Inoculating loop scribing device

Abstract

The invention relates to the technical field of inoculating devices, in particular to an inoculating loop scribing device. Comprising a manipulator, a pipetting module, first pipetting gun heads, a culture dish and a storage rack, the clamping end of the manipulator clamps the pipetting module, the lower end of the pipetting module is connected with the first pipetting gun heads in a clamped mode, and the storage rack is used for storing the multiple first pipetting gun heads; the first pipette tip comprises a fixing part, a connecting part, filter cotton, a core rod and an inoculating loop, the fixing part is clamped with the pipette module, the filter cotton is arranged in the connecting part, one end of the core rod extends into the connecting part and is clamped with the connecting part, and the other end of the core rod is integrally connected with the inoculating loop; a first camera is arranged on the manipulator, the first camera is used for shooting a first image in real time, the first camera is electrically connected with a controller, and the controller processes the obtained first image and plans a movement route from the manipulator to a lineation starting position of a culture dish when the manipulator clamps a pipetting module provided with a first pipetting gun head; and the inoculation scribing efficiency is improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of inoculation device, and in particular to an inoculation loop streaking device. BACKGROUND

[0002] In the field of biochemical technology, streaking inoculation is a basic operation method for separating and purifying microorganisms. A sterilized inoculation loop or inoculation needle is used to make a specific track straight line movement on the surface of a solid culture medium to realize liquid inoculation. The core function of this method is to form an independent colony of a single microorganism cell on the surface of the culture medium through the gradient dilution principle of the bacterial liquid, so as to facilitate subsequent strain identification and pure culture operation.

[0003] In the current technology, during the pre-treatment of microorganisms of a sample, the inoculation loop that has contacted the sample is placed in a culture dish to make a streak on the culture medium in the culture dish. In actual production, the method used is mostly manual holding of the inoculation loop, contacting the positive sample after sterilization by an alcohol lamp, and then making a streak near the alcohol lamp to construct a small range of sterile environment by the alcohol lamp. After each streaking is completed, the inoculation loop needs to be burned by the alcohol lamp before the next streaking to sterilize and disinfect the inoculation loop, so that the inoculation loop can be inserted into the culture dish again for streaking. However, the entire streaking process is relatively cumbersome, and usually the whole process is manually operated, which is low in efficiency.

[0004] Therefore, it is urgent to provide an inoculation loop streaking device to improve the efficiency of inoculation streaking compared with the prior art. SUMMARY

[0005] The present application solves the technical problems existing in the prior art, and provides an inoculation loop streaking device.

[0006] To achieve the above-mentioned purpose, the technical solution adopted by the present application is as follows: An inoculation loop streaking device, comprising a mechanical hand, a pipetting module, a first pipetting gun head, a culture dish and a storage rack, the clamping end of the mechanical hand clamps the pipetting module, the lower end of the pipetting module is connected with the first pipetting gun head, the culture dish is arranged on the first workbench, and the storage rack is arranged on the second workbench. The first pipetting gun head comprises a fixed part, a connecting part, filter cotton, a core rod and an inoculation loop, the fixed part and the connecting part are detachably connected, the fixed part is connected with the pipetting module, the filter cotton is arranged in the connecting part, one end of the core rod is inserted into the connecting part and connected with the connecting part, the other end of the core rod is integrally connected with the inoculation loop, and the end of the core rod inserted into the connecting part is connected with the filter cotton. The mechanical arm is provided with a first camera for real-time shooting of a first image, the first camera is electrically connected to a controller, and the controller plans a movement route of the mechanical arm for clamping a pipette module provided with a first pipette tip to a starting position of a line on a culture dish by processing the obtained first image.

[0007] Further, the connecting part is a hose, the core rod and the inoculation ring are made of plastic, and the material of the connecting part includes but is not limited to PP or PE or Teflon.

