Liquid relief table top layout calibration method

Abstract

The invention provides a pipetting table top layout calibration method, and relates to the technical field of pipetting. After the machine position original point position calibration deviation of each operation machine position on the target pipetting table top of the target pipetting platform is obtained, aiming at each operation machine position on the target pipetting table top, according to the machine position original point position calibration deviation of the operation machine position and the machine position theoretical offset, the machine position deviation of the operation machine position is calibrated; on the basis of a table top layout configuration file matched with the target pipetting table top, calculating respective actual deployment positions of a target consumable bearing device and a target experimental consumable which need to be deployed on the operation machine position, so that on the basis of a one-time manual calibration result of the table top machine position, in combination with table top layout content which is customized and configured by a user, the table top layout configuration file is matched with the target pipetting table top; a rapid and accurate automatic calibration effect is realized aiming at the actual deployment positions of the experimental consumables and the consumable bearing equipment through a data calculation mode, so that the manpower input in a pipetting table layout calibration link is reduced while a table layout self-defining function is realized.

Description

Technical Field

[0001] The present application relates to the field of liquid transfer technology, and in particular to a method for calibrating the layout of a liquid transfer table. Background Art

[0002] With the continuous development of science and technology, pipetting systems, as a commonly used precision liquid sampling instrument, are widely used in hospitals, health and epidemic prevention stations, blood transfusion stations, biochemical laboratories, environmental laboratories, food analysis laboratories and other scenarios because of their ability to quickly and accurately perform quantitative sampling or adding operations on small amounts of liquid samples and test solutions. With the rapid development of biotechnologies such as biopharmaceuticals, genetic engineering and molecular diagnosis, the industry is paying more and more attention to the pipetting accuracy of pipetting systems.

[0003] At present, in actual use, the pipetting system usually needs to place consumables carrying equipment (for example, a consumables rack, or a combination of a consumables rack and an adapter), experimental consumables (including pipette tip consumables and / or container consumables) and other equipment on the pipetting table provided by the pipetting platform. Then, the pipette component located above the operating table interacts with the consumables on the pipetting table by moving the components, thereby realizing various functions of the pipetting system.

[0004] During this process, it is worth noting that most existing pipetting systems are customized, and the specific layout of the pipetting table related to consumable carriers and experimental consumables is relatively fixed, which cannot effectively adapt to changing medical needs and the replacement of carriers or consumables with different layouts. In the corresponding pipetting system, each time the experimental consumables and / or consumable carriers are replaced, it is necessary to manually pull the robotic arm in the pipette assembly to move toward the replaced experimental consumables and / or consumable carriers, and use the human eye to visually observe whether the end of the robotic arm moves to the actual deployment position of the replaced experimental consumables and / or consumable carriers, so as to realize the calibration of the actual layout of the replaced experimental consumables and / or consumable carriers on the pipetting table. The entire manual calibration operation requires the operator to spend a lot of time and energy, and there are problems such as excessive manual calibration workload, cumbersome manual calibration operation and poor manual calibration accuracy. Summary of the invention

[0005] In view of this, the purpose of the present application is to provide a pipetting table layout calibration method, a pipetting platform management device and a readable storage medium, which can be based on the one-time manual calibration results of the table machine position when the pipetting platform is assembled, combined with the adaptation deployment conditions between multiple table machine positions, various experimental consumables and various consumable carriers configured by the user, and through data calculation, a fast and accurate automatic calibration effect can be achieved for the actual deployment positions of the experimental consumables and consumable carriers, thereby reducing the manpower investment in the pipetting table layout calibration link on the basis of realizing the table layout customization function, and improving the table layout calibration accuracy and table layout calibration efficiency.

[0006] In order to achieve the above purpose, the technical solution adopted in the embodiment of the present application is as follows:

[0007] In a first aspect, the present application provides a method for calibrating a pipetting table layout, the calibration method comprising:

[0008] Obtaining the machine position origin calibration deviation of each operating machine position on the target pipetting table of the target pipetting platform, and a table layout configuration file matching the target pipetting table; wherein the table layout configuration file is used to describe the adaptation deployment status between various experimental consumables and various consumables carrying equipment that need to be deployed on the target pipetting table and each operating machine position;

[0009] For each operating station on the target pipetting table, according to the calibration deviation of the operating station's machine origin position and the theoretical machine position offset, the actual deployment positions of the target consumables carriers and target experimental consumables that need to be deployed on the operating station are calculated based on the table layout configuration file; wherein the theoretical machine position offset is used to represent the theoretical relative position relationship between the machine origin position of the corresponding operating station and the table origin position of the target pipetting table.

