A task configurable full-process automated robotic pipetting system and method

Abstract

The application belongs to the field of pipetting robot control system, and particularly relates to a task-configurable full-process automatic robot pipetting system and method, which comprises a man-machine interaction module connected with a layered control module, wherein the man-machine interaction module is used for pipetting experiment configuration and teaching record pipetting station information, and the operation information is transmitted to the layered control module; the layered control module feeds back experiment running conditions to the man-machine interaction module, and the experiment progress and robot state are displayed in real time. Meanwhile, the layered control module generates experiment step instructions after reading the station information, so that the mechanical arm follows the pipetting experiment process, and control instructions are issued to the motion control module to sequentially control the actuator module to execute the pipetting task; the application adopts the design idea of layer-by-layer construction of the control system, and builds the automatic control system from the task layer, the action layer, the step layer to the bottom communication layer, so that the problems of low efficiency and human error in the traditional pipetting experiment are solved.

Description

Technical Field

[0001] This invention belongs to the field of pipetting robot control systems, specifically a task-configurable, fully automated robotic pipetting system and method. Background Technology

[0002] Pipettes are a key technology in modern laboratory automation, with applications spanning life sciences, medical research, drug development, and clinical diagnostics. By performing precise and efficient liquid handling, pipettes automate and standardize laboratory operations, significantly improving experimental efficiency and data accuracy. Traditional laboratory liquid handling typically requires tedious manual operations, which are not only time-consuming and labor-intensive but also susceptible to the operator's skill level and the operating environment. Pipettes, through automated operation, achieve quantitative and precise dispensing of liquids, thus avoiding human error and improving experimental repeatability and accuracy. Furthermore, pipettes possess high-throughput processing capabilities, enabling the simultaneous processing of multiple samples or reagents, greatly enhancing experimental efficiency. In fields such as drug screening, gene sequencing, and protein analysis, the high-throughput processing capabilities of pipettes are particularly outstanding, helping to accelerate scientific research progress and drug development.

[0003] Developing domestically produced pipetting robots is of great significance for promoting the development of laboratory automation technology, meeting domestic market demand, reducing equipment procurement costs, ensuring national security, and promoting industrial transformation and upgrading. Providing efficient and precise pipetting equipment that closely meets user needs through independent innovation can not only drive the development of my country's laboratory automation industry but also help improve the level of domestic scientific research and promote sustainable economic development. However, currently, many automated robotic pipetting systems have fixed task flows, lacking flexibility and configurability, and cannot adapt to the changing needs of different experiments or operations. Therefore, it is particularly important to design an automated robotic pipetting system with configurable task flows, allowing users to freely set the steps and sequence of pipetting tasks according to experimental requirements, thus achieving flexible and diverse experimental operations. Summary of the Invention

[0004] The purpose of this invention is to provide a task-configurable, fully automated robotic pipetting system and method. It adopts a design concept of building a control system layer by layer, utilizing a cross-system platform to build an automated control system from the task layer, action layer, step layer down to the bottom communication layer, thus solving the problems of low efficiency and human error in traditional pipetting experiments.

[0005] The technical solution adopted by the present invention to achieve the above objectives is: a task-configurable fully automated robotic pipetting system, comprising: a hierarchical control module, a human-computer interaction module, a teaching and reading / writing module, a data communication module, a motion control module, and an actuator module;

[0006] The hierarchical control module is used to build the software framework, which breaks down the work task into sub-actions layer by layer, and each action is further broken down into sub-steps. The control commands are transmitted to the motion control module through the data communication module, and the progress of the pipetting task is fed back to the human-computer interaction module in real time.

[0007] The human-computer interaction module is connected to the hierarchical control module. It is used to configure the pipetting task, obtain configuration information, and send it to the hierarchical control module. At the same time, it receives the operating status information of the robot system from the motion control module and the progress of the pipetting task from the hierarchical control module.

[0008] The teaching and reading / writing module is used to record and save the station information and configuration information of each station in the pipetting process of the robot system. When the system is working, the hierarchical control module reads the station information and configuration information and generates experimental step instructions, so that the robotic arm follows the pipetting experimental process and sends control instructions to the motion control module to move the pipetting gun at the end of the end to the corresponding station in sequence, thereby completing the pipetting task.

[0009] The data communication module is used to define the communication protocol between different modules and to complete the communication between the motion control module and the actuator module.