[0008] Further, the first image includes a first pipette tip and a culture dish, the position of the first pipette tip in the first image shot at an initial time is set as an initial position, the starting position of the line in the culture dish in the first image shot at the initial time is set as an end position, the optimal path of the mechanical arm is planned by using RRT algorithm and A* algorithm, a plurality of shooting points are set on the optimal path of the mechanical arm, the interval time between adjacent two shooting points is the same, a first camera is started to shoot a first image at each shooting point, an updated position of the first pipette tip is obtained, and the path of the mechanical arm is corrected according to the updated position of the first pipette tip and the position corresponding to the shooting point in the optimal path.

[0009] Further, the optimal path of the mechanical arm is planned by using RRT algorithm and A* algorithm, and the specific method is as follows: the first optimal path is obtained by using RRT algorithm according to the initial position and the end position, the second optimal path is obtained by using A* algorithm, the first optimal path and the second optimal path are both divided into a plurality of path points, and the path points divided by the first optimal path and the second optimal path are the same; the path points at the same positions of the first optimal path and the second optimal path are screened out as the path points in the optimal path of the mechanical arm, the path points at different positions of the first optimal path and the second optimal path are correspondingly screened out, the midpoint of the position of each corresponding path point is taken as the path point in the optimal path of the mechanical arm, and thus the optimal path of the mechanical arm is obtained.

[0010] Further, the path of the mechanical arm is corrected according to the updated position of the first pipette tip and the position corresponding to the shooting point in the optimal path, and the specific method is as follows: the shooting points are correspondingly set with the path points, the position deviation value of the updated position of the first pipette tip from the path points corresponding to the first optimal path and the second optimal path is calculated according to the updated position of the first pipette tip, and thus the correction position coordinates of the mechanical arm at the next path point are obtained; the correction coordinates of the mechanical arm at the i-th path point are calculated by the following formula: ; ; ; In the above formula, , , Let X, Y, and Z represent the corrected coordinates of the robot at the i-th path point, respectively. Indicates the first weight. Indicates the second weight. , , Let X, Y, and Z represent the coordinates of the path point corresponding to the i-th path point in the first optimal path, respectively. , , Let X, Y, and Z represent the X, Y, and Z coordinates of the path point corresponding to the i-th path point in the second optimal path, respectively.

[0011] Furthermore, the first weight and the second weight are calculated according to the following formula: ; ; ; ; In the above formula, Indicates the robotic arm in the first The positional deviation between the updated position of each path point and the position of the path point corresponding to the first optimal path. Indicates the robotic arm in the first The positional deviation between the updated position of each path point and the position of the path point corresponding to the second optimal path. , , These represent the robotic arm in the first... Update the X, Y, and Z coordinates of each path point. , , They represent the first optimal path and the second... The X, Y, and Z coordinates of each path point. , , They represent the second optimal path and the first... The X, Y, and Z coordinates of each path point.

[0012] Further, the mechanical arm comprises a support, sliding rails, sliding blocks, a rotating arm, a motor, a fixed block, a screw rod and a clamping block, the support is internally provided with a plurality of sliding rails, the sliding blocks are slidably connected to the sliding rails, the rotating arm is rotatably connected to the side wall of the sliding block, the upper wall of the end of the rotating arm away from the sliding block is fixedly connected with the motor and the lower wall is fixedly connected with the fixed block, the output end of the motor penetrates into the rotating arm, the output end of the motor is fixedly connected with the screw rod, the screw rod extends into the fixed block, the lower end of the screw rod is rotatably connected with the lower wall in the fixed block, the clamping block is sleeved on the screw rod and moves along the axial direction of the screw rod, and the clamping block clamps the pipetting module.