[0010] In an optional embodiment, for any operating position, when the target consumables carrier adapted to the operating position belongs to a consumables carrier, the table layout configuration file records the station consumables correspondence between each carrier station of the target consumables carrier and the corresponding target experimental consumables; at this time, the step of calculating the actual deployment positions of the target consumables carrier and the target experimental consumables to be deployed on the operating position based on the table layout configuration file according to the position origin position calibration deviation and the position position theoretical offset of the operating position, includes:

[0011] The theoretical offset of the carrier position of the target consumable carrier is searched in the carrier database, and the actual deployment position of the target consumable carrier is calculated according to the theoretical offset of the carrier position, the calibration deviation of the machine position origin of the operating machine position and the theoretical offset of the machine position; wherein the theoretical offset of the carrier position is used to represent the theoretical relative position relationship between the carrier origin position of the corresponding consumable carrier and the machine position origin position of the adapted operating machine position, and the actual deployment position of the target consumable carrier is used to represent the actual carrier origin position of the target consumable carrier;

[0012] For each of the target experimental consumables, according to the corresponding relationship between the workstation consumables corresponding to the target experimental consumables, the first workstation position theoretical offset of the first carrier workstation is searched in the carrier database; wherein the first carrier workstation is the carrier workstation of the target consumables carrier corresponding to the target experimental consumables, and the first workstation position theoretical offset is used to represent the theoretical relative position relationship between the workstation reference point position corresponding to the first carrier workstation and the carrier origin position of the target consumables carrier;

[0013] The actual deployment position of the target experimental consumables is calculated based on the theoretical offset of the first workstation position and the actual deployment position of the target consumables carrier; wherein the actual deployment position of the target experimental consumables is used to represent the actual consumables origin position of the target experimental consumables.

[0014] In an optional embodiment, the step of calculating the actual deployment position of the target experimental consumables according to the first workstation position theoretical offset and the actual deployment position of the target consumables carrying equipment includes:

[0015] Obtaining the first position coordinates of the actual deployment position of the target consumables carrying device in the table coordinate system of the target pipetting table;

[0016] The first position coordinates are offset according to the first workstation position theoretical offset to obtain the actual position coordinates of the actual deployment position of the target experimental consumables in the table coordinate system.

[0017] In an optional embodiment, for any operating station, when the target consumables carrying equipment adapted to the operating station includes a target consumables carrier and a target adapter, the table layout configuration file records the station adapter correspondence between each carrier station of the target consumables carrier and the target adapter, and the station consumables correspondence between each adapter station of the target adapter and the corresponding target experimental consumables. At this time, the step of calculating the actual deployment positions of the target consumables carrying equipment and the target experimental consumables to be deployed on the operating station based on the table layout configuration file according to the position origin position calibration deviation and the position position theoretical offset of the operating station includes:

[0018] The theoretical offset of the carrier position of the target consumable carrier is searched in the carrier equipment database, and the actual deployment position of the target consumable carrier is calculated according to the theoretical offset of the carrier position, the calibration deviation of the machine position origin of the operating machine position and the theoretical offset of the machine position; wherein the theoretical offset of the carrier position is used to represent the theoretical relative position relationship between the carrier origin position of the corresponding consumable carrier and the machine position origin position of the adapted operating machine position, and the actual deployment position of the target consumable carrier is used to represent the actual carrier origin position of the target consumable carrier;

[0019] For each of the target adapters, according to the corresponding relationship between the station adapters and the target adapters, the second station position theoretical offset of the second carrier station is searched in the carrier database; wherein the second carrier station is the carrier station of the target consumable carrier corresponding to the target adapter, and the second station position theoretical offset is used to indicate the theoretical relative position relationship between the station reference point position corresponding to the second carrier station and the carrier origin position of the target consumable carrier;

[0020] Calculate the actual deployment position of the target adapter according to the theoretical offset of the second station position and the actual deployment position of the target consumable carrier; wherein the actual deployment position of the target adapter is used to represent the actual adapter origin position of the target adapter;

[0021] For each of the target experimental consumables, according to the corresponding relationship between the workstation consumables corresponding to the target experimental consumables, the adapter station position theoretical offset of the expected adapter station is searched in the carrier database; wherein the expected adapter station is the adapter station of the target adapter corresponding to the target experimental consumables, and the adapter station position theoretical offset is used to represent the theoretical relative position relationship between the station reference point position of the corresponding adapter station and the adapter origin position of the target adapter;

[0022] The actual deployment position of the target experimental consumables is calculated based on the theoretical offset of the adapter station position and the actual deployment position of the target adapter; wherein the actual deployment position of the target experimental consumables is used to represent the actual consumable origin position of the target experimental consumables.

[0023] In an optional embodiment, the step of calculating the actual deployment position of the target adapter according to the second station position theoretical offset and the actual deployment position of the target consumable carrier includes:

[0024] Acquire the second position coordinates of the actual deployment position of the target consumables carrier in the table coordinate system of the target pipetting table;

[0025] The second position coordinates are offset according to the second workstation position theoretical offset to obtain the actual position coordinates of the actual deployment position of the target adapter in the table coordinate system.

[0026] In an optional embodiment, the step of calculating the actual deployment position of the target experimental consumable according to the theoretical offset of the adapter station position and the actual deployment position of the target adapter includes:

[0027] Acquire the third position coordinates of the actual deployment position of the target adapter in the table coordinate system of the target pipetting table;

[0028] The third position coordinate is offset according to the theoretical offset of the adapter station position to obtain the actual position coordinate of the actual deployment position of the target experimental consumables in the table coordinate system.

