CN114646772A - Liquid sampling method, device and system - Google Patents

Abstract

The present invention provides a liquid sampling method, device and system. Wherein, the method includes: determining the target filling position of the liquid; determining the initial filling position of the pipetting needle of the liquid sampling system based on the target filling position; controlling the horizontal movement of the pipetting needle of the liquid sampling system; When moving horizontally to the initial position of filling, the pipetting needle is controlled to eject the liquid, and the pipetting needle is kept moving horizontally, so that the liquid is injected into the reaction vessel of the liquid sampling system in a parabolic trajectory. In this way, the action of liquid sample addition can be completed during the movement of the pipetting needle, which can effectively improve the sample addition efficiency, improve the sample addition accuracy, reduce the sample addition cost, and will not cause liquid splashing.

Description

Liquid sampling method, device and system

technical field

The present invention relates to the technical field of liquid filling for in vitro diagnosis, in particular to a liquid filling method, device and system.

Background technique

In vitro diagnosis refers to medical services that obtain clinical diagnostic information by testing human samples (blood, body fluids, etc.) outside the human body, and then judge diseases or body functions. In vitro diagnostic products are generally composed of diagnostic instruments and diagnostic reagents. Instruments can be divided into chemical analysis, microbiological analysis, immunochemical analysis, and liquid-phase chip multiplex analysis. The samples used in most of the instruments are liquid, and the diagnostic reagents used in the testing process and the supporting solutions such as cleaning solution and lysis solution are also liquid, so the accuracy of sample addition is very important.

The basic sample adding steps of the in vitro diagnostic system are: the control unit sends instructions to the pipetting mechanism as required, the pipetting mechanism drives the pipetting needle to the upper end of the reaction vessel and stops moving in the horizontal direction, and the pipetting mechanism further drives the pipetting needle vertically. When the liquid is injected into the reaction container, the liquid is injected. In order to save time, a higher initial injection speed will be given to the liquid injection. At this time, the liquid will quickly fill the inner cavity of the reaction container. After exiting the reaction container in the vertical direction, it continues to move in the horizontal direction. During the horizontal movement, the pipetting mechanism closes the liquid injection channel to prevent the liquid from splashing. If multiple groups of reaction vessels need to be injected with liquid, the above steps are repeated, the control sequence is complicated, the steps are numerous, and the total time consumption is long.

At the same time, higher requirements are also placed on the efficiency of sample addition. In the prior art, the sample addition channel is usually extended or the sample addition (liquid injection) speed is further increased to improve the sample addition efficiency. However, it inevitably brings new If the method of expanding the injection channel is adopted, the cost will increase significantly; if the method of increasing the injection speed is adopted, it may cause liquid splash and reduce the injection accuracy.

SUMMARY OF THE INVENTION

In view of this, the purpose of the present invention is to provide a liquid sample adding method, device and system, the liquid sample adding action is completed during the movement of the pipetting needle, which can effectively improve the sample adding efficiency, improve the sample adding accuracy, and reduce the amount of sample added. Sample cost, will not cause liquid splash.

In a first aspect, an embodiment of the present invention provides a liquid sampling method, which is applied to a liquid sampling system. The method includes: determining a target filling position of the liquid; Fill the initial position; control the horizontal movement of the pipette needle of the liquid sampling system; when the pipette needle moves horizontally to the filling initial position, control the pipette needle to eject the liquid, and keep the pipette needle to move horizontally, so that the liquid can be moved horizontally. The parabolic trajectory is injected into the reaction vessel of the liquid dosing system.

In a preferred embodiment of the present invention, the above-mentioned step of determining the initial filling position of the pipetting needle of the liquid sampling system based on the target filling position includes: determining the initial filling position of the pipetting needle of the liquid sampling system and the The horizontal distance of the target filling position; the initial filling position of the pipetting needle is determined based on the target filling position, the horizontal distance and the preset empirical correction value.

