Method for pipette to pick up pipette tips, control device, pipette system and medium

Abstract

The present invention relates to the technical field of pipette tip picking, and specifically provides a method for a pipette to pick up a tip, a control device, a pipette system, and a medium. The tip is accommodated in a receiving portion of a tip box. The pipette includes a pipetting tube portion and a gun head portion. The method includes: controlling a motor to drive the pipette to move downward from an initial position towards the receiving portion; and determining whether the gun head portion of the pipette has successfully picked up the tip according to whether the gun head portion of the pipette has moved to a preset position and whether the motor is stalled. The present invention can efficiently pick up the tip and adapt to the situation of mixed use of multiple types of tips.

Description

Technical Field

[0001] The present invention relates to the technical field of pipette tip picking, and specifically provides a method for picking pipette tips, a control device, a pipette system, and a computer-readable storage medium. Background Art

[0002] In a clinical laboratory, an automatic pre-treatment device can replace traditional pipetting tools during the sample analysis process, and automatically complete high-precision liquid handling tasks such as gradient dilution, pipetting, mixing liquids, and spotting targets. A pipette is a commonly used precision measuring instrument in the laboratory for sampling and adding liquids. The pipette of the automatic pre-treatment device is equipped with disposable tips to solve the problem of cross-contamination.

[0003] An automatic pre-treatment device cannot be called a good product without the ultimate pursuit of pipetting accuracy. Safety, efficiency, and precision are the key performance indicators. Mastering the micro-pipetting technology is the premise for realizing the automation of the pre-treatment system, and the quality of tip picking directly affects the amount of sampling and the accuracy of the release position.

[0004] When the existing pipette picks up a tip, first select the corresponding pipette and tip according to the required liquid uptake volume, drive the pipette to move up and down through a stepper motor, move the pipette above the tip, and then calibrate the downward movement distance of the pipette to achieve the pipette picking up the tip. By saving the downward movement distance of the pipette, the same position is reached each time to pick up the tip of the pipette. After the pipette picks up the tip, it is used for pipetting. After use, the tip is discarded.

[0005] The position difference of the existing tip picking is not easily recognizable by the naked eye, and tools or jigs are needed to calibrate more accurately.

[0006] When calibrating, if the position of the tip of the pipette is too high and the tip is loose, air leakage or incorrect tip placement will occur. Air leakage will cause inaccurate liquid uptake, and incorrect tip placement will cause incorrect spotting, affecting subsequent sample analysis of the equipment.

[0007] If the calibration position is too low, the motor will experience a loss of steps due to excessive tightness during tip picking. Since the tip picking is a relative position control, the loss of steps will cause the position of the next tip picking to be too high, resulting in looseness when picking up the tip again later.

[0008] There are differences between tips of different batches or different manufacturers. When replacing different tips, the manufacturer needs to recalibrate.

[0009] The existing calibration method requires each device to pick up and calibrate the tip separately due to minor differences when the new device leaves the factory, and the device can only pick up specific tips. Summary of the Invention

[0010] To overcome the above-mentioned deficiencies, the present invention provides a method for a pipette to efficiently pick up pipette tips, which can adapt to the situation of mixing multiple types of pipette tips.

[0011] In a first aspect, the present invention provides a method for a pipette to pick up pipette tips. The pipette tips are accommodated in the accommodating part of a tip box. The pipette includes a pipette tube part and a gun head part. The method includes:

[0012] Controlling the motor to drive the pipette to move downward from the initial position towards the accommodating part;

[0013] Judging whether the gun head part of the pipette successfully picks up the pipette tip according to whether the gun head part of the pipette moves to a preset position and whether the motor is blocked.

[0014] Further, the preset position is obtained through the following steps:

[0015] Controlling the motor to drive the gun head part to extend into the accommodating part of the tip box that does not accommodate pipette tips;

[0016] Detecting whether the distance between the pipette tube part and the top of the tip box reaches a first preset threshold distance during the extending process;

[0017] If the first preset threshold distance is reached, the position where the gun head part extends to is the preset position.

