Liquid sample addition method, device and system

Abstract

The present invention provides a liquid sample adding method, device and system. Among them, the method includes: determining a target adding position of the liquid; determining an initial adding position of a pipette needle of the liquid sample adding system based on the target adding position; controlling the horizontal movement of the pipette needle of the liquid sample adding system; when the pipette needle horizontally moves to the initial adding position, controlling the pipette needle to eject the liquid and keeping the pipette needle continuing to horizontally move, so that the liquid is injected into a reaction container of the liquid sample adding system in a parabolic trajectory. In this way, the liquid sample adding action can be completed during the movement of the pipette needle, which can effectively improve the sample adding efficiency, improve the sample adding accuracy, reduce the sample adding cost, and will not cause liquid splashing.

Description

Technical Field

[0001] The present invention relates to the technical field of liquid filling in in vitro diagnosis, and particularly to a liquid sampling method, device and system. Background Art

[0002] In vitro diagnosis refers to a medical service that obtains clinical diagnostic information by detecting human samples (such as blood, body fluids, etc.) outside the human body, and then judges diseases or body functions. In vitro diagnostic products generally consist of diagnostic instruments and diagnostic reagents. The instruments can be divided into chemical analysis types, microbial analysis types, immuno-chemical analysis types, liquid-phase chip multiplex analysis types, etc. Most of the instruments use liquid samples, and the diagnostic reagents and supporting liquids such as cleaning liquids and lysis liquids used in the testing process are also in liquid state. Therefore, the accuracy of sampling is very important.

[0003] The basic sampling steps of an in vitro diagnostic system are as follows: the control unit sends instructions to the pipetting mechanism as needed. The pipetting mechanism drives the pipette needle to the upper end of the reaction vessel and then stops moving horizontally. The pipetting mechanism then drives the pipette needle to extend vertically into the reaction vessel and starts injecting liquid. To save time, a relatively high initial injection speed is given to the liquid during injection. At this time, the liquid quickly fills the inner cavity of the reaction vessel. After the liquid injection is completed, the pipette needle first withdraws vertically from the reaction vessel and then continues to move horizontally. During the horizontal movement, the pipetting mechanism closes the liquid injection channel to prevent liquid splashing. If multiple groups of reaction vessels need to be filled with liquid, the above steps are repeated. The control timing is complex, the steps are numerous, and the total time consumption is long.

[0004] At the same time, higher requirements are also put forward for the sampling efficiency. In the prior art, the sampling efficiency is usually improved by expanding the sampling channel or further increasing the sampling (liquid injection) speed. However, new problems are inevitably brought. If the method of expanding the sampling channel is adopted, the cost will increase significantly; if the method of increasing the liquid injection speed is adopted, it may cause liquid splashing and reduce the sampling accuracy. Summary of the Invention

[0005] In view of this, the purpose of the present invention is to provide a liquid sampling method, device and system, which can complete the liquid sampling action during the movement of the pipette needle, effectively improve the sampling efficiency, improve the sampling accuracy, reduce the sampling cost, and will not cause liquid splashing.

[0006] In a first aspect, an embodiment of the present invention provides a liquid sampling method, which is applied to a liquid sampling system. The method includes: determining a target filling position of the liquid; determining an initial filling position of a pipette needle of the liquid sampling system based on the target filling position; controlling the horizontal movement of the pipette needle of the liquid sampling system; when the pipette needle horizontally moves to the initial filling position, controlling the pipette needle to eject the liquid and keeping the pipette needle moving horizontally continuously, so that the liquid is injected into a reaction vessel of the liquid sampling system in a parabolic trajectory.

[0007] In a preferred embodiment of the present invention, the step of determining the initial filling position of the pipette needle of the liquid sampling system based on the target filling position includes: determining a horizontal distance between the initial filling position of the pipette needle of the liquid sampling system and the target filling position; determining the initial filling position of the pipette needle based on the target filling position, the horizontal distance, and a preset empirical correction value.

[0008] In a preferred embodiment of the present invention, the step of determining the horizontal distance between the initial filling position of the pipette needle of the liquid sampling system and the target filling position includes: determining the horizontal distance between the initial filling position of the pipette needle of the liquid sampling system and the target filling position through the following formula: wherein, Sx is the horizontal distance, Vx is the horizontal speed of the pipette needle towards the target filling position, V z is the initial moving speed of the liquid, H z is the first distance between the end of the pipette needle and the top of the reaction vessel at the target filling position, and g is the acceleration due to gravity.