[0013] Further, the pipetting module comprises a pipetting gun body and a connecting block, the connecting block is clamped with the fixed part, a plurality of pressure sensors are arranged at the position where the lower end of the pipetting gun body contacts with the upper end of the fixed part, and the plurality of pressure sensors are arranged at intervals along the circumference of the pipetting gun body. According to the maximum bearing pressure of the culture dish, a first pressure threshold and a second pressure threshold are set, the first pressure threshold is smaller than the second pressure threshold, the maximum pressure value is compared with the first pressure threshold and the second pressure threshold respectively, and the speed of the motor is adjusted according to different cases. (1) When the maximum pressure value is less than the first pressure threshold, the controller controls the motor to stop working. (2) When the maximum pressure value is greater than or equal to the first pressure threshold and less than the second pressure threshold, the controller controls the speed of the motor to be the first speed, drives the pipetting module to move upwards, and stops until the maximum pressure value is less than the first pressure threshold. (3) When the maximum pressure value is greater than or equal to the second pressure threshold and less than the maximum bearing pressure of the culture dish, the controller controls the speed of the motor to be the second speed, drives the pipetting module to move upwards, and stops until the maximum pressure value is less than the first pressure threshold.

[0014] Further, the first pressure threshold, the second pressure threshold and the maximum bearing pressure of the culture dish satisfy the following constraint condition: ; ; In the above formula, represents the first pressure threshold, represents the second pressure threshold, represents the maximum bearing pressure of the culture dish; The first speed and the second speed satisfy the following constraint condition: ; In the above formula, represents a first rotation speed, represents a second rotation speed.

[0015] The inoculation loop line marking device comprises a second pipette head, a mechanical hand, a pipetting module, a culture dish and a rack, and the pipetting module is connected with the second pipette head at the lower end.

[0016] Compared with the prior art, the inoculation loop line marking device has the beneficial effects that: The inoculation loop line marking device comprises a second pipette head, a mechanical hand, a pipetting module, a culture dish and a rack, and the pipetting module is connected with the second pipette head at the lower end. BRIEF DESCRIPTION OF DRAWINGS

[0017] Figure 1 is a schematic diagram of the overall structure of example 1.

[0018] Figure 2 is a schematic diagram of the structure of the first pipette head in example 1.

[0019] Figure 3 is a schematic diagram of the structure of the second pipette head in example 2.

[0020] Figure 4 is a schematic diagram of the structure of the third pipette head in example 3.

[0021] BRIEF DESCRIPTION OF DRAWINGS: 1. Robotic arm; 11. Support; 12. Slide rail; 13. Slider; 14. Rotating arm; 15. Motor; 16. Fixing block; 17. Screw; 18. Clamping block; 19. First camera; 110. Second camera; 2. Pipetting module; 21. Pipette body; 22. Connecting block; 3. First pipette tip; 31. Fixing part; 32. Connecting part; 33. Core rod; 34. Inoculation loop; 35. Filter cotton; 4. Second pipette tip; 41. Cotton swab; 5. Third pipette tip; 6. First worktable; 61. First base; 62. First rotating frame; 7. Second worktable; 71. Second base; 72. Second rotating frame; 8. Petri dish; 9. Shelf; 91. Storage trough. Detailed Implementation

[0022] The technical solution of the present invention will be clearly described below with reference to the accompanying drawings. Obviously, the described embodiments are not all embodiments of the present invention. All other embodiments obtained by those skilled in the art without creative effort are within the protection scope of the present invention. It should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," etc., indicating the orientation or positional relationship are based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description. They do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the present invention.

[0023] Example 1 like Figure 1 As shown, this embodiment provides an inoculation loop marking device, including a robotic arm 1, a pipetting module 2, a first pipette tip 3, a culture dish 8, and a shelf 9. The robotic arm 1 is provided with a clamping end, which clamps the pipetting module 2. The lower end of the pipetting module 2 is engaged with the first pipette tip 3. The culture dish 8 is placed on a first workbench 6, and the shelf 9 is placed on a second workbench 7. The shelf 9 is used to store multiple first liquid pipette tips.