[0029] In an optional embodiment, for any consumable carrier, according to the theoretical offset of the carrier position corresponding to the consumable carrier, and the machine position origin position calibration deviation and the theoretical offset of the machine position of the operating machine position adapted to the consumable carrier, the step of calculating the actual deployment position of the consumable carrier includes:

[0030] Determine the theoretical position coordinates of the origin of the operating position of the operating position in the table coordinate system of the target pipetting table according to the theoretical position offset of the operating position of the operating position;

[0031] Performing coordinate shifting on the theoretical position coordinates of the machine origin according to the machine origin position calibration deviation of the operating machine position, so as to obtain the actual position coordinates of the machine origin of the operating machine position in the table coordinate system;

[0032] The actual position coordinates of the machine origin are offset according to the theoretical offset of the carrier position corresponding to the consumable carrier, so as to obtain the actual position coordinates of the actual deployment position of the consumable carrier in the table coordinate system.

[0033] In an optional embodiment, the calibration method further includes:

[0034] When the target pipetting platform is assembled, for each operating position in the target pipetting platform, a reference carrier is deployed in the operating position, and a mark detection device is driven to detect the carrier origin mark of the reference carrier to obtain the actual carrier origin position of the reference carrier in the operating position;

[0035] Calculating the theoretical carriage origin position of the reference carriage in the operating position according to the theoretical carriage position offset of the operating position and the theoretical carriage position offset of the reference carriage;

[0036] The position deviation between the actual carrier origin position and the theoretical carrier origin position of the reference carrier in the operating position is calculated, and the calculated position deviation is used as the machine position origin position calibration deviation of the operating position, wherein the machine position origin position calibration deviation is used to represent the position deviation between the actual machine position origin position and the theoretical machine position origin position of the corresponding operating position on the target pipetting table.

[0037] In a second aspect, the present application provides a pipetting platform management device, comprising a processor and a memory, wherein the memory stores a computer program executable by the processor, and the processor can execute the computer program to implement the pipetting table layout calibration method described in any one of the aforementioned embodiments.

[0038] In a third aspect, the present application provides a readable storage medium having a computer program stored thereon, and when the computer program is executed by a pipetting platform management device, the pipetting table layout calibration method described in any one of the aforementioned embodiments is implemented.

[0039] In this case, the beneficial effects of the embodiments of the present application may include the following:

[0040] After obtaining the machine position origin calibration deviation of each operating machine position on the target pipetting table of the target pipetting platform, the present application calculates the actual deployment positions of the target consumables carriers and target experimental consumables that need to be deployed on each operating machine position on the target pipetting table according to the machine position origin calibration deviation and the machine position theoretical offset of the operating machine position, based on the table layout configuration file matching the target pipetting table. This is so that, based on the one-time manual calibration result of the table machine position when the pipetting platform is assembled, combined with the adaptation deployment status of multiple table machine positions, various experimental consumables and various consumables carriers configured by the user, a fast and accurate automatic calibration effect is achieved for the actual deployment positions of the experimental consumables and consumables carriers through data calculation. This reduces the manpower input in the pipetting table layout calibration link and improves the table layout calibration accuracy and efficiency on the basis of realizing the table layout customization function.

[0041] In order to make the above-mentioned objects, features and advantages of the present application more obvious and easy to understand, preferred embodiments are specifically cited below and described in detail with reference to the attached drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

[0043] Figure 1 A schematic diagram of the composition of the pipetting platform management device provided in an embodiment of the present application;

[0044] Figure 2 One of the flow diagrams of the pipetting table layout calibration method provided in the embodiment of the present application;

[0045] Figure 3 for Figure 2 One of the flowchart diagrams of the sub-steps included in step S220;

[0046] Figure 4 for Figure 2 The second flowchart of the sub-steps included in step S220;

[0047] Figure 5 The second flowchart of the method for calibrating the layout of the pipetting table provided in the embodiment of the present application.

[0048] Icons: 10 - pipetting platform management device; 11 - memory; 12 - processor; 13 - communication unit. DETAILED DESCRIPTION

[0049] In order to make the purpose, technical solution and advantages of the embodiments of the present application clearer, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, rather than all the embodiments. The components of the embodiments of the present application described and shown in the drawings here can be arranged and designed in various different configurations.

[0050] Therefore, the following detailed description of the embodiments of the present application provided in the accompanying drawings is not intended to limit the scope of the present application for which protection is sought, but merely represents selected embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in the field without creative work are within the scope of protection of the present application.

[0051] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, further definition and explanation thereof is not required in subsequent drawings.

[0052] In the description of the present application, it should be understood that the terms "center", "up", "down", "left", "right", "vertical", "horizontal", "inside", "outside", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, or are the orientations or positional relationships in which the product of the application is conventionally placed when in use, or are the orientations or positional relationships conventionally understood by those skilled in the art. They are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0053] In the description of this application, it should also be noted that, unless otherwise clearly specified and limited, the terms "set", "install", "connect", and "connect" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two elements. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0054] In addition, in the description of the present application, it can also be understood that the relational terms such as the term "first" and "second" are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply that there is any such actual relationship or order between these entities or operations. Moreover, the term "include", "comprise" or any other variant thereof is intended to cover non-exclusive inclusion, so that the process, method, article or equipment including a series of elements includes not only those elements, but also includes other elements that are not clearly listed, or also includes elements inherent to such process, method, article or equipment. In the absence of more restrictions, the elements defined by the sentence "comprise one..." do not exclude the existence of other identical elements in the process, method, article or equipment including the elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present application can be understood by specific circumstances.