[0018] Further, the preset position is obtained through the following steps:

[0019] Controlling the motor to drive the gun head part to extend into the accommodating part of the tip box that does not accommodate pipette tips;

[0020] Detecting whether the pipette tube part contacts the top of the tip box during the extending process;

[0021] If there is contact, driving the pipette to retract a second preset threshold distance towards the initial position;

[0022] When retracting to the second preset threshold, the position where the gun head part extends to is the preset position.

[0023] Further, the judging whether the gun head part of the pipette successfully picks up the pipette tip according to whether the gun head part of the pipette moves to a preset position and whether the motor is blocked includes:

[0024] If the gun head part of the pipette does not move to the preset position and the motor is blocked, it is judged that the gun head part of the pipette successfully picks up the pipette tip.

[0025] Further, it is determined whether the tip of the pipette has successfully picked up the tip according to whether the tip of the pipette has moved to a preset position and whether the motor is stalled.

[0026] Including:

[0027] If the tip of the pipette has moved to a preset position and the motor is not stalled, it is determined that there is no tip in the receiving portion into which the tip of the pipette has penetrated.

[0028] Further, the tip includes multiple types of tips, where the multiple types correspond to different opening diameters and / or opening depths;

[0029] The method further includes: determining the corresponding tip type according to the picking depth of the picked-up tip.

[0030] Further, the method further includes:

[0031] Storing the current and rotational speed values of the motor corresponding to the successfully picked-up tip during the picking process and the tip type as a mapping relationship in a database;

[0032] According to the type of the currently to-be-picked-up tip, obtaining the current and rotational speed values of the motor corresponding to the same type of tip from the database as the current settings for the motor current and rotational speed during the picking process.

[0033] In a second aspect, the present invention provides a control device, which includes a processor and a storage device. The storage device is adapted to store multiple program codes, and the program codes are adapted to be loaded and run by the processor to execute the method for picking up a tip by a pipette according to any one of the technical solutions in the above technical solutions for the method of picking up a tip by a pipette.

[0034] In a third aspect, the present invention provides a pipette system, including:

[0035] A pipette;

[0036] A motor for driving the pipette to move;

[0037] The control device described above.

[0038] In a fourth aspect, there is provided a computer-readable storage medium, which stores multiple program codes therein, and the program codes are adapted to be loaded and run by a processor to execute the method for picking up a tip by a pipette according to any one of the technical solutions in the above technical solutions for the method of picking up a tip by a pipette.

[0039] One or more of the above technical solutions of the present invention have at least one or more of the following beneficial effects:

[0040] In view of the same preset positions and different actual picking positions of different types of tips, the creativity of the present invention adopts the method of preset positions and whether the motor is blocked to identify and judge different types of tips that are difficult to mix in the prior art by the same method, breaking through the limitation of different actual picking positions of different types of tips. In this way, identification can be implemented during each picking to ensure that each tip can be picked, and there is no problem of too low or too high picking positions through calibration in the prior art. Because as long as it is judged whether the motor is blocked based on the preset position, it is a real-time and accurate judgment on whether each tip is actually picked, rather than an inference. Therefore, the present invention has great progressive significance, realizing the picking determination of each tip in the true sense, and playing a significant role in improving the safety, efficiency, and accuracy indicators of the pipette. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] Referring to the accompanying drawings, the disclosure of the present invention will become more understandable. It is easy for those skilled in the art to understand that these drawings are only for illustrative purposes and are not intended to limit the protection scope of the present invention. In addition, similar numbers in the figures are used to represent similar components, where:

[0042] Figure 1 is a schematic structural diagram of a tip box according to an embodiment of the present invention;

[0043] Figure 2 is a schematic structural diagram of a pipette according to an embodiment of the present invention;

[0044] Figure 3 is a schematic flowchart of a method according to an embodiment of the present invention;