[0009] In a preferred embodiment of the present invention, the step of determining the initial filling position of the pipette needle based on the target filling position, the horizontal distance, and a preset empirical correction value includes: determining the initial filling position of the pipette needle based on the target filling position, the horizontal distance, and a preset empirical correction value through the following formula: P 初始 = P 目标 – S X – M; wherein, P 初始 is the initial filling position of the pipette needle, P 目标 is the target filling position, S X is the horizontal distance, and M is a preset empirical correction value.

[0010] In a preferred embodiment of the present invention, the empirical correction value is determined based on the droplet size of the liquid, the first distance, the initial moving speed, and the horizontal speed.

[0011] In a preferred embodiment of the present invention, the above liquid sample adding system further includes a reaction vessel group, and the reaction vessel group is a plurality of reaction vessels arranged side by side; the method further includes: determining the target adding position of each reaction vessel in the reaction vessel group; determining whether each reaction vessel in the reaction vessel group performs a liquid injection operation; determining the liquid injection volume of each reaction vessel that performs the liquid injection operation; controlling the movement of the pipette needle of the liquid sample adding system; when the pipette needle moves to the initial adding position of the first reaction vessel that performs the liquid injection operation, controlling the pipette needle to eject the liquid of the liquid injection volume of the first reaction vessel; when the pipette needle moves to the initial adding position of the second reaction vessel that does not perform the liquid injection operation, controlling the pipette needle not to eject the liquid.

[0012] In a preferred embodiment of the present invention, the above liquid sample adding system further includes a liquid detection component, and the method further includes: determining whether the liquid injection operation deviates based on the liquid detection component; if so, adjusting the empirical correction value.

[0013] In a preferred embodiment of the present invention, the above liquid sample adding system further includes an alarm component. After the step of determining whether the liquid injection operation deviates based on the liquid detection component, the method further includes: if so, sending an alarm signal through the alarm component.

[0014] In a preferred embodiment of the present invention, the above liquid sample adding system further includes an optical detection mechanism, and the method further includes: detecting information of the liquid injected into the reaction vessel based on the optical detection mechanism.

[0015] In a second aspect, an embodiment of the present invention further provides a liquid sample adding device, which is applied to a liquid sample adding system. The device includes: a target adding position determination module, configured to determine the target adding position of the liquid; an initial adding position determination module, configured to determine the initial adding position of the pipette needle of the liquid sample adding system based on the target adding position; a liquid injection into reaction vessel module, configured to control the movement of the pipette needle of the liquid sample adding system; when the pipette needle moves to the initial adding position, controlling the pipette needle to eject the liquid and keeping the pipette needle moving continuously, so that the liquid is injected into the reaction vessel of the liquid sample adding system in a parabolic trajectory.

[0016] In a third aspect, an embodiment of the present invention further provides a liquid sample adding system, including a processor and a memory. The memory stores computer executable instructions that can be executed by the processor, and the processor executes the computer executable instructions to implement the steps of the above liquid sample adding method.

[0017] In a fourth aspect, an embodiment of the present invention further provides a computer-readable storage medium. The computer-readable storage medium stores computer executable instructions. When the computer executable instructions are called and executed by the processor, the computer executable instructions cause the processor to implement the steps of the above liquid sample adding method.

[0018] The embodiments of the present invention bring the following beneficial effects:

[0019] The embodiments of the present invention provide a liquid sampling method, device and system. After determining the target filling position of the liquid and the initial filling position of the pipette, the pipette of the liquid sampling system can be controlled to move horizontally; when the pipette moves horizontally to the initial filling position, the pipette is controlled to eject the liquid, and the pipette continues to move horizontally to enable the liquid to be injected into the reaction container of the liquid sampling system in a parabolic trajectory. In this way, the liquid sampling action can be completed during the movement of the pipette, which can effectively improve the sampling efficiency, improve the sampling accuracy, reduce the sampling cost, and prevent liquid splashing.

[0020] Other features and advantages of the present disclosure will be described in the following specification, or some features and advantages can be inferred from the specification or determined without doubt, or can be learned by implementing the above technologies of the present disclosure.