[0055] In conjunction with the accompanying drawings, some embodiments of the present application are described in detail below. In the absence of conflict, the following embodiments and features in the embodiments can be combined with each other.

[0056] Please refer to Figure 1 , Figure 1 yes Figure 1A schematic diagram of the composition of the pipetting platform management device 10 provided in the embodiment of the present application. In the embodiment of the present application, the pipetting platform management device 10 can be connected to the pipetting system for communication, and manage the actual deployment status of various types of equipment related to the pipetting operation (for example, consumables racks, adapters, experimental consumables, etc.) that need to be placed on the pipetting table of any pipetting platform in the pipetting system, to ensure that various types of equipment can be reasonably and stably placed on the corresponding pipetting table, and can be based on the one-time manual calibration results of the table position when the corresponding pipetting platform is assembled, combined with multiple table positions, various experimental consumables and various consumables carrying equipment configured by the user. The adaptation deployment status of the experimental consumables and consumable carrying equipment (for example, consumable carriers, or equipment combinations of consumable carriers and adapters) is calculated by data to achieve fast and accurate automatic calibration effects, thereby ensuring that users can customize the table layout for any pipetting platform in the pipetting system, improving the table layout flexibility and table adaptation capability of the pipetting system, while effectively reducing the manpower input in the pipetting table layout calibration link, reducing the interference of manual operations on the table layout calibration results, and improving the table layout calibration accuracy and table layout calibration efficiency. Among them, the pipetting system may include multiple pipetting chambers, each pipetting chamber may be equipped with a pipetting platform separately, and a plurality of spaced operating positions may be set on the pipetting table of each pipetting platform, and suitable consumables carriers may be placed through each operating position so that the required experimental consumables can be accommodated correspondingly through the placed consumables carriers; the pipetting platform management device 10 may be a computer device independent of the pipetting system, and the computer device may be, but not limited to, a smart phone, a tablet computer, a laptop computer, a server, a personal computer, etc.; the pipetting platform management device 10 may also be integrated with the pipetting system.

[0057] In the embodiment of the present application, the pipetting platform management device 10 may include a memory 11, a processor 12 and a communication unit 13. The memory 11, the processor 12 and the communication unit 13 are electrically connected to each other directly or indirectly to achieve data transmission or interaction. For example, the memory 11, the processor 12 and the communication unit 13 may be electrically connected to each other through one or more communication buses or signal lines.

[0058] In this embodiment, the memory 11 may be, but not limited to, a random access memory (RAM), a read only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable read-only memory (EEPROM), etc. The memory 11 is used to store a computer program, and the processor 12 may execute the computer program accordingly after receiving an execution instruction.

[0059] In this embodiment, the processor 12 may be an integrated circuit chip with signal processing capability. The processor 12 may be a general-purpose processor, including a central processing unit (CPU), a graphics processing unit (GPU), a network processor (NP), a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field programmable gate array (FPGA), or at least one of other programmable logic devices, discrete gate or transistor logic devices, and discrete hardware components. A general-purpose processor may be a microprocessor or the processor may be any conventional processor, etc., which may implement or execute the disclosed methods, steps, and logic block diagrams in the embodiments of the present application.

[0060] In this embodiment, the communication unit 13 is used to establish a communication connection between the pipetting platform management device 10 and other electronic devices through a network, and to send and receive data through the network, wherein the network includes a wired communication network and a wireless communication network. For example, the pipetting platform management device 10 can obtain a table layout configuration file customized by a user for any pipetting platform in the pipetting system through the communication unit 13. Among them, the table layout configuration file is used to describe the adaptation and deployment status between various experimental consumables and various consumable carriers that need to be deployed on the pipetting table of the corresponding pipetting platform and each operating position. The table layout configuration file can record the corresponding position-carrier correspondence between each operating position on the corresponding pipetting table and various consumable carriers, the corresponding position-consumer correspondence between each carrier station of each consumable carrier and various experimental consumables, the corresponding position-adapter correspondence between each carrier station of each consumable carrier and various adapters, and the corresponding position-consumer correspondence between each adapter station of each adapter and various experimental consumables, so that the table layout configuration file can be fully The surface reflects the expected layout of various equipment related to the pipetting operation on the corresponding pipetting table; wherein, the types of consumable carriers adapted to the various operating positions on the same pipetting table can be partially the same, completely different, or completely the same; the total number of carrier stations of different types of consumable carriers can be the same or different, and the types of experimental consumables or adapters adapted to the various carrier stations on the same consumable carrier can be at least partially the same, or completely different; the total number of adapter stations of different types of adapters can be different, and the types of experimental consumables adapted to the various adapter stations on the same adapter can be at least partially the same, or completely different. The table layout configuration file can be adjusted by the user according to actual needs (for example, the above-mentioned machine position-carrier correspondence and / or the above-mentioned station-adapter correspondence is adjusted) to realize the table layout customization function.

