CN115041246B

CN115041246B - Pipette control method and device, pipette control device, and readable storage medium

Info

Publication number: CN115041246B
Application number: CN202210836944.7A
Authority: CN
Inventors: 蒋鑫
Original assignee: Chengdu Hanchen Guangyi Bioengineering Co ltd; Chengdu Hanchen Guangyi Technology Co ltd
Current assignee: Chengdu Hanchen Guangyi Bioengineering Co ltd; Chengdu Hanchen Guangyi Technology Co ltd
Priority date: 2022-07-15
Filing date: 2022-07-15
Publication date: 2023-04-18
Anticipated expiration: 2042-07-15
Also published as: CN115041246A

Abstract

The application provides a pipettor control method and device, pipettor control equipment and a readable storage medium, and relates to the technical field of pipettors. The method comprises the steps of controlling a liquid-transferring motor to reset to zero when a target liquid-transferring machine is in a liquid-withdrawing state, enabling the maximum liquid-absorbing cumulant to be in an empty state, then controlling the liquid-transferring motor to execute air suction operation according to preset air suction amount, configuring the real-time liquid-absorbing cumulant to be zero, effectively distinguishing front suction action and real liquid suction action when the liquid-transferring machine is in the liquid-withdrawing state, then configuring the maximum liquid-absorbing cumulant to be in an effective state according to liquid containing specifications of a target liquid-transferring sucking head to be installed, and then controlling the target liquid-transferring machine to execute liquid-transferring operation according to the configured real-time liquid-absorbing cumulant, the maximum liquid-absorbing cumulant, liquid-absorbing cavity volume and a cavity volume threshold value obtained by overlapping the preset air suction amount and the maximum liquid-absorbing cumulant, thereby effectively maintaining an anti-over-suction mechanism of the liquid-transferring machine and ensuring that the liquid-transferring machine realizes the maximum liquid-sucking amount of the liquid-transferring head specification.

Description

Pipette control method and device, pipette control device, and readable storage medium

Technical Field

The application relates to the technical field of pipettors, in particular to a pipette control method and device, pipette control equipment and a readable storage medium.

Background

With the continuous development of science and technology, pipettes are widely used in hospitals, epidemic stations, transfusion stations, biochemical laboratories, environmental laboratories, food analysis laboratories and other scenes as a common precision liquid sampling instrument, and can perform rapid and accurate quantitative sampling operation or sample adding operation on a small amount of liquid samples and test solutions. In the actual use process of the pipettor, the pipettor is required to preferentially suck a section of air (namely, front suction action) and then can execute pipetting action, so that the return stroke difference between forward movement and reverse movement of a pipetting motor of the pipettor is eliminated through the sucked air, more volume than liquid can be sprayed when the pipettor executes liquid spraying operation, and the effect of completely spraying all the sucked liquid is achieved.

At present, before a pipettor executes a suction and spray operation each time, the suction cavity volume of the pipettor is updated based on the amount of liquid to be sucked and checked whether the suction cavity volume of the pipettor reaches a cavity volume threshold configured by the specification of a liquid-transfer suction head of the pipettor, so that the pipettor is controlled to stop executing the suction and spray operation when the corresponding suction cavity volume reaches the cavity volume threshold, an over-suction prevention mechanism of the pipettor is formed, the liquid reaching the specification of the liquid-transfer suction head is prevented from being sucked by the pipettor through the over-suction prevention mechanism, and the liquid is prevented from entering the inside of the pipettor and being damaged.

In this process, it is worth noting that, for the pipette, it cannot distinguish between the front suction action and the real suction action, and the action executed substantially is only to control the forward movement of the pipetting motor, so that the air suction volume substantially occupies a section of effective suction stroke of the pipette, and the liquid actually sucked by the pipette cannot reach the maximum suction volume of the pipetting tip specification under the existing over-suction prevention mechanism.

Disclosure of Invention

In view of the above, an object of the present invention is to provide a pipette control method and apparatus, a pipette control device, and a readable storage medium, which can effectively distinguish between a forward suction operation and a true suction operation when a pipette is in a pipette tip withdrawal state, and effectively maintain an anti-over-suction mechanism of the pipette, so as to ensure that a liquid actually sucked by the pipette can achieve a maximum liquid suction amount of a currently installed pipette tip specification under the anti-over-suction mechanism.

In order to achieve the above purpose, the embodiments of the present application employ the following technical solutions:

in a first aspect, the present application provides a pipette control method, the method comprising:

under the condition that a target pipettor finishes the operation of withdrawing the pipette tip, controlling a pipetting motor of the target pipettor to reset to zero, wherein the maximum pipetting accumulation amount of the target pipettor is in an idle state when the operation of withdrawing the pipette tip is finished;

controlling a liquid-transferring motor of the target liquid transferring device to execute air suction operation according to a preset air suction amount, and configuring the real-time liquid suction accumulation amount of the target liquid transferring device to be zero;

controlling the target pipettor to move and mount the target pipetting tip when the maximum pipetting accumulation amount is in an idle state;

configuring the maximum pipetting accumulation amount according to the liquid containing specification of the target pipetting tip, wherein the maximum pipetting accumulation amount is in an effective state after the specification configuration operation is completed;

and controlling the target pipettor to execute pipetting operation according to the configured real-time pipetting accumulated amount, the maximum pipetting accumulated amount in the effective state and the pipetting cavity volume of the target pipettor, wherein the target pipettor stops executing pipetting operation when the pipetting cavity volume reaches a current cavity volume threshold value, and the current cavity volume threshold value is obtained by superposing the preset air pipetting amount and the maximum pipetting accumulated amount in the effective state.

In an alternative embodiment, the method further comprises:

under the condition that a target pipettor needs to be electrified and initialized, controlling a pipetting motor of the target pipettor to reset to zero, and placing the maximum pipetting accumulated quantity of the target pipettor in an illegal state;

and controlling the target pipettor to execute a pipette tip withdrawing operation, and placing the maximum pipette accumulation amount of the target pipettor in an idle state.

In an alternative embodiment, the method further comprises:

and for the target pipettor which performs the pipetting operation, controlling the target pipettor to perform a pipette tip withdrawing operation, and placing the maximum pipette accumulation amount of the target pipettor in an idle state.

In an alternative embodiment, the method further comprises:

for the target pipettor which performs the pipetting operation, controlling a pipetting motor of the target pipettor to reset to zero, controlling a pipetting motor of the target pipettor to perform an air suction operation according to a preset air suction amount, and configuring a real-time pipetting accumulation amount of the target pipettor according to the preset air suction amount, wherein the maximum pipetting accumulation amount of the target pipettor which performs the pipetting operation is in an effective state;

and controlling the target pipettor to execute pipetting operation according to the configured real-time pipetting accumulated amount, the maximum pipetting accumulated amount in an effective state and the pipetting cavity volume of the target pipettor.

In an alternative embodiment, the step of controlling the target pipettor to perform pipetting operation according to the configured real-time pipetting amount, the maximum pipetting amount in the active state and the pipetting chamber volume of the target pipettor comprises:

calculating a corresponding expected imbibition cumulant according to the current real-time imbibition cumulant of the target pipettor aiming at the liquid ejecting and sucking quantity to be executed, wherein the expected imbibition cumulant is obtained by superposing the liquid ejecting and sucking quantity to be executed and the current real-time imbibition cumulant of the target pipettor;

and in the case that the expected imbibition amount is larger than zero and the expected imbibition amount is smaller than or equal to the maximum imbibition amount in an effective state, controlling the target pipettor to execute an imbibition operation aiming at the fluid injection amount to be executed, and updating the current real-time imbibition amount of the target pipettor by adopting the expected imbibition amount.

