Pipetting control method and system

Abstract

The embodiment of the present application provides a kind of pipetting control method and system, belong to experimental equipment technical field.It is characterized in that, the method includes: the environmental air pressure value of current pipetting operation is collected;The environmental air pressure value is used as the input parameter of pipetting compensation model, and the pipetting compensation amount of current pipetting operation is determined based on the pipetting compensation model;Actual liquid taking amount is calculated based on the pipetting compensation amount of current pipetting operation and target liquid taking amount;TIP head liquid taking operation is executed based on the actual liquid taking amount, and the TIP head is controlled to move to transfer position after liquid taking is completed.The present application scheme utilizes environmental air pressure value and pipetting compensation model, can realize the accurate control and regulation to pipetting operation, improve the precision and stability of pipetting operation, to ensure the accuracy and reliability of experimental data.

Description

Technical Field

[0001] This invention relates to the field of experimental equipment technology, and more specifically to a pipetting control method and a pipetting control system. Background Technology

[0002] In the laboratory and biotechnology fields, ADP pipette pumps combined with TIP tips are widely used in liquid handling and experimental operations. However, this pipetting method may face a technical challenge at different altitudes: the impact of atmospheric pressure variations on pipetting accuracy. As altitude changes, atmospheric pressure also changes, affecting the operational performance and accuracy of the pipette pump and TIP tip. At higher altitudes, lower atmospheric pressure causes pressure variations during liquid aspiration and dispensing, thus affecting pipetting accuracy and stability. Particularly in micro-volume liquid handling and precision experiments, a decrease in pipetting accuracy can significantly impact experimental results, even affecting the reproducibility and accuracy of the experiment.

[0003] To address the issue of reduced pipetting accuracy due to changes in air pressure in existing pipetting operations, a new pipetting scheme needs to be proposed. Summary of the Invention

[0004] The purpose of this invention is to provide a pipetting control method to at least solve the problem of pipetting accuracy being affected by changes in gas pressure in existing pipetting operations.

[0005] To achieve the above objectives, a first aspect of the present invention provides a pipetting control method, the method comprising: acquiring the ambient pressure value of the current pipetting operation; using the ambient pressure value as input parameters of a pipetting compensation model, and determining the pipetting compensation amount of the current pipetting operation based on the pipetting compensation model; calculating the actual liquid volume based on the pipetting compensation amount of the current pipetting operation and the target liquid volume; performing a TIP tip liquid dispensing operation based on the actual liquid volume, and controlling the TIP tip to move to a transfer position after the liquid dispensing is completed.

[0006] Optionally, after acquiring the ambient pressure value of the current pipetting operation, the method further includes: determining the pipetting volume compensation level based on the ambient pressure value, including: performing a matching operation within the pressure value range corresponding to each preset pipetting volume compensation level based on the ambient pressure value of the current pipetting operation; determining the preset pipetting volume compensation level corresponding to the current pressure value range based on the matched pressure value range; and using the determined preset pipetting volume compensation level as the pipetting volume compensation level of the current pipetting operation.

[0007] Optionally, the method further includes: matching a corresponding pipetting compensation model based on a determined pipetting volume compensation level, and using the matched pipetting compensation model as the pipetting compensation model used in the current pipetting operation.

[0008] Optionally, the method further includes: pre-constructing a pipetting compensation model, including: collecting existing pipetting deviation data, wherein the pipetting deviation data includes target pipetting volume data and corresponding actual pipetting volume data under various ambient pressure values; classifying the existing pipetting deviation data based on a selected pressure difference to obtain existing pipetting deviation data under each pressure value interval; and constructing a corresponding compensation linear function based on the target pipetting volume data and corresponding actual pipetting volume data under each corresponding ambient pressure value in each pressure value interval to obtain the linear relationship between the ambient pressure value and the pipetting compensation volume in each pressure value interval, which serves as the pipetting compensation model for each pressure value interval.

[0009] Optionally, the step of constructing a corresponding compensation linear function based on the target pipetting volume data and the corresponding actual pipetting volume data under each corresponding ambient pressure value includes: selecting target pipetting volume data and the corresponding actual pipetting volume data at multiple points under each pressure value interval and performing linear fitting; obtaining the linear fitting slope and intercept for that pressure value interval based on the fitting result; and constructing a linear fitting function for each pressure value interval based on the linear fitting slope and intercept for each pressure value interval, as the compensation linear function for each pressure value interval, expressed as:

[0010] in, The i-th ambient air pressure value within the i-th pressure value interval; This is the liquid compensation amount corresponding to the i-th ambient pressure value within the i-th pressure value interval; Let be the slope of the linear fitting function for the I-th pressure value interval; The intercept of the linear fitting function for I pressure value intervals.

[0011] Optionally, determining the pipetting compensation amount for the current pipetting operation based on the matched pipetting compensation model includes: extracting the ambient pressure value corresponding to the environmental information of the current pipetting operation and the linear relationship between the pipetting compensation amount and the compensation based on the matched pipetting compensation model; and calculating the pipetting compensation amount for the current pipetting operation based on the ambient pressure value corresponding to the environmental information of the current pipetting operation and the compensation linear relationship.

[0012] Optionally, the step of calculating the actual volume of liquid taken based on the pipetting compensation amount and the target volume of the current pipetting operation includes: performing a summation operation on the pipetting compensation amount and the target volume of the current pipetting operation, and using the result as the actual volume of liquid taken.

