Full-automatic pipetting system based on programmable logic

Abstract

The invention discloses a full-automatic pipetting system based on programmable logic, the system comprises a computer program, a programmable pipetting system programming module, a programmable pipetting system operation module and a computer device, and the computer device is controlled by the computer program. And by cooperating with the programmable pipetting system programming module and the programmable pipetting system operation module, accurate control and operation of the full-automatic pipetting system are realized. According to the invention, through programmable pipetting operation, the problem of insufficient automation of the whole process in the prior art is solved, through automatic accurate configuration of reagents and programmed pipetting operation steps and support of automatic switching and integrated replacement of suction heads, the pipetting process can be fully automatically operated, manual operation intervention is avoided, and the production efficiency is improved. The pipetting efficiency is greatly improved, and meanwhile, the high consistency and repeatability of the pipetting process are ensured.

Description

Technical Field

[0001] The invention relates to the technical field of full-automatic pipettes, and in particular to a full-automatic pipetting system based on programmable logic. Background Art

[0002] The traditional manual operation mode has gradually failed to meet the current laboratory's experimental requirements for high stability, high precision, safety and high throughput; therefore, a programmable fully automated pipetting workstation that intelligently integrates multiple pipetting steps and liquid handling steps has become an inevitable trend to achieve complete operations of molecular biology, cell biology and other related experiments; these workstations can effectively automate some experimental steps, such as pipetting, liquid handling, oscillation and incubation; however, most existing automated pipetting workstations can only achieve semi-automation of some steps; for example, the technologies disclosed in patent numbers 202311134885.X and 202210707603.X, although having certain automation capabilities in automatic pipetting and liquid handling, still cannot fully meet the laboratory's needs for comprehensive automation;

[0003] Although existing fully automated pipetting workstations have made progress in automation, they still have significant deficiencies and limitations;

[0004] First, these systems cannot achieve full automation of the experimental process, mainly due to technical deficiencies in intelligent reagent configuration, programmable pipetting operations, and automatic switching of pipette tips, resulting in manual intervention in the experimental process;

[0005] Second, the existing system has poor pipetting accuracy and stability because the vibration control is not flexible enough and cannot be accurately adjusted according to experimental requirements, thus affecting the uniformity of reagent mixing and the repeatability of experimental results;

[0006] 3. The existing workstations have insufficient automation in the plate washing steps and the integrated switching of pipette tips in ELISA experiments, which directly affects the efficiency of the experiment and the continuity of the operation. In addition, there are significant defects in environmental pollution control. Due to the lack of effective pollution protection measures during the transfer of experimental samples, cross-contamination of samples is easily caused, which in turn affects the purity of the experimental results and the safety of the experimental environment.

[0007] Based on this, a fully automatic pipetting system based on programmable logic is required. Summary of the invention

[0008] To achieve the above-mentioned object, the present invention provides the following scheme: a fully automatic liquid transfer system based on programmable logic, the system comprising a computer program, a programmable liquid transfer system programming module, a programmable liquid transfer system operation module and a computer device, the computer program is configured with a user interaction interface for receiving reagent information and operation instructions input by a user, providing reagent editing, sampling editing and sample addition editing, allowing the user to independently set the reagent name, sampling position and sample addition amount, and automatically saving the reagent and operation parameters to the project file;

[0009] The computer program includes a program module, and the program module is divided into a functional end and a programmable end. The functional end includes common functions and basic functions, wherein the common functions are used for the use of general tools, and the basic functions include data calibration, coordinate data management, and operations related to running data;

[0010] The programmable end is responsible for the input and operation of actual data, including temperature control, oscillation control and plate washing. The temperature control provides 4°C, 37°C and room temperature. The oscillation control allows the user to input oscillation time parameters to control the oscillation operation during the reagent preparation process. The plate washing uses a mechanical arm to grab and wash the 96-well plate, and combines a dynamic camera to reduce coordinate data deviation. At the same time, the height parameters for liquid aspiration and liquid unloading are set. The program module is configured to automatically execute "changing the suction nozzle", "unloading the suction nozzle", "liquid collection test" and "liquid unloading test";