[0010] The motion control module is connected to the actuator module and is used to parse the position, speed, and torque information of the actuator module based on the system workstation information provided by the teaching and reading module and the work task instructions issued by the hierarchical control module, and then transmit it to the actuator module through the data communication module.

[0011] The actuator module is used to change the position, speed, and torque information sent by the motion control module to complete the work tasks of the robot system.

[0012] The actuator module includes: a pipette, a robotic arm mounted on the worktable, a pipette tip mounting station, a reagent aspiration station, a discarded pipette tip station, a sample labeling station, and a fluorescent labeling mechanism;

[0013] The pipette is located at the end of the robotic arm, and the pipette tip installation station, reagent aspiration station, discard pipette tip station, and sample labeling station are all located within the moving space of the robotic arm.

[0014] There are multiple sample marking stations, which are arranged in rows at the front end of the robotic arm in the required order;

[0015] The nozzle installation station, reagent absorption station, and nozzle disposal station are arranged in a row on either side of the robotic arm.

[0016] The fluorescent labeling mechanism includes a solenoid valve and a vacuum pump connected to multiple sample labeling stations. Each sample labeling station is equipped with a corresponding solenoid valve, which serves as a vacuum switch. When the vacuum pump is turned on, the solenoid valve of the corresponding sample labeling station is opened, allowing the fluorescent reagent dropped onto the sample labeling station to be drawn from one side to the other, thus completing the fluorescent labeling.

[0017] It also includes a real-time monitoring module;

[0018] The real-time monitoring module includes: interconnected industrial cameras and an OpenCV library;

[0019] The industrial camera is positioned within the field of view of the robotic arm and pipette for taking pictures;

[0020] The OpenCV library is used to perform grayscale image processing, edge detection, and target tracking on images captured by industrial cameras according to the requirements of pipetting experiments, and then send the processing results to the human-computer interaction module.

[0021] It also includes a voice prompt module, which includes a voice library, an audio output interface, and a speaker;

[0022] The voice library is used to import and store pre-recorded audio files or voice text generated by speech synthesis technology; and according to the different state thresholds of the robotic arm and pipette, it outputs corresponding audio files to the speaker through the audio output interface to provide voice prompts or voice alarms.

[0023] The station information and configuration information include: the location and configuration information of the pipette tip installation station, the location and configuration information of the reagent aspiration station, the location and configuration information of the reagent dispensing station, and the location and configuration information of the discarded pipette tip station.

[0024] A control method for a task-configurable, fully automated robotic pipetting system includes the following steps:

[0025] 1) Start the robot system, the teaching and reading module records the station information in the pipetting task, and transmits the recorded station information to the hierarchical control module;

[0026] 2) Configure the pipetting task through the human-computer interaction module. The hierarchical control module hierarchically controls the pipetting task based on the configuration information and the workstation information in the teaching record to complete the construction of the pipetting task.

[0027] 3) The human-computer interaction module sends the operation command to the robot system, the voice prompt module starts to broadcast the start voice, and at the same time, the robot system begins to execute the pipetting task constructed by the hierarchical control module;

[0028] 4) The motion control module parses the control commands for the position, speed, and torque information of the actuator per unit time based on the pipetting task, and sends them to the control actuator;

[0029] 5) The actuator module controls and completes the motion required by the corresponding actuator.

[0030] In step 2), the hierarchical control module performs hierarchical construction based on the configuration information of the pipetting task and the workstation information in the teaching record, thereby completing the construction of the pipetting task. Specifically:

[0031] Construct a task class, and within the task class, construct an action function to store different task information. That is, by pushing the pointers of custom-arranged action classes onto the stack, the pointer address of the task class is saved. All sub-actions inherit from one action class.

[0032] In the action class, a function to add steps is constructed to store different action information. That is, the pointers of the custom-arranged step classes are saved to the pointer address of the task class by pushing them onto the stack. All sub-steps inherit from a single step class.

[0033] The motion control module, based on the pipetting task, parses control commands that measure the position, velocity, and torque of the actuator per unit time, specifically:

[0034] 1-1) For pipettes, which are linear actuators, motion control can be achieved by issuing position, speed, and force control commands according to the communication protocol;

[0035] 1-2) For robotic arms, which are complex actuators, motion control can be achieved by directly calling API functions through dynamic link libraries, or by calculating the position, velocity, or torque information of each joint through robot kinematics and robot dynamics based on the robotic arm's URDF model, DH parameter model, or PoE exponential product model, thereby completing the control of the actuator module.