[0013] Optionally, the step of performing the TIP tip dispensing operation based on the actual liquid volume and controlling the TIP tip to move to the transfer position after dispensing includes: responding to a trigger signal that the TIP tip has reached a preset dispensing position, determining the working stroke of the pipette pump based on the actual liquid volume, and planning an acceleration / deceleration curve for the pipette pump based on the working stroke of the pipette pump; controlling the pipette pump to aspirate liquid based on the acceleration / deceleration curve until the pipette pump dispensing operation is completed, and controlling the TIP tip to move to the transfer position. A second aspect of the present invention provides a pipetting control system, the system comprising: a data acquisition unit for acquiring the ambient pressure value of the current pipetting operation; a compensation unit for using the ambient pressure value as input parameters of a pipetting compensation model and determining the pipetting compensation amount of the current pipetting operation based on the pipetting compensation model; a processing unit for calculating the actual liquid volume based on the pipetting compensation amount of the current pipetting operation and the target liquid volume; and a liquid dispensing unit for performing a TIP tip dispensing operation based on the actual liquid volume and controlling the TIP tip to move to a transfer position after dispensing.

[0014] On the other hand, the present invention provides a computer-readable storage medium storing instructions that, when executed on a computer, cause the computer to perform the above-described pipetting control method.

[0015] Through the above technical solution, this invention can acquire the atmospheric pressure of the current pipetting environment in real time, providing accurate reference data for subsequent pipetting compensation. Using the ambient atmospheric pressure as input parameters for the pipetting compensation model, this model can determine the required compensation amount based on the current atmospheric pressure, thereby adjusting the operating parameters of the pipetting pump to ensure the accuracy and stability of pipetting. Based on the pipetting compensation amount and the target volume, the actual volume required is calculated, ensuring that the final volume matches the target and avoiding errors caused by changes in atmospheric pressure. This invention, utilizing ambient atmospheric pressure and the pipetting compensation model, enables precise control and adjustment of pipetting operations, improving the accuracy and stability of pipetting, thereby ensuring the accuracy and reliability of experimental data.

[0016] Other features and advantages of the embodiments of the present invention will be described in detail in the following detailed description section. Attached Figure Description

[0017] The accompanying drawings are provided to further illustrate embodiments of the present invention and form part of the specification. They are used together with the following detailed description to explain the embodiments of the present invention, but do not constitute a limitation thereof. In the drawings: Figure 1 This is a flowchart of the pipetting control method provided in one embodiment of the present invention; Figure 2 This is a system structure diagram of a pipetting control system provided in one embodiment of the present invention. Detailed Implementation

[0018] The specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are for illustration and explanation only and are not intended to limit the present invention.

[0019] Figure 1 This is a flowchart of a pipetting control method provided in one embodiment of the present invention. Figure 1 As shown, an embodiment of the present invention provides a pipetting control method, the method comprising: Step S10: Collect the ambient air pressure value for the current pipetting operation.

[0020] In this embodiment of the invention, the air pressure values ​​of the pipetting operation scenario are monitored and recorded in real time based on a pre-set air pressure acquisition device (e.g., a digital barometer or air pressure sensor). The acquired air pressure data is transmitted to the pipetting operating system, where a data processing algorithm is set up to process and analyze the acquired air pressure data in real time. Before performing a pipetting operation, the system automatically calibrates the air pressure values ​​to ensure that the acquired air pressure values ​​accurately reflect the current ambient air pressure. Preferably, factors such as ambient temperature and humidity are considered during the calibration process to improve accuracy and reliability.

[0021] In one possible implementation, the collected air pressure data undergoes data cleaning and noise reduction to eliminate outliers and noise introduced by sensor malfunctions or environmental interference. Filtering algorithms (such as mean filtering and median filtering) and outlier detection methods (such as the 3σ principle) can be used to process the data, ensuring its stability and accuracy. Data calibration is performed by comparing and correcting the collected air pressure data with standard air pressure values ​​to eliminate sensor drift and systematic errors. For missing air pressure data points, interpolation methods (such as linear interpolation and spline interpolation) can be used to fill in the missing data points, ensuring data integrity and continuity. The processed air pressure data is then smoothed to reduce data volatility, making the data more readable and stable.

[0022] Preferably, after acquiring the ambient pressure value of the current pipetting operation, the method further includes: determining the pipetting volume compensation level based on the ambient pressure value, including: performing a matching operation within the pressure value range corresponding to each preset pipetting volume compensation level based on the ambient pressure value of the current pipetting operation; determining the preset pipetting volume compensation level corresponding to the current pressure value range based on the matched pressure value range; and using the determined preset pipetting volume compensation level as the pipetting volume compensation level of the current pipetting operation.

[0023] In this embodiment of the invention, during actual pipetting operations, the pressure changes encountered may fall within a certain range; that is, in extreme experimental scenarios, there are common pressure value ranges. To simplify the processing steps and improve response speed, one implementation of the present invention performs segmented pressure value compensation. Specifically, when fitting the compensation relationship, the common pressure value range is divided into multiple pressure value segments, and a corresponding compensation model is constructed for each segment, without needing to fully fit the entire pressure value range. This improves the model construction speed. Of course, the present invention can also be applied to fitting compensation relationships across the entire pressure value range.