In an alternative embodiment of the method of the invention, the step of controlling the target pipette to perform pipetting operation according to the configured real-time pipetting volume, the maximum pipetting volume in an effective state and the pipetting cavity volume of the target pipette further comprises:

under the condition that the expected imbibition accumulation amount is less than or equal to zero, calculating a corresponding expected chamber volume according to the current imbibition chamber volume of the target pipettor, wherein the expected chamber volume is obtained by superposing the to-be-executed imbibition amount and the current imbibition chamber volume of the target pipettor;

if the expected cavity volume is smaller than zero, controlling the target pipettor to prohibit the liquid spraying operation aiming at the liquid spraying and sucking quantity to be executed;

and if the expected cavity volume is larger than or equal to zero, controlling the target pipettor to control the target pipettor to execute a liquid spraying operation aiming at the liquid spraying and sucking amount to be executed, updating the current liquid sucking cavity volume of the target pipettor by adopting the expected cavity volume, and configuring the current real-time liquid sucking and accumulating amount of the target pipettor to be zero.

In an optional embodiment, the step of controlling the target pipette to perform pipetting according to the configured real-time pipetting amount, the maximum pipetting amount in the active state and the pipetting chamber volume of the target pipette further comprises:

in the case where the desired liquid suction accumulation amount is larger than the maximum liquid suction accumulation amount in an active state, controlling the target pipette to prohibit execution of a liquid suction operation for the liquid ejection volume to be executed.

In a second aspect, the present application provides a pipette control device, the device comprising:

the reset control module is used for controlling the liquid-transferring motor of the target liquid transferring device to reset to zero when the target liquid transferring device finishes the operation of withdrawing the suction head, wherein the maximum liquid-absorbing cumulant of the target liquid transferring device is in an idle state when the operation of withdrawing the suction head is finished;

the air suction control module is used for controlling a liquid-transferring motor of the target liquid-transferring device to execute air suction operation according to a preset air suction amount and configuring the real-time liquid suction accumulation amount of the target liquid-transferring device to be zero;

the pipette head control module is used for controlling the target pipette to move and mount the target pipette head when the maximum pipette accumulation amount is in an idle state;

a range configuration module for configuring the maximum pipetting accumulation amount according to the liquid accommodation specification of the target pipetting tip, wherein the maximum pipetting accumulation amount is in an effective state after the specification configuration operation is completed;

and the pipetting control module is used for controlling the target pipettor to execute pipetting operation according to the configured real-time pipetting accumulated amount, the maximum pipetting accumulated amount in the effective state and the pipetting cavity volume of the target pipettor, wherein the target pipettor stops executing the pipetting operation when the pipetting cavity volume reaches a current cavity volume threshold value, and the current cavity volume threshold value is obtained by superposing the preset air pipetting amount and the maximum pipetting accumulated amount in the effective state.

In an alternative embodiment, the apparatus further comprises a back-off control module;

the reset control module is further configured to control a liquid-transferring motor of the target pipettor to reset to zero when the target pipettor needs to be powered on and initialized, control the liquid-transferring motor of the target pipettor to execute an air suction operation according to a preset air suction amount and place the maximum liquid suction accumulation amount of the target pipettor in an illegal state;

the head withdrawing control module is used for controlling the target liquid transfer device to execute the operation of withdrawing the head and placing the maximum liquid suction accumulation amount of the target liquid transfer device in an idle state.

In an optional embodiment, the pipette tip control module is further configured to control the target pipette tip to perform a pipette tip withdrawing operation and to set the maximum pipette tip amount of the target pipette tip to an empty state for the target pipette tip that has performed a pipette operation.

In an optional embodiment, the reset control module is further configured to, for the target pipettor performing the pipetting operation, control a pipetting motor of the target pipettor to reset to zero, control a pipetting motor of the target pipettor to perform an air suction operation according to a preset air suction amount, and configure a real-time pipetting accumulation amount of the target pipettor according to the preset air suction amount, where a maximum pipetting accumulation amount of the target pipettor performing the pipetting operation is in an active state;

and the pipetting control module is also used for controlling the target pipettor to execute pipetting operation according to the configured real-time pipetting accumulated amount, the maximum pipetting accumulated amount in an effective state and the pipetting cavity volume of the target pipettor.

In a third aspect, the present application provides a pipetting control apparatus comprising a processor and a memory, the memory storing a computer program executable by the processor, the processor being executable by the computer program to implement the pipette control method of any of the preceding embodiments.

In a fourth aspect, the present application provides a readable storage medium having stored thereon a computer program which, when executed by a processor, implements a pipette control method according to any of the preceding embodiments.

In this case, the beneficial effects of the embodiments of the present application include the following:

the method comprises the steps of controlling a liquid-transferring motor to reset to zero when a target liquid-transferring machine is in a liquid-withdrawing state, enabling the maximum liquid-absorbing cumulant of the target liquid-transferring machine to be in an empty state, then controlling the liquid-transferring motor to execute air suction operation according to preset air suction amount, configuring the real-time liquid-absorbing cumulant of the target liquid-transferring machine to be zero, effectively distinguishing front suction action and real liquid-absorbing action when the liquid-transferring machine is in the liquid-withdrawing state, then controlling the target liquid-transferring machine to move and install the target liquid-transferring head, configuring the maximum liquid-absorbing cumulant according to liquid containing specifications of the target liquid-transferring head, setting the maximum liquid-absorbing cumulant in an effective state, and then controlling the target liquid-transferring machine to execute liquid-transferring operation according to the configured real-time liquid-absorbing cumulant, the maximum liquid-absorbing cumulant and a cavity volume threshold value obtained by superposition of the preset air suction amount and the maximum liquid-absorbing cumulant, thereby effectively maintaining an over-suction prevention mechanism of the liquid-transferring machine, and ensuring that the liquid-absorbing cumulant can realize the maximum liquid-absorbing capacity of the liquid-transferring head which is installed currently under the over-absorption prevention mechanism.

In order to make the aforementioned objects, features and advantages of the present application more comprehensible, preferred embodiments accompanied with figures are described in detail below.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are required to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained from the drawings without inventive effort.

FIG. 1 is a schematic diagram of an apparatus composition of a pipetting control apparatus provided in an embodiment of the present application;

fig. 2 is a schematic flow diagram of a pipette control method provided in an embodiment of the present application;

fig. 3 is a schematic flow chart illustrating controlling a pipette to perform a pipetting operation according to an embodiment of the present disclosure;

fig. 4 is a second flowchart of a pipette control method according to an embodiment of the present disclosure;

fig. 5 is a third schematic flow chart of a pipette control method provided in the embodiments of the present application;

fig. 6 is a fourth schematic flowchart of a pipette control method provided in the embodiments of the present application;

fig. 7 is a schematic device composition diagram of a pipette control device provided in an embodiment of the present application.

An icon: 10-a pipetting control device; 11-a memory; 12-a processor; 13-a communication unit; 100-a pipette control device; 110-a head-retreating control module; 120-a reset control module; 130-an inspiration control module; 140-a head-fetching control module; 150-range configuration module; 160-pipetting control module.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some embodiments of the present application, but not all embodiments. The components of the embodiments of the present application, generally described and illustrated in the figures herein, can be arranged and designed in a wide variety of different configurations.

Thus, the following detailed description of the embodiments of the present application, as presented in the figures, is not intended to limit the scope of the claimed application, but is merely representative of selected embodiments of the application. All other embodiments obtained by a person of ordinary skill in the art based on the embodiments in the present application without making any creative effort belong to the protection scope of the present application.

It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.