其中，Sx为水平距离，Vx为移液针朝向目标加注位置的水平速度，V_z为液体的初始移动速度，H_z为移液针的尾端与目标加注位置处的反应容器顶端的第一距离，g为重力加速度。In a preferred embodiment of the present invention, the above-mentioned step of determining the horizontal distance between the initial filling position of the pipetting needle of the liquid sample adding system and the target filling position includes: determining the pipetting of the liquid sample adding system by the following formula The horizontal distance between the initial filling position of the needle and the target filling position:

Among them, Sx is the horizontal distance, Vx is the horizontal speed of the pipette needle toward the target filling position, V _z is the initial moving speed of the liquid, and H _z is the distance between the end of the pipette needle and the top of the reaction vessel at the target filling position. The first distance, g is the acceleration of gravity.

In a preferred embodiment of the present invention, the above-mentioned step of determining the initial filling position of the pipetting needle based on the target filling position, the horizontal distance and a preset empirical correction value includes: using the following formula based on the target filling position , the horizontal distance and the preset empirical correction value to determine the initial position of the pipette needle: P _initial = P _target – S _X – M; where, P _initial is the initial position of the pipette needle, and P _target is the target Filling position, S _X is the horizontal distance, M is the preset empirical correction value.

In a preferred embodiment of the present invention, the above-mentioned empirical correction value is determined based on the droplet size of the liquid, the first distance, the initial moving speed and the horizontal speed.

In a preferred embodiment of the present invention, the above-mentioned liquid sample adding system further includes a reaction container group, and the reaction container group is a plurality of reaction containers arranged side by side; the method further includes: determining the target addition of each reaction container in the reaction container group. Injection position; determine whether each reaction vessel in the reaction vessel group performs the injection operation; determine the injection volume of each reaction vessel that performs the injection operation; control the movement of the pipette needle of the liquid sampling system; when the pipette needle moves to When the liquid injection operation is performed at the initial filling position of the first reaction container, the pipetting needle is controlled to eject the liquid in the injection volume of the first reaction container; when the pipetting needle moves to the filling position of the second reaction container that does not perform the liquid injection operation In the initial position, the control pipette needle does not eject liquid.

In a preferred embodiment of the present invention, the above-mentioned liquid sampling system further includes a liquid detection component, and the method further includes: determining whether there is a deviation in the liquid injection operation based on the liquid detection component; if so, adjusting the empirical correction value.

In a preferred embodiment of the present invention, the liquid sample adding system further includes an alarm component. After the step of determining whether there is a deviation in the liquid injection operation based on the liquid detection component, the method further includes: if so, sending an alarm signal through the alarm component.

In a preferred embodiment of the present invention, the liquid sample adding system further includes an optical detection mechanism, and the method further includes: detecting information of the liquid injected into the reaction vessel based on the optical detection mechanism.

In a second aspect, an embodiment of the present invention further provides a liquid sampling device, which is applied to a liquid sampling system. The device includes: a target filling position determination module for determining a target filling position of the liquid; a filling initial position determination module , which is used to determine the initial filling position of the pipetting needle of the liquid sampling system based on the target filling position; the liquid injection reaction vessel module is used to control the movement of the pipetting needle of the liquid sampling system; when the pipetting needle moves to the filling position At the initial position, the pipetting needle is controlled to eject the liquid, and the pipetting needle is kept moving, so that the liquid is injected into the reaction vessel of the liquid sampling system in a parabolic trajectory.

In a third aspect, an embodiment of the present invention further provides a liquid sampling system, including a processor and a memory, where the memory stores computer-executable instructions that can be executed by the processor, and the processor executes the computer-executable instructions to implement the above-mentioned liquid sampling steps of the method.

In a fourth aspect, an embodiment of the present invention further provides a computer-readable storage medium, where the computer-readable storage medium stores computer-executable instructions, and when the computer-executable instructions are invoked and executed by the processor, the computer-executable instructions cause the processor to Steps to implement the liquid dosing method described above.

The embodiments of the present invention have brought the following beneficial effects:

Embodiments of the present invention provide a liquid sample adding method, device and system, which can control the horizontal movement of the pipetting needle of the liquid sample adding system after determining the target liquid filling position and the initial filling position of the pipetting needle; When the liquid needle moves horizontally to the initial filling position, the pipetting needle is controlled to eject the liquid, and the pipetting needle is kept moving horizontally, so that the liquid is injected into the reaction vessel of the liquid sampling system in a parabolic trajectory. In this way, the action of liquid sample addition can be completed during the movement of the pipetting needle, which can effectively improve the sample addition efficiency, improve the sample addition accuracy, reduce the sample addition cost, and will not cause liquid splashing.