[0036] The actuator module controls the movement required by the corresponding actuator, specifically:

[0037] 2-1) The actuator module starts running, controlling the robotic arm to move the pipette to the pipette tip installation station and install the pipette tip;

[0038] 2-2) After installation, the pipette will rise to the set safe height and move to the reagent aspiration station. Control the pipette to descend to complete the reagent aspiration.

[0039] 2-3) Move the pipette to the corresponding sample marking station, complete the reagent marking, and move it to the designated station to dispose of the pipette tip;

[0040] 2-4) Determine whether to continue the pipetting task. If yes, return to the pipetting tip installation station to continue the pipetting task; if no, end the pipetting task, control the robotic arm to reset the pipette, turn on the vacuum pump and the solenoid valve corresponding to the sample labeling station that has completed reagent labeling in sequence, and draw the fluorescent reagent added to the sample labeling station from one side to the other side to complete the fluorescent labeling.

[0041] During the operation of the robot system, the real-time monitoring module will project the images of the robotic arm or pipette collected in real time to the human-computer interaction module for easy viewing by the experimenters.

[0042] The present invention has the following beneficial effects and advantages:

[0043] 1. The pipetting robot system of the present invention has the advantages of simple operation and strong applicability. It is designed with flexible and diverse working modes and operating procedures to meet the pipetting operations of different experimental needs. It utilizes cross-system platform software design, which enables the software to run on multiple operating systems, such as Windows, macOS, Linux, etc., thereby expanding the scope of application of the software.

[0044] 2. This invention enables automated pipetting operations. The system features a touchscreen interface, automated program settings, and real-time monitoring and feedback, making operation more intelligent and convenient. Users can complete complex experimental operations through simple steps, significantly lowering the operational threshold.

[0045] 3. This invention can improve experimental efficiency, with high operating speed and continuous working capability, which can significantly shorten the experimental cycle, improve experimental efficiency, and provide researchers with more time and energy for research work; it has high throughput processing capability, and can process multiple samples or reagents simultaneously, which greatly improves experimental processing efficiency. Attached Figure Description

[0046] Figure 1 Block diagram of the pipetting robot control system of the present invention;

[0047] Figure 2 A schematic diagram of the experimental method for pipetting tasks according to the present invention;

[0048] Figure 3 A schematic diagram of the actuator and workstation of the microfluidic pipetting and labeling experimental robot system of the present invention;

[0049] Figure 4 A schematic diagram of the microfluidic pipetting labeling experimental procedure of the present invention;

[0050] Among them, 1 is a pipette, 2 is a robotic arm, 3 is a pipette tip installation station, 4 is a reagent aspiration station, 5 is a discarded pipette tip station, 6 is a sample labeling station for sample 1, 7 is a sample labeling station for sample 2, 8 is a sample labeling station for sample 3, 9 is a sample labeling station for sample 4, 10 is a solenoid valve for sample 1, 11 is a solenoid valve for sample 2, 12 is a solenoid valve for sample 3, 13 is a solenoid valve for sample 4, 14 is a vacuum pump placement position, and 15 is the equipment power switch. Detailed Implementation

[0051] The present invention will now be described in further detail with reference to the accompanying drawings and embodiments.

[0052] A task-configurable, fully automated robotic pipetting system, the control principle block diagram of which is shown below. Figure 1 As shown, the system consists of eight modules: human-computer interaction module, data communication module, hierarchical control module, teaching and reading / writing module, real-time monitoring module, motion control module, actuator module, and voice prompt module.

[0053] This invention discloses a task-configurable, fully automated robotic pipetting system, specifically as follows: First, the hardware is assembled, and control software is installed on an industrial control computer (ICC), which serves as the carrier for the hierarchical control module and motion control module. The human-machine interface (HMI) module connects to the control module via HDMI or USB. Through the HMI module, the appropriate pipetting experiment configuration is selected, and the pipetting station information is recorded and taught. This operational information is then transmitted to the control module, which in turn provides feedback on the experiment's progress to the HMI module, displaying the experiment's progress and robot status in real time. The robotic arm, pipette, and other actuator modules connect to the motion control module via Wi-Fi, Ethernet cable, or USB. The data communication module parses the data according to the selected communication protocol, completing communication between the two modules and initiating the experimental process.