[0024] The mechanical arm 1 comprises a support 11, slide rails 12, a sliding block 13, a rotating arm 14, a motor 15, a fixed block 16, a screw rod 17 and a clamping block 18. The support 11 comprises upper and lower connecting frames arranged in parallel with each other, a plurality of slide rails 12 are arranged between the upper and lower connecting frames and extend in the vertical direction, the slide rails 12 are arranged at intervals, the slide rails 12 are slidably connected with the sliding block 13, the slide rails 12 are arranged through the sliding block 13, the sliding block 13 is fixedly connected with the rotating arm 14 at the side end, the rotating arm 14 is driven by the motor to rotate relative to the sliding block 13, the upper wall of the end of the rotating arm 14 away from the sliding block 13 is fixedly connected with the motor 15 and the lower wall is fixedly connected with the fixed block 16, the output end of the motor 15 penetrates into the rotating arm 14, the output end of the motor 15 is fixedly connected with the screw rod 17, the screw rod 17 extends into the fixed block 16, the lower end of the screw rod 17 is rotatably connected with the lower wall in the fixed block 16, the clamping block 18 is sleeved on the screw rod 17 and moves along the axial direction of the screw rod 17, and the clamping block 18 extends out of the fixed block 16 at one end and clamps the pipetting module 2 extending out of the fixed block 16.

[0025] A threaded rod is arranged through the upper and lower connecting frames, the threaded rod is connected with the motor, the motor drives the threaded rod to rotate, so as to drive the sliding block 13 to move along the axial direction of the sliding block 13.

[0026] The upper and lower connecting frames are respectively fixedly provided with a first camera 19 and a second camera 110 at a group of opposite side walls, the first camera 19 is arranged towards the first workbench 6, and the second camera 110 is arranged towards the second workbench 7.

[0027] The first workbench 6 comprises a first base 61 and a first rotating frame 62, the first base 61 is rotatably connected with the first rotating frame 62 at the upper end, and the first rotating frame 62 is driven to rotate by the motor; the second workbench 7 comprises a second base 71 and a second rotating frame 72, the second base 71 is rotatably connected with the second rotating frame 72 at the upper end, and the second rotating frame 72 is also driven to rotate by the motor. A plurality of storage grooves 91 are arranged in the storage rack 9, and the first pipetting gun head 3 is clamped in the storage groove 91.

[0028] The pipetting module 2 comprises a pipetting gun body 21 and a connecting block 22, the connecting block 22 is fixedly arranged at the lower end of the pipetting gun body 21, the connecting block 22 is of a hollow structure, the pipetting body is clamped with the first pipetting gun head 3 through the connecting block 22, and the connecting block 22 extends into the first pipetting gun head 3 to realize clamping; the diameter of the lower end of the pipetting gun body 21 is greater than the outer diameter of the connecting block 22, so that when the first pipetting gun head 3 is clamped with the connecting block 22, the upper end surface of the first pipetting gun head 3 is in contact with the lower end surface of the pipetting gun body 21. A plurality of pressure sensors are integrally arranged on the lower end surface of the pipetting gun body 21, the plurality of pressure sensors are arranged at intervals along the circumferential direction of the connecting block 22, and the plurality of pressure sensors are arranged corresponding to the first pipetting gun head 3 when the first pipetting gun head 3 is clamped with the connecting block 22.

[0029] As shown in Figure 2 The first pipette tip 3 includes a fixed part 31, a connecting part 32, filter cotton 35, a core rod 33, and an inoculation ring 34. The fixed part 31 and the connecting part 32 are detachably connected. The fixed part 31 is clamped with the connecting block 22. The filter cotton 35 is arranged in the connecting part 32. The core rod 33 has one end extending into the connecting part 32 and is clamped with the connecting part 32. The other end of the core rod 33 is integrally connected with the inoculation ring 34. The end of the core rod 33 extending into the connecting part 32 is connected with the filter cotton 35. The connecting part 32 is a hose. The core rod 33 and the inoculation ring 34 are made of plastic. The material of the connecting part 32 includes but is not limited to PP or PE or Teflon. The circular surface of the inoculation ring 34 is attached to the inner wall of the storage groove 91 to ensure that the inoculation direction is the same.

