CN117310200B

CN117310200B - Pipetting point calibration method and device, pipetting control equipment and readable storage medium

Info

Publication number: CN117310200B
Application number: CN202311597188.8A
Authority: CN
Inventors: 蒋鑫; 张森; 张玺; 李刚; 胡西海; 张良驰
Original assignee: Chengdu Hanchen Guangyi Technology Co ltd; Chengdu Hanchen Guangyi Bioengineering Co ltd
Current assignee: Chengdu Hanchen Guangyi Technology Co ltd; Chengdu Hanchen Guangyi Bioengineering Co ltd
Priority date: 2023-11-28
Filing date: 2023-11-28
Publication date: 2024-02-06
Anticipated expiration: 2043-11-28
Also published as: CN117310200A

Abstract

The application provides a pipetting point calibration method and device, pipetting control equipment and a readable storage medium, and relates to the technical field of pipetting control. According to the method, after the theoretical relative position relation between the pipetting theoretical origin position of the pipetting device and the carrier center theoretical position of the target carrier is obtained, the pipetting origin position deviation between the pipetting actual origin position of the pipetting device and the pipetting theoretical origin position and the carrier center position deviation between the carrier center actual position of the target carrier and the carrier center theoretical position are read, consumable size of a container consumable to be calibrated and expected deployment position of the consumable to be calibrated at the target carrier are obtained, actual point position information of the pipetting head actual position to the pipetting interaction position of the container consumable to be calibrated at the target carrier is calculated, and therefore quick and accurate automatic calibration effect is achieved for point position information of a large number of container consumables to be calibrated at the same carrier in a data calculation mode under the condition that the container consumables are not deployed.

Description

Pipetting point calibration method and device, pipetting control equipment and readable storage medium

Technical Field

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

Background

With the continuous development of science and technology, the pipetting device is used as a commonly used precise liquid sampling instrument, and can rapidly and accurately perform quantitative sampling operation or sample adding operation on a small amount of liquid samples and test solutions, so that the pipetting device is widely used in the scenes of hospitals, epidemic prevention stations, blood transfusion stations, biochemical laboratories, environmental laboratories, food analysis laboratories and the like, and with the rapid development of biotechnology such as biological pharmacy, genetic engineering, molecular diagnosis and the like, the pipetting accuracy of the pipetting device is also more and more concerned in the industry.

At present, a pipetting device is usually required to install a pipetting head on a pipetting assembly before actual use, place various reagent containers and experimental consumables on each carrier of a workbench surface, then design an origin position for the pipetting assembly, calibrate an initial relative position relation that the pipetting head moves from the origin position to different container positions of each container consumable for interaction by visually checking whether the pipetting head moves from the origin position to different container positions of each container consumable through eyes of eyes, and obtain point position information of various interaction positions (such as a container top position, a container middle position, a container bottom position and the like corresponding to the container consumable) of the pipetting head to each of the different container consumable.

However, it is worth noting that the manual implementation scheme of the calibration pipetting point location information needs to consume a great deal of time to finish the point location calibration operation of all container consumables on the same carrier, the problems of overlarge manual calibration workload and poor manual calibration accuracy exist, meanwhile, the point location information calibrated by the same container consumable is different in size/model, other individual container consumables or container consumables of the same model of other manufacturers cannot be necessarily adapted to the point location information substantially calibrated by the same container consumable, the corresponding point location information can be manually calibrated by the replaced container consumable only after the container consumable is replaced, the operation is complex, and the use efficiency of equipment is reduced.

Disclosure of Invention

In view of this, an object of the present application is to provide a pipetting point calibration method and apparatus, pipetting control device and readable storage medium, which can realize fast and accurate automatic calibration effect for point location information of a large amount of to-be-calibrated container consumables at the same carrier in a data calculation mode under the condition that container consumables are not deployed, so as to improve point location calibration accuracy and point location calibration efficiency, reduce manpower input of a calibration link, and effectively avoid the problem of container consumable waste.

In order to achieve the above purpose, the technical solution adopted in the embodiment of the present application is as follows:

in a first aspect, the present application provides a method for calibrating a pipetting point, the method comprising:

acquiring a theoretical relative position relationship between a pipetting theoretical origin position of pipetting equipment and a carrier center theoretical position of a target carrier;

reading a pre-stored displacement origin position deviation between a displacement actual origin position and a displacement theoretical origin position of the displacement equipment and a carrier center position deviation between a carrier center actual position and a carrier center theoretical position of the target carrier;

acquiring consumable sizes of container consumables to be calibrated and expected deployment positions of the container consumables to be calibrated at the target carrier;

according to the theoretical relative position relation, the pipetting origin position deviation, the carrier center position deviation, the consumable size and the expected deployment position, calculating actual point position information from a pipetting head position of the pipetting device at an actual pipetting origin position to a pipetting interaction position of the consumable of the container to be calibrated at the target carrier.

In an optional embodiment, the step of calculating actual point location information from a pipetting head position of the pipetting device at an actual origin position of pipetting to a pipetting interaction position of the consumable of the container to be calibrated at the target carrier according to the theoretical relative positional relationship, the pipetting origin position deviation, the carrier center position deviation, the consumable size and the desired deployment position includes:

Performing position deviation on the theoretical relative position relation according to the pipetting origin position deviation and the carrier center position deviation to obtain an actual relative position relation between a pipetting actual origin position of the pipetting device and a carrier center actual position of the target carrier;

calculating the interaction position offset of the pipetting interaction position of the consumable of the container to be calibrated relative to the actual position of the center of the carrier according to the consumable size and the expected deployment position;

and carrying out position compensation on the actual relative position relation according to the interaction position offset to obtain actual point position information of the consumable of the container to be calibrated at the pipetting device and the target carrier.