[0024] Furthermore, in order to use pressure value segment compensation, it is necessary to determine the compensation level of the current pressure value (i.e., the pressure value range). Based on this, the present invention performs a matching operation based on the ambient pressure value of the current pipetting operation within the pressure value range corresponding to each preset pipetting volume compensation level; and determines the preset pipetting volume compensation level corresponding to the current pressure value range based on the matched pressure value range.

[0025] Preferably, a corresponding pipetting compensation model is matched based on the determined pipetting volume compensation level, and the matched pipetting compensation model is used as the pipetting compensation model for the current pipetting operation.

[0026] In this embodiment of the invention, the solution matches a preset pipetting volume compensation level with a pressure range corresponding to the ambient air pressure. This step ensures that the system can make corresponding adjustments according to the actual environmental conditions, thereby guaranteeing the accuracy and stability of the pipetting operation. Next, the system determines the preset pipetting volume compensation level corresponding to the current environment based on the matched pressure range. This process is a key step in the system's personalized adjustment of the pipetting operation based on actual environmental parameters, ensuring the adaptability and accuracy of the pipetting operation. Subsequently, the system matches a pipetting compensation model based on the determined pipetting volume compensation level. Through the optimal pipetting compensation model obtained through matching, the system can achieve more precise compensation in the current pipetting operation, improving the efficiency and accuracy of the operation. This process combines real-time matching of pipetting operations with environmental parameters and model optimization, providing important support for the refined control of pipetting operations.

[0027] Step S20: Use the ambient air pressure value as the input parameter of the pipetting compensation model, and determine the pipetting compensation amount for the current pipetting operation based on the pipetting compensation model.

[0028] As described above in this embodiment of the invention, in a preferred embodiment, the present invention compensates for pipetting volume by dividing pressure value segments. Based on this, the present invention requires the construction of a corresponding pipetting compensation model for each preset pressure value segment.

[0029] Specifically, existing pipetting deviation data is collected, including target pipetting volume data and corresponding actual pipetting volume data under various ambient pressure values. The existing pipetting deviation data is classified based on a selected pressure difference to obtain existing pipetting deviation data for each pressure range. Within each pressure range, a corresponding compensation linear function is constructed based on the target pipetting volume data and corresponding actual pipetting volume data for each ambient pressure value to obtain the linear relationship between the ambient pressure value and the pipetting compensation volume for each pressure range, which serves as the pipetting compensation model for each pressure range.

[0030] In this embodiment of the invention, existing pipetting error data is collected, including target pipetting volume data and actual pipetting volume data under different ambient pressure values. This existing pipetting error data can be historical operation data collected based on historical pipetting operations, or experimental data simulating different pressure conditions. The existing pipetting error data is categorized according to a selected pressure difference to obtain pipetting error data for each pressure range. This step helps to perform more refined analysis and processing of pipetting errors under different pressure conditions, laying the foundation for subsequent model construction. For each pressure range, corresponding compensation linear functions are established based on the target pipetting volume data and actual pipetting volume data for each ambient pressure value. Through these functions, the linear relationship between the ambient pressure value and the pipetting compensation amount for each pressure range can be obtained, thereby constructing a pipetting compensation model for each pressure range. The implementation of this optimization process will bring several benefits. First, by collecting and analyzing existing pipetting error data, the system can better understand the performance of pipetting operations under different environmental conditions, providing data support for subsequent optimization. Secondly, based on the classification of pressure differences and the construction of a compensation linear function, the system can achieve personalized pipetting compensation for different pressure value ranges, thereby improving the accuracy and stability of the operation.

[0031] Furthermore, the step of constructing a corresponding compensation linear function based on the target pipetting volume data and the corresponding actual pipetting volume data under each ambient pressure value includes: selecting target pipetting volume data and the corresponding actual pipetting volume data at multiple points under each pressure value interval and performing linear fitting; obtaining the linear fitting slope and intercept for that pressure value interval based on the fitting results; and constructing a linear fitting function for each pressure value interval based on the linear fitting slope and intercept, as the compensation linear function for each pressure value interval, expressed as:

[0032] in, The i-th ambient air pressure value within the i-th pressure value interval; This is the liquid compensation amount corresponding to the i-th ambient pressure value within the i-th pressure value interval; it is the slope of the linear fitting function for the I-th pressure value interval; it is the intercept of the linear fitting function for the I-th pressure value interval.

[0033] In a possible implementation, the present embodiment performs two-point fitting based on two end values of each air pressure interval. However, those skilled in the art should understand that selecting any number of point values within each air pressure interval for multi-point fitting can also achieve similar technical effects, and the corresponding technical solution should also fall within the protection scope of the solution of the present invention. Standard atmospheric pressure of 101.3 Kpa (horizontal plane), atmospheric pressure of 96.3 kpa at 500 meters, 91.3 kpa at 1000 meters, 81.3 kpa at 2000 meters, and 71.3 kpa at 3000 meters are simulated in a simulated air pressure tank, and then multiple sets of actual liquid volumes corresponding to a theoretical 10ul of liquid are tested respectively under the above simulated air pressures, so as to obtain the liquid volume difference under different atmospheric pressures, and this difference is the liquid volume that needs to be compensated. As shown in Table 1, it is the actual liquid volume measured for a theoretical 10ul under different atmospheric pressures, and calculates the compensation volume that needs to be increased.

