Liquid surface following aspiration method

Abstract

The present invention provides a liquid level following liquid suction method, including S1, receiving and storing parameters, where the parameters include the initial liquid suction velocity V0, the maximum liquid suction velocity V m and the liquid suction acceleration a, and inputting the cross-sectional area S of the liquid storage container and the liquid transfer volume M; S2, reading the parameters, and calculating through an algorithm to obtain the velocity V h at which the pipette follows the liquid level down or up, and converting it into an array of the velocities of the motor driving the pipette movement, denoted as V motor array; S3, after the data calculation is completed, enabling the motor to drive the pipette to perform liquid suction or liquid injection according to the V motor array. The present invention uses a liquid level following calculation method to complete all data calculations before sucking out or injecting liquid, improving the efficiency of sucking out or injecting liquid. Without using a sensor, it can clearly know the liquid level data before and after sucking out or injecting liquid, achieving a following effect, with a simple circuit, low cost, and high efficiency.

Description

Technical Field

[0001] The invention relates to a liquid surface following liquid aspiration method, belonging to the technical field of in vitro detection. Background Art

[0002] In vitro diagnostics (IVD) refer to products and services that obtain clinical diagnostic information by testing human samples (blood, body fluids, tissues, etc.) outside the human body, and then judge diseases or body functions. In vitro diagnostic products are generally composed of diagnostic instruments and diagnostic reagents. Most diagnostic instruments use liquid samples, and diagnostic reagents and their supporting cleaning solutions, lysis solutions, etc. are also liquids. Therefore, multiple liquid aspiration and injection operations are required during the operation of the instrument. In order to prevent the pipette needle from leaving the liquid surface after aspiration and affecting the accuracy of aspiration and injection, the pipette needle cannot enter the liquid surface too deep, and the cross-sectional area of ​​the test tube for storing liquid samples and reagents is small, and the liquid level will continue to drop during aspiration; to prevent empty aspiration, the pipette needle needs to move down as the liquid level drops during aspiration. Similarly, when injecting liquid, the liquid level in the test tube will continue to rise, and the pipette needle needs to move up as the liquid level rises.

[0003] The existing liquid level tracking technology requires the use of sensors to continuously detect the liquid level. When the liquid level drops (rises), the pipette needle moves down (up) to achieve liquid level tracking. This method uses sensors and requires the construction of corresponding circuits, which is costly, complex in design, and takes up space. The real-time liquid level detection process of the sensor takes a lot of time, which reduces the efficiency of aspiration and injection.

[0004] Therefore, the present invention provides a liquid surface following liquid aspiration method which does not require the use of a sensor and has a simple circuit, low cost and high efficiency. Summary of the invention

[0005] In view of this, the present invention provides a liquid surface following liquid aspiration method which does not require the use of sensors and has a simple circuit, low cost and high efficiency.

[0006] The present invention is achieved in that:

[0007] A liquid surface following liquid aspiration method, comprising:

[0008] S1, receiving and storing parameters, the parameters include the initial suction speed V0, the maximum suction speed V m and the aspiration acceleration a, and input the cross-sectional area S of the liquid storage container and the transfer volume M;

[0009] S2, read the parameters and calculate the speed V of the pipette needle moving down or up with the liquid surface through the algorithm h , and converted into an array of the speed of the motor that drives the pipette needle, recorded as V motor Arrays;

[0010] S3, after the data calculation is completed, let the motor according to V motor The array drives the pipette needle to aspirate or inject liquid.

[0011] As a further improvement, in step S2, the motor speed V motor The array calculation method includes:

[0012] S21, first use the initial suction speed V0 and the maximum suction speed V m Calculate the instantaneous speed of the pipetting, recorded as V P(N) ;

[0013] S22, using the container cross-sectional area S and the instantaneous speed V of the pipetting P(N) Calculate the velocity V of the liquid level rising or falling h ;

[0014] S23, using constant β and liquid level rise and fall speed V h The motor speed V is calculated motor Array.

[0015] As a further improvement, the pipetting is to suck out the liquid or to inject the liquid.

[0016] As a further improvement, in step S22, the instantaneous speed of the pipetting is the instantaneous speed at which the liquid level rises or falls.