[0030] The first camera 19, the second camera 110, the plurality of pressure sensors, the motor 15, and the electric motor arranged in the mechanical hand 1 are electrically connected with the controller.

[0031] The first camera 19 is used to capture a first image in real time. The controller controls the movement of the mechanical hand 1 holding the pipetting module 2 with the first pipette tip 3 to the line starting position of the culture dish 8 by processing the obtained first image. Specifically: The first image includes the first pipette tip 3 and the culture dish 8. The position of the first pipette tip 3 in the first image captured at the initial time is set as the initial position. The line starting position of the culture dish 8 in the first image captured at the initial time is set as the end position. The RRT algorithm and the A* algorithm are used to plan the optimal path of the mechanical hand 1. A plurality of shooting points are set on the optimal path of the mechanical hand 1. The interval time between adjacent two shooting points is the same. The first camera 19 is started to capture a first image at each shooting point to obtain the updated position of the first pipette tip 3. The path of the mechanical hand 1 is corrected according to the updated position of the first pipette tip 3 and the theoretical position of the shooting point in the optimal path.

[0032] Specifically, the first optimal path is obtained by using the RRT algorithm according to the initial position and the end position. The second optimal path is obtained by using the A* algorithm. The first optimal path and the second optimal path are both divided into a plurality of path points. The path points of the first optimal path and the second optimal path are the same. The path points at the same positions of the first optimal path and the second optimal path are screened out as the path points in the optimal path of the mechanical hand 1. The path points at different positions of the first optimal path and the second optimal path are correspondingly screened out. The midpoint between each corresponding path points is taken as the path point in the optimal path of the mechanical hand 1, thereby obtaining the optimal path of the mechanical hand 1.

[0033] The controller controls the robotic arm 1 to move along the optimal path, taking a first image at each path point (i.e., each path point is an image capture point) to obtain the updated position of the first pipette tip 3. The controller then calculates the position deviation between the updated position of the first pipette tip 3 and the corresponding path points of the first and second optimal paths, thereby obtaining the corrected position coordinates of the robotic arm 1 at the next path point. The corrected coordinates of the robotic arm 1 at the i-th path point are specifically calculated using the following formula: ; ; ; In the above formula, , , Let X, Y, and Z represent the corrected coordinates of the robot at the i-th path point, respectively. Indicates the first weight. Indicates the second weight. , , Let X, Y, and Z represent the coordinates of the path point corresponding to the i-th path point in the first optimal path, respectively. , , Let X, Y, and Z represent the X, Y, and Z coordinates of the path point corresponding to the i-th path point in the second optimal path, respectively.

[0034] The first and second weights are calculated using the following formula: ; ; In the above formula, Indicates the robotic arm in the first The positional deviation between the updated position of each path point and the position of the path point corresponding to the first optimal path. Indicates the robotic arm in the first The positional deviation between the updated position of each path point and the position of the path point corresponding to the second optimal path.

[0035] , The following formula can be used to calculate: ; ; In the above formula, , , These represent the robotic arm in the first... Update the X, Y, and Z coordinates of each path point. , , They represent the first optimal path and the second... The X, Y, and Z coordinates of each path point. , , They represent the second optimal path and the first... The X, Y, and Z coordinates of each path point.

[0036] The initial and final positions of each line drawn by the first pipette tip 3 are planned according to the above method to guide the movement path of the robotic arm 1.

[0037] The second camera 110 captures a second image, which includes the first pipette tip 3 and the shelf 9. The controller processes the second image using the same processing method as the first image, that is, taking the position of the first pipette tip 3 in the first image as the initial position and the position of the first pipette tip 3 to be picked up in the shelf 9 as the endpoint position. The controller uses the above method to control the movement path of the robot arm 1 so that the first pipette tip 3 is picked up by the corresponding first pipette tip 3. In this embodiment, the robot arm 1 drives the pipette to pick up the first pipette tip 3 first, and then performs the line drawing operation.