[0061] In an embodiment of the present application, the pipetting platform management device 10 may pre-store a specific computer program related to the pipetting table layout calibration function in the memory 11, and by driving the processor 12 to execute the specific computer program stored in the memory 11, based on the one-time manual calibration result of the table machine position (i.e., the operating position) when the pipetting platform is assembled, combined with the user-defined configuration of multiple table machine positions (operating positions), various experimental consumables and various consumables carrying equipment, the adaptation deployment status between the actual deployment positions of the experimental consumables and consumables carrying equipment is combined, and a fast and accurate automatic calibration effect is achieved for the actual deployment positions of the experimental consumables and consumables carrying equipment through data calculation. Therefore, on the basis of realizing the table layout customization function, the manpower input in the pipetting table layout calibration link is reduced, and the table layout calibration accuracy and table layout calibration efficiency are improved.

[0062] Understandably, Figure 1 The block diagram shown is only a schematic diagram of a composition of the pipetting platform management device 10. The pipetting platform management device 10 may also include Figure 1 More or fewer components as shown, or with Figure 1 Different configurations are shown. Figure 1 Each component shown in the figure can be implemented by hardware, software or a combination thereof.

[0063] In the present application, in order to ensure that the pipetting platform management device 10 can achieve the automatic calibration effect of the deployment position of the pipetting related equipment based on the one-time manual calibration result of the pipetting table position and the table layout configuration file customized by the user, the embodiment of the present application provides a pipetting table layout calibration method to achieve the above purpose. The pipetting table layout calibration method provided by the present application is described in detail below.

[0064] Please refer to Figure 2 , Figure 2 It is one of the flow diagrams of the method for calibrating the layout of the liquid transfer table provided in the embodiment of the present application. In the embodiment of the present application, Figure 2 The pipetting table layout calibration method shown may include steps S210 to S220.

[0065] Step S210, obtaining the machine position origin calibration deviation of each operating machine position on the target pipetting table of the target pipetting platform, and a table layout configuration file matching the target pipetting table.

[0066] In this embodiment, the target pipetting platform is any pipetting platform in the pipetting system; a table origin can be set on the pipetting table of each pipetting platform, so as to describe the actual positions of different parts on the corresponding pipetting table by using the table origin as a reference, and each operating position on a single pipetting table will also be set with a corresponding machine position origin, so as to characterize the actual reference position of the corresponding operating position on the pipetting table through the machine position origin, wherein each operating position can be implemented by any one of the structures such as a channel structure and a groove structure.

[0067] Among them, the actual relative position relationship between the actual machine position origin position of each operating machine position and the table origin position of the corresponding pipetting table is fixed when the corresponding pipetting platform is assembled, and the theoretical relative position relationship between the theoretical machine position origin position of each operating machine position and the table origin position of the corresponding pipetting table is determined when the corresponding pipetting platform is designed and formed; and during the assembly of the pipetting platform, platform assembly errors often occur, resulting in a position deviation between the actual machine position origin position and the theoretical machine position origin position of each operating machine position on the pipetting table, and this position deviation needs to be manually calibrated once when the target pipetting platform is assembled.

[0068] Therefore, the position origin calibration deviation of each operating position in the target pipetting platform is the one-time manual calibration result of the target pipetting platform for the table position (including each operating position) when the assembly is completed. The position origin calibration deviation of a single operating position is used to indicate the position deviation between the actual position origin position and the theoretical position origin position of the corresponding operating position on the target pipetting table. In one implementation of this embodiment, a table coordinate system can be created at the table origin position of the target pipetting table, and the position origin calibration deviation of each operating position can be described in the form of a vector under the table coordinate system to facilitate the subsequent automatic calibration calculation operation for the deployment position of pipetting-related equipment.

[0069] In this embodiment, the table layout configuration file matching the target pipetting table can be obtained by the pipetting platform management device 10 from a computer device held by the user through the network. The table layout configuration file is used to describe the adaptation and deployment status between various experimental consumables and various consumable carriers that need to be deployed on the target pipetting table customized by the user and each operating position. The table layout configuration file records the machine position-carrier correspondence between each operating position on the target pipetting table and various consumable carriers, the station-consumer correspondence between each carrier position of each consumable carrier and various experimental consumables, the station-adapter correspondence between each carrier position of each consumable carrier and various adapters, the station-consumer correspondence between each adapter position of each adapter and various experimental consumables, and other information.

[0070] Step S220, for each operating station on the target pipetting table, according to the position origin calibration deviation and the theoretical position offset of the operating station, based on the table layout configuration file, calculate the actual deployment positions of the target consumables carriers and target experimental consumables that need to be deployed on the operating station.

[0071] In this embodiment, the theoretical position offset of a single operating position is used to represent the theoretical relative position relationship between the position origin of the corresponding operating position and the table origin of the target pipetting table, which can be represented in the form of a vector in the table coordinate system.