In the description of the present application, it is to be understood that relational terms such as the terms first and second, and the like, are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrases "comprising a," "...," or "comprising" does not exclude the presence of additional like elements in a process, method, article, or apparatus that comprises the element. The specific meaning of the above terms in the present application can be understood in a specific case by those of ordinary skill in the art.

Some embodiments of the present application will be described in detail below with reference to the accompanying drawings. The embodiments described below and the features of the embodiments can be combined with each other without conflict.

Referring to fig. 1, fig. 1 is a schematic diagram of an apparatus composition of a pipetting control apparatus 10 according to an embodiment of the present application. In this embodiment, the liquid-transfering control apparatus 10 may control an operation status of the liquid-transfering device, so that the liquid-transfering device effectively distinguishes between a front liquid-transfering action and a real liquid-transfering action in a state of withdrawing the pipette tip, and effectively maintains an anti-over-suction mechanism of the liquid-transfering device after the pipette tip is mounted, thereby ensuring that the liquid actually sucked by the liquid-transfering device in the anti-over-suction mechanism can achieve a maximum liquid-suction amount of the currently mounted liquid-transfering tip specification. Wherein the pipetting control apparatus 10 can be integrated with a controlled pipette; the pipetting control apparatus 10 may also be communicatively coupled to a controlled pipettor, in which case the pipetting control apparatus 10 may be, but is not limited to, a personal computer, a tablet, a server, etc.

In the present embodiment, the pipette control apparatus 10 may include a memory 11, a processor 12, a communication unit 13, and a pipette control device 100. Wherein, the respective elements of the memory 11, the processor 12 and the communication unit 13 are electrically connected to each other directly or indirectly to realize the transmission or interaction of data. For example, the memory 11, the processor 12 and the communication unit 13 may be electrically connected to each other through one or more communication buses or signal lines.

In this embodiment, the Memory 11 may be, but is not limited to, a Random Access Memory (RAM), a Read Only Memory (ROM), a Programmable Read-Only Memory (PROM), an Erasable Read-Only Memory (EPROM), an electrically Erasable Read-Only Memory (EEPROM), and the like. The memory 11 is used for storing a computer program, and the processor 12 can execute the computer program after receiving an execution instruction.

In this embodiment, the processor 12 may be an integrated circuit chip having signal processing capabilities. The Processor 12 may be a general-purpose Processor including at least one of a Central Processing Unit (CPU), a Graphics Processing Unit (GPU), a Network Processor (NP), a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), an off-the-shelf programmable gate array (FPGA) or other programmable logic device, a discrete gate or transistor logic device, and discrete hardware components. The general purpose processor may be a microprocessor or the processor may be any conventional processor or the like that implements or executes the methods, steps and logic blocks disclosed in the embodiments of the present application.

In this embodiment, the communication unit 13 is used for establishing a communication connection between the pipetting control apparatus 10 and other electronic apparatuses through a network, and transceiving data through the network, wherein the network includes a wired communication network and a wireless communication network. For example, the pipetting control apparatus 10 may be communicatively connected to the controlled pipettor through the communication unit 13, and control the operation status of the controlled pipettor, so that the controlled pipettor can actually aspirate the liquid under the anti-over-aspiration mechanism with an opportunity to achieve the maximum aspiration amount of the currently installed pipetting tip specification.

In this embodiment, the pipette control device 100 may include at least one software functional module that can be stored in the memory 11 in the form of software or firmware or that is solidified in the operating system of the pipetting control apparatus 10. The processor 12 may be used to execute executable modules stored by the memory 11, such as software functional modules and computer programs included in the pipette control device 100. The liquid transfer control device 10 can control the liquid transfer device to effectively distinguish the front suction action and the real liquid suction action in the state of withdrawing the pipette tip through the liquid transfer device control device 100, and effectively maintain the anti-over-suction mechanism of the liquid transfer device after the pipette tip is installed, so that the liquid actually sucked by the liquid transfer device in the anti-over-suction mechanism can be ensured to have the opportunity to realize the maximum liquid suction amount of the currently installed liquid transfer tip specification.

It is to be understood that the block diagram shown in fig. 1 is merely a schematic illustration of one component of the pipetting control apparatus 10, and that the pipetting control apparatus 10 may include more or fewer components than shown in fig. 1 or have a different configuration than shown in fig. 1. The components shown in fig. 1 may be implemented in hardware, software, or a combination thereof.

In the present application, in order to ensure that the liquid transfer control apparatus 10 can control the liquid transfer device to effectively distinguish between a front suction action and a real liquid suction action in a state of withdrawing a tip, and effectively maintain an anti-over-suction mechanism of the liquid transfer device after the tip is installed on the liquid transfer device, and ensure that the liquid actually sucked by the liquid transfer device in the anti-over-suction mechanism can have an opportunity to achieve a maximum liquid suction amount of a currently installed liquid transfer tip specification, an embodiment of the present application provides a liquid transfer device control method to achieve the foregoing object. The pipette control methods provided herein are described in detail below.

Referring to fig. 2, fig. 2 is a schematic flow chart of a pipette control method according to an embodiment of the present disclosure. In an embodiment of the present application, the pipette control method may include steps S210 to S250.

And step S210, controlling the pipetting motor of the target pipettor to reset to zero when the target pipettor finishes the pipette tip withdrawing operation, wherein the maximum pipette accumulation amount of the target pipettor is in an empty state when the target pipettor finishes the pipette tip withdrawing operation.

In this embodiment, regardless of whether the controlled target pipette is currently mounted with or not with a pipette tip, when the target pipette performs a pipette tip removal operation, the target pipette is not necessarily mounted with a pipette tip, and at this time, the maximum pipette tip amount Vmax of the target pipette is obviously zero, and the maximum pipette tip amount of the target pipette is in an empty state, where the maximum pipette tip amount is used to represent the maximum liquid volume that can be actually sucked by the corresponding target pipette at present.

Therefore, whether the corresponding maximum imbibition accumulation amount is in an idle state or not can be judged by judging whether the maximum imbibition accumulation amount of the target pipettor is zero or not, and whether the target pipettor is in a tip withdrawing state or not can be judged. When the maximum pipette-sucking accumulation amount of the target pipette is zero, the maximum pipette-sucking accumulation amount is in an empty state, and the target pipette is in a pipette-withdrawing state.

When the target pipettor has performed the operation of withdrawing the pipette tip, the pipette control device 10 controls the pipette motor of the target pipettor to reset to zero, so as to control the target pipettor to discharge all the air sucked by the target pipettor, prepare for the subsequent forward sucking action, and avoid the interference of the air remaining in the target pipettor on the accuracy of the subsequent forward sucking action and the pipetting action. At this time, the real-time pipette accumulation amount Vi of the target pipettor is zero, and the pipette chamber volume Si of the target pipettor is also zero, where the real-time pipette accumulation amount is used to represent the real-time volume accumulation amount of the target pipettor for performing pipette operation, and the pipette chamber volume is used to represent that the real-time rotation position of the pipette motor of the target pipettor is mapped to the chamber volume of the pipette chamber.

And step S220, controlling a liquid-transferring motor of the target liquid-transferring machine to execute air suction operation according to the preset air suction amount, and configuring the real-time liquid-absorbing accumulation amount of the target liquid-transferring machine to be zero.

In this embodiment, when the target pipette is in the tip withdrawing state, the liquid-transfer control device 10 may control the liquid-transfer motor of the target pipette to perform a liquid-suction operation (i.e., directly control the liquid-transfer motor to move forward), where the liquid-suction operation is an unreal liquid-suction operation because the target pipette is not equipped with a liquid-transfer tip, and is substantially an air-suction operation (i.e., complete a front-suction operation), and the real-time liquid-suction cumulative amount of the target pipette, which changes with the liquid-suction operation, belongs to an invalid state, and the real-time liquid-suction cumulative amount of the target pipette should be configured to be zero, so as to effectively distinguish the front-suction operation from the real-suction operation in the tip withdrawing state of the pipette. In this case, the suction chamber volume of the target pipette is kept coincident with the volume of air sucked by the air sucking operation, that is, the suction chamber volume of the target pipette is kept coincident with a preset air sucking amount V0 corresponding to the air sucking operation (Si = V0).