[0038] During each stroke of the first pipette tip 3, a set time is configured. At each set time, the controller collects pressure values ​​from multiple pressure sensors. The controller then selects the maximum pressure value from the collected values ​​at each set time. Based on this maximum pressure value, the controller adjusts the position of the clamping block 18 by adjusting the speed of the motor 15. The specific method is as follows: Based on the maximum pressure that the culture dish 8 can withstand, a first pressure threshold and a second pressure threshold are set. The first pressure threshold is less than the second pressure threshold. The maximum pressure value is compared with the first pressure threshold and the second pressure threshold respectively, and the speed of the motor 15 is adjusted according to the situation. (1) When the maximum pressure value is less than the first pressure threshold, the controller controls the motor 15 to not work.

[0039] (2) When the maximum pressure value is greater than or equal to the first pressure threshold and less than the second pressure threshold, the controller controls the speed of the motor 15 to the first speed, driving the pipetting module 2 to move upward until the maximum pressure value is less than the first pressure threshold.

[0040] (3) When the maximum pressure value is greater than or equal to the second pressure threshold and less than the maximum pressure that the culture dish 8 can withstand, the controller controls the speed of the motor 15 to the second speed, driving the pipetting module 2 to move upward until the maximum pressure value is less than the first pressure threshold.

[0041] The first pressure threshold, the second pressure threshold, and the maximum pressure that culture dish 8 can withstand satisfy the following constraints: ; ; In the above formula, represents the first pressure threshold, represents the second pressure threshold, represents the maximum pressure that the culture dish can withstand.

[0042] The first rotation speed and the second rotation speed satisfy the following constraint condition: ; In the above formula, represents the first rotation speed, represents the second rotation speed.

[0043] Embodiment 2 As shown in Figure 3 , the difference between this embodiment and embodiment 1 is that the lower end of the pipetting module 2 is clamped with the second pipetting gun head 4, and the second pipetting gun head 4 is also clamped in the storage groove 91; the second pipetting gun head 4 includes a fixed part 31, a connecting part 32, filter cotton 35 and a cotton stick 41, the fixed part 31 and the connecting part 32 are detachably connected, the fixed part 31 is clamped with the pipetting module 2, the filter cotton 35 is arranged in the connecting part 32, the end of the cotton stick 41 extends into the connecting part 32 and is clamped with the connecting part 32, and the cotton stick 41 extending into the connecting part 32 is connected with the filter cotton 35.

[0044] Embodiment 3 As shown in Figure 4 , the difference between this embodiment and embodiment 1 or embodiment 2 is that the lower end of the pipetting module 2 is clamped with the third pipetting gun head 5, and the third pipetting gun head 5 is also clamped in the storage groove 91; the third pipetting gun head 5 includes a fixed part 31 and a connecting part 32 which are detachably connected, the fixed part 31 is clamped with the pipetting module 2, and the filter cotton 35 is arranged in the connecting part 32. After the pipetting module 2 controls the third pipetting gun head 5 to be inserted into the sample, it is judged by the pipetting module 2 whether the sample amount is sufficient, that is, the pipetting module aspirates the sample, if sufficient negative pressure is formed in the connecting part, so that the sample is sucked into the connecting part, it indicates that the sample amount is normal, if sufficient negative pressure cannot be formed in the connecting part, and no sample is sucked into the connecting part, it indicates that the sample amount is too small, and the sample needs to be replaced.

[0045] The present application is characterized in that the pipette tip is clamped on the manipulator 1, then the first camera 19 and the second camera 110 are arranged, the first image is obtained through the first camera 19, and the second image is obtained through the second camera 110; the second image is processed and analyzed, the moving route of the manipulator 1 is dynamically adjusted, the pipette is connected with the corresponding first pipette tip 3 or the second pipette tip 4 or the third pipette tip 5, one image is processed and analyzed, the moving route of the manipulator 1 is dynamically adjusted, and the first pipette tip 3 or the second pipette tip 4 or the third pipette tip 5 is moved to the marking position by the pipette; in the process of obtaining and correcting the optimal path of the manipulator 1, the RRT algorithm and the A* algorithm are fused and optimized, the updated position of the first pipette tip 3 or the second pipette tip 4 or the third pipette tip 5 obtained by processing the second image is used to correct the position of the next path point of the manipulator 1, so that the moving route of the manipulator 1 is optimally planned, the accuracy of the inoculation marking position is ensured, and the marking efficiency is improved.