[0054] like Figure 1 The following is a description of the actual operation of each module in the fully automated pipetting robot operation and control system.

[0055] Human-Computer Interaction Module: This module enables users to connect, enable, and disconnect the actuators through a UI interface, configure experiments according to specific experiments, perform the functions required for different pipetting tasks, and display the experimental progress information fed back by the control module and the real-time images transmitted by the real-time monitoring module.

[0056] The hierarchical control module receives the pipetting task configured by the user through the human-computer interaction module, breaks it down into action and step layers, and transmits the action information required for each action to the motion control module. Using polymorphic inheritance, task variations are effectively isolated, and the action and step layers can be freely added, removed, and rearranged as needed, giving the entire system excellent scalability.

[0057] The motion control module is responsible for analyzing the position, velocity, and torque information of each joint of the actuator, such as a robotic arm, per unit time, based on the pipetting steps generated by the hierarchical control module and the corresponding movements required by the actuator. For linear actuators like pipettes, motion control can be achieved by issuing position, velocity, and force control commands according to the communication protocol. For more complex actuators like robotic arms, motion control can be achieved by directly calling API functions through dynamic link libraries, or by calculating the position, velocity, or torque information of each joint based on the robotic arm's URDF model, DH parameter model, or PoE exponential product model through robot kinematics and dynamics, thus controlling the actuator module.

[0058] Data Communication Module: This module facilitates communication between different modules, establishing a communication protocol to ensure data flow. Each actuator has a corresponding standardized data interface. Through appropriate communication methods such as USART, RS485, and SPI, control information such as position, speed, and torque flows between the motion control module and the actuator module, enabling control of the position, speed, and torque of the pipetting actuator module.

[0059] The real-time monitoring module monitors the movement of the actuator module during pipetting operations and displays the real-time images on the human-machine interface module for easy viewing by experimenters. It employs a real-time monitoring strategy combining an industrial camera and OpenCV. The OpenCV library can be installed via a package manager such as pip or conda, or by downloading the source code from the official OpenCV website. The industrial camera is then connected to an industrial computer, and a program written in languages ​​such as C++ or Python utilizes the OpenCV library to acquire, process, and display camera images in real time. Various image processing techniques can be applied according to the requirements of the pipetting experiment, such as converting to grayscale, edge detection, and target tracking.

[0060] The teaching and reading / writing module records and saves station information during the pipetting process, such as the pipette tip installation station, reagent aspiration station, reagent dispensing station, and discarded tip station. This station information is transmitted to the hierarchical control module to generate experimental procedure instructions, enabling the robotic arm to move the end-effector pipette sequentially to the corresponding station according to the pipetting experimental procedure, thereby completing the pipetting task. In addition, this module also records task configuration and progress information in real time to enable pause and power failure protection operations.

[0061] The voice prompt module provides operators with voice guidance, status alerts, or error warnings. First, a series of voice prompts or warnings need to be prepared. This voice data can be pre-recorded audio files or text-to-speech (TTS) generated using speech synthesis technology. The system can then play the voice prompts to the operator as needed. Typically, a sound card or speaker is used to play the voice, which can be achieved through the system's audio output interface. This module is integrated into the control software or interface of the pipetting robot. When specific events or states occur, the control software will invoke the voice prompt module to play the corresponding voice content.

[0062] The actuator module is responsible for performing specific pipetting tasks. By receiving control information transmitted from the motion control module via the data communication module, the actuator module gradually completes the experimental operation according to the pre-planned pipetting task. The typical pipetting task experimental procedure of this patent is as follows: Figure 2 .

[0063] like Figure 2 The diagram shown is a typical experimental procedure for pipetting tasks according to the present invention. Figure 1 The specific experimental steps were completed within the control framework. Figure 3 To address the actuator and workstation layout of a fully automated pipetting robot system in specific experimental scenarios, Figure 4 For Figure 2 Based on, corresponding Figure 3 Experimental procedure for a pipetting robot system. Figure 2 This is a schematic diagram of a typical pipetting task experimental procedure. Figure 3 This is a schematic diagram of the actuator and workstation of a microfluidic pipetting and labeling experimental robot system. Figure 4 This is a schematic diagram of the microfluidic pipetting labeling experiment process.

[0064] First, such as Figure 3 The diagram shown is a schematic of the actuator and workstation of the microfluidic pipetting labeling experimental robot system of the present invention.