[0045] Figure 4 is a schematic flowchart of a method for obtaining a preset position according to an embodiment of the present invention;

[0046] Figure 5 is a schematic diagram of a preset position when the distance between the pipette tube part and the top of the tip box reaches a first preset threshold distance according to an embodiment of the present invention;

[0047] Figure 6 is a schematic flowchart of a method for obtaining a preset position according to an embodiment of the present invention;

[0048] Figure 7 is a schematic diagram of the process of the motor driving the pipette to move downward from the initial position towards the accommodation part until reaching the preset position according to an embodiment of the present invention;

[0049] Figure 8 is a schematic diagram of the distance of the gun head from the initial position in 4 stages of the pipette descending to pick up a tip in an application scenario according to the present invention;

[0050] Figure 9 It is a schematic diagram showing the change in the descending speed of the pipette during 4 stages of the descending position of the pipette when picking up the tip according to an application scenario of the present invention.

[0051] List of Reference Numerals :

[0052] 1 Tip box, 1-1 Accommodating part, 2 Pipette, 2-1 Pipette tube part, 2-2 Gun head part, 3 Tip, 4 Motor, 5 Lead screw, 6 Slide block. Specific embodiments

[0053] Some embodiments of the present invention will be described below with reference to the accompanying drawings. Those skilled in the art should understand that these embodiments are only used to explain the technical principles of the present invention and are not intended to limit the protection scope of the present invention.

[0054] In the description of the present invention, "module" and "processor" may include hardware, software, or a combination of both. A module may include a hardware circuit, various suitable sensors, communication ports, memory, and may also include a software part, such as program code, or may be a combination of software and hardware. The processor may be a central processing unit, a microprocessor, an image processor, a digital signal processor, or any other suitable processor. The processor has data and / or signal processing functions. The processor may be implemented in software, in hardware, or in a combination of both. The non-transitory computer-readable storage medium includes any suitable medium for storing program code, such as magnetic disks, hard disks, optical disks, flash memories, read-only memories, random access memories, and so on. The term "A and / or B" represents all possible combinations of A and B, such as only A, only B, or A and B. The term "at least one A or B" or "at least one of A and B" has a meaning similar to "A and / or B" and may include only A, only B, or A and B. The singular terms "a" and "this" may also include the plural form.

[0055] The present invention provides a method for a pipette to pick up a tip. In the tip box 1, a number of accommodating parts 1-1 are arranged in an array. In an application scenario, referring to Figure 1 , the reference numeral 1-1 shows the accommodating part. The accommodating part 1-1 is a groove, and the groove is adapted to the tip 3. The tip 3 to be picked up is accommodated in the accommodating part of the tip box 1. Since the tip 3 has a structure that is wider at the top and narrower at the bottom, it can be limited in the groove.

[0056] The pipette 2 includes a pipette tube part 2-1 and a gun head part 2-2. Referring to Figure 2 , the reference numeral 2-1 shows the pipette tube part, and the reference numeral 2-2 shows the gun head part. The gun head part 2-2 is provided on the lower surface of the pipette tube part 2-1.

[0057] To avoid maintaining a certain pressure during liquid suction by the subsequent pipette tip 3 after picking, a sealing ring is usually sleeved at the bottom end of the gun head part 2-2.

[0058] The pipette tube part 2-2 is driven by the motor 4. Still referring to Figure 2 , the specific connection relationship is as follows: The motor is fixed on the fixing bracket 7. The motor drives the lead screw 5 to rotate, thereby driving the slider 6 to move up and down. The pipette tube part 2-1 is arranged on the slider 6, so that the pipette tube part 2-1 moves along with the slider 6.

[0059] Referring to Figure 3 , the method includes:

[0060] Controlling the motor to drive the pipette to move downward from the initial position towards the accommodating part; during the downward movement, the displacement of the pipette gradually decreases and gets closer and closer to the accommodating part, and several pipette tips are accommodated in the accommodating part.