Additional features and advantages of the present disclosure will be set forth in the description that follows, or some may be inferred or unambiguously determined from the description, or may be learned by practicing the above-described techniques of the present disclosure.

In order to make the above-mentioned objects, features and advantages of the present disclosure more obvious and easy to understand, the preferred embodiments are exemplified below, and are described in detail as follows in conjunction with the accompanying drawings.

Description of drawings

In order to illustrate the specific embodiments of the present invention or the technical solutions in the prior art more clearly, the following briefly introduces the accompanying drawings that need to be used in the description of the specific embodiments or the prior art. Obviously, the accompanying drawings in the following description The drawings are some embodiments of the present invention. For those of ordinary skill in the art, other drawings can also be obtained based on these drawings without creative efforts.

Fig. 1 is the flow chart of a kind of liquid sample adding method provided in the embodiment of the present invention;

2 is a schematic diagram of a liquid sample adding system provided by an embodiment of the present invention;

3 is a schematic diagram of a sample adding process provided by an embodiment of the present invention;

FIG. 4 is a flowchart of another liquid sample adding method provided by an embodiment of the present invention;

5 is a schematic diagram of a method for adding liquid samples to a reaction vessel group according to an embodiment of the present invention;

6 is a schematic diagram of another method for adding liquid samples to a reaction vessel group provided in an embodiment of the present invention;

7 is a schematic structural diagram of a liquid sample adding device according to an embodiment of the present invention;

FIG. 8 is a schematic structural diagram of a liquid sample adding system according to an embodiment of the present invention.

icon:

10-liquid sampling system; 20-pipetting mechanism; 30-reaction container group to be added; 40-optical detection mechanism; 200-pipette; 201-hand; 202-infusion pump; 2000-in filling Pipette needle in initial position; 2001-pipette needle just above reaction vessel; 2002-liquid ejection trajectory; 100-memory; 101-processor; 102-bus; 103-communication interface.

Detailed ways

In order to make the purposes, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are part of the embodiments of the present invention, but not all of them. example. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

At present, the basic sample adding steps of the in vitro diagnostic system are: the control unit sends instructions to the pipetting mechanism as needed, the pipetting mechanism drives the pipetting needle to the upper end of the reaction container and stops moving in the horizontal direction, and the pipetting mechanism further drives the pipetting needle along the The liquid is injected vertically into the reaction container. In order to save time, a high initial injection speed will be given to the liquid injection. At this time, the liquid will quickly fill the inner cavity of the reaction container. After the liquid injection is completed, the pipetting needle First exit the reaction vessel in the vertical direction, and then continue to move in the horizontal direction. During the horizontal movement, the pipetting mechanism closes the liquid injection channel to prevent liquid splashing. If multiple groups of reaction vessels need to be injected with liquid, the above steps are repeated, the control sequence is complicated, the steps are numerous, and the total time consumption is long.

At the same time, higher requirements are also placed on the efficiency of sample addition. In the prior art, the sample addition channel is usually extended or the sample addition (liquid injection) speed is further increased to improve the sample addition efficiency. However, it inevitably brings new If the method of expanding the injection channel is adopted, the cost will increase significantly; if the method of increasing the injection speed is adopted, it may cause liquid splash and reduce the injection accuracy.

Based on this, the liquid sample adding method, device and system provided by the embodiments of the present invention can complete the sample adding action during the movement of the liquid injection needle, and can effectively improve the sample adding efficiency.

In order to facilitate the understanding of this embodiment, a liquid sample adding method disclosed in the embodiment of the present invention is first introduced in detail.

Example 1:

An embodiment of the present invention provides a liquid sample adding method, which can be applied to a liquid sample adding system; referring to a flowchart of a liquid sample adding method shown in FIG. 1 , the liquid sample adding method includes the following steps:

Step S102, determining the target filling position of the liquid.

The liquid in this embodiment can be understood as the liquid to be added to the reaction container of the liquid sample adding system, the liquid is preset in the pipetting needle, and the target filling position of the liquid can be understood as the position at the inlet of the reaction container.

Step S104, determining the initial filling position of the pipetting needle of the liquid sample filling system based on the target filling position.