[0021] To make the above objects, features and advantages of the present disclosure more obvious and understandable, the following preferred embodiments are specifically described below in conjunction with the accompanying drawings. Description of the Drawings

[0022] In order to more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the following will briefly introduce the drawings required for the description of the specific embodiments or the prior art. Obviously, the drawings in the following description are some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0023] Figure 1 It is a flowchart of a liquid sampling method provided by an embodiment of the present invention;

[0024] Figure 2 It is a schematic diagram of a liquid sampling system provided by an embodiment of the present invention;

[0025] Figure 3 It is a schematic diagram of a sampling process provided by an embodiment of the present invention;

[0026] Figure 4 It is a flowchart of another liquid sampling method provided by an embodiment of the present invention;

[0027] Figure 5 It is a schematic diagram of a liquid sampling method for a reaction container group provided by an embodiment of the present invention;

[0028] Figure 6 It is a schematic diagram of another liquid sampling method for a reaction container group provided by an embodiment of the present invention;

[0029] Figure 7 Schematic structural diagram of a liquid sample adding device provided by an embodiment of the present invention;

[0030] Figure 8 Schematic structural diagram of a liquid sample adding system provided by an embodiment of the present invention.

[0031] Icon:

[0032] 10 - Liquid sample adding system; 20 - Pipetting mechanism; 30 - Group of reaction vessels to be sampled; 40 - Optical detection mechanism; 200 - Pipetting needle; 201 - Gripper; 202 - Infusion pump; 2000 - Pipetting needle at the initial filling position; 2001 - Pipetting needle directly above the reaction vessel; 2002 - Liquid ejection trajectory; 100 - Memory; 101 - Processor; 102 - Bus; 103 - Communication interface. Detailed implementation manners

[0033] To make the objectives, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings. Apparently, the described embodiments are some, but not all, of the embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0034] Currently, the basic sample adding steps of an in vitro diagnostic system are as follows: The control unit sends instructions to the pipetting mechanism as needed. The pipetting mechanism drives the pipetting needle to the upper end of the reaction vessel and then stops moving horizontally. The pipetting mechanism then drives the pipetting needle to extend vertically into the reaction vessel and starts injecting liquid. To save time, a relatively high initial injection speed is given during liquid injection. At this time, the liquid quickly fills the inner cavity of the reaction vessel. After the liquid injection is completed, the pipetting needle first withdraws vertically from the reaction vessel and then continues to move horizontally. During the horizontal movement, the pipetting mechanism closes the liquid injection channel to prevent liquid splashing. If it is necessary to inject liquid into multiple groups of reaction vessels, the above steps are repeated, resulting in complex control timing, numerous steps, and a long total time consumption.

[0035] At the same time, higher requirements are also put forward for the sample adding efficiency. In the prior art, the sample adding efficiency is usually improved by expanding the sample adding channels or further increasing the sample adding (liquid injection) speed. However, new problems are inevitably brought. If the way of expanding the sample adding channels is adopted, the cost will increase significantly; if the way of increasing the liquid injection speed is adopted, liquid splashing may occur and the sample adding accuracy may be reduced.

[0036] Based on this, a liquid sample adding method, device and system provided by the embodiments of the present invention can complete the sample adding action during the movement of the liquid injection needle, and can effectively improve the sample adding efficiency.

[0037] To facilitate the understanding of this embodiment, a liquid sampling method disclosed in an embodiment of the present invention will be introduced in detail first.

[0038] Embodiment 1:

[0039] The embodiment of the present invention provides a liquid sampling method, which can be applied to a liquid sampling system; see Figure 1 the flowchart of a liquid sampling method shown in the figure. The liquid sampling method includes the following steps:

[0040] Step S102, determine the target filling position of the liquid.

[0041] The liquid in this embodiment can be understood as the liquid to be added to the reaction vessel of the liquid sampling system. The liquid is preset in the pipette needle, and the target filling position of the liquid can be understood as the position at the entrance of the reaction vessel.

[0042] Step S104, determine the initial filling position of the pipette needle of the liquid sampling system based on the target filling position.

[0043] Among them, the pipette needle is also called a pipettor or pipette gun, which is a measuring tool that transfers liquid from the original container to another container within a certain range of measuring ranges. It is widely used in biological, chemical and other fields. The pipette needle is generally fixedly arranged on the moving mechanism of the liquid sampling system and moves with the movement of the moving mechanism. The initial filling position of the pipette needle is the position where the liquid injection operation is performed during the horizontal movement of the pipette needle, that is, the position where the pipette needle starts to eject the liquid.

