap placing apparatus, wherein the material unloading mechanical arm is configured to transfer the material boxes on the box loading and conveying line to the transferring station and transfer the tissue culture flasks after cap screwing in batches into the material boxes at the transferring station; the transferring station, provided with an automatic guided vehicle (AGV), wherein the material boxes filled with the tissue culture flasks are transferred to a sterilization station through the AGV; and the sterilization station, provided with a sterilization pot configured to sterilize the tissue culture flasks.
2. 2 . The fully automated filling line for tissue culture flasks according to claim 1 , wherein an additional flask righting station is arranged between the external cleaning station and the internal cleaning station.
3. 3 . The fully automated filling line for tissue culture flasks according to claim 1 , wherein the material boxes on the AGV are stacked in one or more layers.
4. 4 . The fully automated filling line for tissue culture flasks according to claim 1 , wherein the flask righting station comprises a conveying track, a visual detection mechanism arranged above the conveying track, an execution component arranged at one side of the conveying track, and an output track cooperating with the execution component; and the conveying track is provided with an opening in communication with an input opening at a top end of the output track, and the execution component is arranged at an opposite side of the opening.
5. 5 . The fully automated filling line for tissue culture flasks according to claim 4 , wherein a visual processing method carried by the visual detection mechanism specifically comprises the following steps: collecting an image; preprocessing the collected image; performing feature extraction and matching on the preprocessed image; and transmitting a matching result to the execution component.
6. 6 . The fully automated filling line for tissue culture flasks according to claim 5 , wherein in the collecting an image of the visual processing method, camera parameters are optimized in real time through a speed of the conveying track and an ambient light intensity, a shutter speed is reduced in a same proportion if the speed of the conveying track increases, and an International Standardization Organization (ISO) value is increased and an aperture is enlarged accordingly if the ambient light intensity decreases; and in the preprocessing, filtering is performed through an adaptive composite filtering framework, followed by an adaptive gamma correction Retinex algorithm to enhance flask contour texture sharpness, improve background separation clarity, and thus boost visual quality and processing efficiency of the image.
7. 7 . The fully automated filling line for tissue culture flasks according to claim 5 , wherein in the performing feature extraction and matching of the visual processing method, extracted features comprise shape features, texture features, and edge features; the shape features quantify flask regularity through measurement of a perimeter, an area, and circularity, the texture features evaluate surface texture complexity through computation of contrast, correlation, energy, and entropy using a gray level co-occurrence matrix, the edge features detect a flask posture through extraction of an edge contour using a Canny operator and fitting of a circle or a straight line using Hough transform; and then the shape features, the texture features, and the edge features are combined to construct vectors representing the flask's position and posture; and the matching is performed by inputting the vectors representing the flask's position and posture into a trained model, and outputting the matching result through the model, wherein the trained model is trained by marking image samples of upright and fallen tissue culture flasks.
8. 8 . The fully automated filling line for tissue culture flasks according to claim 6 , wherein in the performing feature extraction and matching of the visual processing method, extracted features comprise shape features, texture features, and edge features; the shape features quantify flask regularity through measurement of a perimeter, an area, and circularity, the texture features evaluate surface texture complexity through computation of contrast, correlation, energy, and entropy using a gray level co-occurrence matrix, the edge features detect a flask posture through extraction of an edge contour using a Canny operator and fitting of a circle or a straight line using Hough transform; and then the shape features, the texture features, and the edge features are combined to construct vectors representing the flask's position and posture; and the matching is performed by inputting the vectors representing the flask's position and posture into a trained model, and outputting the matching result through the model, wherein the trained model is trained by marking image samples of upright and fallen tissue culture flasks.
9. 9 . The fully automated filling line for tissue culture flasks according to claim 7 , wherein in the performing feature extraction and matching of the visual processing method, a contour pixel point set of the tissue culture flasks is recognized through an image contour detection algorithm, a contour is tracked through a chain code method, coding is performed according to a position relationship of adjacent pixel points, and a perimeter value is obtained through accumulation of coding lengths; based on the pixel points of the contour, the area is computed through a Green formula or an integral method; and according to the perimeter and the area, the circularity is computed according to a circularity formula.