[0072] For each operating station on the target pipetting table, the table layout configuration file can be parsed to determine the specific equipment composition of the target consumables carrier that needs to be deployed on the operating station (for example, a consumables carrier, or an equipment combination of a consumables carrier and an adapter), the consumable types of the target experimental consumables that the corresponding target consumables carrier needs to carry, and the installation positions of the target experimental consumables on the corresponding target consumables carrier (for example, the carrier position or the adapter position), and then the theoretical equipment position offset of the corresponding target consumables carrier is obtained by accessing the carrier database, and then based on The machine origin position calibration deviation and the machine position theoretical offset of the operating machine position of the operating machine position are combined with the equipment position theoretical offset and the relevant information matching the operating machine position parsed from the table layout configuration file, and the actual deployment positions of the target consumables carrying equipment and the target experimental consumables that need to be deployed on the operating machine position are calculated by means of position offset, thereby achieving the automatic calibration effect of the deployment position of the pipetting related equipment, completing the automatic calibration operation of the table layout of the target pipetting table, effectively reducing the manpower input in the pipetting table layout calibration link, and improving the table layout calibration accuracy and table layout calibration efficiency.

[0073] During this process, the equipment carrier database records the theoretical equipment position offsets of various consumable carriers (including various consumable carriers and various adapters). The equipment carrier database can be deployed on the pipetting platform management device 10, or on a network server that is communicatively connected to the pipetting platform management device 10. The theoretical equipment position offset of a single consumable carrier is used to represent the theoretical relative position relationship between the specific part position on the corresponding consumable carrier and the reference object position.

[0074] Among them, when a certain consumable carrier is a certain consumable carrier, since each consumable carrier is provided with a carrier origin mark (for example, a cross mark), the actual reference position of the corresponding consumable carrier is represented by the carrier origin mark, and each carrier station on each consumable carrier is also individually provided with a carrier station reference point, so that the actual setting position of the corresponding carrier station on the consumable carrier is represented by the carrier station reference point. Therefore, the theoretical equipment position offset of a single consumable carrier may include the theoretical carrier position offset of the corresponding consumable carrier and the theoretical station position offset of each carrier station on the corresponding consumable carrier, wherein the theoretical carrier position offset is used to represent the corresponding The theoretical relative position relationship between the carrier origin position of the consumable carrier and the machine origin position of the matching operating machine position, and the theoretical position offset of a single carrier station are used to represent the theoretical relative position relationship between the station reference point position of the corresponding carrier station and the carrier origin position of the consumable carrier where it is located; wherein, the theoretical carrier position offset corresponding to any consumable carrier and the theoretical offsets of all station positions are determined when the corresponding consumable carrier is designed and formed, and belong to the fixed physical parameter content of the corresponding consumable carrier; the theoretical carrier position offset corresponding to any consumable carrier and the theoretical offsets of all station positions can be expressed in the form of vectors in the table coordinate system.

[0075] When a consumable material carrier is a certain adapter, an adapter origin mark will be set on each adapter to represent the actual reference position of the corresponding adapter through the adapter origin mark. At the same time, each adapter station on each adapter will also be individually provided with an adapter station reference point to represent the actual setting position of the corresponding adapter station on the adapter through the adapter station reference point. Therefore, the theoretical equipment position offset of a single adapter can include the theoretical station position offset of each adapter station on the corresponding adapter, wherein the theoretical station position offset of a single adapter station is used to represent the theoretical relative position relationship between the station reference point position of the corresponding adapter station and the adapter origin position of the adapter; all the theoretical station position offsets corresponding to any adapter are determined when the corresponding adapter is designed and formed, and belong to the fixed physical parameter content of the corresponding adapter; all the theoretical station position offsets corresponding to any adapter can be expressed in the form of vectors in the table coordinate system.

[0076] Optionally, see Figure 3 , Figure 3 yes Figure 2One of the flow charts of the sub-steps included in step S220 in . In an embodiment of the present application, when the target consumables carrying equipment adapted to a certain operating position on the target pipetting table belongs to a consumables carrier, the table layout configuration file records the station consumables correspondence between each carrier position of the target consumables carrying equipment and the target experimental consumables that need to be deployed. At this time, step S220 may include sub-steps S221 to S223 to automatically calculate the actual deployment positions of the consumables carriers and experimental consumables that are adapted to the operating position and need to be deployed, and realize automatic calibration of the deployment positions of the consumables carriers and experimental consumables, without the need for manual participation in the calibration operation, thereby effectively improving the table layout calibration accuracy and table layout calibration efficiency.

[0077] Sub-step S221, searching the theoretical offset of the carrier position of the target consumable carrier in the carrier database, and calculating the actual deployment position of the target consumable carrier according to the theoretical offset of the carrier position, the calibration deviation of the machine position origin of the operating machine position and the theoretical offset of the machine position.

[0078] In this embodiment, the theoretical offset of the carrier position is used to represent the theoretical relative position relationship between the carrier origin position of the corresponding consumable carrier and the position origin position of the adapted operating position, and the actual deployment position of the target consumable carrier is used to represent the actual carrier origin position of the target consumable carrier. Since the theoretical offset of the carrier position of any consumable carrier and the calibration deviation and theoretical offset of the position origin of any operating position can be expressed in the form of vectors in the table coordinate system, the actual deployment position of the target consumable carrier can be calculated by performing vector addition operations in the table coordinate system.