[0011] The programmable pipetting system programming module is responsible for automatically calculating the liquid level height and bottom height processing parameters according to the user-set parameters, and controlling the temperature and oscillation conditions in the actual environment, wherein the temperature can be set at 4°C, 37°C and room temperature, and the oscillation frequency and time are adjustable;

[0012] The programmable liquid handling system operation module executes the instructions of the programming module to automatically complete the reagent addition, liquid oscillation and plate washing operations, and cooperates with the robotic arm to implement precise liquid handling actions, including automatic nozzle replacement and nozzle removal, and uses an integrated camera system to perform coordinate positioning and action calibration of the microplate;

[0013] The computer device includes a computer, which serves as a central control unit of the system, connected to two STM32F407 industrial control boards via a serial port, connected to a dynamic camera and a static camera via a PCI interface, and connected to a display for displaying system status and an operation interface;

[0014] STM32F407 industrial control board 1, used to control the movement of the 7-axis robot arm and the signals of the solenoid valve and zero-position travel switch;

[0015] STM32F407 industrial control board 2, processes the feedback of the X-axis, Y-axis, Z1-axis, Z2-axis, Z3-axis, and Z4-axis pipetting stepper motors and axis zero position photoelectric signals; controls the temperature acquisition module, digital output module, X-axis and Z-axis stepper motors for plate washing and their switches, as well as synchronous dual solenoid valves, etc.;

[0016] A dynamic camera and a static camera are connected to the computer via a PCI interface, wherein the static camera complements the dynamic camera, the dynamic camera is used to capture images and video data during the experiment, and the static camera is responsible for capturing static images of the experimental environment and equipment;

[0017] A display, connected to the computer, for displaying the system status, operation interface and experimental parameters;

[0018] The computer device is controlled by the computer program, and cooperates with the programmable pipetting system programming module and the programmable pipetting system operation module to achieve precise control and operation of the fully automatic pipetting system.

[0019] Further, the computer program is configured to automatically perform reagent editing operations, specifically including: after enabling the "reagent editing" button, receiving and saving the new reagent name input by the user in a pop-up interface, allowing the user to move the input reagent name from one interface area to another engineering data column, and providing an interface button to exit the reagent editing mode after completing all inputs.

[0020] Furthermore, the computer program is further configured to: in a "sampling edit" interface, allow the user to select the location of the operating table and receive its corresponding specification data;

[0021] The available well positions are displayed through a graphical interface, and the user can select a specific well position by clicking a square button, wherein the button changes color after being selected to distinguish between selected and unselected well positions. After selecting a specific well position, the relevant reagents and sample loading information of the well position are automatically filled in, and the sample loading volume and number of times entered by the user are received.

[0022] Further, the computer program is configured to perform the following operations after the sample addition editing is completed:

[0023] Provide options for users to confirm all selected sample loading positions and complete the operation. Display all relevant data in the editing process at the bottom of the main interface, allowing users to make the final confirmation, automatically save all settings and exit the sample loading editing interface.

[0024] Further, the programmable pipetting system programming module is configured to: provide an interactive user interface for displaying and editing coordinate values ​​of the microplate, including automatic alignment of the camera center cross with the center of the selected well, and automatic saving of adjusted coordinate values, as well as user setting and testing of environmental parameters consistent with implementation requirements, including temperature and oscillation, displaying real-time graphics in the user interface, and running current and historical program files.

[0025] Furthermore, the programmable pipetting system programming module is further configured to: provide a virtual square button in the user interface, representing the well position on the microplate, and the user selects a specific loading position by clicking the button, and automatically fills in the relevant reagent name and loading parameters of the selected loading position, including the liquid level height and the bottom height, and automatically adjusts the parameters according to actual operation requirements. After completing the loading operation setting, a "Save" button is provided to store all programming data in XML file format.

[0026] Furthermore, the programmable pipetting system operation module is configured to convert the actual data entered by the user through the programming module into a machine-executable engineering data file, and is responsible for storing the data as an engineering metadata file, executing the "run" command initiated by the user, by converting the engineering metadata file into a real-time engineering data file, and temporarily saving these files for execution, using the MOUNT function to handle specific operations in the implementation process, including the automation functions of changing nozzles, taking liquid, camera recognition, throwing liquid, unloading liquid and unloading nozzles.