And step S230, controlling the target pipettor to move and mount the target pipetting tip when the maximum pipetting accumulation amount is in an idle state.

In this embodiment, in the case where the pipetting control apparatus 10 controls the target pipettor to complete the forward pipetting action in the tip withdrawal state, in order to ensure that the target pipettor can normally perform the subsequent possible actual pipetting action, the pipetting control apparatus 10 will correspondingly control the target pipettor to remove and mount the target pipette tip in the empty state with the maximum pipetting accumulation amount.

Step S240, configuring the maximum pipetting accumulation amount according to the liquid containing specification of the target pipetting tip, wherein the maximum pipetting accumulation amount is in an effective state after the specification configuration operation is completed.

In this embodiment, when the target pipette is installed with the target pipette tip, it means that the target pipette tip can perform a real pipette action with the installed target pipette tip, at this time, the maximum pipette accumulation amount of the target pipette tip can be configured by directly adopting the liquid containing specification of the target pipette tip, so that the maximum pipette accumulation amount of the target pipette tip is consistent with the liquid containing specification of the target pipette tip (that is, the maximum pipette accumulation amount of the target pipette tip is greater than zero), the maximum pipette accumulation amount of the target pipette tip is in an effective state after the specification configuration operation is completed, and the current chamber volume threshold Smax of the target pipette is obtained by superimposing the preset air suction amount and the maximum pipette accumulation amount in the effective state.

Therefore, whether the maximum imbibition accumulation amount of the target pipettor is larger than zero or not can be judged, whether the corresponding maximum imbibition accumulation amount is in an effective state or not can be judged, and whether the target pipettor is in a sucker mounting state or not can be judged. When the maximum liquid suction accumulation amount of the target pipettor is larger than zero, the maximum liquid suction accumulation amount of the target pipettor is in an effective state, and the target pipettor is in a sucker mounting state.

In addition, if the operator operates the liquid-transfer control device 10 to control the target pipettor to perform tip-moving and mounting operations under the condition that the maximum pipette accumulation amount of the target pipettor is in an effective state, the liquid-transfer control device 10 will report an error correspondingly to prompt the operator to perform tip-retracting operations on the target pipettor first, so as to prevent the phenomenon of tip-mounting collision.

And step S250, controlling the target pipettor to execute pipetting operation according to the configured real-time pipetting accumulated amount, the maximum pipetting accumulated amount in the effective state and the pipetting cavity volume of the target pipettor, wherein the target pipettor stops executing the pipetting operation when the pipetting cavity volume reaches the current cavity volume threshold, and the current cavity volume threshold is obtained by superposing the preset air pipetting amount and the maximum pipetting accumulated amount in the effective state.

In this embodiment, the target pipette performs a forward suction operation in a pipette tip withdrawal state, configures a maximum pipette tip according to a liquid accommodation specification of a target pipette tip to be mounted and places the maximum pipette tip in an effective state, and then performs a pipetting operation under the action of the pipetting control apparatus 10 according to a configured real-time pipette tip (the real-time pipette tip is zero at this time), a maximum pipette tip in the effective state (the maximum pipette tip at this time is consistent with the liquid accommodation specification of the target pipette tip), a pipetting chamber volume of the target pipette (the chamber volume of the target pipette is obtained by superimposing the real-time pipette tip and a preset air suction amount at this time), and a chamber volume threshold of the target pipette, wherein the target pipette stops performing the pipetting operation when the corresponding chamber volume reaches a current chamber volume threshold, so as to effectively maintain an anti-over-suction mechanism in a pipetting process (including a pipetting process and a liquid-spraying process), and ensure that the liquid actually sucked by the pipette tip under the anti-over-suction mechanism can have an opportunity to achieve the maximum pipette tip specification of the currently mounted pipette tip.

The following illustrates a specific implementation project of the pipette control method: when a certain target pipettor is in a tip withdrawal state, controlling a liquid transfer motor of the target pipettor to reset to zero, and enabling Vi = Si =0 and Vmax =0; controlling a pipetting motor to perform a pipetting action (namely, a front pipetting action) on air according to V0=120 μ L, wherein Vi = Si =120 μ L, and Vi =0 and Vi =120 μ L belong to an invalid state, namely Vi needs to be configured to be Vi =0 so as to distinguish the front pipetting action from a real pipetting action; controlling the target pipettor to transfer and mount the 1000-microliter standard target pipetting tip, wherein Vmax =1000 microliter, smax = V0+ Vmax =120 microliter +1000 microliter =1120 microliter; the target pipettor is controlled to perform pipetting actions based on Vi =0, si =120 μ L, vmax =1000 μ L, and Smax =1120 μ L.

Therefore, by executing the steps S210 to S250, the pipette is controlled to effectively distinguish the front pipetting action and the real pipetting action in the state of withdrawing the pipette tip, and the anti-over-pipetting mechanism of the pipette is effectively maintained after the pipette tip is installed, so that the liquid actually sucked by the pipette tip in the anti-over-pipetting mechanism can be ensured to have an opportunity to realize the maximum liquid suction amount of the currently installed pipette tip specification.

In the present application, in order to ensure that the pipetting control apparatus 10 can control the target pipettor to stably perform pipetting operation, and effectively implement real pipetting action and/or liquid spraying action, embodiments of the present application provide a pipetting operation control method to achieve the foregoing object, and the pipetting operation control method provided in the present application is described in detail below.

Referring to fig. 3, fig. 3 is a schematic flowchart illustrating a process for controlling a pipette to perform a pipetting operation according to an embodiment of the present disclosure. In the embodiment of the present application, the pipetting control method may be applied to the step S250, where the step S250 includes sub-steps S310 to S360.

And a substep S310, aiming at the liquid spraying and sucking quantity to be executed, calculating a corresponding expected liquid sucking accumulated quantity according to the current real-time liquid sucking accumulated quantity of the target liquid moving machine.

In this embodiment, when the target pipette needs to perform a pipetting operation, the pipetting control apparatus 10 calculates a desired pipetting accumulation amount of the target pipette after performing the pipetting operation based on a current real-time pipetting accumulation amount of the target pipette and a to-be-performed pipetting amount corresponding to the pipetting operation. Wherein, the current real-time imbibition amount of the target pipettor changes in real time along with the imbibition action or the liquid spraying action executed by the target pipettor on the basis of the configured real-time imbibition amount, for example, the real-time imbibition amount of the target pipettor after 100 μ L imbibition operation is 100 μ L when the configured real-time imbibition amount is 0; the expected imbibition accumulated amount is obtained by superposing the liquid ejecting and absorbing amount to be executed and the current real-time imbibition accumulated amount of the target pipettor, wherein the liquid ejecting and absorbing amount to be executed is a positive number, namely representing that the corresponding pipetting operation is the imbibition operation, and the liquid ejecting and absorbing amount to be executed is a negative number, namely representing that the corresponding pipetting operation is the liquid ejecting operation.

The pipetting control apparatus 10, after calculating a desired pipetting amount corresponding to a pipetting operation to be currently performed, compares the desired pipetting amount with zero and the maximum pipetting amount in an active state, and performs the substep S320 if the desired pipetting amount is larger than zero and the desired pipetting amount is smaller than or equal to the maximum pipetting amount in the active state, performs the substep S330 if the desired pipetting amount is larger than the maximum pipetting amount in the active state, and performs the substep S340 if the desired pipetting amount is smaller than or equal to zero.