[0046] Finally, it should be noted that the above content is only used to illustrate the technical solutions of the present application, and is not a limitation on the protection scope of the present application. Simple modifications or equivalent replacements of the technical solutions of the present application made by those skilled in the art do not deviate from the essence and scope of the technical solutions of the present application.

Claims

1. A device for marking inoculation loops, characterized in that, The mechanical hand, the pipette module, the first pipette tip, the culture dish and the storage rack, the clamping end of the mechanical hand clamps the pipette module, the lower end of the pipette module is connected with the first pipette tip, the culture dish is arranged on the first workbench, and the storage rack is arranged on the second workbench. The first pipette tip comprises a fixed part, a connecting part, filter cotton, a core rod and an inoculation ring, the fixed part and the connecting part are detachably connected, the fixed part is connected with the pipette module, the filter cotton is arranged in the connecting part, one end of the core rod is inserted into the connecting part and is connected with the connecting part, the other end of the core rod is integrally connected with the inoculation ring, and the end of the core rod inserted into the connecting part is connected with the filter cotton. The first camera is arranged on the mechanical hand, the first camera is used for real-time shooting of a first image, the first camera is electrically connected with a controller, the controller plans a movement route of the pipette module clamped and installed with the first pipette tip to a line marking starting position of the culture dish by processing the obtained first image.

2. A loop streaker according to claim 1, wherein, The connecting part is a hose, the core rod and the inoculation ring are made of plastic, and the material of the connecting part includes but is not limited to PP or PE or Teflon.

3. A loop streaker according to claim 1 wherein, The first image includes the first pipette tip and the culture dish, the position of the first pipette tip in the first image shot at the initial time is set as an initial position, the line marking starting position in the culture dish in the first image shot at the initial time is set as an end position, the RRT algorithm and the A* algorithm are used to plan an optimal path of the mechanical hand, a plurality of shooting points are arranged on the optimal path of the mechanical hand, the interval time between adjacent two shooting points is the same, the first camera is started to shoot a first image at each shooting point, an updated position of the first pipette tip is obtained, and the path of the mechanical hand is corrected according to the updated position of the first pipette tip and the position corresponding to the shooting point in the optimal path.

4. A loop streaker according to claim 3, wherein, The RRT algorithm and the A* algorithm are used to plan an optimal path of the mechanical hand, and the specific method is as follows: the RRT algorithm is used to obtain a first optimal path according to the initial position and the end position, the A* algorithm is used to obtain a second optimal path, the first optimal path and the second optimal path are both divided into a plurality of path points, the path points divided by the first optimal path and the second optimal path are the same, the path points at the same positions of the first optimal path and the second optimal path are screened out as path points in the optimal path of the mechanical hand, the path points at different positions of the first optimal path and the second optimal path are correspondingly screened out, the midpoint of the position of each corresponding path point is taken as a path point in the optimal path of the mechanical hand, and thus the optimal path of the mechanical hand is obtained.

5. A loop streaker according to claim 4, wherein, According to the updated position of the first pipette tip and the position of the shooting point corresponding to the optimal path, the path of the manipulator is corrected, and the specific method is: the shooting point is correspondingly arranged with the path point, the position deviation value of the updated position of the first pipette tip and the path point corresponding to the first optimal path and the second optimal path is calculated according to the updated position of the first pipette tip, so as to obtain the corrected position coordinates of the manipulator at the next path point; The corrected coordinates of the manipulator at the i-th path point are calculated by the following formula: ； ； ； In the above formulae, , , respectively represent the X coordinate, the Y coordinate and the Z coordinate of the correction coordinate of the manipulator at the i-th path point, represents the first weight, represents the second weight, , , respectively represent the X coordinate, the Y coordinate and the Z coordinate of the path point corresponding to the i-th path point in the first optimal path, , , respectively represent the X coordinate, the Y coordinate and the Z coordinate of the path point corresponding to the i-th path point in the second optimal path.