10. 10 . The fully automated filling line for tissue culture flasks according to claim 7 , wherein in the performing feature extraction and matching of the visual processing method, the trained model is constructed and trained through a support vector machine or a convolutional neural network.
11. 11 . A control method for the fully automated filling line for tissue culture flasks according to claim 1 , comprising the following steps: S00, inputting the to-be-cleaned tissue culture flask boxes into the working range of the flask loading station through the material loading and conveying line, and transferring the tissue culture flasks to the flask sorting apparatus at the flask sorting station in batches through the flask loading mechanical arm at the flask loading station; and conveying, after the tissue culture flasks are completely removed from the material boxes of the tissue culture flask boxes, the material boxes to one side of the transferring station through the box loading and conveying line; S10, sequentially inputting the tissue culture flasks into the flask righting station through the flask sorting apparatus; and transferring the material boxes on the box loading and conveying line to the transferring station through the material unloading mechanical arm at the material unloading station; S20, detecting postures of the passing tissue culture flasks through the flask righting station, marking the fallen tissue culture flask, and pushing the fallen tissue culture flask out through the execution component when the fallen tissue culture flask moves to the preset position; S30, performing degreasing on the tissue culture flasks detected as qualified through the degreasing apparatus at the degreasing station; S40, performing external cleaning on the degreased tissue culture flasks through the external cleaning apparatus at the external cleaning station; S50, performing internal cleaning on the externally cleaned tissue culture flasks through the internal cleaning apparatus at the internal cleaning station; S60, performing filling on the internally cleaned tissue culture flasks through the filling apparatus at the filling station; S70, performing cap placing and screwing on the filled tissue culture flasks through the cap screwing apparatus at the cap screwing station, with caps provided by the cap screwing apparatus through the cap placing apparatus at the cap placing station; S80, transferring the tissue culture flasks after cap screwing to the material boxes at the transferring station in batches through the material unloading mechanical arm at the material unloading station; and S90, transferring the material boxes filled with the tissue culture flasks to the sterilization station through the AGV at the transferring station for sterilization.
12. 12 . A control method for the fully automated filling line for tissue culture flasks according to claim 2 , comprising the following steps: S00, inputting the to-be-cleaned tissue culture flask boxes into the working range of the flask loading station through the material loading and conveying line, and transferring the tissue culture flasks to the flask sorting apparatus at the flask sorting station in batches through the flask loading mechanical arm at the flask loading station; and conveying, after the tissue culture flasks are completely removed from the material boxes of the tissue culture flask boxes, the material boxes to one side of the transferring station through the box loading and conveying line; S10, sequentially inputting the tissue culture flasks into the flask righting station through the flask sorting apparatus; and transferring the material boxes on the box loading and conveying line to the transferring station through the material unloading mechanical arm at the material unloading station; S20, detecting postures of the passing tissue culture flasks through the flask righting station, marking the fallen tissue culture flask, and pushing the fallen tissue culture flask out through the execution component when the fallen tissue culture flask moves to the preset position; S30, performing degreasing on the tissue culture flasks detected as qualified through the degreasing apparatus at the degreasing station; S40, performing external cleaning on the degreased tissue culture flasks through the external cleaning apparatus at the external cleaning station; S50, performing internal cleaning on the externally cleaned tissue culture flasks through the internal cleaning apparatus at the internal cleaning station; S60, performing filling on the internally cleaned tissue culture flasks through the filling apparatus at the filling station; S70, performing cap placing and screwing on the filled tissue culture flasks through the cap screwing apparatus at the cap screwing station, with caps provided by the cap screwing apparatus through the cap placing apparatus at the cap placing station; S80, transferring the tissue culture flasks after cap screwing to the material boxes at the transferring station in batches through the material unloading mechanical arm at the material unloading station; and S90, transferring the material boxes filled with the tissue culture flasks to the sterilization station through the AGV at the transferring station for sterilization.