[0079] Therefore, the step of "calculating the actual deployment position of the target consumables carrying equipment according to the theoretical offset of the carrier position of the target consumables carrying equipment and the calibration deviation of the machine position origin of the operating machine position and the theoretical offset of the machine position" in the sub-step S221 may include:

[0080] Determine the theoretical position coordinates of the origin of the operating position of the operating position in the table coordinate system of the target pipetting table according to the theoretical position offset of the operating position of the operating position;

[0081] Performing coordinate shifting on the theoretical position coordinates of the machine origin according to the machine origin position calibration deviation of the operating machine position, so as to obtain the actual position coordinates of the machine origin of the operating machine position in the table coordinate system;

[0082] The actual position coordinates of the machine origin are offset according to the theoretical offset of the carrier position corresponding to the target consumable material carrying equipment to obtain the actual position coordinates of the actual deployment position of the target consumable material carrying equipment in the table coordinate system.

[0083] Among them, the coordinate offset operation of the theoretical position coordinates of the machine position origin can be regarded as "performing a vector addition operation on the theoretical machine position offset of the operating machine position and the machine position origin position calibration deviation in the table coordinate system", and the coordinate offset operation of the actual position coordinates of the machine position origin can be regarded as "performing a vector addition operation on the theoretical machine position offset of the operating machine position, the machine position origin position calibration deviation of the operating machine position and the theoretical offset of the carrier position in the table coordinate system".

[0084] Sub-step S222, for each target experimental consumable, according to the corresponding relationship between the workstation consumables and the target experimental consumable, searching the first workstation position theoretical offset of the first carrier workstation in the carrier equipment database.

[0085] In this embodiment, the first carrier station is a carrier station corresponding to the target experimental consumables in the target consumables carrying equipment belonging to the consumables carrier, and the first station position theoretical offset is used to represent the theoretical relative position relationship between the station reference point position corresponding to the first carrier station and the carrier origin position of the target consumables carrying equipment.

[0086] Sub-step S223, calculating the actual deployment position of the target experimental consumables according to the theoretical offset of the first workstation position and the actual deployment position of the target consumables carrying equipment.

[0087] In this embodiment, the actual deployment position of the target experimental consumables is used to represent the actual consumable origin position of the target experimental consumables; any experimental consumables will have a consumable origin set at the bottom of the consumables to characterize the actual setting position of the corresponding experimental consumables on the consumable carrier through the consumable origin, and when deploying experimental consumables, it is necessary to ensure that the consumable origin of the experimental consumable coincides with the station reference point of the installation station (for example, the carrier station or the adapter station). Therefore, for any experimental consumable, calculating the actual station reference point position of the installation station of the experimental consumable is equivalent to calculating the actual consumable origin position of the experimental consumable. Among them, because all the theoretical offsets of the station positions corresponding to any consumable carrier can be expressed in the form of vectors in the table coordinate system, the actual deployment position of the target experimental consumables can be calculated by performing vector addition operations in the table coordinate system.

[0088] Therefore, the step of "calculating the actual deployment position of the target experimental consumables according to the theoretical offset of the first station position and the actual deployment position of the target consumables carrying equipment" in the sub-step S223 may include:

[0089] Obtaining the first position coordinates of the actual deployment position of the target consumables carrying device in the table coordinate system of the target pipetting table;

[0090] The first position coordinates are offset according to the first workstation position theoretical offset to obtain the actual position coordinates of the actual deployment position of the target experimental consumables in the table coordinate system.

[0091] The coordinate offset operation of the first position coordinates may be regarded as "performing a vector addition operation on the actual vector represented by the first position coordinates and the theoretical offset of the first workstation position in the table coordinate system".

[0092] Therefore, the present application can automatically calculate the actual deployment positions of the consumables racks and experimental consumables that are compatible with the operating position and need to be deployed by executing the above-mentioned sub-steps S221 to S223, thereby realizing automatic calibration of the deployment positions of the consumables racks and experimental consumables without the need for manual participation in the calibration operation, thereby effectively improving the accuracy and efficiency of the table layout calibration.

[0093] Optionally, see Figure 4 , Figure 4 yes Figure 2 The second flowchart of the sub-steps included in step S220 in the process. In the embodiment of the present application, when the target consumables carrier adapted to a certain operating position on the target pipetting table is composed of a target consumables carrier and at least one target adapter, the table layout configuration file records the station adapter correspondence between each carrier station of the target consumables carrier and the target adapter, as well as the station consumables correspondence between each adapter station of each target adapter and the target experimental consumables to be deployed. At this time, step S220 may include sub-steps S225 to S229 to automatically calculate the actual deployment positions of the consumables carriers, adapters and experimental consumables that are adapted to the operating position and need to be deployed, and realize automatic calibration of the deployment positions of the consumables carriers, adapters and experimental consumables without manual participation in the calibration operation, thereby effectively improving the table layout calibration accuracy and table layout calibration efficiency.