[0061] Judging whether the gun head of the pipette successfully picks up the pipette tip according to whether the gun head of the pipette moves to a preset position and whether the motor is blocked.

[0062] The present invention creatively combines the preset position and motor blockage, overcoming the technical problem of difficult calibration in the prior art.

[0063] The preset position is not affected by the type of pipette tip, so it can be applicable to different types of pipette tips.

[0064] Motor blockage is easy to identify and can be conveniently obtained, not interfered by other factors, and not limited by the individual error of human eye recognition, so it can efficiently and accurately judge whether the picking is successful.

[0065] In one embodiment, since the judgment of the present invention needs to combine the preset position, the preset position needs to be obtained in advance. In one application scenario, the preset position can be obtained through experimental testing before actual picking.

[0066] Referring to Figure 4 , the preset position is obtained through the following steps:

[0067] Controlling the motor to drive the gun head to move downward until it extends into the accommodating part in the pipette tip box where there is no pipette tip.

[0068] During the extension process, detecting whether the distance between the pipette tube part and the top of the pipette tip box reaches a first preset threshold distance; referring to Figure 1 , in one application scenario, the top of the pipette tip box is the top of the groove of the accommodating part 1-1.

[0069] If the first preset threshold distance is reached, the position where the gun head extends into is the preset position.

[0070] Reference Figure 5 , Figure 5 shows the schematic diagram of the preset position when the distance between the pipette part and the top of the tip box reaches the first preset threshold distance.

[0071] Since the pipette part needs to maintain a certain distance from the top of the tip box, and at the same time, in order to be able to use multiple types of tips interchangeably, a preset position lower than the actual picking positions of all tips needs to be set. Using the method of this embodiment to determine the preset position can ensure that during the downward movement of the pipette part, the actual picking positions of all tips are higher than the preset position, so as to judge whether the picking is successful in combination with whether the motor is blocked.

[0072] Reference Figure 6 In one embodiment, the preset position is obtained through the following steps:

[0073] Control the motor to drive the gun head of the pipette into the accommodating part of the tip box where no tip is accommodated;

[0074] During the insertion process, detect whether the pipette part contacts the top of the tip box;

[0075] If in contact, drive the pipette to retreat a second preset threshold distance towards the initial position;

[0076] When retreating to the second preset threshold, the position where the gun head extends into is the preset position.

[0077] Since several grooves are provided in the tip box, during the downward movement of the gun head, there is a situation where it touches the top of the tip box. If the pipette part contacts the top of the tip box, the pipette part is not accurately positioned and fails to extend into the accommodating part. When the pipette part contacts the top of the tip box, it cannot continue to move downward. At this time, the motor drives the pipette to retreat and move upward, retreating a second preset threshold distance towards the initial position, so that a certain distance is maintained between the pipette part and the top of the tip box. Those skilled in the art can know that the setting of the second preset threshold distance ensures that the actual picking positions of all tips are higher than the preset position.

[0078] Reference Figure 7 , Figure 7 shows the process of controlling the motor to drive the pipette to move downward from the initial position towards the accommodating part until reaching the preset position.

[0079] In one embodiment, controlling the motor to drive the pipette to move downward from the initial position towards the accommodating part includes:

[0080] Monitor the distance between the gun head of the pipette and the initial position;

[0081] During the process where the distance is not greater than the first distance threshold, the pipette is accelerated downward;

[0082] When the distance is between the first distance threshold and the second distance threshold, the pipette is moved downward at a constant speed, and the constant speed is the speed of the pipette when the distance is the first distance threshold;

[0083] The pipette tube is controlled to move downward at a constant speed to the second position at the first rate;

[0084] When the distance is between the second distance threshold and the third distance threshold, the pipette is decelerated downward;

[0085] When the distance is greater than the third distance threshold, the pipette is moved downward at a constant speed, and the constant speed is the speed of the pipette when the distance is the third distance threshold.