[0044] Step S106, control the horizontal movement of the pipette needle of the liquid sampling system; when the pipette needle moves horizontally to the initial filling position, control the pipette needle to eject the liquid, and keep the pipette needle moving horizontally to make the liquid inject into the reaction vessel of the liquid sampling system in a parabolic trajectory.

[0045] Controlling the movement of the pipette needle of the liquid sampling system can keep the moving speed fixed; when the pipette needle moves to the initial filling position, control the pipette needle to eject the liquid; keep the pipette needle moving continuously when the pipette needle ejects the liquid. Therefore, the liquid ejected at this time can be injected into the reaction vessel of the liquid sampling system in a parabolic trajectory, so as to complete the liquid sampling action during the movement of the pipette needle.

[0046] An embodiment of the present invention provides a liquid sampling method. After determining the target filling position of the liquid and the initial filling position of the pipette needle, the pipette needle of the liquid sampling system can be controlled to move horizontally. When the pipette needle moves horizontally to the initial filling position, the pipette needle is controlled to eject the liquid, and the pipette needle continues to move horizontally to enable the liquid to be injected into the reaction vessel of the liquid sampling system in a parabolic trajectory. In this way, the liquid sampling action can be completed during the movement of the pipette needle, which can effectively improve the sampling efficiency, improve the sampling accuracy, reduce the sampling cost, and prevent liquid splashing.

[0047] Embodiment 2:

[0048] Another liquid sampling method provided by an embodiment of the present invention is performed on the basis of the method provided in the above embodiment. Refer to Figure 2 the schematic diagram of a liquid sampling system shown in. The liquid sampling system 10 includes a pipetting mechanism 20, a reaction vessel group 30 to be sampled, an optical detection mechanism 40, and a control mechanism. The pipetting mechanism 20 includes a pipette needle 200, a gripper 201, and an infusion pump 202.

[0049] Refer to Figure 3 the schematic diagram of a sampling process shown in. The pipette needle 2000 at the initial filling position moves horizontally and ejects the liquid. The liquid can be ejected along the liquid ejection trajectory 2002 and finally falls into the reaction vessel. At this time, the pipette needle continues to move horizontally until the pipette needle moves directly above the reaction vessel, that is, Figure 3 the pipette needle 2001 directly above the reaction vessel in.

[0050] Based on the above description, refer to Figure 4 the flowchart of another liquid sampling method shown in. The liquid sampling method includes the following steps:

[0051] Step S402, determine the target filling position of the liquid.

[0052] As shown in Figure 2 and Figure 3 shown, if the infusion pump receives a control unit instruction on whether to fill the liquid, and if so, determine the target filling position P target. The target filling position is Figure 3 P in 目标 .

[0053] Step S404, determine the horizontal distance between the initial filling position of the pipette needle of the liquid sampling system and the target filling position.

[0054] Specifically, the horizontal distance between the initial filling position of the pipette needle of the liquid sampling system and the target filling position can be determined by the following formula:

[0055] Among them, Sx is the horizontal distance, Vx is the horizontal velocity of the pipette needle towards the target filling position, V z is the initial moving velocity of the liquid, H z is the first distance between the end of the pipette needle and the top of the reaction vessel at the target filling position, and g is the acceleration due to gravity. That is, the horizontal distance Sx can be calculated based on Vx, H z , V z . Generally speaking, Vx can be 0.1 - 1 m / s, V z can be 0.1 - 1 m / s, and H z can be 0.1 - 20 cm.

[0056] Step S406: Determine the initial filling position of the pipette needle based on the target filling position, the horizontal distance, and a preset empirical correction value.

[0057] Specifically, the initial filling position of the pipette needle can be determined based on the target filling position, the horizontal distance, and a preset empirical correction value through the following formula: P 初始 = P 目标 - S X - M; where P 初始 is the initial filling position of the pipette needle, P 目标 is the target filling position, S X is the horizontal distance, and M is the preset empirical correction value.