In an alternative embodiment, the method for calibrating a pipetting point further comprises:

calibrating a pipetting origin position deviation between a pipetting actual origin position and a pipetting theoretical origin position of the pipetting device based on an actual marking position of a workbench surface calibration marking, wherein the workbench surface calibration marking is a reference calibration point marking on a workbench surface where the pipetting device is located;

calibrating the carrier center position deviation between the carrier center actual position and the carrier center theoretical position of the target carrier based on the theoretical mark position of the carrier mark on the target carrier and the calibrated pipetting origin position deviation;

And storing the calibrated displacement origin position deviation and the carrier center position deviation.

In an optional embodiment, the step of calibrating a pipetting origin position deviation between a pipetting actual origin position and a pipetting theoretical origin position of the pipetting device based on the actual mark position of the table top calibration mark includes:

acquiring first theoretical position movement data of the pipetting device from a pipetting theoretical origin position to an actual marking position of a table top calibration mark;

calculating first theoretical movement distance data of the detection edge position of the distance detector on the pipetting device from the pipetting theoretical origin position to the actual marking position according to the first theoretical position movement data;

controlling the pipetting device to carry the distance detector to move, and obtaining first actual moving distance data of the detected edge position of the distance detector from the actual origin position of pipetting to the actual marking position;

and calculating the position movement quantity deviation between the first actual movement distance data and the first theoretical movement distance data to obtain the pipetting origin position deviation of the pipetting device.

In an alternative embodiment, the step of calculating first theoretical movement distance data of the detection edge position of the distance detector on the pipetting device moving from the pipetting theoretical origin position to the actual marking position according to the first theoretical position movement data includes:

acquiring a position deviation parameter between a detection starting position of the distance detector on the pipetting device and a pipetting head position;

according to the effective detection distance of the distance detector, carrying out position offset superposition on the position deviation parameter to obtain the expected position offset of the detection edge position of the distance detector on the pipetting device relative to the pipetting head position;

and carrying out position movement compensation on the first theoretical position movement data according to the expected position offset to obtain the first theoretical movement distance data.

In an optional embodiment, the step of calibrating the carrier center position deviation between the actual carrier center position and the theoretical carrier center position of the target carrier based on the theoretical mark position of the carrier mark on the target carrier and the calibrated displacement origin position deviation includes:

Acquiring second theoretical position movement data of the pipetting device from a pipetting theoretical origin position to a theoretical marking position of the carrier mark;

calculating second theoretical moving distance data of the detection edge position of the distance detector on the pipetting device from the actual origin position of pipetting to the theoretical mark position according to the pipetting origin position deviation and the second theoretical position moving data;

controlling the pipetting device to move the detection edge position of the distance detector to the theoretical mark position according to the second theoretical movement distance data;

controlling the pipetting device to carry the distance detector to move so as to obtain the actual position movement amount of the detection edge position of the distance detector from the theoretical mark position to the actual mark position of the carrier mark;

and taking the actual position moving amount as a carrier center position deviation of the target carrier.

In an optional embodiment, the step of calculating second theoretical movement distance data of the detection edge position of the distance detector from the actual origin position of the pipetting device to the theoretical mark position according to the deviation of the origin position of the pipetting device and the second theoretical position movement data includes:

performing movement position deviation on the second theoretical position movement data according to the pipetting origin position deviation to obtain expected position movement data of the pipetting device from the pipetting actual origin position to the theoretical mark position;

and carrying out position movement compensation on the expected position movement data according to the expected position offset to obtain the second theoretical movement distance data.

In a second aspect, the present application provides a pipetting spot calibration apparatus, comprising:

the pipetting parameter acquisition module is used for acquiring a theoretical relative position relationship between a pipetting theoretical origin position of pipetting equipment and a carrier center theoretical position of a target carrier;

a pipetting deviation reading module, configured to read a pipetting origin position deviation between a pipetting actual origin position and a pipetting theoretical origin position of the pipetting device stored in advance, and a carriage center position deviation between a carriage center actual position and a carriage center theoretical position of the target carriage;

The consumable parameter acquisition module is used for acquiring consumable sizes of the consumable of the container to be calibrated and expected deployment positions of the consumable of the container to be calibrated at the target carrier;

and the pipetting point position determining module is used for calculating actual point position information from the pipetting head position of the pipetting device at the actual pipetting point position to the pipetting interaction position of the consumable in the container to be calibrated at the target carrier according to the theoretical relative position relation, the pipetting point position deviation, the carrier center position deviation, the consumable size and the expected deployment position.

In an alternative embodiment, the pipetting spot calibration device further comprises:

the origin deviation calibration module is used for calibrating the deviation of the pipetting origin position between the pipetting actual origin position and the pipetting theoretical origin position of the pipetting device based on the actual mark position of the workbench surface calibration mark, wherein the workbench surface calibration mark is a reference calibration point mark on the workbench surface where the pipetting device is located;

the carrier deviation calibration module is used for calibrating the carrier center position deviation between the carrier center actual position of the target carrier and the carrier center theoretical position based on the theoretical mark position of the carrier mark on the target carrier and the calibrated pipetting origin position deviation;

And the pipetting deviation storage module is used for storing the calibrated pipetting origin position deviation and the carrier center position deviation.

In a third aspect, the present application provides a pipetting control device 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 pipetting point calibration method according to any one 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, implements the pipetting spot calibration method according to any one of the preceding embodiments.

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

according to the method, after the theoretical relative position relation between the pipetting theoretical origin position of the pipetting device and the carrier center theoretical position of the target carrier is obtained, the pipetting origin position deviation between the pipetting actual origin position of the pipetting device and the pipetting theoretical origin position and the carrier center position deviation between the carrier center actual position of the target carrier and the carrier center theoretical position are read, then the consumable size of the container consumable to be calibrated and the expected deployment position of the consumable to be calibrated at the target carrier are obtained, the actual point position information from the pipetting head position of the pipetting device at the pipetting actual origin position to the pipetting interaction position of the container consumable to be calibrated at the target carrier is directly calculated based on the obtained theoretical relative position relation, the pipetting origin position deviation, the carrier center position deviation, the consumable size and the expected deployment position, and accordingly quick and accurate automatic calibration effects can be achieved for the point position information of the large-scale container consumable to be calibrated at the same carrier in a data calculation mode under the condition that the consumable is not deployed in batches, calibration accuracy and calibration efficiency are improved, labor input of calibration links is reduced, and the consumable consumption of the container is effectively avoided.