13. 13 . A control method for the fully automated filling line for tissue culture flasks according to claim 3 , comprising the following steps: S00, inputting the to-be-cleaned tissue culture flask boxes into the working range of the flask loading station through the material loading and conveying line, and transferring the tissue culture flasks to the flask sorting apparatus at the flask sorting station in batches through the flask loading mechanical arm at the flask loading station; and conveying, after the tissue culture flasks are completely removed from the material boxes of the tissue culture flask boxes, the material boxes to one side of the transferring station through the box loading and conveying line; S10, sequentially inputting the tissue culture flasks into the flask righting station through the flask sorting apparatus; and transferring the material boxes on the box loading and conveying line to the transferring station through the material unloading mechanical arm at the material unloading station; S20, detecting postures of the passing tissue culture flasks through the flask righting station, marking the fallen tissue culture flask, and pushing the fallen tissue culture flask out through the execution component when the fallen tissue culture flask moves to the preset position; S30, performing degreasing on the tissue culture flasks detected as qualified through the degreasing apparatus at the degreasing station; S40, performing external cleaning on the degreased tissue culture flasks through the external cleaning apparatus at the external cleaning station; S50, performing internal cleaning on the externally cleaned tissue culture flasks through the internal cleaning apparatus at the internal cleaning station; S60, performing filling on the internally cleaned tissue culture flasks through the filling apparatus at the filling station; S70, performing cap placing and screwing on the filled tissue culture flasks through the cap screwing apparatus at the cap screwing station, with caps provided by the cap screwing apparatus through the cap placing apparatus at the cap placing station; S80, transferring the tissue culture flasks after cap screwing to the material boxes at the transferring station in batches through the material unloading mechanical arm at the material unloading station; and S90, transferring the material boxes filled with the tissue culture flasks to the sterilization station through the AGV at the transferring station for sterilization.
14. 14 . A control method for the fully automated filling line for tissue culture flasks according to claim 4 , comprising the following steps: S00, inputting the to-be-cleaned tissue culture flask boxes into the working range of the flask loading station through the material loading and conveying line, and transferring the tissue culture flasks to the flask sorting apparatus at the flask sorting station in batches through the flask loading mechanical arm at the flask loading station; and conveying, after the tissue culture flasks are completely removed from the material boxes of the tissue culture flask boxes, the material boxes to one side of the transferring station through the box loading and conveying line; S10, sequentially inputting the tissue culture flasks into the flask righting station through the flask sorting apparatus; and transferring the material boxes on the box loading and conveying line to the transferring station through the material unloading mechanical arm at the material unloading station; S20, detecting postures of the passing tissue culture flasks through the flask righting station, marking the fallen tissue culture flask, and pushing the fallen tissue culture flask out through the execution component when the fallen tissue culture flask moves to the preset position; S30, performing degreasing on the tissue culture flasks detected as qualified through the degreasing apparatus at the degreasing station; S40, performing external cleaning on the degreased tissue culture flasks through the external cleaning apparatus at the external cleaning station; S50, performing internal cleaning on the externally cleaned tissue culture flasks through the internal cleaning apparatus at the internal cleaning station; S60, performing filling on the internally cleaned tissue culture flasks through the filling apparatus at the filling station; S70, performing cap placing and screwing on the filled tissue culture flasks through the cap screwing apparatus at the cap screwing station, with caps provided by the cap screwing apparatus through the cap placing apparatus at the cap placing station; S80, transferring the tissue culture flasks after cap screwing to the material boxes at the transferring station in batches through the material unloading mechanical arm at the material unloading station; and S90, transferring the material boxes filled with the tissue culture flasks to the sterilization station through the AGV at the transferring station for sterilization.