[0034] Table 1 Comparison table of actual measured liquid volume and compensation volume for theoretical 10ul under different atmospheric pressures

[0035] Assuming that the current ambient air pressure value obtained by the air pressure sensor is P, when 96.3kpa =< P < 101kpa, the following equation is established: C1=k1*101+b1 C2=k1*96.3+b1 After obtaining the values of k1 and b1, the linear relationship between the atmospheric pressure and the pipetting compensation when the atmospheric pressure is between 96.3kpa and 101kpa is obtained. Then when 96.3kpa < P < 101kpa, C = k1*P + b1.

[0036] when 91.3kpa =< P < 96.3kpa, the following equation is established: C2=k2*96.3+b2 C3=k2*91.3+b2 After obtaining the values of k2 and b2, the linear relationship between the atmospheric pressure and the pipetting compensation when the atmospheric pressure is between 91.3kpa and 96.3kpa is obtained. Then when 91.3kpa < P < 96.3kpa, C = k2*P + b2.

[0037] when 81.3kpa =< P < 91.3kpa, the following equation is established: C3=k3*91.3+b3 C4=k3*81.3+b3 The values of k3 and b3 are obtained to get the linear relationship between the atmospheric pressure and the pipetting compensation when the atmospheric pressure is between 81.3kpa and 91.3kpa, then when 81.3kpa < P < 91.3kpa, C = k3*P + b3.

[0038] When 71.3kpa =< P < 81.3kpa, the following equation is established: C4=k4*81.3+b4 C5=k4*71.3+b4 The values of k4 and b4 are obtained to get the linear relationship between the atmospheric pressure and the pipetting compensation when the atmospheric pressure is between 71.3kpa and 81.3kpa, then when 71.3kpa =< P < 81.3kpa, C = k4*P + b4.

[0039] In this embodiment, only several common pressure value intervals are illustrated by way of example, and these intervals cover common experimental scenarios (from horizontal plane to an altitude of 3000 meters). However, for other experimental scenarios, for example, where the pressure value is greater than 101kpa or less than 71.3kpa, the air pressure value of the experimental scenario can be adjusted to the air pressure value of the common experimental scenario by means of laboratory air pressure compensation, and the linear compensation relationship for the corresponding pressure value section can also be determined based on the solution of the present invention, which will not be further illustrated herein. Certainly, the smaller each pressure value interval is, the higher the linear fitting accuracy of the corresponding section is, but the larger the fitting amount is. A user can customize the size of each pressure value section based on their own needs (balancing fitting accuracy and fitting time), which is not limited to the 10 kpa pressure value interval specified in this embodiment.

[0040] Further, determining the pipetting compensation amount for the current pipetting operation based on the matched pipetting compensation model comprises: extracting the ambient air pressure value corresponding to the environmental information of the current pipetting operation and the linear compensation relationship of the pipetting compensation amount based on the matched pipetting compensation model; and calculating and obtaining the pipetting compensation amount for the current pipetting operation based on the ambient air pressure value corresponding to the environmental information of the current pipetting operation and the linear compensation relationship.

[0041] In an embodiment of the present invention, the matched pipetting compensation model is used to extract the environmental information of the current pipetting operation, including the linear relationship between the ambient air pressure value and the pipetting compensation amount. This step aims to provide a basis for the subsequent calculation of the pipetting compensation amount based on the information under the current environmental conditions. The pipetting compensation amount required for the current pipetting operation is calculated based on the ambient air pressure value corresponding to the environmental information of the current pipetting operation and the linear relationship between the ambient air pressure value and the pipetting compensation amount. Through this calculation process, the system can accurately determine the compensation amount required for the current pipetting operation according to the actual environmental conditions and the matching degree of the compensation model, thereby improving the accuracy and stability of the operation.

[0042] Based on the present invention, the application of this matching-based pipetting compensation model has several advantages. First, by extracting the environmental information of the current pipetting operation and calculating the pipetting compensation amount, the system can dynamically adjust the compensation amount according to the actual situation, ensuring the accuracy of the pipetting operation under different environmental conditions. Second, by utilizing the matching of the ambient air pressure value and the linear relationship of compensation, the system can better adapt to pipetting operations under different environmental conditions, improving the reliability and efficiency of the operation.

[0043] Step S30: Calculate the actual volume of liquid taken based on the pipetting compensation amount and the target volume of liquid taken in the current pipetting operation.

[0044] Specifically, the pipetting compensation amount and the target volume of the current pipetting operation are summed, and the result is used as the actual volume of liquid taken.

[0045] In this embodiment of the invention, the pipetting compensation amount and the target volume for the current pipetting operation are summed. This step aims to combine the pipetting compensation amount and the target volume to obtain a comprehensive value of the actual volume. By summing the pipetting compensation amount and the target volume, the system can more comprehensively consider possible errors and deviations in the pipetting operation, thereby improving the accuracy of the actual volume. This method of comprehensively considering the pipetting compensation amount and the target volume helps the system better control the movement and volume accuracy of the liquid during operation. The result of the summation is used as the actual volume to ensure the accuracy and stability of the pipetting operation. By combining the pipetting compensation amount and the target volume, the system can consider the influence of various factors on the volume in actual operation, thereby better controlling the movement of the liquid and ensuring the accuracy of the volume.