[0017] As a further improvement, in step S21, the formula for calculating the instantaneous speed of the pipetting is V P(N) =V0+a*(△t*N), several V P(N) Composition V P(N) Arrays;

[0018] Among them, △t is the motor acceleration interval, V P(N) ≤V m ;

[0019] Among them, V0 is the initial velocity of liquid absorption;

[0020] Where, a is the liquid suction acceleration;

[0021] Wherein, N is a natural number.

[0022] As a further improvement, in step S22, the instantaneous liquid surface velocity V of the liquid transfer within each acceleration interval △t is h(N) , the calculation steps are as follows:

[0023] S221, using V P(N) The array calculates the current amount of liquid suction or injection L, L = ∫V P(N) dt;

[0024] Wherein, dt is the current liquid suction speed or liquid injection speed V P(N) The aspiration time

[0025] or injection time;

[0026] S222, calculate the height h of the liquid level drop or rise, h = L / S;

[0027] S223, do calculus conversion to get V h(N) , V h(N) =V P(N) / S,

[0028] Where S is the cross-sectional area of ​​the vessel.

[0029] As a further improvement, the motor speed V in each acceleration interval △t motor(N) =β*V h(N) , several V motor(N) Composition V motor Arrays;

[0030] Among them, the distance that the pipette needle moves up and down needs to be multiplied by the conversion coefficient to be converted into the motor moving distance. The conversion coefficient is recorded as β, and β is a constant.

[0031] As a further improvement, the height of the liquid level after the pipette needle is working is obtained and stored based on the initial height of the liquid level plus or minus the height h2 after injecting or aspirating the pipette volume M, where h2 is the sum of several descending or ascending heights h.

[0032] As a further improvement, the method further includes step S4, in which, during the liquid transfer process, if the downward movement speed of the liquid transfer needle deviates from the liquid level descending speed and / or the upward movement speed of the liquid transfer needle deviates from the liquid level rising speed, then the motor movement speed V' within each acceleration interval △t is motor(N) =β*V h(N) *γ, several V' motor(N) Composition V motor Arrays;

[0033] The distance that the pipette needle moves up and down needs to be multiplied by the conversion coefficient to be converted into the motor moving distance. The conversion coefficient is recorded as β, β is a constant, and the adjustment parameter γ is greater than or equal to 0.8 and less than or equal to 1.2.

[0034] The beneficial effects of the present invention are as follows: the present invention utilizes a liquid level following calculation method to complete all data calculations before aspirating or injecting the liquid, thereby improving the efficiency of aspirating or injecting the liquid. The liquid level data and real-time data before and after aspirating or injecting the liquid can be clearly known without the use of a sensor, thereby achieving a following effect. The liquid level data here includes liquid level height, liquid surface area, etc. The circuit is simple, low-cost, and efficient. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for use in the embodiments are briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present invention and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without creative work.

[0036] Figure 1 The present invention provides a flow chart of a liquid surface following liquid aspiration method.

[0037] Figure 2 It is a schematic diagram of a pipetting speed curve of a liquid surface following liquid aspiration method provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0038] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, rather than all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention. Therefore, the following detailed description of the embodiments of the present invention provided in the drawings is not intended to limit the scope of the invention claimed for protection, but merely represents the selected embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0039] In the description of the present invention, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0040] Reference Figure 1 and Figure 2 As shown, this embodiment provides a specific implementation method for a liquid surface following liquid aspiration method, including

[0041] S1, receiving and storing parameters, the parameters include the initial liquid suction speed V0 (uL / s), the maximum liquid suction speed V m (uL / s) and the liquid absorption acceleration a(uL / s 2) and enter the cross-sectional area S (mm) of the liquid container 2 ), pipetting volume M (uL);

[0042] S2, read the parameters and calculate the speed V of the pipette needle moving down or up with the liquid surface through the algorithm h , and converted into an array of the speed of the motor that drives the pipette needle, recorded as V motor Arrays;

[0043] Further, in step S2, the motor speed V motor The array calculation method includes:

[0044] S21, first use the initial suction speed V0 and the maximum suction speed V m Calculate the instantaneous speed of the pipetting, recorded as V P(N) ; The specific steps are:

[0045] In step S21, the formula for calculating the instantaneous speed of the pipetting is V P(N) =V0+a*(△t*N), several V P(N) Composition V P(N) Arrays;

[0046] Among them, △t is the motor acceleration interval, V P(N) ≤V m ;

[0047] Among them, V0 is the initial velocity of liquid absorption;

[0048] Where, a is the liquid suction acceleration;

[0049] Wherein, N is a natural number.