[0027] Furthermore, the programmable pipetting system operation module is further configured as follows: when performing a nozzle replacement operation, the nozzle is first moved above the camera for error detection, and based on the camera verification result, a decision is made whether to move the result of the liquid collection action to above the sample loading microplate to unload the liquid reagent or move it to a designated area for disposal. After completion, the nozzle position is automatically reset, returning to the initial state, and the operation data is saved.

[0028] Furthermore, the computer device further comprises:

[0029] The USB serial communication interface is used for data communication and command synchronization between STM32F407 industrial control board 1 and STM32F407 industrial control board 2, and for real-time data exchange and reliable transmission of control signals.

[0030] Furthermore, the computer device also includes:

[0031] K-type thermocouple temperature acquisition module, used for temperature signal acquisition and control;

[0032] Digital output modules are used for solenoid valve control of pneumatics, vibration devices, and plate washer filling and suction liquid control relays and solenoid valves;

[0033] X-axis and Z-axis stepper motors and X-axis and Z-axis zero-position travel switches are used for plate washing.

[0034] According to the specific embodiments provided by the present invention, the present invention discloses the following technical effects:

[0035] 1. The present invention realizes precise control of sample addition conditions during the sample addition process and supports a variety of choices of ambient temperature, including 4°C, 37°C and room temperature, thereby meeting the strict requirements of temperature conditions in different situations. The stability of reagents in different operating areas and the accuracy of reactions are ensured through temperature control, thereby improving the accuracy and consistency of pipetting operations.

[0036] Second, the present invention solves the problem of insufficient full-process automation in the prior art through programmable pipetting operations. By automatically performing precise configuration of reagents and programmed pipetting operation steps, and supporting automatic switching and integrated replacement of pipette tips, the pipetting process can be fully automated, avoiding human intervention, greatly improving pipetting efficiency, and ensuring high consistency and repeatability of the pipetting process.

[0037] 3. The present invention improves the system's pipetting accuracy and operational stability through vibration control and liquid handling parameters, and flexibly adjusts the vibration time and intensity according to specific needs to ensure the uniformity of reagents during the mixing process. At the same time, by accurately setting the key parameters of liquid level height, liquid unloading height, suction delay and liquid unloading delay, a high degree of stability and repeatability can be maintained in each pipetting operation.

[0038] 4. The present invention significantly improves the automation level of pipetting operations by integrating efficient plate washing functions and multi-mode tip switching technology. In addition, a 7-axis robotic arm is used for precise sample transfer, effectively controlling cross-contamination problems that may occur during the experiment. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0040] Figure 1 A programming flow chart of the programmable liquid transfer system of the present invention;

[0041] Figure 2 A diagram of the programming process of the present invention;

[0042] Figure 3 It is a structural diagram of the computer device of the present invention. DETAILED DESCRIPTION

[0043] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0044] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the present invention is further described in detail below with reference to the accompanying drawings and specific embodiments.

[0045] Example

[0046] like Figure 1-3 As shown, a fully automatic liquid transfer system based on programmable logic includes a computer program, a programmable liquid transfer system programming module, a programmable liquid transfer system operation module and a computer device.

[0047] like Figure 1-2 As shown, the computer program is configured with a user interaction interface for receiving reagent information and operation instructions input by the user, providing reagent editing, sampling editing and sample addition editing functions, allowing the user to independently set the reagent name, sampling position and sample addition amount, and automatically save the reagent and operation parameters to the project file to support subsequent call and reproduction;

[0048] Automatically execute the reagent editing operation, specifically including: after the "reagent editing" button is enabled, the new reagent name input by the user is received and saved in the pop-up "enter new reagent name" interface, and when the name of the reagent required this time is entered, the user is prompted to move the entered reagent name from one interface area to another engineering data column, and an interface button is provided to exit the reagent editing mode after all inputs are completed;

[0049] At this time, return to the main program interface, click on the table position to be operated, and the "Sampling Edit" interface pops up. The user selects the position of the operation table and receives its corresponding specification data; the available well positions are displayed through a graphical interface, and the user selects a specific well position by clicking a square button, wherein the button changes color after being selected to distinguish between selected and unselected well positions. After selecting a specific well position, the relevant reagents and sample loading information of the well position are automatically filled, and the sample loading volume and number of times entered by the user are received;

[0050] After completing the sample loading editing, the computer program is configured to provide options, and the user confirms all selected sample loading positions and completes the operation. All relevant data in the editing process are displayed at the bottom of the main interface, allowing the user to make a final confirmation, and automatically save all settings to exit the sample loading editing interface. If there is other reagent information, the above steps are executed repeatedly. At this point, the basic programming information is entered.