[0065] The actuator module of the present invention includes: a pipette, a robotic arm mounted on a worktable, a pipette tip mounting station, a reagent aspiration station, a discarded pipette tip station, a sample labeling station, and a fluorescent labeling mechanism;

[0066] The pipette is located at the end of the robotic arm, and the pipette tip installation station, reagent aspiration station, waste pipette tip station, and sample labeling station are all located within the moving space of the robotic arm.

[0067] There are multiple sample marking stations, which are arranged in rows at the front end of the robotic arm in the required order;

[0068] The nozzle installation station, reagent aspiration station, and nozzle disposal station are arranged in a row on either side of the robotic arm.

[0069] The fluorescent labeling mechanism includes: a solenoid valve and a vacuum pump connected to multiple sample labeling stations; each sample labeling station is equipped with a corresponding solenoid valve as a vacuum switch; when the vacuum pump is turned on, the solenoid valve of the corresponding sample labeling station is opened, so that the fluorescent reagent dropped on the sample labeling station is drawn from one side to the other side, thus completing the fluorescent labeling.

[0070] like Figure 2 The diagram shown is a schematic flowchart of the pipetting task experimental method of the present invention, which includes the following steps:

[0071] 1) Start the robot system, the teaching and reading module records the station information in the pipetting task, and transmits the recorded station information to the hierarchical control module;

[0072] 2) Configure the pipetting task through the human-computer interaction module. The hierarchical control module hierarchically controls the pipetting task based on the configuration information and the workstation information in the teaching record to complete the construction of the pipetting task.

[0073] In step 2), the hierarchical control module hierarchically constructs the pipetting task based on the configuration information of the pipetting task and the workstation information in the teaching record. Specifically:

[0074] Construct a task class, and within the task class, construct an action function to store different task information. That is, by pushing the pointers of custom-arranged action classes onto the stack, the pointer address of the task class is saved. All sub-actions inherit from one action class.

[0075] In the action class, a function to add steps is constructed to store different action information. That is, the pointers of the custom-arranged step classes are saved to the pointer address of the task class by pushing them onto the stack. All sub-steps inherit from a single step class.

[0076] 3) The human-computer interaction module sends the operation command to the robot system, the voice prompt module starts to broadcast the start voice, and at the same time, the robot system begins to execute the pipetting task constructed by the hierarchical control module;

[0077] 4) The motion control module parses the control commands for the position, speed, and torque information of the actuator per unit time based on the pipetting task, and sends them to the control actuator;

[0078] The motion control module, based on the pipetting task, parses control commands that measure the position, velocity, and torque of the actuator per unit time. Specifically:

[0079] 1-1) For pipettes, which are linear actuators, motion control can be achieved by issuing position, speed, and force control commands according to the communication protocol;

[0080] 1-2) For robotic arms, which are complex actuators, motion control can be achieved by directly calling API functions through dynamic link libraries, or by calculating the position, velocity, or torque information of each joint through robot kinematics and robot dynamics based on the robotic arm's URDF model, DH parameter model, or PoE exponential product model, thereby completing the control of the actuator module.

[0081] 5) The actuator module controls and completes the required movements of the corresponding actuator. This includes the following steps:

[0082] 2-1) The actuator module starts running, controlling the robotic arm to move the pipette to the pipette tip installation station and install the pipette tip;

[0083] 2-2) After installation, the pipette will rise to the set safe height and move to the reagent aspiration station. Control the pipette to descend to complete the reagent aspiration.

[0084] 2-3) Move the pipette to the corresponding sample marking station, complete the reagent marking, and move it to the designated station to dispose of the pipette tip;

[0085] 2-4) Determine whether to continue the pipetting task. If yes, return to the pipetting tip installation station to continue the pipetting task; if no, end the pipetting task, control the robotic arm to reset the pipette, turn on the vacuum pump and the solenoid valve corresponding to the sample labeling station that has completed reagent labeling in sequence, and draw the fluorescent reagent added to the sample labeling station from one side to the other side to complete the fluorescent labeling.

[0086] Throughout the system's operation, the real-time monitoring module will project the experimental images onto a designated window of the human-computer interaction module for easy viewing by the experimenters.