6. A loop streaker according to claim 5, wherein, The first weight and the second weight are calculated according to the following formula: ； ； ； ； In the above formula, represents the position deviation value of the path point corresponding to the first optimal path of the updated position of the manipulator at the th path point, represents the position deviation value of the path point corresponding to the second optimal path of the updated position of the manipulator at the th path point, , , respectively represent the X coordinate, Y coordinate and Z coordinate of the updated position of the manipulator at the th path point, , , respectively represent the X coordinate, Y coordinate and Z coordinate of the path point corresponding to the first optimal path of the th path point, , , respectively represent the X coordinate, Y coordinate and Z coordinate of the path point corresponding to the second optimal path of the th path point.

7. A loop streaker according to claim 1 wherein, The manipulator comprises a support, a sliding rail, a sliding block, a rotating arm, a motor, a fixed block, a screw rod and a clamping block, a plurality of sliding rails are arranged in the support, the sliding block is slidably connected to the sliding rail, the side wall of the sliding block is rotatably connected to the rotating arm, the upper wall of the end of the rotating arm away from the sliding block is fixedly connected to the motor and the lower wall is fixedly connected to the fixed block, the output end of the motor penetrates into the rotating arm, the output end of the motor is fixedly connected to the screw rod, the screw rod extends into the fixed block, the lower end of the screw rod is rotatably connected to the lower wall in the fixed block, the clamping block is sleeved on the screw rod, and the clamping block moves along the axial direction of the screw rod; The clamping block clamps the pipetting module.

8. A loop streaker according to claim 7, wherein, The pipetting module comprises a pipette body and a connecting block, the connecting block is clamped with the fixed part, a plurality of pressure sensors are arranged at the contact position between the lower end of the pipette body and the upper end of the fixed part, the plurality of pressure sensors are arranged at intervals along the circumference of the pipette body, according to each set time, the controller obtains the maximum pressure value according to each set time, adjusts the position of the clamping block by adjusting the rotating speed of the motor, and the specific method is: According to the maximum bearing pressure of the culture dish, a first pressure threshold and a second pressure threshold are set, the first pressure threshold is less than the second pressure threshold, the maximum pressure value is compared with the first pressure threshold and the second pressure threshold respectively, and the rotating speed of the motor is adjusted according to different cases; (1) when the maximum pressure value is less than the first pressure threshold, the controller controls the motor not to work; (2) when the maximum pressure value is greater than or equal to the first pressure threshold and less than the second pressure threshold, the controller controls the rotating speed of the motor to be the first rotating speed, drives the pipetting module to move upward until the maximum pressure value is less than the first pressure threshold; (3) when the maximum pressure value is greater than or equal to the second pressure threshold and less than the maximum bearing pressure of the culture dish, the controller controls the rotating speed of the motor to be the second rotating speed, drives the pipetting module to move upward until the maximum pressure value is less than the first pressure threshold.

9. A loop streaker according to claim 8, wherein, The first pressure threshold, the second pressure threshold and the maximum bearing pressure of the culture dish satisfy the following constraint condition: ； ； in the above formulae, represents a first pressure threshold, represents a second pressure threshold, represents the maximum pressure that the petri dish can withstand; The first rotating speed and the second rotating speed satisfy the following constraint condition: ； In the above formulae, denotes the first rotational speed, denotes the second rotational speed.

10. A device for marking an inoculation loop, characterized in that, The mechanical arm, the pipetting module, the culture dish and the storage rack in any one of claims 1-9, and the second pipette tip, are connected to the lower end of the pipetting module.

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