[0051] like Figure 1-2 As shown, the computer program includes a program module, and the program module is divided into a functional end and a programmable end. The functional end includes common functions and basic functions, wherein the common functions are used for the use of general tools, and the basic functions include data calibration, coordinate data management, and operations related to running data;

[0052] The programmable end is responsible for the entry and operation of actual data, including temperature control, oscillation control and plate washing. Temperature control provides settings of 4°C, 37°C and room temperature. Oscillation control allows users to input oscillation time parameters to control the oscillation operation during reagent preparation. The plate washing uses a robotic arm to grab and wash the 96-well plate. The dynamic camera and mobile combination operation provide basic operating data for this system. The coordinate positioning and correction of the microplate require the participation of the dynamic camera. When locating the coordinates of the microplate, it is necessary to observe the position center cross displayed in the dynamic camera to align it with the center of the well position to reduce the deviation of the coordinate data. The height required for aspiration and unloading needs to be set according to the actual scene. When the appropriate data is determined, it is saved as the currently available and valid data. The program module is configured to automatically execute "changing the nozzle", "unloading the nozzle", "liquid collection test" and "unloading test".

[0053] The present invention realizes precise control of sample addition conditions during the sample addition process and supports diversified selection of ambient temperature, including 4°C, 37°C and room temperature, thereby meeting the strict requirements of temperature conditions in different situations. The stability of reagents in different operating areas and the accuracy of reactions are ensured through temperature control, thereby improving the accuracy and consistency of pipetting operations.

[0054] like Figure 2 As shown, the programmable pipetting system programming module is the core module of the system, which is responsible for providing a user interactive interface, displaying graphics, and running current and historical program files. The module can configure temperature and oscillation parameters according to user requirements to ensure the precise setting of system operating conditions. Subsequently, by adjusting the coordinate values ​​of specific wells on the microplate, and aligning the camera with the center of the cross to ensure accurate positioning of the wells, the adjusted coordinate values ​​can be saved for subsequent operations. The programmable pipetting system programming module sets parameters including liquid level height, liquid unloading height, suction delay, and liquid unloading delay, and is debugged and saved through actual operations. After the user enters the reagent information in the interface, selects the experimental area and sets the temperature and oscillation parameters. The interface will display virtual square buttons representing the microplate wells. The user can set these wells one by one according to the experimental requirements. After selecting a specific well, the microplate number, position code, reagent name, liquid addition capacity, and related parameters of liquid level height and bottom height are automatically filled in. After setting the number of sample additions, all required data will be entered.

[0055] The programmable pipetting system programming module is further configured to provide an interactive user interface for displaying and editing coordinate values ​​of the microplate, including automatically aligning the center cross of the camera with the center of the selected well position, and automatically saving the adjusted coordinate values; the module also enables the user to set and test environmental parameters consistent with implementation requirements, including temperature and oscillation, display real-time graphics in the user interface, and run current and historical program files;

[0056] A virtual square button is provided in the user interface to represent the well position on the microplate. The user selects a specific loading position by clicking the button, and the relevant reagent name and loading parameters of the selected loading position are automatically filled in, including the liquid level and bottom height, and the parameters are automatically adjusted according to the actual operation requirements. After the loading operation setting is completed, a "Save" button is provided to store all programming data in XML file format;

[0057] The present invention improves the system's pipetting accuracy and operational stability through vibration control and liquid handling parameters, flexibly adjusts vibration time and intensity according to specific needs, ensures the uniformity of reagents during the mixing process, and simultaneously, maintains a high degree of stability and repeatability in each pipetting operation by accurately setting key parameters such as liquid level height, liquid unloading height, suction delay, and liquid unloading delay.