[0058] As Figure 2 and Figure 3 shown, after the pipetting mechanism drives the pipette needle from P0 to the P 初始 position, the infusion pump ejects a predetermined volume of liquid droplets at a velocity of V z . Then the pipette needle continues to move in the current direction, and the ejected predetermined volume of liquid droplets is injected into the reaction vessel in a roughly parabolic trajectory, completing the liquid filling work. During this process, the pipetting mechanism can complete the filling without stopping, saving time and improving efficiency.

[0059] In addition, the empirical correction value can be determined based on the droplet size of the liquid, the first distance H z , the initial moving velocity Vx, and the horizontal velocity V z . Generally speaking, the droplet size can be 1 - 100 uL, and in this embodiment, M can take 0.01 - 0.08.

[0060] Step S408: Control the horizontal movement of the pipette needle of the liquid sampling system; when the pipette needle horizontally moves to the initial filling position, control the pipette needle to eject the liquid and keep the pipette needle moving horizontally, so that the liquid is injected into the reaction vessel of the liquid sampling system in a parabolic trajectory.

[0061] In addition, the liquid sample addition system of this embodiment may further include a reaction vessel group, where the reaction vessel group is a plurality of reaction vessels arranged side by side. The above method further includes: determining the target filling position of each reaction vessel in the reaction vessel group; determining whether each reaction vessel in the reaction vessel group performs a liquid injection operation; determining the liquid injection volume of each reaction vessel that performs the liquid injection operation; controlling the movement of the pipette needle of the liquid sample addition system; when the pipette needle moves to the initial filling position of the first reaction vessel that performs the liquid injection operation, controlling the pipette needle to eject the liquid of the liquid injection volume of the first reaction vessel; when the pipette needle moves to the initial filling position of the second reaction vessel that does not perform the liquid injection operation, controlling the pipette needle not to eject the liquid.

[0062] When filling a reaction vessel group (i.e., a plurality of reaction vessels arranged side by side, such as a 96-well plate), the above liquid sample addition system also has the function of flexibly selecting the liquid injection position. Taking the 96-well plate for liquid injection as an example, in actual laboratory applications, it is not necessarily the case that every well needs to be filled, and it is not necessarily the case that the liquid injection volume of each well is the same. The liquid sample addition system provided in this embodiment can complete these diverse selections in one sample addition and liquid injection through the control process.

[0063] See Figure 5 the schematic diagram of a liquid sample addition method for a reaction vessel group shown in Figure 6 and the schematic diagram of another liquid sample addition method for a reaction vessel group shown in. During a certain sample addition process, if a certain microplate well does not need to be filled, the pipetting mechanism does not send a liquid injection trigger command to the pump control unit when moving to the liquid injection position of this point to the control unit; if the liquid injection volume of a certain microplate well is different, when calculating the starting liquid injection position, according to the pump direction liquid injection time, the timing of sending the liquid injection command to the pump control unit is selected to be advanced or postponed.

[0064] In addition, the above liquid sample addition system further includes a liquid detection component. The above method further includes: determining whether there is a deviation in the liquid injection operation based on the liquid detection component; if so, adjusting the empirical correction value.

[0065] Furthermore, an initial liquid injection position automatic correction system is also provided. In addition to the above mechanisms, a liquid detection component (such as a liquid sensor) is also provided between the reaction vessel groups. When a deviation occurs during a certain liquid injection and causes the liquid to drip onto the liquid detection component, the control unit determines whether the deviation is an early injection or a late injection based on the signal fed back by the liquid detection component. If it is an early injection, the empirical correction value M is increased; if it is a late injection, the empirical correction value M is decreased. Optionally, each change in the empirical correction value is 0.01. Such a setting allows the system to automatically correct itself after a failure, without the need for maintenance personnel to debug the equipment immediately.

[0066] In addition, the above liquid sample addition system further includes an alarm component. After the step of determining whether there is a deviation in the liquid injection operation based on the liquid detection component, the above method further includes: if so, sending an alarm signal through the alarm component. That is, when the liquid detection component detects liquid, an alarm signal is sent to promptly inform the operator and the equipment maintenance personnel.

[0067] In addition, the above liquid sample addition system further includes an optical detection mechanism. The above method further includes: detecting information on the liquid injected into the reaction vessel based on the optical detection mechanism. The optical detection mechanism is used to detect information on the liquid in the reaction vessel, and this information may include the type, volume, etc. of the liquid, so as to determine whether the liquid injection operation is successfully executed.