[0086] Refer to Figures 8 - 9 , in one embodiment, the initial position is denoted as the zero position, the distance between the tip of the pipette and the initial position is monitored, and when the distance is not greater than h1, the pipette is accelerated downward to v1;

[0087] When the distance is between h1 and h2, the pipette is moved downward at a constant speed, maintaining the speed at v1;

[0088] When the distance is between h2 and h3, the pipette is decelerated downward, and the speed is reduced to v2;

[0089] When the distance is greater than h3, the pipette is moved downward at a constant speed, maintaining the speed at v2, and the pipette is moved downward at a constant speed until successful picking. When successful picking occurs, the distance is h4.

[0090] The position where the pipette descends to pick up the tip can be divided into 4 stages. The first stage is the acceleration stage, where the pipette accelerates to the target speed V1. The second stage runs at a constant speed at the fastest speed V1. When the distance reaches the set value, it enters the third stage. The third stage quickly decelerates to the picking speed V2. The fourth stage picks up the tip at the set speed V2, achieving precise control and improving the picking efficiency.

[0091] Through the control logic of the speed during the downward movement of the pipette, the picking efficiency can be improved. Especially when the pipette is used for pipetting after picking up the tip, it is often necessary to process a batch of samples. In this case, improving the single picking efficiency can significantly improve the overall processing speed.

[0092] In one embodiment, determining whether the tip of the pipette has successfully picked up the tip according to whether the tip of the pipette has moved to a preset position and whether the motor is stalled includes:

[0093] If the tip head of the pipette does not move to the preset position and the motor is blocked, it is determined that the tip head of the pipette has successfully picked up the tip.

[0094] In one embodiment, determining whether the tip head of the pipette has successfully picked up the tip according to whether the tip head of the pipette moves to the preset position and whether the motor is blocked includes:

[0095] If the tip head of the pipette moves to the preset position and the motor is not blocked, it is determined that there is no tip in the receiving portion into which the tip head of the pipette has penetrated.

[0096] In one embodiment, the tips include multiple types of tips, where the multiple types correspond to different opening diameters and / or opening depths;

[0097] The method further includes: determining the corresponding tip type according to the picking depth of the picked tip. Still referring to Figure 7 , tips with different opening diameters and / or opening depths have actual picking positions with different absolute values. If the conventional method is used, it cannot be applied to different types of tips. However, the present invention uses the preset position and whether the motor is blocked as evaluation parameters to eliminate the influence of different types of tips. Therefore, multiple types of tips can be mixed, greatly improving the application range.

[0098] The present invention sets the same preset position for tips with different high and low opening sizes. If different types are mixed, there is no need to change the preset position of the motor operation, and the situation of the picked tips can be recorded in real time, improving the processing efficiency of mixed tips, recording and tracking the usage of tips, automatically identifying the problem of missing tip placement, and reducing the failure rate.

[0099] In one embodiment, the motor is a closed-loop motor, and the downward movement distance of the downward movement is obtained through the closed-loop stepper motor; or

[0100] The motor is a stepper motor, and the downward movement distance of the downward movement is obtained through a displacement sensor cooperating with the stepper motor.

[0101] Position detection of the motor is very important in motor control, especially in application scenarios where the motion state of the motor needs to be controlled according to the precise rotor position, such as a position servo system. Position detection in a motor control system usually includes: micro-motor resolver elements, optoelectronic elements, magnetic-sensitive elements, electromagnetic induction elements, etc. These position detection sensors are either coaxially connected to the non-load end of the motor or directly installed at specific parts of the motor. Among them, the optoelectronic element has a higher measurement accuracy and can accurately reflect the mechanical position of the rotor of the motor, thereby indirectly reflecting the accurate mechanical position of the mechanical load connected to the motor, so as to achieve the purpose of accurately controlling the position of the motor.

[0102] An optoelectronic encoder represents the position information of the motor rotor connected to the optoelectronic encoder by reading the patterns or coding information on the optoelectronic coding disk. The optoelectronic encoder can convert the mechanical geometric displacement on the output shaft into pulses or digital quantities through optoelectronic conversion, and it is also the most widely used sensor at present.