In order to make the above 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 needed in the embodiments will be briefly described below, it being understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered limiting the scope, and that other related drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

Fig. 1 is an interaction schematic diagram of a pipetting control device and a pipetting device provided in an embodiment of the disclosure;

fig. 2 is a schematic diagram of the composition of a pipetting control device according to an embodiment of the disclosure;

fig. 3 is a schematic flow chart of a method for calibrating a pipetting point according to an embodiment of the disclosure;

fig. 4 is a schematic diagram of relative position distribution of a pipetting device and a target carrier according to an embodiment of the disclosure;

FIG. 5 is a second flow chart of a method for calibrating a pipetting point according to an embodiment of the disclosure;

FIG. 6 is a flow chart illustrating the sub-steps involved in step S250 of FIG. 5;

Fig. 7 is a schematic diagram illustrating calibration of a displacement origin position deviation according to an embodiment of the present application;

FIG. 8 is a flow chart illustrating the sub-steps involved in step S260 of FIG. 5;

FIG. 9 is a schematic diagram of calibration of carrier center position deviations provided in an embodiment of the present application;

fig. 10 is one of the schematic diagrams of the composition of the pipetting point calibration device according to the embodiment of the application;

fig. 11 is a second schematic diagram of a pipetting device according to an embodiment of the disclosure.

Icon: 10-pipetting control device; 11-memory; 12-a processor; 13-a communication unit; 100-pipetting point calibration device; 110, a pipetting parameter acquisition module; 120-pipetting deviation reading module; 130-a consumable parameter acquisition module; 140-a pipetting point location determination module; 150-an origin deviation calibration module; 160-a carrier offset calibration module; 170-pipetting offset storage module.

Detailed Description

For the purposes of making the objects, technical solutions and advantages of the embodiments of the present application more clear, the technical solutions of 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 apparent that the described embodiments are some embodiments of the present application, but not all embodiments. The components of the embodiments of the present application, which are generally described and illustrated in the figures herein, may be arranged and designed in a wide variety of different configurations.

Thus, the following detailed description of the embodiments of the present application, as provided in the accompanying drawings, is not intended to limit the scope of the application, as claimed, but is merely representative of selected embodiments of the application. All other embodiments, which can be made by one of ordinary skill in the art based on the embodiments herein without making any inventive effort, are intended to be within the scope of the present application.

It should be noted that: like reference numerals and letters denote like items in the following figures, and thus once an item is defined in one figure, no further definition or explanation thereof is necessary in the following figures.

In the description of the present application, it should be understood that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," "outer," and the like indicate orientations or positional relationships based on those shown in the drawings, or those conventionally put in place when the product of the application is used, or those conventionally understood by those skilled in the art, merely for convenience of description and simplicity of description, and do not indicate or imply that the device or element being referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the application.

In the description of the present application, it should also be noted that, unless explicitly specified and limited otherwise, the terms "disposed," "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the terms in this application will be understood by those of ordinary skill in the art in a specific context.

Furthermore, in the description of the present application, it is to be understood that relational terms such as 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. Moreover, 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 phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element. The specific meaning of the terms in this application will be understood by those of ordinary skill in the art in a specific context.

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

Referring to fig. 1, fig. 1 is an interaction schematic diagram of a pipetting control device 10 and a pipetting device according to an embodiment of the disclosure. In this embodiment of the present application, the pipetting control device 10 is in communication connection with the pipetting device, and is configured to control the pipetting device to implement a point location automatic calibration function on a target carrier for a consumable container to be calibrated, and when the consumable container to be calibrated is actually deployed on the target carrier, control the pipetting device to implement a sampling operation or a sample loading operation for the consumable container to be calibrated according to the calibrated point location information. Wherein the target carrier is any table top carrier on the table top where the pipetting device is located; the pipetting control device 10 may be a computer device independent of the pipetting device, which may be, but is not limited to, a smart phone, a tablet, a notebook, a server, a personal computer, etc.; the pipetting control device 10 may also be integrated with the pipetting device.

Alternatively, referring to fig. 2, fig. 2 is a schematic diagram illustrating the composition of a pipetting control apparatus 10 according to an embodiment of the disclosure. In the embodiment of the present application, the pipetting control device 10 may include a memory 11, a processor 12 and a communication unit 13. The memory 11, the processor 12, and the communication unit 13 are electrically connected directly or indirectly to each other, so as to realize data transmission or interaction. 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 (Random Access Memory, RAM), a Read Only Memory (ROM), a programmable Read Only Memory (Programmable Read-Only Memory, PROM), an erasable Read Only Memory (Erasable Programmable Read-Only Memory, EPROM), an electrically erasable Read Only Memory (Electric Erasable Programmable Read-Only Memory, EEPROM), or the like. Wherein the memory 11 is configured to store a computer program, and the processor 12, upon receiving an execution instruction, can execute the computer program accordingly.

In this embodiment, the processor 12 may be an integrated circuit chip with signal processing capabilities. The processor 12 may be a general purpose processor including at least one of a central processing unit (Central Processing Unit, CPU), a graphics processor (Graphics Processing Unit, GPU) and a network processor (Network Processor, NP), a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA) or other programmable logic device, discrete gate or transistor logic device, discrete hardware components. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like that may implement or perform the methods, steps, and logic blocks disclosed in embodiments of the present application.