[0068] Embodiment 3:

[0069] Corresponding to the above method embodiment, an embodiment of the present invention provides a liquid sample addition device, which is applied to a liquid sample addition system, as Figure 7 shown in the structural schematic diagram of a liquid sample addition device. The device includes:

[0070] A target filling position determination module 71, configured to determine the target filling position of the liquid;

[0071] A filling initial position determination module 72, configured to determine the filling initial position of the pipette of the liquid sample addition system based on the target filling position;

[0072] A liquid injection into reaction vessel module 73, configured to control the horizontal movement of the pipette of the liquid sample addition system; when the pipette horizontally moves to the filling initial position, control the pipette to eject the liquid, and keep the pipette moving horizontally continuously, so that the liquid is injected into the reaction vessel of the liquid sample addition system in a parabolic trajectory.

[0073] An embodiment of the present invention provides a liquid sample addition device, which can control the horizontal movement of the pipette of the liquid sample addition system after determining the target filling position of the liquid and the filling initial position of the pipette; when the pipette horizontally moves to the filling initial position, control the pipette to eject the liquid, and keep the pipette moving horizontally continuously, so that the liquid is injected into the reaction vessel of the liquid sample addition system in a parabolic trajectory. In this way, the liquid sample addition action can be completed during the movement of the pipette, which can effectively improve the sample addition efficiency, improve the sample addition accuracy, reduce the sample addition cost, and will not cause liquid splashing.

[0074] The above filling initial position determination module is configured to determine the horizontal distance between the filling initial position of the pipette of the liquid sample addition system and the target filling position; determine the filling initial position of the pipette based on the target filling position, the horizontal distance, and a preset empirical correction value.

[0075] The above-mentioned filling initial position determination module is used to determine the horizontal distance between the filling initial position of the pipetting needle of the liquid sample addition system and the target filling position through the following formula: Where Sx is the horizontal distance, Vx is the horizontal velocity of the pipetting needle towards the target filling position, V z is the initial moving velocity of the liquid, H z is the first distance between the end of the pipetting needle and the top of the reaction vessel at the target filling position, and g is the acceleration due to gravity.

[0076] The above-mentioned filling initial position determination module is used to determine the filling initial position of the pipetting needle based on the target filling position, the horizontal distance and a preset empirical correction value through the following formula: P 初始 = P 目标 – S X – M; where P 初始 is the filling initial position of the pipetting needle, P 目标 is the target filling position, S X is the horizontal distance, and M is a preset empirical correction value.

[0077] The above-mentioned empirical correction value is determined based on the droplet size of the liquid, the first distance, the initial moving velocity and the horizontal velocity.

[0078] The above-mentioned liquid sample addition system further includes a reaction vessel group, and the reaction vessel group is a plurality of reaction vessels arranged side by side; the above-mentioned device further includes a reaction vessel group liquid sample addition module, which is used to determine the target filling position of each reaction vessel in the reaction vessel group; determine whether each reaction vessel in the reaction vessel group performs a liquid injection operation; determine the liquid injection volume of each reaction vessel that performs the liquid injection operation; control the movement of the pipetting needle of the liquid sample addition system; when the pipetting needle moves to the filling initial position of the first reaction vessel that performs the liquid injection operation, control the pipetting needle to eject the liquid of the liquid injection volume of the first reaction vessel; when the pipetting needle moves to the filling initial position of the second reaction vessel that does not perform the liquid injection operation, control the pipetting needle not to eject the liquid.

[0079] The above-mentioned liquid sample addition system further includes a liquid detection component, and the above-mentioned device further includes an empirical correction value adjustment module, which is used to determine whether there is a deviation in the liquid injection operation based on the liquid detection component; if so, adjust the empirical correction value.

[0080] The above-mentioned liquid sample addition system further includes an alarm component, and the above-mentioned device further includes an alarm module, which is used to, if so, send an alarm signal through the alarm component.

[0081] The above-mentioned liquid sample addition system further includes an optical detection mechanism, and the above-mentioned device further includes an optical detection module, which is used to detect the information of the liquid injected into the reaction vessel based on the optical detection mechanism.

[0082] The liquid sample adding device provided by the embodiment of the present invention has the same technical features as the liquid sample adding method provided by the above embodiment, so it can also solve the same technical problems and achieve the same technical effects.