[0058] like Figure 2As shown, the programmable pipetting system operation module is further configured to convert the actual data entered by the user through the programming module into a machine-executable engineering data file, and is responsible for storing the data as an engineering metadata file; execute the "run" command initiated by the user, by converting the engineering metadata file into a real-time engineering data file, and temporarily saving these files for execution, using the MOUNT function to handle specific operations in the implementation process, including changing the nozzle, taking liquid, camera recognition, throwing liquid, unloading liquid and automatic functions of unloading the nozzle; when performing the nozzle replacement operation, the module moves the nozzle to the top of the camera for error detection, and decides whether to move the result of the liquid taking action to the top of the sample loading microplate for unloading of the liquid reagent or move it to the designated area for disposal based on the camera verification result, and automatically reloads after completion. Set the nozzle position, return to the initial state, and save the operation data. The specific nozzle to be used is determined according to the sampling capacity entered in the program. When the sampling of one reagent is completed and the next reagent is carried out, the nozzle will be removed first and then replaced with a new nozzle. After the nozzle is replaced, it will be moved to the dynamic camera first to determine whether the nozzle is skewed or not sucked. When the nozzle size meets the camera verification data, it will be moved to the liquid collection microplate. After completing the liquid suction action, it will return to the camera to determine whether there is liquid reagent in the nozzle. When it passes the dynamic camera verification, it will move to the top of the sample loading microplate to unload the liquid reagent. When it does not pass, it will move to the specified area, unload the liquid reagent, and carry out the sampling of the next microplate well position data. When the entire project file is completed, the machine will also reset and return to the starting position.

[0059] like Figure 3 As shown, the computer device is the core control unit of the system, responsible for overall management and coordination of the operation of the entire fully automatic pipetting system. As the central control unit, the computer is first connected to two STM32F407 industrial control boards through the serial port. The two STM32F407 industrial control boards respectively undertake different control tasks to achieve the coordinated operation of each module in the system. The computer is also connected to the dynamic camera and the static camera through the PCI interface. The dynamic camera captures and processes the image and video data of the experimental process in real time, providing visual support for the precise positioning and operation of the microplate. The static camera is responsible for capturing static images of the experimental environment and equipment, which are used for preliminary and final image recording and analysis before and after the experiment. At the same time, the computer displays the system status and operation interface to the user through the display, so that the user can monitor and control the experimental process in real time.

[0060] Further, the computer device USB serial port communication interface is used to establish a high-speed and reliable data communication and command synchronization channel between the STM32F407 industrial control board 1 and the STM32F407 industrial control board 2, real-time data exchange between the industrial control boards and reliable transmission of control signals, and is also responsible for connecting and managing multiple sensors in the system, which are mainly used to monitor and feedback the precise position information of the X-axis, Y-axis, Z1-axis, Z2-axis, Z3-axis, and Z4-axis. Through the USB serial port interface, the position information is transmitted to the STM32F407 industrial control board 1 for real-time processing, accurately controlling and adjusting the movement of the robot arm in the system, and ensuring the positioning accuracy and operation stability during the experiment;

[0061] In addition, the RS485 communication interface on the STM32F407 industrial control board 2 also integrates a K-type thermocouple temperature acquisition module for collecting and controlling the temperature signal in the experimental environment. The K-type thermocouple temperature acquisition module can monitor the temperature changes in the experimental environment in real time and feed the data back to the computer to achieve precise control and adjustment of the temperature, ensuring the stability and repeatability of the experimental conditions.

[0062] The digital output module is used to control the solenoid valves in the system, including various actions of the pneumatic device, vibration device and plate washer. The digital output module can accurately control the switching action of the solenoid valve, further coordinate the operation of the pneumatic and vibration devices, and manage the process of filling and sucking liquids in the plate washer. In order to ensure the accuracy of the plate washing process, the X-axis and Z-axis stepper motors of the plate washer and their X-axis and Z-axis zero-position travel switches are also connected to the computer device to ensure the accuracy of the position control and travel feedback of each axis during the plate washing process.