In this embodiment, the communication unit 13 is configured to establish a communication connection between the pipetting control device 10 and other electronic devices through a network, and send and receive data through the network, where the network includes a wired communication network and a wireless communication network. For example, the pipetting control apparatus 10 may obtain consumable information of the container consumable to be calibrated, which needs calibration point location information, through the communication unit 13, where the consumable information includes an actual consumable size corresponding to the container consumable to be calibrated, and an expected deployment position of the container consumable to be calibrated at the target carrier.

In the embodiment of the present application, the pipetting control apparatus 10 may further comprise a pipetting point calibration device 100. The pipetting spot calibration apparatus 100 may comprise at least one software functional module which can be stored in the memory 11 in the form of software or firmware or which is solidified in the operating system of the pipetting control device 10. The processor 12 may be configured to execute executable modules stored in the memory 11, such as software functional modules and computer programs included in the pipetting device 100. The pipetting control device 10 can realize quick and accurate automatic calibration effect through the pipetting point calibration device 100 according to the point position information of a large number of to-be-calibrated container consumables at the same carrier in a data calculation mode under the condition that the container consumables are not deployed, so that the point position calibration accuracy and the point position calibration efficiency are improved, the labor investment of a calibration link is reduced, and the problem of waste of the container consumables is effectively avoided.

It will be appreciated that the block diagram shown in fig. 2 is only one constituent schematic diagram of the pipetting control device 10, and that the pipetting control device 10 may also include more or fewer components than shown in fig. 2 or have a different configuration than shown in fig. 2. The components shown in fig. 2 may be implemented in hardware, software, or a combination thereof.

In this application, in order to ensure that pipetting control device 10 can be under the condition of not deploying container consumptive material, treat the quick and accurate automatic calibration effect of point location information realization at same carrier department to the container consumptive material of calibration in batches through data calculation mode to promote the point location calibration precision and the point location calibration efficiency, reduce the manpower input of calibration link, and effectively avoid the extravagant problem of container consumptive material, this application embodiment provides a pipetting point location calibration method to realize aforesaid purpose. The pipetting point calibration method provided by the application is described in detail below.

Referring to fig. 3, fig. 3 is a schematic flow chart of a method for calibrating a pipetting point according to an embodiment of the disclosure. In the embodiment of the present application, the method for calibrating a pipetting point may include step S210 to step S240.

Step S210, obtaining a theoretical relative position relation between a pipetting theoretical origin position of the pipetting device and a carrier center theoretical position of the target carrier.

In this embodiment, the theoretical origin position of pipetting is an origin position designed for a pipette assembly of the pipetting device in advance, and specifically, in a design process of the pipette assembly, the origin position is an initial position of the pipette assembly when the pipetting device performs pipetting operation; the carrier center theoretical position is used for representing a theoretical position of a surface center point of the consumable placement surface corresponding to the target carrier in a point calibration process, the theoretical relative position relationship is used for describing theoretical movement distance data of a pipetting head position of the pipetting device when the pipetting device assembly is at a pipetting theoretical origin position to a carrier center theoretical position of the target carrier, that is, the pipetting control device 10 can control the pipetting head position of the pipetting device to move from the pipetting theoretical origin position to the carrier center theoretical position of the target carrier according to the theoretical relative position relationship.

It will be understood that the theoretical relative positional relationship between the theoretical origin position of pipetting device and the theoretical carrier center position of the target carrier may be represented by a three-dimensional vector (X1, Y1, Z1), where X1 is used to represent the distance size in the X-axis moving direction (i.e., the horizontal leftward direction of fig. 4) of the three-dimensional vector (X1, Y1, Z1) directed from the theoretical origin position of pipetting to the theoretical carrier center position, and Z1 is used to represent the distance size in the Z-axis moving direction (i.e., the vertical downward direction of fig. 4) of the three-dimensional vector directed from the theoretical origin position of pipetting to the theoretical carrier center position, and Y1 is used to represent the distance size in the Y-axis moving direction (not shown in fig. 4) of the three-dimensional vector directed from the theoretical origin position of pipetting to the theoretical carrier center position.

Step S220, reading a pipetting origin position deviation between a pipetting actual origin position and a pipetting theoretical origin position of the pipetting device stored in advance, and a carriage center position deviation between a carriage center actual position and a carriage center theoretical position of the target carriage.

In this embodiment, before the actual use of the pipetting device, the pipetting device often has a position offset relative to a pipetting theoretical origin position due to factors such as assembly operation and material loading, so that there is a pipetting origin position offset between the pipetting actual origin position of the pipetting device and the pipetting theoretical origin position, where the pipetting actual origin position is used to represent an actual origin position of a pipette assembly of the pipetting device in an actual use process.

Before actual use, the target carrier often shifts relative to the carrier center theoretical position due to factors such as assembly operation and material loading, so that the carrier center actual position of the target carrier deviates from the carrier center theoretical position, wherein the carrier center actual position is used for indicating the actual position of the surface center point of the consumable placement surface of the target carrier in the actual use process.

The pipetting control device 10 may calibrate in advance a pipetting origin position deviation between a pipetting actual origin position and a pipetting theoretical origin position of different pipetting devices, and a carrier center position deviation between a carrier center actual position and a carrier center theoretical position of at least one usable carrier of each pipetting device, and store the calibrated pipetting origin position deviation and the carrier center position deviation of each usable carrier, so that the pipetting control device 10 may read out the pipetting origin position deviations of the pipetting devices usable for the target carrier from all stored pipetting origin position deviations and read out carrier center position deviations corresponding to the target carrier from all stored carrier center position deviations when positioning information calibration is required for consumable containers to be calibrated at the target carrier.