[0083] Embodiment 4:

[0084] The embodiment of the present invention further provides a liquid sample adding system for running the above liquid sample adding method; refer to Figure 8 the structural schematic diagram of a liquid sample adding system shown. The liquid sample adding system includes a memory 100 and a processor 101. Among them, the memory 100 is used to store one or more computer instructions, and the one or more computer instructions are executed by the processor 101 to implement the above liquid sample adding method.

[0085] Furthermore, Figure 8 the liquid sample adding system shown further includes a bus 102 and a communication interface 103, and the processor 101, the communication interface 103 and the memory 100 are connected through the bus 102.

[0086] Among them, the memory 100 may include a high-speed random access memory (RAM, Random Access Memory), and may also include a non-volatile memory, such as at least one disk memory. Through at least one communication interface 103 (which can be wired or wireless), a communication connection is established between this system network element and at least one other network element, and the Internet, wide area network, local area network, metropolitan area network, etc. can be used. The bus 102 can be an ISA bus, a PCI bus or an EISA bus, etc. The bus can be divided into an address bus, a data bus, a control bus, etc. For the sake of convenience of representation, Figure 8 only a bidirectional arrow is used in to represent, but it does not mean that there is only one bus or one type of bus.

[0087] The processor 101 may be an integrated circuit chip with the ability to process signals. In the implementation process, each step of the above method can be completed by the integrated logic circuit of the hardware in the processor 101 or the instructions in the form of software. The above-mentioned processor 101 may be a general-purpose processor, including a central processing unit (CPU for short), a network processor (NP for short), etc.; it may also be a digital signal processor (DSP for short), an application specific integrated circuit (ASIC for short), a field-programmable gate array (FPGA for short), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components. It can implement or execute various methods, steps, and logic block diagrams disclosed in the embodiments of the present invention. The general-purpose processor may be a microprocessor or the processor may also be any conventional processor, etc. The steps of the method disclosed in combination with the embodiments of the present invention can be directly embodied as being executed and completed by a hardware decoding processor, or executed and completed by a combination of hardware and software modules in the decoding processor. The software module may be located in a mature storage medium in the art such as a random access memory, a flash memory, a read-only memory, a programmable read-only memory, or an electrically erasable programmable memory, a register, etc. This storage medium is located in the memory 100, and the processor 101 reads the information in the memory 100 and combines its hardware to complete the steps of the method in the foregoing embodiments.

[0088] The embodiments of the present invention also provide a computer-readable storage medium storing computer-executable instructions, which, when called and executed by a processor, cause the processor to implement the above liquid dispensing method. For the specific implementation, reference may be made to the method embodiments, and details are not described herein again.

[0089] The computer program product of the liquid dispensing method, device, and system provided by the embodiments of the present invention includes a computer-readable storage medium storing program code, and the instructions included in the program code can be used to execute the methods in the foregoing method embodiments. For the specific implementation, reference may be made to the method embodiments, and details are not described herein again.

[0090] Those skilled in the art can clearly understand that for the convenience and brevity of description, the specific working processes of the above-described device and / or liquid dispensing system can refer to the corresponding processes in the foregoing method embodiments, and details are not described herein again.

[0091] Finally, it should be noted that the above-described embodiments are only specific embodiments of the present invention, used to illustrate the technical solutions of the present invention, rather than limiting it. The protection scope of the present invention is not limited thereto. Although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that any person skilled in the art within the technical scope disclosed by the present invention can still modify the technical solutions recorded in the foregoing embodiments, or can easily think of changes, or perform equivalent replacements on some of the technical features; and these modifications, changes or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present invention, and should all be covered within the protection scope of the present invention. Therefore, the protection scope of the present invention should be subject to the protection scope of the claims.

Claims

1. A liquid sample addition method, characterized in that, Applied to a liquid sampling system, the method includes: Determining a target filling position of the liquid; Determining an initial filling position of the pipette of the liquid sampling system based on the target filling position; Controlling the horizontal movement of the pipette of the liquid sampling system; when the pipette horizontally moves to the initial filling position, controlling the pipette to eject the liquid, and keeping the pipette continuing to move horizontally so that the liquid is injected into the reaction vessel of the liquid sampling system in a parabolic trajectory; The liquid sampling system further includes a reaction vessel group, and the reaction vessel group is a plurality of reaction vessels arranged side by side; the method further includes: determining the target filling position of each reaction vessel in the reaction vessel group; determining whether each reaction vessel in the reaction vessel group performs a liquid injection operation; determining the liquid injection volume of each reaction vessel that performs the liquid injection operation; controlling the movement of the pipette of the liquid sampling system; when the pipette moves to the initial filling position of the first reaction vessel that performs the liquid injection operation, controlling the pipette to eject the liquid with the liquid injection volume of the first reaction vessel; when the pipette moves to the initial filling position of the second reaction vessel that does not perform the liquid injection operation, controlling the pipette not to eject the liquid.