15. 15 . A control method for the fully automated filling line for tissue culture flasks according to claim 5 , comprising the following steps: S00, inputting the to-be-cleaned tissue culture flask boxes into the working range of the flask loading station through the material loading and conveying line, and transferring the tissue culture flasks to the flask sorting apparatus at the flask sorting station in batches through the flask loading mechanical arm at the flask loading station; and conveying, after the tissue culture flasks are completely removed from the material boxes of the tissue culture flask boxes, the material boxes to one side of the transferring station through the box loading and conveying line; S10, sequentially inputting the tissue culture flasks into the flask righting station through the flask sorting apparatus; and transferring the material boxes on the box loading and conveying line to the transferring station through the material unloading mechanical arm at the material unloading station; S20, detecting postures of the passing tissue culture flasks through the flask righting station, marking the fallen tissue culture flask, and pushing the fallen tissue culture flask out through the execution component when the fallen tissue culture flask moves to the preset position; S30, performing degreasing on the tissue culture flasks detected as qualified through the degreasing apparatus at the degreasing station; S40, performing external cleaning on the degreased tissue culture flasks through the external cleaning apparatus at the external cleaning station; S50, performing internal cleaning on the externally cleaned tissue culture flasks through the internal cleaning apparatus at the internal cleaning station; S60, performing filling on the internally cleaned tissue culture flasks through the filling apparatus at the filling station; S70, performing cap placing and screwing on the filled tissue culture flasks through the cap screwing apparatus at the cap screwing station, with caps provided by the cap screwing apparatus through the cap placing apparatus at the cap placing station; S80, transferring the tissue culture flasks after cap screwing to the material boxes at the transferring station in batches through the material unloading mechanical arm at the material unloading station; and S90, transferring the material boxes filled with the tissue culture flasks to the sterilization station through the AGV at the transferring station for sterilization.
16. 16 . A control method for the fully automated filling line for tissue culture flasks according to claim 6 , comprising the following steps: S00, inputting the to-be-cleaned tissue culture flask boxes into the working range of the flask loading station through the material loading and conveying line, and transferring the tissue culture flasks to the flask sorting apparatus at the flask sorting station in batches through the flask loading mechanical arm at the flask loading station; and conveying, after the tissue culture flasks are completely removed from the material boxes of the tissue culture flask boxes, the material boxes to one side of the transferring station through the box loading and conveying line; S10, sequentially inputting the tissue culture flasks into the flask righting station through the flask sorting apparatus; and transferring the material boxes on the box loading and conveying line to the transferring station through the material unloading mechanical arm at the material unloading station; S20, detecting postures of the passing tissue culture flasks through the flask righting station, marking the fallen tissue culture flask, and pushing the fallen tissue culture flask out through the execution component when the fallen tissue culture flask moves to the preset position; S30, performing degreasing on the tissue culture flasks detected as qualified through the degreasing apparatus at the degreasing station; S40, performing external cleaning on the degreased tissue culture flasks through the external cleaning apparatus at the external cleaning station; S50, performing internal cleaning on the externally cleaned tissue culture flasks through the internal cleaning apparatus at the internal cleaning station; S60, performing filling on the internally cleaned tissue culture flasks through the filling apparatus at the filling station; S70, performing cap placing and screwing on the filled tissue culture flasks through the cap screwing apparatus at the cap screwing station, with caps provided by the cap screwing apparatus through the cap placing apparatus at the cap placing station; S80, transferring the tissue culture flasks after cap screwing to the material boxes at the transferring station in batches through the material unloading mechanical arm at the material unloading station; and S90, transferring the material boxes filled with the tissue culture flasks to the sterilization station through the AGV at the transferring station for sterilization.
17. 17 . A control method for the fully automated filling line for tissue culture flasks according to claim 7 , comprising the following steps: S00, inputting the to-be-cleaned tissue culture flask boxes into the working range of the flask loading station through the material loading and conveying line, and transferring the tissue culture flasks to the flask sorting apparatus at the flask sorting station in batches through the flask loading mechanical arm at the flask loading station; and conveying, after the tissue culture flasks are completely removed from the material boxes of the tissue culture flask boxes, the material boxes to one side of the transferring station through the box loading and conveying line; S10, sequentially inputting the tissue culture flasks into the flask righting station through the flask sorting apparatus; and transferring the material boxes on the box loading and conveying line to the transferring station through the material unloading mechanical arm at the material unloading station; S20, detecting postures of the passing tissue culture flasks through the flask righting station, marking the fallen tissue culture flask, and pushing the fallen tissue culture flask out through the execution component when the fallen tissue culture flask moves to the preset position; S30, performing degreasing on the tissue culture flasks detected as qualified through the degreasing apparatus at the degreasing station; S40, performing external cleaning on the degreased tissue culture flasks through the external cleaning apparatus at the external cleaning station; S50, performing internal cleaning on the externally cleaned tissue culture flasks through the internal cleaning apparatus at the internal cleaning station; S60, performing filling on the internally cleaned tissue culture flasks through the filling apparatus at the filling station; S70, performing cap placing and screwing on the filled tissue culture flasks through the cap screwing apparatus at the cap screwing station, with caps provided by the cap screwing apparatus through the cap placing apparatus at the cap placing station; S80, transferring the tissue culture flasks after cap screwing to the material boxes at the transferring station in batches through the material unloading mechanical arm at the material unloading station; and S90, transferring the material boxes filled with the tissue culture flasks to the sterilization station through the AGV at the transferring station for sterilization.