Among them, a pipetting needle, also called a pipette and a pipetting gun, is a measuring tool that transfers liquid from the original container to another container within a certain range. It is widely used in biology, chemistry and other fields. The pipetting needle is generally fixed on the moving mechanism of the liquid sampling system, and moves with the movement of the moving mechanism. The initial position of the pipetting needle for filling is the position where the liquid injection operation is performed during the horizontal movement of the pipetting needle. The position where the liquid needle begins to eject liquid.

Step S106, control the pipetting needle of the liquid sampling system to move horizontally; when the pipetting needle moves horizontally to the initial filling position, control the pipetting needle to inject liquid, and keep the pipetting needle to move horizontally, so that the liquid follows a parabolic trajectory Inject into the reaction vessel of the liquid dosing system.

Control the movement of the pipetting needle of the liquid sampling system to keep the moving speed fixed; when the pipetting needle moves to the initial position of filling, control the pipetting needle to eject liquid; keep the pipetting needle continuing when the liquid is ejected from the pipetting needle move. Therefore, the liquid ejected at this time can be injected into the reaction container of the liquid sample adding system by a parabolic trajectory, so that the liquid sample adding action can be completed during the movement of the pipetting needle.

The embodiment of the present invention provides a liquid sample adding method, which can control the horizontal movement of the pipetting needle of the liquid sample adding system after determining the target filling position of the liquid and the initial filling position of the pipetting needle; when the pipetting needle moves horizontally When the initial position of filling is reached, the pipetting needle is controlled to eject the liquid, and the pipetting needle is kept to move horizontally, so that the liquid is injected into the reaction vessel of the liquid sampling system in a parabolic trajectory. In this way, the action of liquid sample addition can be completed during the movement of the pipetting needle, which can effectively improve the sample addition efficiency, improve the sample addition accuracy, reduce the sample addition cost, and will not cause liquid splashing.

Embodiment 2:

The embodiment of the present invention provides another liquid sample adding method, which is performed on the basis of the method provided in the above-mentioned embodiment. Referring to the schematic diagram of a liquid sample adding system shown in FIG. 2 , the liquid sample adding system 10 includes a pipetting mechanism 20 , a set of reaction containers to be sampled 30 , an optical detection mechanism 40 and a control mechanism, and the pipetting mechanism 20 includes a liquid pipetting mechanism 20 . Needle 200, gripper 201 and infusion pump 202.

Referring to the schematic diagram of a sample adding process in FIG. 3 , the pipetting needle 2000 in the initial position of adding moves horizontally and ejects the liquid, and the liquid can be ejected along the liquid ejection trajectory 2002 and finally falls into the reaction container. At this time, the liquid is pipetted The needle continues to move horizontally until the pipetting needle moves directly above the reaction vessel, that is, the pipetting needle 2001 in FIG. 3 that is directly above the reaction vessel.

Based on the above description, please refer to the flowchart of another liquid sample adding method shown in FIG. 4 , the liquid sample adding method includes the following steps:

Step S402, determining the target filling position of the liquid.

As shown in Fig. 2 and Fig. 3 , if the infusion pump receives an instruction from the control unit whether to add liquid, if the infusion pump is filled, the target filling position P target is determined, and the target filling position is P _target in Fig. 3 .

Step S404, determining the horizontal distance between the initial filling position of the pipetting needle of the liquid sample filling system and the target filling position.

Specifically, the horizontal distance between the initial filling position of the pipetting needle of the liquid sampling system and the target filling position can be determined by the following formula:

Among them, Sx is the horizontal distance, Vx is the horizontal speed of the pipette needle toward the target filling position, V _z is the initial moving speed of the liquid, and H _z is the distance between the end of the pipette needle and the top of the reaction vessel at the target filling position. The first distance, g is the acceleration of gravity. That is, the horizontal distance Sx can be calculated according to Vx, H _z and V _z . Generally speaking, Vx can be 0.1-1 m/s, V _z can be 0.1-1 m/s, and H _z can be 0.1-20 cm.

Step S406, determining the initial filling position of the pipetting needle based on the target filling position, the horizontal distance and the preset empirical correction value.