And a substep S320 of controlling the target pipette to perform a liquid ejecting operation for the liquid ejecting and sucking amount to be performed and updating the current real-time liquid absorbing and sucking amount of the target pipette with the desired liquid absorbing and sucking amount in case that the desired liquid absorbing and sucking amount is greater than zero and the desired liquid absorbing and sucking amount is less than or equal to the maximum liquid absorbing and sucking amount in the effective state.

In this embodiment, when the desired pipetting amount is larger than zero and the desired pipetting amount is smaller than or equal to the maximum pipetting amount in the valid state, which means that the current pipetting operation is an effective pipetting operation achievable within the liquid containing specification range of the target pipetting tip and does not exceed the implementable range of the target pipetting, the pipetting control apparatus 10 will execute the pipetting operation for the pipetting amount to be executed corresponding to the control target pipetting, and update the current real-time pipetting amount of the target pipetting with the desired pipetting amount. The liquid spraying and absorbing operation comprises any one of liquid absorbing operation and liquid spraying operation, and the volume of a liquid absorbing cavity of the target liquid transfer device can change in real time along with the liquid absorbing action or the liquid spraying action executed by the target liquid transfer device on the basis of the volume of the liquid absorbing cavity after the suction action is executed before the suction action is executed.

And a substep S240 of controlling the target pipette to prohibit execution of a pipette operation for the liquid ejection amount to be executed in a case where the desired liquid-suction accumulation amount is larger than the maximum liquid-suction accumulation amount in the valid state.

In this embodiment, when the desired pipetting amount is larger than the maximum pipetting amount in the valid state, which means that the current pipetting operation is substantially a pipetting operation exceeding the liquid holding specification of the target pipetting tip, and the target pipetting executes the pipetting operation, there is a high possibility that the target pipetting is damaged, and therefore the pipetting control apparatus 10 prohibits the corresponding control target pipetting from executing the pipetting operation for the amount of the pipetting liquid to be executed, and reports an error to the operator to indicate to the operator that the pipetting range of the current target pipetting is insufficient to execute the pipetting operation.

And a substep S340, in case that the desired pipetting accumulated amount is less than or equal to zero, calculating a corresponding desired chamber volume according to the current pipetting chamber volume of the target pipettor.

In this embodiment, when the desired pipetting accumulation amount is less than or equal to zero, which means that the current pipetting operation is substantially a liquid spraying operation for spraying all liquid actually sucked by the target pipetting tip, it is necessary to calculate a corresponding desired chamber volume based on the current pipetting chamber volume of the target pipette and the amount of liquid to be sprayed and sucked corresponding to the pipetting operation, so as to determine whether the target pipette can currently perform the liquid spraying operation corresponding to the amount of liquid to be sprayed and sucked according to the calculated desired chamber volume. The current liquid suction cavity volume of the target pipettor changes in real time along with the liquid suction action or the liquid spraying action executed by the target pipettor on the basis of the liquid suction cavity volume after the pre-suction action is executed, for example, the target pipettor executes 100 μ L of liquid suction operation under the condition that the liquid suction cavity volume after the pre-suction action is 120 μ L, and the corresponding liquid suction cavity volume is 100+120=220 μ L; the desired chamber volume is obtained by superposing the liquid injection and suction amount to be performed and the current liquid suction chamber volume of the target pipettor.

After calculating the desired chamber volume corresponding to the pipetting operation to be performed currently, the pipetting control apparatus 10 compares the desired chamber volume with zero, and performs substep S360 if the desired chamber volume is greater than or equal to zero and performs substep S350 if the desired chamber volume is less than zero.

And a substep S350, if the desired chamber volume is less than zero, controlling the target pipettor to prohibit the liquid ejecting operation for the liquid ejecting and sucking amount to be performed.

In this embodiment, when the desired chamber volume is less than zero, which means that the current pipetting operation is substantially a liquid ejecting operation beyond the practicable range of the target pipettor, the target pipettor cannot completely perform the pipetting operation, so the pipetting control apparatus 10 prohibits the corresponding control target pipettor from performing the liquid ejecting operation for the amount of liquid to be ejected and reports an error to the operator to indicate that the liquid ejecting range of the current target pipettor is insufficient to perform the pipetting operation.

And a substep S360, if the expected cavity volume is greater than or equal to zero, controlling the target pipettor to control the target pipettor to execute a liquid spraying operation for the liquid spraying and sucking amount to be executed, updating the current liquid sucking cavity volume of the target pipettor by using the expected cavity volume, and configuring the current real-time liquid sucking accumulated amount of the target pipettor to be zero.

In this embodiment, when the expected chamber volume is greater than or equal to zero, which means that the current pipetting operation is a liquid spraying operation substantially within the practicable range of the target pipettor, and this pipetting operation will cause the target pipettor to spray air sucked by the previous pipetting operation, and at the same time, the liquid currently sucked by the target pipettor will be completely sprayed, the pipetting control apparatus 10 will execute the liquid spraying operation for the amount of liquid to be sprayed and sucked by the corresponding control target pipettor, and update the current liquid-suction chamber volume of the target pipettor by using the expected chamber volume, and configure the current real-time liquid-suction cumulative amount of the target pipettor as zero.

The following exemplifies the concrete implementation engineering of the pipetting operation control method: in the case where the target pipettors of Vi =0, si =120 μ L, vmax =1000 μ L, and Smax =1120 μ L need to sequentially perform 500 μ L pipetting operation, 100 μ L pipetting operation, 600 μ L pipetting operation, 200 μ L liquid ejection operation, 450 μ L liquid ejection operation, 50 μ L pipetting operation, 500 μ L pipetting operation, 650 μ L liquid ejection operation, and 600 μ L liquid ejection operation, the desired liquid-suction accumulation amount Vi corresponds to the 500 μ L liquid ejection operation ^* ＝Vi+500μL＝500μL<Vmax, thereforThe pipetting control apparatus 10 will control the target pipettor to perform 500 μ L pipetting operation when Vi =0+500 μ L =500 μ L, si =120 μ L +500 μ L =620 μ L of the target pipettor;

for 100 μ L pipetting operation, corresponding to the desired pipetting accumulation amount Vi ^* ＝Vi+100μL＝600μL<Vmax, which the pipetting control apparatus 10 is to control the target pipette to perform 100 μ L pipetting operation when Vi =500 μ L +100 μ L =600 μ L, si =620 μ L +100 μ L =720 μ L of the target pipette;

for 600 μ L pipetting operation, corresponding to the desired pipetting accumulation amount Vi ^* ＝Vi+600μL＝1200μL>Vmax, the pipetting control apparatus 10 will control the target pipettor to prohibit the execution of 600 μ L pipetting operation and prompt that the current pipetting range is insufficient to achieve 600 μ L pipetting operation, when Vi =600 μ L, si =720 μ L of the target pipettor;

corresponding to the expected imbibition amount Vi for a liquid spraying operation of 200 mu L ^* ＝Vi-200μL＝400μL<Vmax, the pipetting control apparatus 10 will control the target pipette to perform 200 μ L pipetting operation when Vi =600 μ L-200 μ L =400 μ L, si =720 μ L-200 μ L =520 μ L of the target pipette;

corresponding to the expected imbibition accumulation amount Vi for the liquid spraying operation of 450 mu L ^* ＝Vi-450μL＝-50μL<0, corresponding to the desired chamber volume Si ^* = Si-450 μ L =70 μ L, the pipette control apparatus 10 will control the target pipette to perform 450 μ L of liquid ejection operation when Vi =0 of the target pipette, si =520 μ L-450 μ L =70 μ L, and the front suction air of the target pipette is partially discharged;

for 50 μ L pipetting operation, corresponding to a desired pipetting accumulation amount Vi ^* ＝Vi+50μL＝50μL<Vmax, which the pipetting control apparatus 10 is to control the target pipette to perform 50 μ L pipetting operation, when Vi =0 μ L +50 μ L =50 μ L, si =70 μ L +50 μ L =120 μ L of the target pipette;

for 500 μ L pipetting operation, corresponding to a desired pipetting accumulation amount Vi ^* ＝Vi+500μL＝550μL<Vmax, the pipetting control apparatus 10 will control the target pipettor to perform 500 μ L pipetting operation when Vi =50 μ L +500 μ L =550 μ L of the target pipettor, si =120μL+500μL＝620μL；