[0046] Based on the present invention, firstly, by comprehensively considering the compensation amount and the target liquid volume, the system can more accurately determine the actual liquid volume, avoiding operational errors caused by error accumulation. Secondly, using the summation result as the actual liquid volume helps the system achieve more precise liquid handling in pipetting operations, improving the reliability and stability of the operation.

[0047] Step S40: Perform a liquid extraction operation using the TIP head based on the actual liquid volume, and control the TIP head to move to the transfer position after the liquid extraction is completed.

[0048] Specifically, in response to the trigger signal that the TIP tip reaches the preset liquid dispensing position, the working stroke of the pipette pump is determined based on the actual liquid dispensing volume, and an acceleration / deceleration curve corresponding to the working stroke of the pipette pump is planned; the pipette pump is controlled to aspirate liquid based on the acceleration / deceleration curve until the pipette pump operation is completed, and the TIP tip is controlled to move to the transfer position.

[0049] In this embodiment of the invention, when the tip reaches the preset liquid-taking position, the system receives a trigger signal, triggering the pipette pump to start aspirating liquid. This step aims to initiate the liquid aspiration process based on the arrival at the preset position, ensuring smooth operation. Based on the liquid volume taken per unit stroke of the pipette pump and the actual liquid volume taken, we can calculate the pipette pump's working stroke required to complete the actual liquid volume. During pipetting, excessively rapid acceleration and deceleration of the pipette pump may cause air bubbles to form, thus affecting pipetting accuracy. To ensure both pipetting efficiency and accuracy, we need to generate corresponding acceleration and deceleration curves based on preset acceleration and deceleration thresholds and the pipette pump's working stroke, so that the pipette pump can be controlled based on these curves. In actual operation, by accurately calculating the relationship between the liquid volume taken per unit stroke of the pipette pump and the actual liquid volume taken, we can determine the distance the pipette pump needs to move to complete the required actual liquid volume. This calculation method helps us accurately control the working stroke of the pipette pump, thereby achieving accurate liquid handling operations.

[0050] Furthermore, to address the potential issue of air bubbles during pipetting, we need to carefully control the acceleration and deceleration of the pipetting pump. Excessive acceleration and deceleration can cause air bubbles, thus affecting pipetting accuracy. Therefore, we need to set appropriate acceleration and deceleration thresholds to avoid problems caused by excessive acceleration and deceleration. To simultaneously ensure pipetting efficiency and accuracy, we can generate corresponding acceleration and deceleration curves based on pre-set acceleration and deceleration thresholds and the pipetting pump's stroke. These curves help us control the acceleration and deceleration process of the pipetting pump, ensuring that no air bubbles are generated during pipetting, thereby improving pipetting accuracy and precision. By controlling the pipetting pump based on acceleration and deceleration curves, we can effectively avoid the impact of air bubble formation on pipetting accuracy while maintaining pipetting efficiency. This technique improves the accuracy and stability of pipetting operations, leading to better results in experimental and industrial production processes.

[0051] Figure 2 This is a system structure diagram of a pipetting control system provided in one embodiment of the present invention. Figure 2 As shown, an embodiment of the present invention provides a pipetting control system, the system comprising: The acquisition unit is used to acquire the ambient air pressure value during the current pipetting operation.

[0052] In this embodiment of the invention, a pressure acquisition device based on preset values ​​monitors and records the pressure values ​​in real time during pipetting operations. The acquired pressure data is transmitted to the pipetting operating system, where a data processing algorithm is set to process and analyze the acquired pressure data in real time. Before performing a pipetting operation, the system automatically calibrates the pressure values ​​to ensure that the acquired pressure values ​​accurately reflect the current ambient pressure. Preferably, factors such as ambient temperature and humidity are considered during the calibration process to improve accuracy and reliability.

[0053] In one possible implementation, the collected air pressure data undergoes data cleaning and noise reduction to eliminate outliers and noise introduced by sensor malfunctions or environmental interference. Filtering algorithms (such as mean filtering and median filtering) and outlier detection methods (such as the 3σ principle) can be used to process the data, ensuring its stability and accuracy. Data calibration is performed by comparing and correcting the collected air pressure data with standard air pressure values ​​to eliminate sensor drift and systematic errors. For missing air pressure data points, interpolation methods (such as linear interpolation and spline interpolation) can be used to fill in the missing data points, ensuring data integrity and continuity. The processed air pressure data is then smoothed to reduce data volatility, making the data more readable and stable.

[0054] Preferably, after collecting the ambient pressure value of the current pipetting operation, the method further includes: determining the pipetting volume compensation level based on the ambient pressure value, including: performing a matching operation within the pressure value range corresponding to each preset pipetting volume compensation level based on the ambient pressure value of the current pipetting operation; determining the preset pipetting volume compensation level corresponding to the current pressure value range based on the matched pressure value range; and using the determined preset pipetting volume compensation level as the pipetting volume compensation level of the current pipetting operation.

[0055] In this embodiment of the invention, during actual pipetting operations, the pressure changes encountered may fall within a certain range; that is, in extreme experimental scenarios, there are common pressure value ranges. To simplify the processing steps and improve response speed, one implementation of the present invention performs segmented pressure value compensation. Specifically, when fitting the compensation relationship, the common pressure value range is divided into multiple pressure value segments, and a corresponding compensation model is constructed for each segment, without needing to fully fit the entire pressure value range. This improves the model construction speed. Of course, the present invention can also be applied to fitting compensation relationships across the entire pressure value range.