[0103] In one embodiment, the method further includes:

[0104] Storing the current and rotational speed values of the motor corresponding to the successfully picked tip during the picking process and the tip type in the database as a mapping relationship;

[0105] According to the type of the tip to be picked currently, obtain the current and rotational speed values of the motor corresponding to the tips of the same type from the database as the set values of the motor current and rotational speed during the current picking process.

[0106] In one application scenario, for type A tips, when the picking is successful, the current of the motor is Ia and the rotational speed value is Na. For type B tips, when the picking is successful, the current of the motor is Ib and the rotational speed value is Nb. Store the above relationships in the database as a mapping relationship.

[0107] When it is necessary to pick a type B tip, adjust the current of the motor to Ib and adjust the rotational speed value to Nb, thereby improving the picking efficiency.

[0108] The current and rotational speed values of the motor affect the torque of the motor, and the torque of the motor in turn affects the picking of the tip by the pipette.

[0109] In one application scenario, the position where the pipette picks up the tip can be divided into 4 stages. The first stage is the acceleration stage, and the pipette accelerates to the target speed V1. The second stage runs at a constant speed V1 at the fastest speed. When the distance reaches the set value, it enters the third stage. The third stage quickly decelerates to the picking speed V2. The fourth stage picks up the tip at the set speed V2.

[0110] Storing the current and rotational speed values of the motor corresponding to the successfully picked tip during the picking process and the tip type in the database as a mapping relationship, where the rotational speed value is the speed V2 in the fourth stage.

[0111] In one application scenario, for tips of the same type, when picking up the tip successfully according to the method of the present invention, take the corresponding actual picking position as the calibration position, adjust the current and rotational speed values of the motor driver. When the actual running distance is greater than the calibration position when the picking is completed, it is necessary to reduce the current or lower the rotational speed value, otherwise it is necessary to increase the current or increase the rotational speed value. Until when the actual running distance is the same as the calibration position when the picking is completed, the motor picking torque at this time is the required torque, and the current and rotational speed values at this time are the set values for picking up the tip.

[0112] The picking tip does not require calibration, greatly simplifying the production and usage processes and improving the usage efficiency. It can adapt to tips from different batches or manufacturers, and can even achieve the mixed use of different tips in the same tip box.

[0113] The high and low opening sizes of different tips are different, with corresponding identical preset positions and different actual picking positions. In this way, the preset positions set for different types of tips are consistent. If different types are mixed, there is no need to change the preset position of the motor operation. By monitoring in real time whether the motor is blocked, it can be judged whether the picking is successful. This can improve the processing efficiency of mixed tips, and then record and track the usage of the tips, automatically identify the problem of missing tip placement, and reduce the failure rate.

[0114] The present invention creatively aims at the same preset positions and different actual picking positions of different types of tips, and adopts the method of preset positions and whether the motor is blocked. Different types of tips that are difficult to mix in the prior art can be identified and judged by the same method, breaking through the limitation that different types of tips have different actual picking positions. In this way, identification can be implemented every time of picking, ensuring that each tip can be picked, and there is no problem in the prior art of too low or too high picking position through calibration. Because as long as it is judged whether the motor is blocked based on the preset position, it is a real-time and accurate actual judgment on whether each tip is truly picked, rather than an inference. Therefore, the present invention has great progressive significance, realizing the true picking determination of each tip, and playing a major role in improving the safety, efficiency, and accuracy indicators of the pipette.

[0115] Furthermore, the present invention also provides a control device. In an embodiment of the control device according to the present invention, the control device includes a processor and a storage device. The storage device can be configured to store a program for executing the control method of the above method embodiment, and the processor can be configured to execute the program in the storage device. The program includes, but is not limited to, the program for executing the control method of the above method embodiment. For the sake of convenience of description, only the parts related to the embodiments of the present invention are shown. For the specific technical details not disclosed, please refer to the method part of the embodiments of the present invention. The control device can be a control device formed by various electronic devices.