Corresponding to the expected imbibition amount Vi for 650 mu L of liquid spraying operation ^* = Vi-650 μ L = -100 μ L, corresponding to desired chamber volume Si ^* = Si-650 μ L = -30 μ L, when the pipetting control apparatus 10 controls the target pipettor to prohibit 650 μ L of liquid spraying operation, and prompts that the current liquid spraying range is insufficient to realize 650 μ L of liquid spraying operation, when Vi =550 μ L, si =620 μ L of the target pipettor;

corresponding to the expected imbibition accumulation amount Vi for a liquid spraying operation of 600 mu L ^* = Vi-600. Mu.L = -50. Mu.L, corresponding to desired chamber volume Si ^* = Si-600 μ L =20 μ L, at which time the pipette control apparatus 10 will control the target pipette to perform 600 μ L of liquid ejection operation, at which time Vi =0 of the target pipette, si =620 μ L-600 μ L =20 μ L, and the front suction air of the target pipette is partially discharged.

Thus, the present application can ensure that the pipette control apparatus 10 can control the target pipette to stably perform the pipetting operation by performing the substeps S310 to 360, thereby effectively realizing the actual pipetting operation and/or the liquid ejecting operation.

In the present application, it is worth noting that the target pipettor usually has a power-off phenomenon under the control of an operator or under an external power-off scene, and when the target pipettor is powered on again, the target pipettor usually needs to be powered on and debugged, so that the target pipettor can be prepared to perform an air front suction action, so that the target pipettor can have a chance to realize the maximum liquid suction amount of the current pipetting tip specification by actually sucking the liquid under the condition of maintaining the over-suction prevention mechanism. Therefore, the present application achieves the foregoing object by providing a pipette power-on commissioning control scheme, which is described in detail below.

Referring to fig. 4, fig. 4 is a second flowchart of a pipette control method according to the embodiment of the present disclosure. In this embodiment, compared with the pipette control method shown in fig. 2, the pipette control method shown in fig. 4 may further include step S260 and step S270, where the step S260 and the step S270 are combined to form the pipette power-on debugging control scheme, so as to ensure that the corresponding pipette is ready to perform the air sucking action after being powered on.

And step S260, under the condition that the target pipettor needs to be electrified and initialized, controlling the pipetting motor of the target pipettor to reset to zero, and putting the maximum pipetting accumulation amount of the target pipettor in an illegal state.

In this embodiment, when the target pipette is powered on, because it is unknown what specification of pipette tip the operator needs to use for the target pipette, the pipetting control apparatus 10 controls the pipetting motor of the target pipette to reset to zero, configures the real-time pipetting accumulated amount of the target pipette to zero, configures the pipetting cavity volume of the target pipette to zero, and configures the maximum pipetting accumulated amount position of the target pipette to be a negative number (e.g., -1) to place the maximum pipetting accumulated amount of the target pipette in an illegal state, thereby prompting the operator to perform a pipette tip retracting operation on the target pipette to confirm the pipette tip required by the target pipette, regardless of whether the target pipette is installed with a pipette tip at this time.

Therefore, whether the maximum imbibition accumulation amount of the target pipettor is a negative number or not can be judged, whether the corresponding maximum imbibition accumulation amount is in an illegal state or not can be judged, and whether the target pipettor is in a state of needing to withdraw the pipette tip or not can be judged. When the maximum pipette-sucking accumulation amount of the target pipette is a negative number, which means that the maximum pipette-sucking accumulation amount is in an illegal state, the target pipette is in a state of needing to withdraw the pipette.

And step S270, controlling the target pipettor to execute the pipette tip withdrawing operation, and placing the maximum pipette tip accumulation amount of the target pipettor in an idle state.

In this embodiment, when the maximum pipette tip amount of the target pipettor is a negative number, the pipette control device 10 correspondingly controls the target pipettor to withdraw the pipette tip, and sets the maximum pipette tip amount of the target pipettor to zero, so as to place the maximum pipette tip amount of the target pipettor in an empty state, so that the pipette control device 10 executes the pipette control method shown in fig. 2, so that the target pipettor can effectively distinguish between a front pipette action and a real pipette action in the pipette tip withdrawing state, thereby implementing the front pipette action, and effectively maintaining an over-pipette prevention mechanism of the pipettor, and ensuring that the liquid actually sucked by the pipettor can implement the maximum pipette tip amount of the pipette tip specification installed in the over-pipette prevention mechanism.

The following illustrates a specific implementation project of the above-described pipette power-on debugging control scheme: when a certain target pipettor is powered on, controlling the pipetting motor of the target pipettor to reset to zero, so that Vi = Si =0 and Vmax = -1; and controlling the target pipettor to execute the operation of withdrawing the suction head, and enabling Vmax =0 to ensure that the corresponding target pipettor is ready for executing the air front suction action after being electrified.

Therefore, by executing the steps S260 and S270, the present application can ensure that the corresponding pipette can be prepared to execute the air suction operation after being powered on, and complete the power-on debugging operation of the pipette.

In the present application, it is worth noting that, in the case that a target pipette performs a pipetting operation, an operator usually needs to replace a currently used pipetting tip with the target pipette to perform a pre-pipetting action and a subsequent real pipetting action, and the present application provides a tip replacement pipetting scheme to achieve a continuous operation effect of the pipette without powering off and a maximum pipetting effect of a specification of the pipette tip after replacement, and the following describes in detail the tip replacement scheme provided in the embodiments of the present application.

Referring to fig. 5, fig. 5 is a third schematic flow chart of a pipette control method according to an embodiment of the present disclosure. In the embodiment of the present application, compared to the pipette control method shown in fig. 2, the pipette control method shown in fig. 5 may further include step S280, so that the tip replacement pipetting scheme is formed by combining step S280 with step S210 to step S250, thereby achieving the effect of continuous operation of the pipette without power off and the maximum pipetting effect of the pipette tip specification after replacement.

In step S280, the target pipette is controlled to perform a pipette tip retracting operation with respect to the target pipette that has performed the pipette operation, and the maximum pipette accumulation amount of the target pipette is set to the empty state.

In this embodiment, when the target pipettor needs to replace the pipette tip and continuously operate without powering off, the pipette control device 10 may control the target pipettor to perform a pipette tip retracting operation, and set the maximum pipette cumulative amount of the target pipettor to zero, so as to place the maximum pipette cumulative amount of the target pipettor in an empty state, so that the pipette control device 10 may perform the pipette control method shown in fig. 2, so that the target pipettor may effectively distinguish a front pipette action from a real pipette action in the pipette tip retracting state, thereby implementing the front pipette action, and effectively maintain an anti-over-pipette mechanism when the pipette tip is replaced, thereby ensuring that the liquid actually sucked by the pipettor can implement the maximum pipette amount of the size of the replacement pipette tip under the anti-over-pipette mechanism, thereby implementing the continuous operation effect without powering off and the maximum pipette tip size of the replacement pipette tip.