[0056] Furthermore, in order to use pressure value segment compensation, it is necessary to determine the compensation level of the current pressure value (i.e., the pressure value range). Based on this, the present invention performs a matching operation based on the ambient pressure value of the current pipetting operation within the pressure value range corresponding to each preset pipetting volume compensation level; and determines the preset pipetting volume compensation level corresponding to the current pressure value range based on the matched pressure value range.

[0057] Preferably, a corresponding pipetting compensation model is matched based on the determined pipetting volume compensation level, and the matched pipetting compensation model is used as the pipetting compensation model for the current pipetting operation.

[0058] In this embodiment of the invention, the solution matches a preset pipetting volume compensation level with a pressure range corresponding to the ambient air pressure. This step ensures that the system can make corresponding adjustments according to the actual environmental conditions, thereby guaranteeing the accuracy and stability of the pipetting operation. Next, the system determines the preset pipetting volume compensation level corresponding to the current environment based on the matched pressure range. This process is a key step in the system's personalized adjustment of the pipetting operation based on actual environmental parameters, ensuring the adaptability and accuracy of the pipetting operation. Subsequently, the system matches a pipetting compensation model based on the determined pipetting volume compensation level. Through the optimal pipetting compensation model obtained through matching, the system can achieve more precise compensation in the current pipetting operation, improving the efficiency and accuracy of the operation. This process combines real-time matching of pipetting operations with environmental parameters and model optimization, providing important support for the refined control of pipetting operations.

[0059] The compensation unit is used to take the ambient air pressure value as the input parameter of the pipetting compensation model and determine the pipetting compensation amount for the current pipetting operation based on the pipetting compensation model.

[0060] As described above in this embodiment of the invention, in a preferred embodiment, the present invention compensates for pipetting volume by dividing pressure value segments. Based on this, the present invention requires the construction of a corresponding pipetting compensation model for each preset pressure value segment.

[0061] Specifically, existing pipetting deviation data is collected, including target pipetting volume data and corresponding actual pipetting volume data under various ambient pressure values. The existing pipetting deviation data is classified based on a selected pressure difference to obtain existing pipetting deviation data for each pressure range. Within each pressure range, a corresponding compensation linear function is constructed based on the target pipetting volume data and corresponding actual pipetting volume data for each ambient pressure value to obtain the linear relationship between the ambient pressure value and the pipetting compensation volume for each pressure range, which serves as the pipetting compensation model for each pressure range.

[0062] In this embodiment of the invention, existing pipetting error data is collected, including target pipetting volume data and actual pipetting volume data under different ambient pressure values. This existing pipetting error data can be historical operation data collected based on historical pipetting operations, or experimental data simulating different pressure conditions. The existing pipetting error data is categorized according to a selected pressure difference to obtain pipetting error data for each pressure range. This step helps to perform more refined analysis and processing of pipetting errors under different pressure conditions, laying the foundation for subsequent model construction. For each pressure range, corresponding compensation linear functions are established based on the target pipetting volume data and actual pipetting volume data for each ambient pressure value. Through these functions, the linear relationship between the ambient pressure value and the pipetting compensation amount for each pressure range can be obtained, thereby constructing a pipetting compensation model for each pressure range. The implementation of this optimization process will bring several benefits. First, by collecting and analyzing existing pipetting error data, the system can better understand the performance of pipetting operations under different environmental conditions, providing data support for subsequent optimization. Secondly, based on the classification of pressure differences and the construction of a compensation linear function, the system can achieve personalized pipetting compensation for different pressure value ranges, thereby improving the accuracy and stability of the operation.

[0063] Furthermore, the step of constructing a corresponding compensation linear function based on the target pipetting volume data and the corresponding actual pipetting volume data under each ambient pressure value includes: selecting target pipetting volume data and the corresponding actual pipetting volume data at multiple points under each pressure value interval and performing linear fitting; obtaining the linear fitting slope and intercept for that pressure value interval based on the fitting results; and constructing a linear fitting function for each pressure value interval based on the linear fitting slope and intercept, as the compensation linear function for each pressure value interval, expressed as:

[0064] in, The i-th ambient air pressure value within the i-th pressure value interval; This is the liquid compensation amount corresponding to the i-th ambient pressure value within the i-th pressure value interval; Let be the slope of the linear fitting function for the I-th pressure value interval; The intercept of the linear fitting function for I pressure value intervals.

[0065] Furthermore, determining the pipetting compensation amount for the current pipetting operation based on the matched pipetting compensation model includes: extracting the ambient pressure value corresponding to the environmental information of the current pipetting operation and the linear relationship of the pipetting compensation amount based on the matched pipetting compensation model; and calculating the pipetting compensation amount for the current pipetting operation based on the ambient pressure value corresponding to the environmental information of the current pipetting operation and the linear relationship of the compensation.

[0066] In this embodiment of the invention, a matched pipetting compensation model is used to extract environmental information for the current pipetting operation, including the linear relationship between ambient pressure and pipetting compensation amount. This step aims to provide a basis for subsequent pipetting compensation amount calculation based on information under the current environmental conditions. Based on the linear relationship between the ambient pressure and pipetting compensation amount corresponding to the environmental information of the current pipetting operation, the required pipetting compensation amount for the current pipetting operation is calculated. Through this calculation process, the system can accurately determine the compensation amount required for the current pipetting operation according to the actual environmental conditions and the degree of matching of the compensation model, thereby improving the accuracy and stability of the operation.