2. The method according to claim 1, wherein The step of determining the initial filling position of the pipette of the liquid sampling system based on the target filling position includes: Determining the horizontal distance between the initial filling position of the pipette of the liquid sampling system and the target filling position; Determining the initial filling position of the pipette based on the target filling position, the horizontal distance, and a preset empirical correction value.

3. The method according to claim 2, characterized in that, The step of determining the horizontal distance between the initial filling position of the pipette of the liquid sampling system and the target filling position includes: Determining the horizontal distance between the initial filling position of the pipette of the liquid sampling system and the target filling position through the following formula: Wherein, Sx is the horizontal distance, Vx is the horizontal velocity of the pipetting needle towards the target dispensing position, V z is the initial moving velocity of the liquid, H z is the first distance between the tail end of the pipetting needle and the top end of the reaction vessel at the target dispensing position, and g is the acceleration due to gravity.

4. The method according to claim 3, wherein The step of determining the initial filling position of the pipette based on the target filling position, the horizontal distance, and a preset empirical correction value includes: Determining the initial filling position of the pipette based on the target filling position, the horizontal distance, and a preset empirical correction value through the following formula: P 初始 = P 目标 – S X – M; Among them, P 初始 is the initial filling position of the pipetting needle, P 目标 is the target filling position, S X is the horizontal distance, and M is a preset empirical correction value.

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

6. The method according to claim 2, wherein The liquid sampling system further includes a liquid detection component, and the method further includes: Determining whether there is a deviation in the liquid injection operation based on the liquid detection component; If so, adjusting the empirical correction value.

7. The method according to claim 6, wherein The liquid sampling system further includes an alarm component. After the step of determining whether there is a deviation in the liquid injection operation based on the liquid detection component, the method further includes: If so, sending an alarm signal through the alarm component.

8. The method according to claim 1, characterized in that, The liquid sampling system further includes an optical detection mechanism, and the method further includes: Detecting information of the liquid injected into the reaction vessel based on the optical detection mechanism.

9. A liquid sample addition device, characterized in that, Applied to a liquid sampling system, the device includes: A target filling position determination module for determining a target filling position of the liquid; The initial injection position determination module is configured to determine the initial injection position of the pipetting needle of the liquid sampling system based on the target injection position; The liquid injection reaction vessel module is configured to control the horizontal movement of the pipetting needle of the liquid sampling system; when the pipetting needle horizontally moves to the initial injection position, control the pipetting needle to eject the liquid, and keep the pipetting needle moving horizontally continuously, so that the liquid is injected into the reaction vessel of the liquid sampling system in a parabolic trajectory; The liquid sampling system further includes a reaction vessel group, and the reaction vessel group is a plurality of the reaction vessels arranged side by side; the device further includes: a reaction vessel group liquid sampling module, configured to determine the target injection position of each of the reaction vessels in the reaction vessel group; determine whether each of the reaction vessels in the reaction vessel group performs a liquid injection operation; determine the liquid injection volume of each of the reaction vessels that perform the liquid injection operation; control the movement of the pipetting needle of the liquid sampling system; when the pipetting needle moves to the initial injection position of the first reaction vessel that performs the liquid injection operation, control the pipetting needle to eject the liquid with the liquid injection volume of the first reaction vessel; when the pipetting needle moves to the initial injection position of the second reaction vessel that does not perform the liquid injection operation, control the pipetting needle not to eject the liquid.

10. A liquid sample addition system, characterized in that, It includes a processor and a memory, and the memory stores computer-executable instructions that can be executed by the processor, and the processor executes the computer-executable instructions to implement the liquid sampling method according to any one of claims 1 to 8.

11. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer-executable instructions, and when the computer-executable instructions are called and executed by a processor, the computer-executable instructions cause the processor to implement the liquid sampling method according to any one of claims 1 to 8.

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