[0050] Moreover, the reason for using the motor acceleration interval time △t as the calculation data is that the speed curve of the motor with constant acceleration in an ideal state is a straight line with a constant slope, but in reality the motor cannot accelerate all the time and can only accelerate once at a certain interval, such as Figure 2 As shown, therefore, the liquid absorption time is the motor acceleration interval △t, and the obtained V P(N) Is an array, as follows:

[0051] When N=0, V P(0) =V0, the liquid absorption speed in the first section △T before acceleration;

[0052] When N=1, V P(1) =V0+a*△t, the liquid absorption speed in the first △T before acceleration; ......

[0053] When N=N, V P(N)=V0+a*(△t*N), the liquid absorption speed in the Nth △T before acceleration;

[0054] Therefore, the obtained V P(N) is constantly changing, and the algorithm will arrange them into an array in ascending order according to the subscript N. The arrangement is as follows:

[0055] {V P(0) 、V P(1) ......V P(N)};

[0056] S22, using the container cross-sectional area S and the instantaneous speed V of the pipetting P(N) Calculate the velocity V of the liquid level rising or falling h ;

[0057] That is, based on S2, calculate the instantaneous liquid surface velocity V of the pipette within each acceleration interval △t h(N) , the calculation steps are as follows:

[0058] S221, using V P(N) The array calculates the current amount of liquid suction or injection L (uL), L = ∫V P(N) dt;

[0059] Wherein, dt is the current liquid suction speed or liquid injection speed V P(N) The aspiration time

[0060] Or the injection time, which is also the motor acceleration interval △t;

[0061] S222, calculate the height h of the liquid level drop or rise, h = L / S;

[0062] S223, do calculus conversion to get V h(N) , V h(N) =V P(N) / S,

[0063] Where S is the cross-sectional area of ​​the vessel;

[0064] The calculus conversion process is as follows:

[0065] ∫V P(N) dt = h*S;

[0066] Perform differential calculations on both sides and get: V P *dt=S*dh, transformed into:

[0067] V P(N) / S = dh / dt;

[0068] Where dh / dt is the speed of h change, that is, the speed of liquid level drop or rise, denoted by Vh , that is, V h =V P / S.V h(N) By V P(N) It is concluded that it is also a discontinuous set of data, and the formula is:

[0069] {V h(0) 、V h(1) 、V h(2) .....V h(N)};

[0070] S23, using constant β and liquid level rise and fall speed V h(N) The motor speed V is calculated motor Array, specifically:

[0071] Based on step S3, because the motor drives the pipette needle to move up and down through the screw, the distance the pipette needle moves up and down needs to be multiplied by the conversion coefficient to be converted into the motor movement distance due to the structure of the motor and the screw. The conversion coefficient is denoted as β, and β is a constant.

[0072] Therefore, the motor speed V in each acceleration interval △t motor(N) =β*V h(N) ;

[0073] Finally get V h(N) Array:

[0074] {V motor(0) 、V motor(1) 、V motor(2) ......V motor(N)},V h(N) The array constitutes V motor Arrays;

[0075] In step S22, the instantaneous speed of the pipetting is the instantaneous speed at which the liquid level rises or falls.

[0076] Therefore, the height of the liquid level after the pipette needle works is obtained and stored by adding or subtracting the height h2 after injecting or aspirating the pipette volume M from the initial height of the liquid level, where h2 is the sum of several descending or ascending heights h.

[0077] S3, after the data calculation is completed, let the motor according to V motor The array drives the pipette needle to aspirate or inject liquid, and changes the motor movement speed every △T interval; that is, all data calculations are completed before aspirating or injecting the liquid, which improves the efficiency of aspirating or injecting the liquid. The liquid level data and real-time data before and after aspirating or injecting the liquid can be clearly known without using sensors, achieving a following effect. The liquid level data here includes liquid level height, liquid surface area, etc.