Specifically, the initial filling position of the pipetting needle can be determined based on the target filling position, the horizontal distance and the preset empirical correction value through the following formula: P _initial = P _target - S _X -M; where P _initial is The initial filling position of the pipetting needle, P _target is the target filling position, S _X is the horizontal distance, and M is the preset empirical correction value.

As shown in Figure 2 and Figure 3, after the pipetting mechanism drives the pipetting needle from P ₀ to the _initial position of P, the infusion pump shoots a predetermined volume of droplets at the speed of V _z , and then the pipetting needle continues to move in the current direction. The ejected droplets of predetermined volume are injected into the reaction vessel roughly in a parabolic trajectory to complete the liquid filling work. During this process, the pipetting mechanism can complete filling without stopping, saving time and improving efficiency.

Furthermore, the empirical correction value may be determined based on the droplet size of the liquid, the first distance H _z , the initial moving speed Vx and the horizontal speed V _z . Generally speaking, the droplet size can be 1-100 uL, and M in this embodiment can be 0.01-0.08.

Step S408, control the pipetting needle of the liquid sampling system to move horizontally; when the pipetting needle moves horizontally to the initial filling position, control the pipetting needle to inject liquid, and keep the pipetting needle to continue to move horizontally, so that the liquid follows a parabolic trajectory Inject into the reaction vessel of the liquid dosing system.

In addition, the liquid sampling system of this embodiment may further include a reaction container group, where the reaction container group is a plurality of reaction containers arranged side by side, and the above method further includes: determining a target filling position of each reaction container in the reaction container group; Determine whether each reaction vessel in the reaction vessel group performs the liquid injection operation; determine the liquid injection volume of each reaction container that performs the liquid injection operation; control the movement of the pipette needle of the liquid sampling system; When operating the initial filling position of the first reaction container, control the pipetting needle to shoot the liquid of the filling amount of the first reaction container; when the pipetting needle moves to the filling initial position of the second reaction container that does not perform the liquid filling operation , the control pipette needle does not eject liquid.

When filling the reaction vessel group (that is, multiple reaction vessels arranged side by side, such as 96-well plates), the above-mentioned liquid sampling system also has the function of flexibly selecting the liquid injection position. Taking the liquid injection 96-well plate as an example, the actual experiment In the case of chamber application, it is not necessary that every hole needs to be filled with liquid, and the amount of liquid injected into each hole is not necessarily the same. Completed in one injection.

Referring to the schematic diagram of a method of liquid sample addition of a reaction vessel group shown in FIG. 5 and the schematic diagram of another method of liquid sample addition of a reaction vessel group shown in FIG. 6 , during a certain sample addition process, if a certain microplate If the well does not need liquid injection, the pipetting mechanism will not send the liquid injection trigger command to the pump control unit when it moves to the liquid injection position of the point; When starting the injection position, according to the injection time of the pump direction, select the timing to send the injection command to the pump control unit in advance or later.

In addition, the above liquid sampling system further includes a liquid detection component, and the above method further includes: determining whether there is a deviation in the liquid injection operation based on the liquid detection component; if so, adjusting the empirical correction value.

Further, an automatic correction system for the initial liquid injection position is also provided. In addition to the above mechanisms, a liquid detection component (such as a liquid sensor) is also provided between the reaction container groups. When it is assembled, the control unit judges whether the deviation is pre-injection or post-injection according to the feedback signal of the liquid detection component. If it is pre-injected, the empirical correction value M is increased, and if it is post-injected, the empirical correction value M is decreased. Optional , each time the change to the empirical correction value is 0.01. This setting allows the system to automatically correct after a fault occurs, without the need for maintenance personnel to debug the equipment at the first time.

In addition, the above-mentioned liquid sampling system further includes an alarm component. After the step of determining whether there is a deviation in the liquid injection operation based on the liquid detection component, the above-mentioned method further includes: if so, sending an alarm signal through the alarm component. That is, when the liquid detection component detects liquid, an alarm signal is issued, and the operator and equipment maintenance personnel are notified in time.

In addition, the above liquid sample adding system further includes an optical detection mechanism, and the above method further includes: detecting information of the liquid injected into the reaction container based on the optical detection mechanism. The optical detection mechanism is used to detect the information of the liquid in the reaction container, and the information may include the type and volume of the liquid, so as to judge whether the liquid injection operation is successfully performed.