It will be appreciated that the pipetting origin position deviation of the pipetting device may be represented by a three-dimensional vector (X0, Y0, Z0), wherein X0 is used to represent the distance in the X-axis movement direction of the three-dimensional vector (X0, Y0, Z0) directed from the pipetting actual origin position to the pipetting theoretical origin position (e.g., X0 belonging to a negative number in fig. 4), Z0 is used to represent the distance in the Z-axis movement direction of the three-dimensional vector (e.g., Z0 belonging to a positive number in fig. 4) directed from the pipetting actual origin position to the pipetting theoretical origin position, and Y0 is used to represent the distance in the Y-axis movement direction of the three-dimensional vector directed from the pipetting actual origin position to the pipetting theoretical origin position.

Meanwhile, the deviation of the center position of the target carrier may also be represented by a three-dimensional vector (Δx1, Δy1, Δz1), where Δx1 is used to represent the distance in the X-axis moving direction of the three-dimensional vector (Δx1, Δy1, Δz1) from the center theoretical position of the carrier to the center actual position of the carrier (for example, Δx1 in fig. 4), Δz1 is used to represent the distance in the Z-axis moving direction of the three-dimensional vector from the center theoretical position of the carrier to the center actual position of the carrier (for example, Δz1 in fig. 4, which belongs to a positive number), and Δy1 is used to represent the distance in the Y-axis moving direction of the three-dimensional vector from the center theoretical position of the carrier to the center actual position of the carrier.

Step S230, obtaining the consumable size of the container consumable to be calibrated and the expected deployment position of the container consumable to be calibrated at the target carrier.

The expected deployment position is used for describing an expected position of the consumable container to be calibrated when the consumable container to be calibrated is deployed on the target carrier, and the expected position can be any one of an upper left corner position, a lower right corner position, an upper right corner position, a lower left corner position or a middle position of the consumable container placement surface of the target carrier.

Step S240, calculating actual point location information from a pipetting head position of the pipetting device at an actual origin position of pipetting to a pipetting interaction position of the consumable of the container to be calibrated at a target carrier according to the theoretical relative position relationship, the pipetting origin position deviation, the carrier center position deviation, the consumable size and the expected deployment position.

In this embodiment, the pipetting interaction position of the consumable container to be calibrated at the target carrier may be any one or more of a top position, a middle position, and a bottom position of the consumable container to be calibrated.

The step of calculating actual point location information from a pipetting head position of the pipetting device at an actual origin position of pipetting to an pipetting interaction position of a consumable of a container to be calibrated at a target carrier according to a theoretical relative position relationship, a pipetting origin position deviation, a carrier center position deviation, a consumable size and an expected deployment position may include:

It will be appreciated that the actual relative positional relationship may be used to describe the desired movement distance data of the pipetting head position of the pipetting device when in the actual origin position of pipetting to the carrier center actual position of the target carrier, i.e. the pipetting control device 10 may control the pipetting head position of the pipetting device to move from the actual origin position of pipetting to the carrier center actual position of the target carrier in accordance with the actual relative positional relationship. The actual relative position relationship can be obtained by vector addition operation by adopting three-dimensional vectors corresponding to the pipetting origin position deviation, the carrier center position deviation and the theoretical relative position relationship, namely the actual relative position relationship can be expressed by adopting (X1, Y1, Z1) + (X0, Y0, Z0) + (DeltaX 1, deltaY 1 and DeltaZ 1).

In addition, the offset of the interaction position of the pipetting positions of the consumable containers to be calibrated relative to the actual position of the carrier center can also be a three-dimensional vector pointing to the pipetting positions from the actual position of the carrier centerx，y，z) Representing the actual point location information from the position of the pipetting head of the pipetting device at the actual origin position of pipetting to the pipetting interaction position of the consumable container to be calibrated at the target carrier by adopting (X1, Y1, Z1) + (X0, Y0, Z0) + (DeltaX 1, deltaY 1, deltaZ 1) + (DeltaZ 1)x，y，z) The representation is performed.

From this, this application accessible carries out the concrete step flow of above-mentioned step S240, directly treats the calibration container consumptive material in batches and realizes quick and accurate automatic calibration effect in the point position information of same carrier department through data calculation mode to promote the point position calibration precision and the point position calibration efficiency, reduce the manpower input of calibration link, need not to dispose container consumptive material and calibrate the point position information, avoid the extravagant problem of container consumptive material.

According to the method, the quick and accurate automatic calibration effect is achieved on the point location information of a large number of to-be-calibrated container consumables at the same carrier in a data calculation mode by utilizing the pipetting origin position deviation of the pipetting device calibrated in advance and the carrier center position deviation of the target carrier under the condition that the container consumables are not deployed, so that the point location calibration accuracy and the point location calibration efficiency are improved, the labor input of a calibration link is reduced, and the problem of waste of the container consumables is effectively avoided.

Optionally, referring to fig. 5, fig. 5 is a second flowchart of a method for calibrating a pipetting point according to an embodiment of the disclosure. In this embodiment of the present application, compared to the method for calibrating a pipetting point shown in fig. 3, the method for calibrating a pipetting point shown in fig. 5 may further include steps S250 to S270 to convert the existing point location information calibration operation into a calibration operation for the pipetting point location deviation and the carrier center location deviation, so as to reduce the calibration workload of the whole point location information calibration operation, and effectively improve the point location calibration accuracy and the point location calibration efficiency through the calibrated pipetting point location deviation and the carrier center location deviation.

Step S250, calibrating a pipetting origin position deviation between a pipetting actual origin position and a pipetting theoretical origin position of the pipetting device based on the actual mark position of the table top calibration mark.

In this embodiment, the table top calibration mark is a reference calibration point mark on a table top where the pipetting device is located, and the actual mark position of the table top calibration mark is the actual position of the table top calibration mark on the table top.

Optionally, referring to fig. 6, fig. 6 is a flowchart illustrating the sub-steps included in step S250 in fig. 5. In the embodiment of the present application, the step S250 may include a sub-step S251 to a sub-step S254 to implement a high-precision offset calibration effect for the offset of the pipetting origin position of the pipetting device.