18. 18 . A control method for the fully automated filling line for tissue culture flasks according to claim 8 , comprising the following steps: S00, inputting the to-be-cleaned tissue culture flask boxes into the working range of the flask loading station through the material loading and conveying line, and transferring the tissue culture flasks to the flask sorting apparatus at the flask sorting station in batches through the flask loading mechanical arm at the flask loading station; and conveying, after the tissue culture flasks are completely removed from the material boxes of the tissue culture flask boxes, the material boxes to one side of the transferring station through the box loading and conveying line; S10, sequentially inputting the tissue culture flasks into the flask righting station through the flask sorting apparatus; and transferring the material boxes on the box loading and conveying line to the transferring station through the material unloading mechanical arm at the material unloading station; S20, detecting postures of the passing tissue culture flasks through the flask righting station, marking the fallen tissue culture flask, and pushing the fallen tissue culture flask out through the execution component when the fallen tissue culture flask moves to the preset position; S30, performing degreasing on the tissue culture flasks detected as qualified through the degreasing apparatus at the degreasing station; S40, performing external cleaning on the degreased tissue culture flasks through the external cleaning apparatus at the external cleaning station; S50, performing internal cleaning on the externally cleaned tissue culture flasks through the internal cleaning apparatus at the internal cleaning station; S60, performing filling on the internally cleaned tissue culture flasks through the filling apparatus at the filling station; S70, performing cap placing and screwing on the filled tissue culture flasks through the cap screwing apparatus at the cap screwing station, with caps provided by the cap screwing apparatus through the cap placing apparatus at the cap placing station; S80, transferring the tissue culture flasks after cap screwing to the material boxes at the transferring station in batches through the material unloading mechanical arm at the material unloading station; and S90, transferring the material boxes filled with the tissue culture flasks to the sterilization station through the AGV at the transferring station for sterilization.
19. 19 . A control method for the fully automated filling line for tissue culture flasks according to claim 9 , comprising the following steps: S00, inputting the to-be-cleaned tissue culture flask boxes into the working range of the flask loading station through the material loading and conveying line, and transferring the tissue culture flasks to the flask sorting apparatus at the flask sorting station in batches through the flask loading mechanical arm at the flask loading station; and conveying, after the tissue culture flasks are completely removed from the material boxes of the tissue culture flask boxes, the material boxes to one side of the transferring station through the box loading and conveying line; S10, sequentially inputting the tissue culture flasks into the flask righting station through the flask sorting apparatus; and transferring the material boxes on the box loading and conveying line to the transferring station through the material unloading mechanical arm at the material unloading station; S20, detecting postures of the passing tissue culture flasks through the flask righting station, marking the fallen tissue culture flask, and pushing the fallen tissue culture flask out through the execution component when the fallen tissue culture flask moves to the preset position; S30, performing degreasing on the tissue culture flasks detected as qualified through the degreasing apparatus at the degreasing station; S40, performing external cleaning on the degreased tissue culture flasks through the external cleaning apparatus at the external cleaning station; S50, performing internal cleaning on the externally cleaned tissue culture flasks through the internal cleaning apparatus at the internal cleaning station; S60, performing filling on the internally cleaned tissue culture flasks through the filling apparatus at the filling station; S70, performing cap placing and screwing on the filled tissue culture flasks through the cap screwing apparatus at the cap screwing station, with caps provided by the cap screwing apparatus through the cap placing apparatus at the cap placing station; S80, transferring the tissue culture flasks after cap screwing to the material boxes at the transferring station in batches through the material unloading mechanical arm at the material unloading station; and S90, transferring the material boxes filled with the tissue culture flasks to the sterilization station through the AGV at the transferring station for sterilization.