Embodiment three:

Corresponding to the above method embodiments, an embodiment of the present invention provides a liquid sample adding device, which is applied to a liquid sample adding system. As shown in FIG. 7 , a schematic structural diagram of a liquid sample adding device includes:

a target filling position determination module 71, configured to determine the target filling position of the liquid;

an initial filling position determination module 72, configured to determine the initial filling position of the pipetting needle of the liquid sampling system based on the target filling position;

The liquid injection reaction container module 73 is used to control the horizontal movement of the pipetting needle of the liquid sample adding system; when the pipetting needle moves horizontally to the initial position of filling, the pipetting needle is controlled to inject liquid, and the pipetting needle continues to move horizontally, The liquid is injected into the reaction vessel of the liquid sampling system in a parabolic trajectory.

The embodiment of the present invention provides a liquid sample adding device, which can control the horizontal movement of the pipetting needle of the liquid sample adding system after determining the target filling position of the liquid and the initial filling position of the pipetting needle; when the pipetting needle moves horizontally When the initial position of filling is reached, the pipetting needle is controlled to eject the liquid, and the pipetting needle is kept to move horizontally, so that the liquid is injected into the reaction vessel of the liquid sampling system in a parabolic trajectory. In this way, the action of liquid sample addition can be completed during the movement of the pipetting needle, which can effectively improve the sample addition efficiency, improve the sample addition accuracy, reduce the sample addition cost, and will not cause liquid splashing.

The above-mentioned filling initial position determination module is used to determine the horizontal distance between the filling initial position of the pipetting needle of the liquid sampling system and the target filling position; it is determined based on the target filling position, the horizontal distance and the preset empirical correction value. The initial filling position of the pipette needle.

其中，Sx为水平距离，Vx为移液针朝向目标加注位置的水平速度，V_z为液体的初始移动速度，H_z为移液针的尾端与目标加注位置处的反应容器顶端的第一距离，g为重力加速度。The above-mentioned initial filling position determination module is used to determine the horizontal distance between the initial filling position of the pipetting needle of the liquid sampling system and the target filling position through the following formula:

Among them, Sx is the horizontal distance, Vx is the horizontal speed of the pipette needle toward the target filling position, V _z is the initial moving speed of the liquid, and H _z is the distance between the end of the pipette needle and the top of the reaction vessel at the target filling position. The first distance, g is the acceleration of gravity.

The above-mentioned filling initial position determination module is used to determine the filling initial position of the pipetting needle based on the target filling position, the horizontal distance and the preset empirical correction value through the following formula: P _initial = P _target - S _X - M ; where P is the _initial filling position of the pipetting needle, P _target is the target filling position, S _X is the horizontal distance, and M is a preset empirical correction value.

The above empirical correction value is determined based on the droplet size of the liquid, the first distance, the initial moving speed and the horizontal speed.

The above-mentioned liquid sampling system also includes a reaction container group, which is a plurality of reaction containers arranged side by side; the above-mentioned device also includes a reaction container group liquid sampling module for determining the target addition of each reaction container in the reaction container group. Injection position; determine whether each reaction vessel in the reaction vessel group performs the injection operation; determine the injection volume of each reaction vessel that performs the injection operation; control the movement of the pipette needle of the liquid sampling system; when the pipette needle moves to When the liquid injection operation is performed at the initial filling position of the first reaction container, the pipetting needle is controlled to eject the liquid in the injection volume of the first reaction container; when the pipetting needle moves to the filling position of the second reaction container that does not perform the liquid injection operation In the initial position, the control pipette needle does not eject liquid.

The above-mentioned liquid sampling system further includes a liquid detection component, and the above-mentioned apparatus further includes an empirical correction value adjustment module, which is used to determine whether there is a deviation in the liquid injection operation based on the liquid detection component; if so, adjust the empirical correction value.

The above-mentioned liquid sampling system further includes an alarm assembly, and the above-mentioned device further includes an alarm module for, if so, to issue an alarm signal through the alarm assembly.

The above-mentioned liquid sample adding system further includes an optical detection mechanism, and the above-mentioned device further includes an optical detection module for detecting the information of the liquid injected into the reaction container based on the optical detection mechanism.