[0116] Furthermore, the present invention also provides a pipette system, including:

[0117] A pipette;

[0118] A motor for driving the movement of the pipette;

[0119] The control device.

[0120] Furthermore, the present invention also provides a computer-readable storage medium. In an embodiment of the computer-readable storage medium according to the present invention, the computer-readable storage medium may be configured to store a program for executing the control method in the above method embodiment, and this program can be loaded and run by a processor to implement the above control method. For ease of description, only the parts related to the embodiments of the present invention are shown. For the specific technical details not disclosed, please refer to the method part of the embodiments of the present invention. The computer-readable storage medium may be a storage device formed by various electronic devices. Optionally, the computer-readable storage medium in the embodiments of the present invention is a non-transitory computer-readable storage medium.

[0121] So far, the technical solutions of the present invention have been described in conjunction with the preferred embodiments shown in the drawings. However, it is easy for those skilled in the art to understand that the protection scope of the present invention is obviously not limited to these specific embodiments. Without departing from the principle of the present invention, those skilled in the art can make equivalent changes or substitutions to the relevant technical features, and the technical solutions after these changes or substitutions will fall within the protection scope of the present invention.

Claims

1. A method for a pipette to pick up a pipette tip, wherein the pipette tip is accommodated in a receiving portion of a tip box, and the pipette includes a pipetting tube portion and a gun head portion, characterized in that, The method includes: Controlling the motor to drive the pipette to move downward from the initial position towards the accommodating part; Judging whether the tip of the pipette successfully picks up the tip according to whether the tip of the pipette moves to a preset position and whether the motor is stalled, including: If the tip of the pipette does not move to the preset position and the motor is stalled, it is judged that the tip of the pipette successfully picks up the tip; If the tip of the pipette moves to the preset position and the motor is not stalled, it is judged that there is no tip in the accommodating part into which the tip of the pipette extends; The preset position is lower than the actual picking positions of all the tips.

2. The method according to claim 1, characterized in that, The preset position is obtained through the following steps: Controlling the motor to drive the tip to extend into the accommodating part in the tip box that does not contain a tip; During the extension process, detecting whether the distance between the pipette part and the top of the tip box reaches a first preset threshold distance; If the first preset threshold distance is reached, the position where the tip extends to is the preset position.

3. The method according to claim 1, characterized in that, The preset position is obtained through the following steps: Controlling the motor to drive the tip to extend into the accommodating part in the tip box that does not contain a tip; During the extension process, detecting whether the pipette part contacts the top of the tip box; If there is contact, driving the pipette to retract a second preset threshold distance towards the initial position; When the retraction reaches the second preset threshold, the position where the tip extends to is the preset position.

4. The method according to claim 1, characterized in that, The tips include multiple types of tips, where the multiple types correspond to different opening diameters and / or opening depths; The method further includes: judging the corresponding tip type according to the picking depth of the picked-up tip. type.

5. The method according to claim 4, characterized in that, The method further includes: Storing the current and rotational speed values of the motor corresponding to the successfully picked-up tip during the picking process and the tip type as a mapping relationship in a database; According to the type of the tip to be picked up currently, obtaining the current and rotational speed values of the motor corresponding to the same type of tip from the database as the current settings of the motor current and rotational speed during the picking process.

6. A control device, comprising a processor and a storage device, wherein the storage device is adapted to store a plurality of program codes, characterized in that, The program code is suitable for being loaded and run by the processor to execute the method for picking up a tip by a pipette according to any one of claims 1 to 5.

7. A pipette system, characterized in that, Including: A pipette; A motor for driving the pipette to move; The control device according to claim 6.

8. A computer-readable storage medium, in which a plurality of program codes are stored, characterized in that, The program code is suitable for being loaded and run by a processor to execute the method for picking up a tip by a pipette according to any one of claims 1 to 5.

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