Description

FIELD OF INVENTION The present disclosure relates to the technical field of tissue culture flask cleaning, particularly to a fully automated filling line for tissue culture flasks and a control method therefor. DESCRIPTION OF RELATED ARTS In industrial tissue culture production of seedlings of traditional Chinese medicinal herbs from Orchidaceae Juss. and flowers, a large amount of tissue culture flasks are required. To reduce costs, glass tissue culture flasks are generally used, which can be reused after cleaning. We have applied the patent CN117502244A, which discloses a heating, cleaning, and filling line for tissue culture containers. It includes a material loading station, a preheating station, a degreasing station, a tissue culture container cleaning station, a screwing station and a sorting station that are sequentially arranged. A conveying chain is arranged between adjacent stations. One side of the screwing station is provided with a cap conveying station. Tissue culture flasks are heated at the preheating station, such that culture media at bottoms of the flasks are liquefied. This step reduces adhesion of the culture media, simplifies the cleaning process of the culture media in the tissue culture flasks, minimizes blockages of sewer pipes, and mitigates environmental pollution. Cleaning efficiency and degreasing rates are improved through scraping of residual culture media in the tissue culture flasks after liquefaction at the degreasing station. Instead of manual cleaning, a machine can remove solid culture media attached to interiors of the culture flasks without hydraulic cleaning. In addition, production of the tissue culture flasks can be directly completed through fine cleaning and a filling station. Thus, work efficiency is improved, and intensity of manual operation, waste of water resources, and environmental pollution are reduced. However, the patent CN117502244A achieves full automation to a certain extent, but it still has some shortcomings in the degree of automation. Specifically, it is unable to deal with fallen flasks in a batch, which requires manual intervention in an early stage. Moreover, the tissue culture flasks fail to be automatically unloaded and transferred to a sterilization pot for sterilization. Thus, there is an urgent need for a new fully automated filling line for tissue culture flasks and a control method therefor to solve existing technical problems. SUMMARY OF THE PRESENT INVENTION Examples of the present disclosure provide a fully automated filling line for tissue culture flasks and a control method therefor, so as to solve problems in the prior art, such as insufficient automation and inability to implement fallen flask processing. A core technology of the present disclosure is mainly to upgrade and transform the original line, and implement more efficient fully automated filling of tissue culture flasks by providing an additional flask righting station and some additional apparatuses in combination with a new control method. In a first aspect, the present disclosure provides a fully automated filling line for tissue culture flasks. The fully automated filling line includes: a material loading and conveying line, configured to input to-be-cleaned tissue culture flask boxes, where each of the tissue culture flask boxes is filled with the tissue culture flask;a flask loading station, arranged at one side of a tail end of the material loading and conveying line and provided with a flask loading mechanical arm having a working range covering the tail end of the material loading and conveying line and a flask sorting station, where the flask loading mechanical arm is configured to transfer the tissue culture flasks on the material loading and conveying line from the tissue culture flask boxes to the flask sorting station in batches;the flask sorting station, provided with a flask sorting apparatus and configured to temporarily accommodate the tissue culture flasks and sequentially input the tissue culture flasks into a flask righting station;the flask righting station, configured to detect the passing tissue culture flasks through an image recognition algorithm, mark the fallen tissue culture flask, and push the fallen tissue culture flask out through an execution component when the fallen tissue culture flask moves to a preset position;a degreasing station, provided with a degreasing apparatus, where the degreasing apparatus is arranged at an output end of the flask righting station and configured to receive the detected tissue culture flasks and perform degreasing on them;an external cleaning station, provided with an external cleaning apparatus, where the external cleaning apparatus is arranged at an output end of the degreasing apparatus and configured to receive the degreased tissue culture flasks and perform external cleaning on them;an internal cleaning station, provided with an internal cleaning apparatus, where the internal cleaning apparatus is arrange