The liquid sample adding device provided by the embodiment of the present invention has the same technical features as the liquid sample adding method provided by the above-mentioned embodiment, so it can also solve the same technical problem and achieve the same technical effect.

Embodiment 4:

The embodiment of the present invention further provides a liquid sample adding system for running the above liquid sample adding method; refer to the schematic structural diagram of a liquid sample adding system shown in FIG. 8 , the liquid sample adding system includes a memory 100 and a processor 101, wherein the memory 100 is used to store one or more computer instructions, and the one or more computer instructions are executed by the processor 101 to implement the above-mentioned liquid sampling method.

Further, the liquid sampling system shown in FIG. 8 further includes a bus 102 and a communication interface 103 , and the processor 101 , the communication interface 103 and the memory 100 are connected through the bus 102 .

The memory 100 may include a high-speed random access memory (RAM, Random Access Memory), and may also include a non-volatile memory (non-volatile memory), such as at least one disk memory. The communication connection between the network element of the system and at least one other network element is implemented through at least one communication interface 103 (which may be wired or wireless), which may use the Internet, a wide area network, a local network, a metropolitan area network, and the like. The bus 102 may be an ISA bus, a PCI bus, an EISA bus, or the like. The bus can be divided into address bus, data bus, control bus and so on. For ease of presentation, only one bidirectional arrow is used in FIG. 8, but it does not mean that there is only one bus or one type of bus.

The processor 101 may be an integrated circuit chip with signal processing capability. In the implementation process, each step of the above-mentioned method may be completed by an integrated logic circuit of hardware in the processor 101 or an instruction in the form of software. The above-mentioned processor 101 may be a general-purpose processor, including a central processing unit (CPU for short), a network processor (NP for short), etc.; it may also be a digital signal processor (Digital Signal Processor, DSP for short) , Application Specific Integrated Circuit (ASIC for short), Field-Programmable Gate Array (FPGA for short) or other programmable logic devices, discrete gate or transistor logic devices, and discrete hardware components. Various methods, steps, and logical block diagrams disclosed in the embodiments of the present invention can be implemented or executed. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like. The steps of the method disclosed in conjunction with the embodiments of the present invention may be directly embodied as executed by a hardware decoding processor, or executed by a combination of hardware and software modules in the decoding processor. The software modules may be located in random access memory, flash memory, read-only memory, programmable read-only memory or electrically erasable programmable memory, registers and other storage media mature in the art. The storage medium is located in the memory 100, and the processor 101 reads the information in the memory 100, and completes the steps of the methods in the foregoing embodiments in combination with its hardware.

Embodiments of the present invention further provide a computer-readable storage medium, where computer-executable instructions are stored in the computer-readable storage medium, and when the computer-executable instructions are invoked and executed by a processor, the computer-executable instructions cause the processor to realize For the specific implementation of the above-mentioned liquid sample adding method, reference may be made to the method embodiments, which will not be repeated here.

The computer program product of the liquid sampling method, device, and system provided by the embodiments of the present invention includes a computer-readable storage medium storing program codes, and the instructions included in the program codes can be used to execute the methods in the foregoing method embodiments. Reference may be made to the method embodiment, and details are not described herein again.

Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working process of the device and/or the liquid sample adding system described above may refer to the corresponding process in the foregoing method embodiments, which will not be repeated here. .

Finally, it should be noted that the above-mentioned embodiments are only specific implementations of the present invention, and are used to illustrate the technical solutions of the present invention, but not to limit them. The protection scope of the present invention is not limited thereto, although referring to the foregoing The embodiment has been described in detail the present invention, those of ordinary skill in the art should understand: any person skilled in the art who is familiar with the technical field within the technical scope disclosed by the present invention can still modify the technical solutions described in the foregoing embodiments. Or can easily think of changes, or equivalently replace some of the technical features; and these modifications, changes or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present invention, and should be covered in the present invention. within the scope of protection. Therefore, the protection scope of the present invention should be based on the protection scope of the claims.

Claims (12)

1. A liquid sample adding method is characterized by being applied to a liquid sample adding system, and the method comprises the following steps:

determining a target filling position of the liquid;

determining a filling initial position of a pipetting needle of the liquid sampling system based on the target filling position;

controlling a liquid transferring needle of the liquid sample adding system to move horizontally; when the liquid transferring needle moves horizontally to the filling initial position, controlling the liquid transferring needle to eject the liquid, and keeping the liquid transferring needle to move horizontally continuously so that the liquid is injected into a reaction container of the liquid filling system in a parabolic track.