Substep S251, obtaining first theoretical position movement data of the pipetting device from the pipetting theoretical origin position to the actual marking position of the table top calibration marking.

In this embodiment, the first theoretical position movement data is used to describe theoretical movement distance data of the pipette head position of the pipette device moving to the actual marking position of the table top calibration marking when the pipette assembly of the pipette device is at the pipetting theoretical origin position, that is, the pipetting control device 10 may control the pipette head position of the pipette device to move from the pipetting theoretical origin position to the actual marking position of the table top calibration marking according to the first theoretical position movement data.

It will be appreciated that the first theoretical position movement data may be represented by a three-dimensional vector (X, Y, Z), where X (as shown in fig. 7) is used to represent the distance in the X-axis movement direction of the three-dimensional vector (X, Y, Z) from the pipetting theoretical origin position to the actual marking position of the table top calibration mark, and Z (as shown in fig. 7) is used to represent the distance in the Z-axis movement direction of the three-dimensional vector from the pipetting theoretical origin position to the actual marking position of the table top calibration mark, and Y is used to represent the distance in the Y-axis movement direction of the three-dimensional vector from the pipetting theoretical origin position to the actual marking position of the table top calibration mark.

Substep S252, calculating first theoretical movement distance data of the movement of the detection edge position of the distance detector on the pipetting device from the pipetting theoretical origin position to the actual marking position based on the first theoretical position movement data.

In this embodiment, the distance detector is mounted on a pipette assembly of the pipetting device for assisting in calibrating a pipetting origin position deviation of the pipetting device; the detection edge position of the distance detector is the limit detection position of the distance detector extending from the detection starting position of the distance detector towards the distance detection direction, and the distance between the detection starting position of the distance detector and the detection edge position is the maximum detection distance of the distance detector; the distance detector may be a laser distance measuring sensor, the detection starting position of the distance detector is an actual installation position of the laser distance measuring sensor on the pipette assembly, and the distance between the detection edge position of the distance detector (as shown by a dotted circle below the distance detector in fig. 7) and the detection starting position is an upper limit value of the distance measuring range of the laser distance measuring sensor (as shown by a distance a in fig. 7); the distance detector may be a conductive needle, the detection starting position of the distance detector is the end of the conductive needle connected with the pipette component, the detection edge position of the distance detector is the other end of the conductive needle, and the distance between the detection edge position of the distance detector and the detection starting position is the actual length of the conductive pillow (as distance a in fig. 7).

The step of calculating the first theoretical moving distance data of the detected edge position of the distance detector on the pipetting device moving from the pipetting theoretical origin position to the actual marking position according to the first theoretical position moving data may include:

In this process, the above-mentioned positional deviation parameter may be expressed by a three-dimensional vector (X2, Y2, Z2), wherein X2 (as shown in fig. 7) is used to express the distance in the X-axis moving direction of the three-dimensional vector (X2, Y2, Z2) directed from the position of the pipetting head to the detection start position of the distance detector, and Z2 (as shown in fig. 7) is used to express the distance in the Z-axis moving direction of the three-dimensional vector (X2, Y2, Z2) directed from the position of the pipetting head to the detection start position of the distance detector, and Y2 is used to express the distance in the Y-axis moving direction of the three-dimensional vector (X2, Y2, Z2) directed from the position of the pipetting head to the detection start position of the distance detector.

When the effective detection distance of the distance detector is a, the expected position offset of the detection edge position of the distance detector relative to the position of the pipetting head on the pipetting device can be represented by a three-dimensional vector (X2, Y2, z2+a), which is a vector pointing from the position of the pipetting head to the detection edge position of the distance detector, and the first theoretical movement distance data can be represented by (X, Y, Z) - (X2, Y2, z2+a).

In sub-step S253, the pipetting device is controlled to move with the distance detector, and first actual movement distance data of the detection edge position of the distance detector from the actual origin position of pipetting to the actual marking position is obtained.

In this embodiment, the first actual movement distance data is used to represent the actual movement distance required for the detection edge position of the distance detector to move to the actual marking position of the table top calibration marking when the pipette assembly of the pipetting device is at the pipetting actual origin position, and may be represented by a three-dimensional vector (X1, Y1, Z1-a), where X1 (as shown in fig. 7) is used to represent the distance in the X-axis movement direction of the three-dimensional vector (X1, Y1, Z1) pointing from the detection start position of the distance detector under the pipetting actual origin position to the actual marking position of the table top calibration marking, and Z1 (as shown in fig. 7) is used to represent the three-dimensional vector (X1, Y1, Z1) pointing from the detection start position of the distance detector under the pipetting actual origin position to the actual marking position of the table top calibration marking, and Y1 (as shown in fig. 7) is used to represent the distance in the Z-axis movement direction of the three-dimensional vector (X1, Y1, Z1) pointing from the detection start position of the distance detector under the pipetting actual origin position to the actual marking position of the table top calibration marking.

In sub-step S254, a positional shift amount deviation between the first actual movement distance data and the first theoretical movement distance data is calculated, and a pipetting origin positional deviation of the pipetting device is obtained.

The displacement origin position deviation of the pipetting device may be obtained by performing a vector subtraction operation on three-dimensional vectors corresponding to the first actual movement distance data and the first theoretical movement distance data, and the displacement origin position deviation (X0, Y0, Z0) may be calculated by using (X1, Y1, Z1-a) - ((X, Y, Z) - (X2, Y2, z2+a))= (X1, Y1, Z1) - (X, Y, Z) + (X2, Y2, Z2).

Therefore, the deviation calibration effect with high accuracy can be achieved for the deviation of the pipetting origin position of the pipetting device by executing the substeps S251-S254.