[0063] The computer program runs on the computer device and is responsible for the scheduling and management of the overall operation process; the program receives experimental instructions through the user interaction interface and passes these instructions to the corresponding programmable pipetting system programming module and operation module to ensure that each module is executed according to the preset logical sequence and parameters. The computer program first communicates with the programmable pipetting system programming module to set the various parameters required for the experiment, including temperature control, vibration control and plate washing operations, and sends instructions through the computer device to enable the programming module to automatically adjust the liquid level, the time delay between aspiration and unloading, and other key parameters according to the experimental requirements. Through close cooperation, the accuracy of the parameter setting and operation programming in the early stage of the experiment is ensured. The computer program controls the operation of the programmable pipetting system operation module in real time through the computer device to ensure the accurate execution of each experimental step. The program directs the operation module to execute the preset pipetting operation, reagent mixing, sample transfer and plate washing steps, and monitors and calibrates each step in real time through the integrated camera system;

[0064] Under the overall control of the computer device, the collaboration between the computer program, programming module and operation module enables the entire pipetting system to achieve comprehensive automated operation.

[0065] The technical features of the above embodiments may be arbitrarily combined. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0066] The principles and implementation methods of the present invention are described in this article using specific examples. The description of the above embodiments is only used to help understand the method and core idea of ​​the present invention. At the same time, for those skilled in the art, according to the idea of ​​the present invention, there will be changes in the specific implementation methods and application scope. In summary, the content of this specification should not be understood as limiting the present invention.

Claims

1. A fully automatic liquid transfer system based on programmable logic, the system comprising a computer program, a programmable liquid transfer system programming module, a programmable liquid transfer system operation module and a computer device, characterized in that: The computer program is configured with a user interaction interface for receiving reagent information and operation instructions input by a user, providing reagent editing, sampling editing and sample addition editing, allowing the user to independently set the reagent name, sampling position and sample addition amount, and automatically saving the reagent and operation parameters to the project file; The computer program includes a program module, and the program module is divided into a functional end and a programmable end. The functional end includes common functions and basic functions, wherein the common functions are used for the use of general tools, and the basic functions include data calibration, coordinate data management, and operations related to running data; The programmable end is responsible for the input and operation of actual data, including temperature control, oscillation control and plate washing. The temperature control provides settings of 4°C, 37°C and room temperature. The oscillation control allows the user to input oscillation time parameters to control the oscillation operation during the reagent preparation process. The plate washing uses a mechanical arm to grab and wash a 96-well plate, and combines a dynamic camera to reduce coordinate data deviation. At the same time, the height parameters for liquid aspiration and liquid unloading are set. The program module is configured to automatically execute "changing the suction nozzle", "unloading the suction nozzle", "liquid collection test" and "liquid unloading test"; The programmable pipetting system programming module is responsible for automatically calculating the liquid level height and bottom height processing parameters according to the user-set parameters, and controlling the temperature and oscillation conditions in the actual environment, wherein the temperature can be set at 4°C, 37°C and room temperature, and the oscillation frequency and time are adjustable; The programmable liquid handling system operation module executes the instructions of the programming module to automatically complete the reagent addition, liquid oscillation and plate washing operations, and cooperates with the robotic arm to implement precise liquid handling actions, including automatic nozzle replacement and nozzle removal, and uses an integrated camera system to perform coordinate positioning and action calibration of the microplate; The computer device includes a computer, which serves as a central control unit of the system, connected to two STM32F407 industrial control boards via a USB serial port, connected to a dynamic camera and a static camera via a PCI interface, and connected to a display for displaying system status and an operation interface; STM32F407 industrial control board 1, used to control the movement of the 7-axis robot arm and the signals of the solenoid valve and zero-position travel switch; STM32F407 industrial control board 2, processes the feedback of the X-axis, Y-axis, Z1-axis, Z2-axis, Z3-axis, and Z4-axis pipetting stepper motors and axis zero position photoelectric signals; controls the temperature acquisition module, digital output module, X-axis and Z-axis stepper motors for plate washing and their switches, as well as synchronous dual solenoid valves, etc.; A dynamic camera and a static camera are connected to the computer via a PCI interface, wherein the static camera complements the dynamic camera, the dynamic camera is used to capture images and video data during the experiment, and the static camera is responsible for capturing static images of the experimental environment and equipment; A display, connected to the computer, for displaying the system status, operation interface and experimental parameters; The computer device is controlled by the computer program, and cooperates with the programmable pipetting system programming module and the programmable pipetting system operation module to achieve precise control and operation of the fully automatic pipetting system.