[0087] In summary, this invention describes the overall system control, the interactions between its modules, and a typical pipetting experiment procedure. It presents a task-configurable, fully automated robotic pipetting system that provides an efficient, accurate, and intelligent pipetting solution. Through the cooperation of its modules, the system can perform automated pipetting operations with configurable tasks, solving the problems of low efficiency and human error inherent in traditional pipetting experiments.

[0088] The specific implementation case, namely the microfluidic pipetting labeling experiment, is explained.

[0089] like Figure 3The diagram shows the actuator and workstation of a microfluidic pipetting labeling experimental robot system. In this experiment, after the pipette draws up the fluorescent labeling reagent, it is dropped onto the required sample labeling workstation. By controlling the opening of the solenoid valve, a vacuum operation is performed on the corresponding numbered sample, so that the fluorescent reagent flows from one side of the sample to the other side, thereby fluorescently labeling the sample.

[0090] Figure 4 This is a schematic diagram of the microfluidic pipetting and labeling experiment process. After completing the teaching and pipetting task configuration via the touch screen, the system is run and the actuator starts to move. After completing the installation of the pipette tip and the aspiration of the fluorescent reagent, the liquid is labeled. This process continues until all samples that need to be labeled have been added. Only then is the next step of discarding the pipette tip performed. This cycle is repeated until all pipetting wells of the sample have been added. After that, the solenoid valve and vacuum pump are turned on to complete the fluorescent labeling.

[0091] It should be emphasized that the embodiments described in this invention are illustrative rather than limiting. Therefore, this invention includes, but is not limited to, the embodiments described in the specific implementation schemes. Any other similar implementations derived by those skilled in the art based on the technical solutions of this invention also fall within the protection scope of this invention.

Claims

1. A task-configurable, fully automated robotic pipetting system, characterized in that, include: The system includes a hierarchical control module, a human-computer interaction module, a teaching and reading / writing module, a data communication module, a motion control module, and an actuator module. The hierarchical control module is used to build the software framework, which breaks down the work task into sub-actions layer by layer, and each action is further broken down into sub-steps. The control commands are transmitted to the motion control module through the data communication module, and the progress of the pipetting task is fed back to the human-computer interaction module in real time. The human-computer interaction module is connected to the hierarchical control module. It is used to configure the pipetting task, obtain configuration information, and send it to the hierarchical control module. At the same time, it receives the operating status information of the robot system from the motion control module and the progress of the pipetting task from the hierarchical control module. The teaching and reading / writing module is used to record and save the station information and configuration information of each station in the pipetting process of the robot system. When the system is working, the hierarchical control module reads the station information and configuration information and generates experimental step instructions, so that the robotic arm follows the pipetting experimental process and sends control instructions to the motion control module to move the pipetting gun at the end of the end to the corresponding station in sequence, thereby completing the pipetting task. The data communication module is used to define the communication protocol between different modules and to complete the communication between the motion control module and the actuator module. The motion control module is connected to the actuator module and is used to parse the position, speed, and torque information of the actuator module based on the system workstation information provided by the teaching and reading module and the work task instructions issued by the hierarchical control module, and then transmit it to the actuator module through the data communication module. The actuator module is used to change the position, speed, and torque information sent by the motion control module to complete the work tasks of the robot system.

2. The task-configurable, fully automated robotic pipetting system according to claim 1, characterized in that, The actuator module includes: a pipette, a robotic arm mounted on the worktable, a pipette tip mounting station, a reagent aspiration station, a discarded pipette tip station, a sample labeling station, and a fluorescent labeling mechanism; The pipette is located at the end of the robotic arm, and the pipette tip installation station, reagent aspiration station, discard pipette tip station, and sample labeling station are all located within the moving space of the robotic arm. There are multiple sample marking stations, which are arranged in rows at the front end of the robotic arm in the required order; The nozzle installation station, reagent absorption station, and nozzle disposal station are arranged in a row on either side of the robotic arm. The fluorescent labeling mechanism includes a solenoid valve and a vacuum pump connected to multiple sample labeling stations. Each sample labeling station is equipped with a corresponding solenoid valve, which serves as a vacuum switch. When the vacuum pump is turned on, the solenoid valve of the corresponding sample labeling station is opened, allowing the fluorescent reagent dropped onto the sample labeling station to be drawn from one side to the other, thus completing the fluorescent labeling.