[0078] Step S4: During the liquid transfer process, if the downward movement speed of the pipette needle deviates from the liquid level descending speed and / or the upward movement speed of the pipette needle deviates from the liquid level rising speed, then the motor movement speed V' within each acceleration interval △t is motor(N) =β*V h(N) *γ, several V' motor(N) Composition V motor Arrays;

[0079] The distance that the pipette needle moves up and down needs to be multiplied by the conversion coefficient to be converted into the motor moving distance. The conversion coefficient is recorded as β, β is a constant, and the adjustment parameter γ is greater than or equal to 0.8 and less than or equal to 1.2.

[0080] In the above description, the pipetting is to suck out the liquid or to inject the liquid.

[0081] In addition, in step S1, if the data needs to be used frequently, it can be saved and then directly called.

[0082] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A liquid surface following liquid aspiration method, characterized in that: include: S1, receiving and storing parameters, the parameters include the initial suction speed V0, the maximum suction speed V m and the aspiration acceleration a, and input the cross-sectional area S of the liquid storage container and the transfer volume M; S2, read the parameters and calculate the speed V of the pipette needle moving down or up with the liquid surface through the algorithm h , and converted into an array of the speed of the motor that drives the pipette needle, recorded as V motor Arrays; S3, after the data calculation is completed, let the motor motor The array drives the pipette needle to aspirate or inject liquid. In step S2, the motor speed V motor The array calculation method includes: S21, first use the initial suction speed V0 and the maximum suction speed V m Calculate the instantaneous speed of the pipetting, recorded as V P（N） ; S22, using the container cross-sectional area S and the instantaneous speed V of the pipetting P（N） Calculate the velocity V of the liquid level rising or falling h ; S23, using constant β and liquid level rise and fall speed V h The motor speed V is calculated motor Arrays, In step S21, the formula for calculating the instantaneous speed of the pipetting is V P（N） =V0+a*(△t*N), several V P（N） Composition V P（N） Arrays; Among them, △t is the motor acceleration interval, V P（N） ≤V m ; Among them, V0 is the initial velocity of liquid absorption; Where, a is the liquid suction acceleration; Where N is a natural number, In step S22, the instantaneous liquid surface velocity V of the pipette within each acceleration interval △t is h（N) , the calculation steps are as follows: S221, using V P（N） The array calculates the current amount of liquid suction or injection L, L=∫V P（N） dt; Wherein, dt is the current liquid suction speed or liquid injection speed V P（N） The aspiration time or injection time; S222, calculate the height h of the liquid level drop or rise, h=L / S; S223, do calculus conversion to get V h（N） , V h（N） =V P（N） / S, Where S is the cross-sectional area of ​​the vessel, The motor speed V within each acceleration interval △t motor（N） =β*V h （N） , several V motor（N） Composition V motor Arrays; Among them, the distance that the pipette needle moves up and down needs to be multiplied by the conversion coefficient to be converted into the motor moving distance. The conversion coefficient is recorded as β, and β is a constant.

2. A liquid surface following liquid aspiration method as claimed in claim 1, characterized in that: The pipetting is to suck out the liquid or to inject the liquid.

3. A liquid surface following liquid aspiration method as claimed in claim 1, characterized in that: In step S22, the instantaneous speed of the pipetting is the instantaneous speed at which the liquid level rises or falls.

4. A liquid surface following liquid aspiration method as claimed in claim 1, characterized in that: The height of the liquid level after the pipette needle works is obtained and stored by adding or subtracting the height h2 after the injection or aspiration of the pipette volume M from the initial height of the liquid level, where h2 is the sum of several descending or ascending heights h.

5. A liquid surface following liquid aspiration method as claimed in claim 1, characterized in that: The invention also includes step S4, during the liquid transfer process, if the downward movement speed of the liquid transfer needle deviates from the liquid level descending speed and / or the upward movement speed of the liquid transfer needle deviates from the liquid level rising speed, then the motor movement speed V' within each acceleration interval △t is motor（N） =β*V h （N） *γ, several V' motor（N） Composition V motor Arrays; The distance that the pipette needle moves up and down needs to be multiplied by the conversion coefficient to be converted into the motor moving distance. The conversion coefficient is recorded as β, β is a constant, and the adjustment parameter γ is greater than or equal to 0.8 and less than or equal to 1.2.

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