Step S260, calibrating the carrier center position deviation between the carrier center actual position of the target carrier and the carrier center theoretical position based on the theoretical mark position of the carrier mark on the target carrier and the calibrated pipetting origin position deviation.

In this embodiment, the theoretical mark position of the carrier mark is used to represent the theoretical position of the carrier mark when the surface center point of the consumable placement surface of the target carrier is at the central theoretical position of the carrier, where the relative position between the carrier mark and the surface center point on the same carrier is fixed.

Optionally, referring to fig. 8, fig. 8 is a flowchart illustrating the sub-steps included in step S260 in fig. 5. In this embodiment of the present application, the step S260 may include sub-steps S261 to S265 to achieve a high-precision deviation calibration effect for the deviation of the carrier center position of the target carrier.

Substep S261, second theoretical position movement data of the pipetting device from the pipetting theoretical origin position to the theoretical mark position of the carrier mark is acquired.

In this embodiment, the second theoretical position movement data is used to describe theoretical movement distance data of the pipetting head position of the pipetting device when the pipetting head assembly is at the pipetting theoretical origin position to the theoretical marking position of the carrier mark, i.e. the pipetting control device 10 may control the pipetting head position of the pipetting device to move from the pipetting theoretical origin position to the theoretical marking position of the carrier mark according to the second theoretical position movement data.

It is understood that the second theoretical position movement data may be expressed by a three-dimensional vector (X ', Y ', Z '), wherein X ' (as shown in fig. 9) is a distance in the X-axis movement direction of the three-dimensional vector (X ', Y ', Z ') directed from the pipetting theoretical origin position to the theoretical marking position of the carriage mark, and Z ' (as shown in fig. 9) is a distance in the Z-axis movement direction of the three-dimensional vector (X ', Y ', Z ') directed from the pipetting theoretical origin position to the theoretical marking position of the carriage mark, and Y ' is a distance in the Y-axis movement direction of the three-dimensional vector (X ', Y ', Z ') directed from the pipetting theoretical origin position to the theoretical marking position of the carriage mark.

In sub-step S262, second theoretical movement distance data for the detection edge position of the distance detector on the pipetting device to move from the actual pipetting origin position to the theoretical marking position is calculated from the pipetting origin position deviation and the second theoretical position movement data.

The step of calculating second theoretical movement distance data of the detection edge position of the distance detector on the pipetting device from the actual origin position of pipetting to the theoretical mark position according to the pipetting origin position deviation and the second theoretical position movement data may include:

In this process, the desired positional offset of the detection edge position of the distance detector on the pipetting device with respect to the pipetting head position can be represented by a three-dimensional vector (x 2, y2, z2+a) directed from the pipetting head position to the detection edge position of the distance detector; the desired position movement data of the pipetting device from the actual origin position of pipetting to the theoretical mark position can be expressed by (X ', Y ', Z ')+ (X0, Y0, Z0); the second theoretical moving distance data may be expressed by (X ', Y ', Z ') + (X0, Y0, Z0) - (X2, Y2, z2+a).

Substep S263, controlling the pipetting device to move the detection edge position of the distance detector to the theoretical mark position in accordance with the second theoretical movement distance data.

Substep S264, controlling the pipetting device to move with the distance detector, so as to obtain an actual position movement amount of the detection edge position of the distance detector from the theoretical mark position to the actual mark position of the carrier mark.

Substep S265, regarding the actual position movement amount as the carrier center position deviation of the target carrier.

And the mark position deviation between the actual mark position and the theoretical mark position of the carrier mark on the target carrier is consistent with the carrier center position deviation between the carrier center actual position and the carrier center theoretical position of the target carrier because the relative positions between the carrier mark and the surface center point on the same carrier are fixed.

Therefore, the method can realize the high-precision deviation calibration effect aiming at the deviation of the center position of the carrier of the target carrier by executing the substeps S261-S265.

Step S270, storing the calibrated displacement origin position deviation and the carrier center position deviation.

Therefore, the present application can convert the existing point location information calibration operation into calibration operation for the position deviation of the pipetting origin and the position deviation of the center of the carrier by executing the steps S250 to S270, so as to reduce the calibration workload of the whole point location information calibration operation, and effectively improve the point location calibration accuracy and the point location calibration efficiency by the calibrated position deviation of the pipetting origin and the position deviation of the center of the carrier.

In this application, to ensure that the pipetting control apparatus 10 can effectively perform the above-described pipetting point calibration method, the present application implements the foregoing functions by performing functional module division on the pipetting point calibration device 100 stored in the pipetting control apparatus 10. The specific composition of the pipetting point calibration apparatus 100 applied to the pipetting control device 10 provided in the present application will be described correspondingly.

Referring to fig. 10, fig. 10 is a schematic diagram of a pipetting device 100 according to an embodiment of the disclosure. In this embodiment, the pipetting point calibration apparatus 100 may include a pipetting parameter obtaining module 110, a pipetting deviation reading module 120, a consumable parameter obtaining module 130 and a pipetting point determining module 140.

The pipetting parameter obtaining module 110 is configured to obtain a theoretical relative positional relationship between a pipetting theoretical origin position of the pipetting device and a carrier center theoretical position of the target carrier.

The pipetting deviation reading module 120 is configured to read a pipetting origin position deviation between a pipetting actual origin position and a pipetting theoretical origin position of the pipetting device stored in advance, and a carriage center position deviation between a carriage center actual position and a carriage center theoretical position of the target carriage.

And the consumable parameter acquisition module 130 is used for acquiring the consumable size of the container consumable to be calibrated and the expected deployment position of the container consumable to be calibrated at the target carrier.

The pipetting point position determining module 140 is configured to calculate actual point position information from a pipetting head position of the pipetting device at an actual pipetting point position to a pipetting interaction position of the consumable of the container to be calibrated at the target carrier according to the theoretical relative position relationship, the pipetting point position deviation, the carrier center position deviation, the consumable size and the desired deployment position.