3. The task-configurable, fully automated robotic pipetting system according to claim 1, characterized in that, It also includes a real-time monitoring module; The real-time monitoring module includes: interconnected industrial cameras and an OpenCV library; The industrial camera is positioned within the field of view of the robotic arm and pipette for taking pictures; The OpenCV library is used to perform grayscale image processing, edge detection, and target tracking on images captured by industrial cameras according to the requirements of pipetting experiments, and then send the processing results to the human-computer interaction module.

4. The task-configurable, fully automated robotic pipetting system according to claim 1, characterized in that, It also includes a voice prompt module, which includes a voice library, an audio output interface, and a speaker; The voice library is used to import and store pre-recorded audio files or voice text generated by speech synthesis technology; Based on the different state thresholds set for the robotic arm and pipette, the corresponding audio file is output to the speaker via the audio output interface to provide voice prompts or alarms.

5. The task-configurable, fully automated robotic pipetting system according to claim 1, characterized in that, The station information and configuration information include: the location and configuration information of the pipette tip installation station, the location and configuration information of the reagent aspiration station, the location and configuration information of the reagent dispensing station, and the location and configuration information of the discarded pipette tip station.

6. The control method for a task-configurable, fully automated robotic pipetting system according to claims 1-5, characterized in that, Includes the following steps: 1) Start the robot system, the teaching and reading module records the station information in the pipetting task, and transmits the recorded station information to the hierarchical control module; 2) Configure the pipetting task through the human-computer interaction module. The hierarchical control module hierarchically controls the pipetting task based on the configuration information and the workstation information in the teaching record to complete the construction of the pipetting task. 3) The human-computer interaction module sends the operation command to the robot system, the voice prompt module starts to broadcast the start voice, and at the same time, the robot system begins to execute the pipetting task constructed by the hierarchical control module; 4) The motion control module parses the control commands for the position, speed, and torque information of the actuator per unit time based on the pipetting task, and sends them to the control actuator; 5) The actuator module controls and completes the motion required by the corresponding actuator.

7. The control method for a task-configurable, fully automated robotic pipetting system according to claim 6, characterized in that, In step 2), the hierarchical control module performs hierarchical construction based on the configuration information of the pipetting task and the workstation information in the teaching record, thereby completing the construction of the pipetting task. Specifically: Construct a task class, and within the task class, construct an action function to store different task information. That is, by pushing the pointers of custom-arranged action classes onto the stack, the pointer address of the task class is saved. All sub-actions inherit from one action class. In the action class, a function to add steps is constructed to store different action information. That is, the pointers of the custom-arranged step classes are saved to the pointer address of the action class by pushing them onto the stack. All sub-steps inherit from a single step class.

8. The control method for a task-configurable, fully automated robotic pipetting system according to claim 6, characterized in that, The motion control module, based on the pipetting task, parses control commands that measure the position, velocity, and torque of the actuator per unit time, specifically: 1-1) For pipettes, which are linear actuators, motion control can be achieved by issuing position, speed, and force control commands according to the communication protocol; 1-2) For robotic arms, which are complex actuators, motion control can be achieved by directly calling API functions through dynamic link libraries, or by calculating the position, velocity, or torque information of each joint through robot kinematics and robot dynamics based on the robotic arm's URDF model, DH parameter model, or PoE exponential product model, thereby completing the control of the actuator module.

9. The control method for a task-configurable, fully automated robotic pipetting system according to claim 6, characterized in that, The actuator module controls the movement required by the corresponding actuator, specifically: 2-1) The actuator module starts running, controlling the robotic arm to move the pipette to the pipette tip installation station and install the pipette tip; 2-2) After installation, the pipette will rise to the set safe height and move to the reagent aspiration station. Control the pipette to descend to complete the reagent aspiration. 2-3) Move the pipette to the corresponding sample marking station, complete the reagent marking, and move it to the designated station to dispose of the pipette tip; 2-4) Determine whether to continue the pipetting task. If yes, return to the pipetting tip installation station to continue the pipetting task; if no, end the pipetting task, control the robotic arm to reset the pipette, turn on the vacuum pump and the solenoid valve corresponding to the sample labeling station that has completed reagent labeling in sequence, and draw the fluorescent reagent added to the sample labeling station from one side to the other side to complete the fluorescent labeling.

10. The control method for a task-configurable, fully automated robotic pipetting system according to claim 6, characterized in that, During the operation of the robot system, the real-time monitoring module will project the images of the robotic arm or pipette collected in real time to the human-computer interaction module for easy viewing by the experimenters.

Images