[0067] Based on the present invention, the application of this matching-based pipetting compensation model has several advantages. First, by extracting the environmental information of the current pipetting operation and calculating the pipetting compensation amount, the system can dynamically adjust the compensation amount according to the actual situation, ensuring the accuracy of the pipetting operation under different environmental conditions. Second, by utilizing the matching of the ambient air pressure value and the linear relationship of compensation, the system can better adapt to pipetting operations under different environmental conditions, improving the reliability and efficiency of the operation.

[0068] The processing unit is used to calculate the actual volume of liquid taken based on the liquid compensation amount and the target volume of liquid taken in the current pipetting operation.

[0069] Specifically, the pipetting compensation amount and the target volume of the current pipetting operation are summed, and the result is used as the actual volume of liquid taken.

[0070] In this embodiment of the invention, the pipetting compensation amount and the target volume for the current pipetting operation are summed. This step aims to combine the pipetting compensation amount and the target volume to obtain a comprehensive value of the actual volume. By summing the pipetting compensation amount and the target volume, the system can more comprehensively consider possible errors and deviations in the pipetting operation, thereby improving the accuracy of the actual volume. This method of comprehensively considering the pipetting compensation amount and the target volume helps the system better control the movement and volume accuracy of the liquid during operation. The result of the summation is used as the actual volume to ensure the accuracy and stability of the pipetting operation. By combining the pipetting compensation amount and the target volume, the system can consider the influence of various factors on the volume in actual operation, thereby better controlling the movement of the liquid and ensuring the accuracy of the volume.

[0071] Based on the present invention, firstly, by comprehensively considering the compensation amount and the target liquid volume, the system can more accurately determine the actual liquid volume, avoiding operational errors caused by error accumulation. Secondly, using the summation result as the actual liquid volume helps the system achieve more precise liquid handling in pipetting operations, improving the reliability and stability of the operation.

[0072] The liquid dispensing unit is used to perform a liquid dispensing operation with the TIP head based on the actual liquid dispensing volume, and to control the TIP head to move to the transfer position after the liquid dispensing is completed.

[0073] Specifically, in response to a trigger signal that the TIP tip has reached a preset liquid collection position, the pipetting pump is controlled to draw liquid; during the liquid collection process, the real-time liquid volume is monitored until the real-time liquid volume reaches the actual liquid volume, at which point the pipetting pump is turned off and the TIP tip is controlled to move to the transfer position.

[0074] In this embodiment of the invention, when the TIP tip reaches the preset liquid retrieval position, the system receives a trigger signal, triggering the pipetting pump to begin aspirating liquid. This step aims to initiate the liquid aspiration process based on the arrival at the preset position, ensuring smooth operation.

[0075] Based on the volume of liquid dispensed per unit stroke and the actual volume dispensed, we can calculate the required working stroke of the pipette pump to complete the actual volume dispensed. During pipetting, excessively rapid acceleration and deceleration of the pipette pump can lead to air bubble formation, affecting pipetting accuracy. To ensure both pipetting efficiency and accuracy, we need to generate corresponding acceleration and deceleration curves based on pre-set acceleration and deceleration thresholds and the working stroke of the pipette pump, allowing for control of the pipette pump based on these curves. In practice, by accurately calculating the relationship between the volume of liquid dispensed per unit stroke and the actual volume dispensed, we can determine the distance the pipette pump needs to move to complete the required volume. This calculation method helps us precisely control the working stroke of the pipette pump, thereby achieving accurate liquid handling operations.

[0076] Furthermore, to address the potential issue of air bubbles during pipetting, we need to carefully control the acceleration and deceleration of the pipetting pump. Excessive acceleration and deceleration can cause air bubbles, thus affecting pipetting accuracy. Therefore, we need to set appropriate acceleration and deceleration thresholds to avoid problems caused by excessive acceleration and deceleration. To simultaneously ensure pipetting efficiency and accuracy, we can generate corresponding acceleration and deceleration curves based on pre-set acceleration and deceleration thresholds and the pipetting pump's stroke. These curves help us control the acceleration and deceleration process of the pipetting pump, ensuring that no air bubbles are generated during pipetting, thereby improving pipetting accuracy and precision. By controlling the pipetting pump based on acceleration and deceleration curves, we can effectively avoid the impact of air bubble formation on pipetting accuracy while maintaining pipetting efficiency. This technique improves the accuracy and stability of pipetting operations, leading to better results in experimental and industrial production processes.

[0077] The present invention also provides a computer-readable storage medium storing instructions which, when executed on a computer, cause the computer to perform the above-described pipetting control method.

[0078] Those skilled in the art will understand that all or part of the steps in the methods of the above embodiments can be implemented by a program instructing related hardware. This program is stored in a storage medium and includes several instructions to cause a microcontroller, chip, or processor to execute all or part of the steps of the methods described in the various embodiments of the present invention. The aforementioned storage medium includes various media capable of storing program code, such as a USB flash drive, a portable hard drive, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk.