Optionally, referring to fig. 11, fig. 11 is a second schematic diagram of a pipetting device 100 according to an embodiment of the disclosure. In this embodiment, the pipetting point calibration apparatus 100 may further include an origin deviation calibration module 150, a carrier deviation calibration module 160, and a pipetting deviation storage module 170.

The origin deviation calibration module 150 is configured to calibrate a pipetting origin position deviation between a pipetting actual origin position and a pipetting theoretical origin position of the pipetting device based on an actual mark position of a table top calibration mark, where the table top calibration mark is a reference calibration point mark on a table top where the pipetting device is located.

The carrier deviation calibration module 160 is configured to calibrate a carrier center position deviation between a carrier center actual position and a carrier center theoretical position of the target carrier based on a theoretical mark position of a carrier mark on the target carrier and the calibrated pipetting origin position deviation.

The pipetting deviation storage module 170 is configured to store the calibrated pipetting origin position deviation and the carrier center position deviation.

It should be noted that, the basic principle and the technical effects of the pipetting point calibration device 100 provided in the embodiment of the application are the same as the pipetting point calibration method described above. For a brief description, reference is made to the description of the method for calibrating a pipetting point, where this is not mentioned in the present example section.

In the embodiments provided in the present application, it should be understood that the disclosed apparatus and method may be implemented in other manners as well. The apparatus embodiments described above are merely illustrative, for example, of the flowcharts and block diagrams in the figures that 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 which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.

In addition, the functional modules in the embodiments of the present application may be integrated together to form a single part, or each module may exist alone, or two or more modules may be integrated to form a single part. Various functions provided herein may be stored in a storage medium if implemented in the form of software functional modules and sold or used as a stand-alone product. Based on such understanding, the technical solution of the present application may be embodied in essence or a part contributing to the prior art or a part of the technical solution, or in the form of a software product stored in a readable storage medium, including several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the methods described in the embodiments of the present application. And the aforementioned readable storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), a magnetic disk, or an optical disk, or other various media capable of storing program codes.

In summary, in the method and apparatus for calibrating a pipetting point, pipetting control device and readable storage medium provided in the embodiments of the present application, after obtaining a theoretical relative position relationship between a pipetting theoretical origin position of pipetting device and a carrier center theoretical position of a target carrier, the present application reads a pipetting origin position deviation between a pipetting actual origin position of pipetting device and a pipetting theoretical origin position of the target carrier and a carrier center position deviation between a carrier center actual position of the target carrier and a carrier center theoretical position, then obtains a consumable size of a container consumable to be calibrated and an expected deployment position of the consumable size at the target carrier, and directly calculates actual point location information from a pipetting head position of the pipetting device at the pipetting actual origin position to a pipetting interaction position of a container consumable to be calibrated at the target carrier based on the obtained theoretical relative position relationship, the pipetting origin position deviation, the consumable size and the expected deployment position, so that under the condition of a large amount of the container to be calibrated is not used, automatic calibration is realized by a data calculation method, the accurate calibration and the manpower calibration efficiency is reduced, and the manpower calibration efficiency is effectively avoided.

The foregoing is merely 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 think about changes or substitutions within the technical scope of the present application, and the changes and substitutions are intended to be covered 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. The method for calibrating the pipetting point is characterized by comprising the following steps of:

calculating actual point location information from a pipetting head position of the pipetting device at an actual pipetting origin position to a pipetting interaction position of the consumable of the container to be calibrated at the target carrier according to the theoretical relative position relationship, the pipetting origin position deviation, the carrier center position deviation, the consumable size and the expected deployment position;

The pipetting point calibration method further comprises the following steps:

storing the calibrated displacement origin position deviation and the carrier center position deviation;

in this process, the step of calibrating the carrier center position deviation between the carrier center actual position and the carrier center theoretical position of the target carrier based on the theoretical mark position of the carrier mark on the target carrier and the calibrated pipetting origin position deviation includes:

2. The method according to claim 1, wherein the step of calculating actual point location information from a pipetting head position of the pipetting device at an actual origin position of pipetting to a pipetting interaction position of the consumable of the container to be calibrated at the target carrier according to the theoretical relative positional relationship, the pipetting origin position deviation, the carrier center position deviation, the consumable size and the desired deployment position comprises:

3. The method according to claim 1 or 2, characterized in that the step of calibrating a pipetting origin position deviation between a pipetting actual origin position and a pipetting theoretical origin position of the pipetting device based on an actual mark position of the table top calibration mark comprises:

4. A pipetting point calibration method as recited in claim 3 wherein the step of calculating first theoretical movement distance data for a detection edge position of a distance detector on the pipetting device to move from a pipetting theoretical origin position to the actual marking position from the first theoretical position movement data comprises:

5. The method according to claim 1 or 2, wherein the step of calculating second theoretical movement distance data of the detection edge position of the distance detector from the actual origin position of the pipetting liquid to the theoretical mark position based on the pipetting origin position deviation and the second theoretical position movement data includes:

6. A pipetting point calibration device, characterized in that the pipetting point calibration device comprises:

the pipetting point position determining module is used for calculating actual point position information from a pipetting head position of the pipetting device at an actual pipetting origin position to a pipetting interaction position of the consumable of the container to be calibrated at the target carrier according to the theoretical relative position relation, the pipetting origin position deviation, the carrier center position deviation, the consumable size and the expected deployment position;

Wherein, pipetting point calibration device still includes:

the pipetting deviation storage module is used for storing the calibrated pipetting origin position deviation and the carrier center position deviation;

wherein, the carrier deviation calibration module is specifically configured to:

7. A pipetting control device 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 pipetting spot calibration method according to any one of claims 1-6.

8. A readable storage medium, on which a computer program is stored, characterized in that the computer program, when run, implements the pipetting spot calibration method according to any one of claims 1-6.