2. A fully automatic liquid transfer system based on programmable logic according to claim 1, characterized in that: The computer program is configured to automatically perform reagent editing operations, specifically including: after enabling the "reagent editing" button, receiving and saving the new reagent name input by the user in a pop-up interface, allowing the user to move the input reagent name from one interface area to another engineering data column, and providing an interface button to exit the reagent editing mode after completing all inputs.

3. A fully automatic liquid transfer system based on programmable logic according to claim 2, characterized in that: The computer program is further configured to: in the "sampling edit" interface, allow the user to select the location of the operating table and receive its corresponding specification data; The available well positions are displayed through a graphical interface, and the user can select a specific well position by clicking a square button, wherein the button changes color after being selected to distinguish between selected and unselected well positions. After selecting a specific well position, the relevant reagents and sample loading information of the well position are automatically filled in, and the sample loading volume and number of times entered by the user are received.

4. A fully automatic liquid transfer system based on programmable logic according to claim 3, characterized in that: The computer program is configured to perform the following operations after the loading editing is completed: Provide options for users to confirm all selected sample loading positions and complete the operation. Display all relevant data in the editing process at the bottom of the main interface, allowing users to make the final confirmation, automatically save all settings and exit the sample loading editing interface.

5. A fully automatic liquid transfer system based on programmable logic according to claim 1, characterized in that: The programmable pipetting system programming module is configured to: provide an interactive user interface for displaying and editing the coordinate values ​​of the microplate, including automatically aligning the center cross of the camera with the center of the selected well position, and automatically saving the adjusted coordinate values, as well as user setting and testing of environmental parameters that are consistent with implementation requirements, including temperature and oscillation, displaying real-time graphics in the user interface, and running current and historical program files.

6. A fully automatic liquid transfer system based on programmable logic according to claim 5, characterized in that: The programmable pipetting system programming module is further configured as follows: a virtual square button is provided in the user interface to represent the well position on the microplate, and the user selects a specific loading position by clicking the button, and the relevant reagent name and loading parameters of the selected loading position are automatically filled in, including the liquid level and the bottom height, and the parameters are automatically adjusted according to actual operation requirements. After completing the loading operation setting, a "Save" button is provided to store all programming data in XML file format.

7. A fully automatic liquid transfer system based on programmable logic according to claim 1, characterized in that: The programmable pipetting system operation module is configured to convert the actual data entered by the user through the programming module into a machine-executable engineering data file, and is responsible for storing the data as an engineering metadata file, executing the "run" command initiated by the user, by converting the engineering metadata file into a real-time engineering data file, and temporarily saving these files for execution, using the MOUNT function to handle specific operations in the implementation process, including the automation functions of changing the nozzle, taking liquid, camera recognition, throwing liquid, unloading liquid and unloading the nozzle.

8. A fully automatic liquid transfer system based on programmable logic according to claim 1, characterized in that: The programmable pipetting system operation module is further configured as follows: when performing a nozzle replacement operation, the nozzle is first moved above the camera for error detection, and based on the camera verification result, a decision is made as to whether to move the result of the liquid collection action to above the sample loading microplate to unload the liquid reagent or to move it to a designated area for disposal. After completion, the nozzle position is automatically reset, returning to the initial state, and the operation data is saved.

9. A fully automatic liquid transfer system based on programmable logic according to claim 1, characterized in that: The computer device further comprises: The USB serial communication interface is used for data communication and command synchronization between STM32F407 industrial control board 1 and STM32F407 industrial control board 2, and for real-time data exchange and reliable transmission of control signals.

10. A fully automatic liquid transfer system based on programmable logic according to claim 1, characterized in that: The computer device further comprises: K-type thermocouple temperature acquisition module, used for temperature signal acquisition and control; Digital output modules are used for solenoid valve control of pneumatics, vibration devices, and plate washer filling and suction liquid control relays and solenoid valves; X-axis and Z-axis stepper motors and X-axis and Z-axis zero-position travel switches are used for plate washing.

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