2. The method of claim 1, wherein the step of determining a priming initiation position for a pipetting needle of the liquid dosing system based on the target priming position comprises:

determining the horizontal distance between the filling initial position of a pipetting needle of the liquid filling system and the target filling position;

and determining the filling initial position of the pipetting needle based on the target filling position, the horizontal distance and preset empirical correction values.

3. The method of claim 2, wherein the step of determining the horizontal distance of the priming initial position of the pipette needle of the liquid loading system from the target priming position comprises:

determining the horizontal distance between the filling initial position of the pipetting needle of the liquid filling system and the target filling position by the following formula:

wherein Sx is the horizontal distance, Vx is the horizontal speed of the pipetting needle towards the target filling position, and V_zIs the initial moving speed of the liquid, H_zAnd g is the gravity acceleration, and is the first distance between the tail end of the liquid transferring needle and the top end of the reaction container at the target filling position.

4. The method of claim 3, wherein the step of determining a priming initial position of the pipette needle based on the target priming location, the horizontal distance, and a pre-set empirical correction comprises:

determining a priming initial position of the pipetting needle based on the target priming position, the horizontal distance and a pre-set empirical correction value by the following formula:

P_initial＝P_Target–S_X–M；

Wherein, P_InitialFor the priming initial position, P, of the pipetting needle_TargetFilling the target with a location, S_XAnd M is a preset experience correction value for the horizontal distance.

5. The method according to claim 4, wherein the empirical correction value is determined based on the droplet size of the liquid, the first distance, the initial moving speed, and the horizontal speed.

6. The method of claim 1, wherein the liquid loading system further comprises a reaction container group, the reaction container group being a plurality of the reaction containers arranged side by side; the method further comprises the following steps:

determining a target fill position for each of the reaction vessels in the set of reaction vessels;

determining whether each of the reaction vessels in the reaction vessel group performs a priming operation;

determining the liquid injection amount of each reaction container for executing the liquid injection operation;

controlling the liquid transferring needle of the liquid sample adding system to move;

when the liquid transferring needle moves to a filling initial position of a first reaction container for executing the liquid injection operation, controlling the liquid transferring needle to inject the liquid with the injection amount of the first reaction container;

and when the liquid transferring needle moves to the filling initial position of the second reaction container without executing the liquid injection operation, controlling the liquid transferring needle not to eject the liquid.

7. The method of claim 2, wherein the liquid sample application system further comprises a liquid detection assembly, the method further comprising:

determining whether a liquid injection operation has a deviation based on the liquid detection assembly;

if so, adjusting the empirical correction value.

8. The method of claim 7, wherein the liquid loading system further comprises an alarm component, and wherein after the step of determining whether the priming operation is biased based on the liquid detection component, the method further comprises:

if yes, an alarm signal is sent out through the alarm component.

9. The method of claim 1, wherein the liquid sample application system further comprises an optical detection mechanism, the method further comprising:

detecting information of the liquid injected into the reaction vessel based on the optical detection mechanism.

10. A liquid sample adding device is characterized by being applied to a liquid sample adding system, and the device comprises:

the target filling position determining module is used for determining a target filling position of the liquid;

a filling initial position determining module for determining a filling initial position of a pipetting needle of the liquid filling system based on the target filling position;

the liquid injection reaction container module is used for controlling the liquid-transferring needle of the liquid sample-adding system to horizontally move; when the liquid transferring needle moves horizontally to the filling initial position, controlling the liquid transferring needle to eject the liquid, and keeping the liquid transferring needle to move horizontally continuously so that the liquid is injected into a reaction container of the liquid filling system in a parabolic track.

11. A liquid loading system comprising a processor and a memory, the memory storing computer executable instructions executable by the processor, the processor executing the computer executable instructions to implement the liquid loading method of any one of claims 1 to 9.

12. A computer-readable storage medium having stored thereon computer-executable instructions which, when invoked and executed by a processor, cause the processor to carry out a method of loading a liquid according to any one of claims 1 to 9.

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