[0079] The optional embodiments of the present invention have been described in detail above with reference to the accompanying drawings. However, the embodiments of the present invention are not limited to the specific details described above. Within the scope of the technical concept of the embodiments of the present invention, various simple modifications can be made to the technical solutions of the embodiments of the present invention, and these simple modifications all fall within the protection scope of the embodiments of the present invention. It should also be noted that the various specific technical features described in the above specific embodiments can be combined in any suitable manner without contradiction. To avoid unnecessary repetition, the embodiments of the present invention will not further describe the various possible combinations.

[0080] Furthermore, various different embodiments of the present invention can be combined in any way, as long as they do not violate the spirit of the embodiments of the present invention, they should also be regarded as the content disclosed by the embodiments of the present invention.

Claims

1. A pipetting control method, characterized in that, The method includes: Collect the ambient air pressure value during the current pipetting operation; The ambient air pressure value is used as the input parameter of the pipetting compensation model, and the pipetting compensation amount for the current pipetting operation is determined based on the pipetting compensation model. The actual volume of liquid taken is calculated based on the liquid compensation amount and the target volume of liquid taken in the current pipetting operation. Performing a liquid dispensing operation using the TIP head based on the actual liquid volume, and controlling the TIP head to move to the transfer position after dispensing, includes: In response to the trigger signal that the TIP tip reaches the preset liquid dispensing position, the working stroke of the pipette is determined based on the actual liquid dispensing volume, and the acceleration and deceleration curve of the corresponding pipette is planned based on the working stroke of the pipette. The pipette pump is controlled to draw liquid based on the acceleration and deceleration curve until the pipette pump operation is completed, and then the TIP head is controlled to move to the transfer position.

2. The method according to claim 1, characterized in that, After acquiring the ambient pressure value for the current pipetting operation, the method further includes: Determining the pipetting volume compensation level based on the ambient pressure value includes: Based on the ambient pressure value of the current pipetting operation, a matching operation is performed within the pressure value range corresponding to each preset pipetting volume compensation level; Determine the preset pipetting volume compensation level corresponding to the current pressure value range based on the matched pressure value range; The predetermined preset pipetting volume compensation level is used as the pipetting volume compensation level for the current pipetting operation.

3. The method according to claim 2, characterized in that, The method further includes: Based on the determined pipetting volume compensation level, a corresponding pipetting compensation model is matched, and the matched pipetting compensation model is used as the pipetting compensation model for the current pipetting operation.

4. The method according to claim 1, characterized in that, The method further includes: Pre-built pipetting compensation models include: Collect existing pipetting deviation data, which includes target pipetting volume data and corresponding actual pipetting volume data under various ambient pressure values; The existing pipetting deviation data is classified based on the selected pressure difference to obtain the existing pipetting deviation data under each pressure value range; Under each pressure range, a corresponding compensation linear function is constructed based on the target pipetting volume data and the corresponding actual pipetting volume data under each ambient pressure value. The linear relationship between the ambient pressure value and the pipetting compensation volume in each pressure range is obtained, which serves as the pipetting compensation model for each pressure range.

5. The method according to claim 4, characterized in that, The construction of the corresponding compensation linear function based on the target pipetting volume data and the corresponding actual pipetting volume data under each ambient pressure value includes: Under each pressure range, target pipetting volume data and corresponding actual pipetting volume data at multiple points under ambient pressure are selected to perform linear fitting. Based on the fitting results, the linear fitting slope and intercept for that pressure range are obtained. Based on the slope and intercept of the linear fit for each pressure value interval, a linear fitting function corresponding to each pressure value interval is constructed as the compensation linear function for that interval, expressed as: in, The i-th ambient air pressure value is located within the i-th pressure value interval. This is the liquid compensation amount corresponding to the i-th ambient pressure value within the i-th pressure value interval; Let be the slope of the linear fitting function for the I-th pressure value interval; The intercept of the linear fitting function for I pressure value intervals.

6. The method according to claim 3, characterized in that, The matching-based pipetting compensation model determines the pipetting compensation amount for the current pipetting operation, including: Based on the matching pipetting compensation model, the environmental information of the current pipetting operation is extracted, and the corresponding environmental pressure value and pipetting compensation amount are linearly related. Based on the ambient pressure value corresponding to the current pipetting operation and the compensation linear relationship, the pipetting compensation amount for the current pipetting operation is calculated.

7. The method according to claim 1, characterized in that, The calculation of the actual volume taken based on the pipetting compensation amount and the target volume taken in the current pipetting operation includes: Perform a summation operation on the current pipetting compensation volume and the target volume, and use the result as the actual volume taken.

8. A pipetting control system, characterized in that, The system is used to perform the pipetting control method according to any one of claims 1-7, the system comprising: The data acquisition unit is used to acquire the ambient air pressure value during the current pipetting operation. The compensation unit is used to take the ambient air pressure value as the input parameter of the pipetting compensation model and determine the pipetting compensation amount for the current pipetting operation based on the pipetting compensation model. The processing unit is used to calculate the actual volume of liquid taken based on the liquid compensation amount and the target volume of liquid taken in the current liquid transfer operation; The liquid dispensing unit is used to perform a liquid dispensing operation with the TIP head based on the actual liquid dispensing volume, and to control the TIP head to move to the transfer position after the liquid dispensing is completed.

9. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores instructions that, when executed on a computer, cause the computer to perform the pipetting control method as described in any one of claims 1-7.

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