Thus, in the present invention, by executing the above-described step S280 and steps S210 to S250, the pipette tip is replaced without powering off the pipette, and the maximum liquid suction operation of the standard of the pipette tip after replacement can be realized by the replacement pipette tip, so that the effect of continuous operation of the pipette without powering off and the maximum liquid suction effect of the standard of the pipette tip after replacement can be realized.

In the present application, it is worth noting that in the case that the amount of the front air suction after the target pipette performs the pipetting operation is not enough to support the subsequent pipetting operation, in order to ensure the pipetting efficiency, the operator often needs to replenish the amount of the front air suction on the basis of keeping the currently used pipetting tip and then continue to perform the subsequent pipetting operation. To this end, the present application provides a pipette control scheme without changing pipette tips to achieve the aforementioned object, and the following describes in detail the pipette control scheme without changing pipette tips provided in the embodiments of the present application.

Referring to fig. 6, fig. 6 is a fourth schematic flowchart of a pipette control method according to an embodiment of the present application. In the embodiment of the present application, compared to the pipette control method shown in fig. 2, the pipette control method shown in fig. 6 may further include steps S290 and S300, so as to form the above-mentioned pipette control scheme without changing tips through the combination of steps S290 and S300, thereby supplementing the amount of front air suction and performing the subsequent pipetting operation on the basis of not changing tips, and ensuring the pipetting efficiency.

And step S290, aiming at the target pipettor which executes the pipetting operation, controlling the pipetting motor of the target pipettor to reset to zero, controlling the pipetting motor of the target pipettor to execute the air suction operation according to the preset air suction amount, and configuring the real-time pipetting accumulation amount of the target pipettor according to the preset air suction amount, wherein the maximum pipetting accumulation amount of the target pipettor which executes the pipetting operation is in an effective state.

In this embodiment, when the target pipette that needs to perform the pipetting operation performs the pre-pipetting air volume replenishment without replacing the pipetting tip, the pipetting motor of the target pipette may be directly controlled to reset to zero, so that the real-time pipetting accumulated amount of the target pipette is configured to be zero, the pipetting chamber volume of the target pipette is also configured to be zero, and then the pipetting motor of the target pipette is controlled to perform the air suction operation according to the preset air suction volume, at this time, the real-time pipetting accumulated amount of the target pipette changes in real time with the air suction operation, so that the real-time pipetting accumulated amount of the target pipette is consistent with the preset air suction volume, and the real-time pipetting accumulated amount of the target pipette is also consistent with the preset air suction volume. In this process, the maximum pipette accumulation amount of the target pipette is always in an active state, and the value thereof is in accordance with the liquid accommodation specification of the target pipette tip currently mounted on the target pipette tip.

And step S300, controlling the target pipettor to execute pipetting operation according to the configured real-time pipetting accumulated amount, the effective maximum pipetting accumulated amount and the pipetting cavity volume of the target pipettor.

In the present embodiment, when the target pipette that has performed the pipetting operation completes the replenishment of the amount of the forward air suction without changing the pipette tip, the pipetting control apparatus 10 performs the pipetting operation based on the real-time pipetting accumulated amount after the current configuration of the target pipette (at this time, the real-time pipetting accumulated amount is the preset air suction amount), the maximum pipetting accumulated amount in the active state (at this time, the maximum pipetting accumulated amount is consistent with the liquid containing specification of the mounted target pipette tip), the pipetting chamber volume of the target pipette (at this time, the real-time pipetting accumulated amount serves as the pipetting accumulated amount), and the chamber volume threshold of the target pipette, which stops the pipetting operation when the corresponding pipetting chamber volume reaches the current chamber volume threshold, thereby replenishing the amount of the forward air suction and performing the subsequent pipetting operation without changing the pipette tip, and ensuring the pipetting efficiency, with reference to the description of step S250 above.

In this process, the pipetting control method shown in fig. 3 can also be applied to the step S300, and in this case, the step S300 includes sub-steps S310 to S360 to ensure that the pipetting control apparatus 10 can control the target pipettor to stably perform the pipetting operation, thereby effectively realizing the actual pipetting action and/or the liquid spraying action.

The following is an example of the implementation of the above pipetting control scheme without changing the pipette tip: when the target pipettes Vi =0, si =20 μ L and Vmax =1000 μ L need to supplement the front air suction amount without replacing the pipetting nozzle, the pipetting motor of the target pipettes is controlled to reset to zero, so that Vi = Si =0 and Vmax =1000 μ L are realized; then controlling a liquid-sucking motor to perform liquid-sucking action on air according to V0=120 μ L, wherein Vi = Si =120 μ L, and Smax = V0+ Vmax =120 μ L +1000 μ L =1120 μ L because Vmax >0 and Vi =120 μ L belong to an effective state; the target pipettor is controlled to perform pipetting actions based on Vi = Si =120 μ L, vmax =1000 μ L, and Smax =1120 μ L.

Thus, the present application can control the pipette device that has performed the liquid transfer operation to replenish the amount of the front air suction without changing the tip and to perform the subsequent liquid transfer operation by executing the above steps S290 and S300, thereby ensuring the liquid transfer efficiency.

In order to ensure that the pipette control device 10 can execute the above-described various control methods related to pipette control (including the control method shown in any of fig. 2 to 6) by the pipette control device 100, the present application implements the above-described functions by dividing the functional blocks of the pipette control device 100. The specific components of the pipette control device 100 provided herein are described accordingly below.

Referring to fig. 7, fig. 7 is a schematic view illustrating a device composition of a pipette control device 100 according to an embodiment of the present disclosure. In the present embodiment, the pipette control device 100 may include a tip retracting control module 110, a reset control module 120, a suction control module 130, a pipette control module 140, a range configuration module 150, and a pipette control module 160, wherein the tip retracting control module 110 is configured to control a target pipette to perform a tip retracting operation.

And the reset control module 120 is used for controlling the liquid-transferring motor of the target pipettor to reset to zero when the target pipettor finishes the pipette tip withdrawing operation, wherein the maximum pipette tip accumulation amount of the target pipettor is in an idle state when the target pipettor finishes the pipette tip withdrawing operation.

And the air suction control module 130 is used for controlling a liquid suction motor of the target liquid suction device to execute air suction operation according to the preset air suction amount, and configuring the real-time liquid suction accumulation amount of the target liquid suction device to be zero.

And the taking head control module 140 is used for controlling the target pipettor to take and mount the target pipetting head when the maximum pipetting accumulation amount is in an idle state.

And a range configuration module 150 for configuring a maximum pipetting accumulation amount according to the liquid containing specification of the target pipetting tip, wherein the maximum pipetting accumulation amount is in an effective state after the specification configuration operation is completed.

And the pipetting control module 160 is configured to control the target pipettor to perform pipetting operation according to the configured real-time pipetting accumulated amount, the maximum pipetting accumulated amount in the effective state, and the pipetting chamber volume of the target pipettor, wherein the target pipettor stops performing pipetting operation when the pipetting chamber volume reaches a current chamber volume threshold, and the current chamber volume threshold is obtained by overlapping a preset air pipetting amount with the maximum pipetting accumulated amount in the effective state.

The pipetting control module 160 can control the target pipettor to stably perform pipetting operation by executing the pipetting operation control method shown in fig. 3, so as to effectively realize real pipetting and/or liquid spraying.

In a first implementation of an embodiment of the application: the reset control module 120 is further configured to, when the target pipettor needs to be powered on and initialized, control the liquid-moving motor of the target pipettor to reset to zero, control the liquid-moving motor of the target pipettor to perform an air suction operation according to a preset air suction amount, and place the maximum liquid suction accumulation amount of the target pipettor in an illegal state. The tip withdrawing control module 110 is configured to control the target pipette to perform a tip withdrawing operation, and place the maximum pipette accumulation amount of the target pipette in an idle state.

In a second implementation of the embodiments of the present application: the receding head control module 110 is further configured to, for a target pipettor that has performed a pipetting operation, control the target pipettor to perform a receding head operation, and place the maximum pipetting accumulation amount of the target pipettor in an idle state.

In a third implementation of the examples of the present application: the reset control module 120 is further configured to, for the target pipettor that has performed the pipetting operation, control the pipetting motor of the target pipettor to reset to zero, control the pipetting motor of the target pipettor to perform the air suction operation according to the preset air suction amount, and configure the real-time pipetting accumulated amount of the target pipettor according to the preset air suction amount, where the maximum pipetting accumulated amount of the target pipettor that has performed the pipetting operation is in an effective state. The pipetting control module 160 is further configured to control the target pipettor to perform pipetting operations according to the configured real-time pipetting amount, the maximum pipetting amount in the effective state, and the pipetting chamber volume of the target pipettor.

The basic principle and the technical effects of the pipette control device 100 according to the embodiment of the present application are the same as those of the various control methods related to the pipette control described above. For a brief description, where not mentioned in this embodiment section, reference may be made to the above description for various control methods related to pipette control.

In the embodiments provided in the present application, it should be understood that the disclosed apparatus and method may be implemented in other ways. The apparatus embodiments described above are merely illustrative, and for example, the flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of apparatus, methods and computer program products according to embodiments of the present application. 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). It should also be noted that, 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. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, 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.

In addition, functional modules in the embodiments of the present application may be integrated together to form an independent part, or each module may exist separately, or two or more modules may be integrated to form an independent part. The functions may be stored in a readable storage medium if they are implemented in the form of software functional modules and sold or used as separate products. Based on such understanding, the technical solution of the present application or portions thereof that substantially contribute to the prior art may be embodied in the form of a software product stored in a readable storage medium, which includes several instructions for causing 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 described in the embodiments of the present application. And the aforementioned readable storage medium comprises: 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.

In summary, in the pipette control method and apparatus, the pipette control device, and the readable storage medium provided in the embodiments of the present application, the present application controls the pipette motor to reset to zero when the target pipette is in the pipette tip withdrawal state, so that the maximum pipette tip of the target pipette is in the empty state, then controls the pipette motor to perform the air suction operation according to the preset air suction amount, and configures the real-time pipette tip of the target pipette to zero, so as to effectively distinguish the forward pipette action from the real pipette action when the pipette is in the pipette tip withdrawal state, and then controls the target pipette to pick up and mount the target pipette tip, and configures the maximum pipette tip according to the liquid containing specification of the target pipette tip, so as to set the maximum pipette tip in the valid state, and then controls the target pipette to perform the pipette operation according to the configured real-time pipette tip, the configured maximum pipette tip, and the liquid containing chamber volume of the target pipette tip, and the chamber volume threshold obtained by overlapping the preset air suction amount and the maximum pipette tip, so as to effectively maintain the anti-over pipette mechanism, and ensure that the real liquid sucked by the target pipette tip can achieve the maximum pipette tip with the currently mounted maximum pipette tip.

The above description is only for various embodiments of the present application, but the scope of the present application is not limited thereto, and any person skilled in the art can easily conceive of changes or substitutions within the technical scope of the present application, and all such changes or substitutions are included in the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.

Claims

1. A method of pipette control, the method comprising:

controlling a pipetting motor of the target pipettor to reset to zero when the target pipettor finishes the pipette tip withdrawing operation, wherein the maximum pipette tip accumulation amount of the target pipettor is in an idle state when the target pipettor finishes the pipette tip withdrawing operation;

controlling the target pipettor to execute pipetting operation according to the configured real-time pipetting accumulated amount, the maximum pipetting accumulated amount in the effective state and the pipetting cavity volume of the target pipettor, wherein the target pipettor stops executing pipetting operation when the pipetting cavity volume reaches a current cavity volume threshold value, and the current cavity volume threshold value is obtained by overlapping the preset air pipetting amount and the maximum pipetting accumulated amount in the effective state;

wherein the step of controlling the target pipettor to perform pipetting operations according to the configured real-time pipetting amount, the maximum pipetting amount in an effective state, and the pipetting chamber volume of the target pipettor comprises:

in the case that the expected imbibition amount is larger than zero and the expected imbibition amount is smaller than or equal to the maximum imbibition amount in an effective state, controlling the target pipettor to execute an imbibition operation for the fluid infusion amount to be executed, and updating the current real-time imbibition amount of the target pipettor by using the expected imbibition amount;

2. The method of claim 1, further comprising:

3. The method of claim 1, further comprising:

4. The method of claim 1, further comprising:

for the target pipettor which performs the pipetting operation, controlling a pipetting motor of the target pipettor to reset to zero, controlling the pipetting motor of the target pipettor to perform air suction operation according to a preset air suction amount, and configuring a real-time pipetting accumulation amount of the target pipettor according to the preset air suction amount, wherein the maximum pipetting accumulation amount of the target pipettor which performs the pipetting operation is in an effective state;

5. The method of any one of claims 1-4, wherein the step of controlling the target pipette to perform pipetting operations based on the configured real-time pipetting volume, the maximum pipetting volume in the active state, and the pipetting chamber volume of the target pipette further comprises:

controlling the target pipette to prohibit execution of a liquid suction operation for the liquid ejection amount to be executed in a case where the desired liquid suction amount is larger than the maximum liquid suction amount in an effective state.

6. A pipette control device, characterized in that the device comprises:

the reset control module is used for controlling the liquid-transferring motor of the target liquid transferring device to reset to zero when the target liquid transferring device finishes the operation of withdrawing the suction head, wherein the maximum liquid-transferring accumulation amount of the target liquid transferring device is in an idle state when the operation of withdrawing the suction head is finished;

the pipette head control module is used for controlling the target pipette to move and install the target pipette head when the maximum pipette accumulation amount is in an idle state;

a range configuration module for configuring the maximum pipetting accumulation amount according to the liquid containing specification of the target pipetting tip, wherein the maximum pipetting accumulation amount is in an effective state after the specification configuration operation is completed;

the liquid transfer control module is used for controlling the target pipettor to execute liquid transfer operation according to the configured real-time liquid absorption cumulant, the maximum liquid absorption cumulant in the effective state and the liquid absorption chamber volume of the target pipettor, wherein the target pipettor stops executing the liquid transfer operation when the liquid absorption chamber volume reaches a current chamber volume threshold value, and the current chamber volume threshold value is obtained by superposing the preset air suction amount and the maximum liquid absorption cumulant in the effective state;

the method for controlling the target pipettor to execute pipetting operation by the pipetting control module according to the configured real-time pipetting accumulated amount, the maximum pipetting accumulated amount in the effective state and the pipetting cavity volume of the target pipettor comprises the following steps:

in the case that the expected imbibition amount is larger than zero and the expected imbibition amount is smaller than or equal to the maximum imbibition amount in an effective state, controlling the target pipettor to execute an imbibition operation for the fluid ejection amount to be executed, and updating the current real-time imbibition amount of the target pipettor by adopting the expected imbibition amount;

7. A pipette control apparatus comprising a processor and a memory, the memory storing a computer program executable by the processor, the computer program executable by the processor to implement the pipette control method of any one of claims 1 to 5.

8. A readable storage medium, having stored thereon a computer program, characterized in that the computer program, when executed by a processor, implements the pipette control method of any one of claims 1 to 5.