[0094] Sub-step S225, searching the theoretical offset of the target consumables carrier in the carrier database, and calculating the actual deployment position of the target consumables carrier according to the theoretical offset of the carrier position, the position origin calibration deviation of the operating position and the theoretical position offset.

[0095] In this embodiment, the theoretical offset of the carrier position is used to represent the theoretical relative position relationship between the carrier origin position of the corresponding consumable carrier and the position origin position of the adapted operating position, and the actual deployment position of the target consumable carrier is used to represent the actual carrier origin position of the target consumable carrier. Among them, since the theoretical offset of the carrier position of any consumable carrier and the position origin position calibration deviation and the theoretical offset of the position of any operating position can be expressed in the form of vectors in the table coordinate system, the actual deployment position of the target consumable carrier can be calculated by performing vector addition operations in the table coordinate system.

[0096] Therefore, the step of "calculating the actual deployment position of the target consumable carrier according to the theoretical offset of the carrier position of the target consumable carrier, the calibration deviation of the machine position origin of the operating machine position and the theoretical offset of the machine position" in the sub-step S225 may include:

[0097] Determine the theoretical position coordinates of the origin of the operating position of the operating position in the table coordinate system of the target pipetting table according to the theoretical position offset of the operating position of the operating position;

[0098] Performing coordinate shifting on the theoretical position coordinates of the machine origin according to the machine origin position calibration deviation of the operating machine position, so as to obtain the actual position coordinates of the machine origin of the operating machine position in the table coordinate system;

[0099] The actual position coordinates of the machine origin are offset according to the theoretical offset of the carrier position corresponding to the target consumable carrier, so as to obtain the actual position coordinates of the actual deployment position of the target consumable carrier in the table coordinate system.

[0100] Among them, the coordinate offset operation of the theoretical position coordinates of the machine position origin can be regarded as "performing a vector addition operation on the theoretical machine position offset of the operating machine position and the machine position origin position calibration deviation in the table coordinate system", and the coordinate offset operation of the actual position coordinates of the machine position origin can be regarded as "performing a vector addition operation on the theoretical machine position offset of the operating machine position, the machine position origin position calibration deviation of the operating machine position and the theoretical offset of the carrier position in the table coordinate system".

[0101] Sub-step S226, for each target adapter, according to the corresponding relationship between the station adapters and the target adapter, searching the second station position theoretical offset of the second carrier station in the carrier database.

[0102] In this embodiment, the second carrier station is the carrier station of the target consumable carrier corresponding to the target adapter, and the second station position theoretical offset is used to represent the theoretical relative position relationship between the station reference point position corresponding to the second carrier station and the carrier origin position of the target consumable carrier.

[0103] Sub-step S227, calculating the actual deployment position of the target adapter according to the theoretical offset of the second station position and the actual deployment position of the target consumable carrier.

[0104] In this embodiment, the actual deployment position of the target adapter is used to represent the actual adapter origin position of the target adapter; when installing the adapter on the consumable carrier, it is necessary to ensure that the adapter origin mark of the adapter coincides with the station reference point of a certain carrier station on the corresponding consumable carrier. Therefore, for any adapter, calculating the actual station reference point position of the carrier station required by the adapter is equivalent to calculating the actual adapter origin position of the adapter. Among them, since all the theoretical offsets of the station positions corresponding to any consumable carrier can be expressed in the form of vectors in the table coordinate system, the actual deployment position of the target adapter can be calculated by performing vector addition operations in the table coordinate system.

[0105] Therefore, the step of "calculating the actual deployment position of the target adapter according to the theoretical offset of the second station position and the actual deployment position of the target consumable carrier" in the sub-step S227 may include:

[0106] Acquire the second position coordinates of the actual deployment position of the target consumables carrier in the table coordinate system of the target pipetting table;

[0107] The second position coordinates are offset according to the second workstation position theoretical offset to obtain the actual position coordinates of the actual deployment position of the target adapter in the table coordinate system.

[0108] The coordinate offset operation of the second position coordinates may be regarded as "performing a vector addition operation on the actual vector represented by the second position coordinates and the theoretical offset of the second workstation position in the table coordinate system".

[0109] Sub-step S228, for each target experimental consumable, according to the corresponding relationship between the workstation consumables and the target experimental consumable, searching the theoretical offset of the adapter station position of the expected adapter station in the carrier database.

[0110] In this embodiment, the expected adapter station is the adapter station of the target adapter corresponding to the target experimental consumables, and the adapter station position theoretical offset is used to represent the theoretical relative position relationship between the station reference point position of the corresponding adapter station and the adapter origin position of the target adapter.

[0111] Sub-step S229, calculating the actual deployment position of the target experimental consumables according to the theoretical offset of the adapter station position and the actual deployment position of the target adapter.

[0112] In this embodiment, the actual deployment position of the target experimental consumables is used to represent the actual consumable origin position of the target experimental consumables; because all theoretical offsets of the workstation positions corresponding to any adapter can be expressed in the form of vectors in the table coordinate system, the actual deployment position of the target experimental consumables can be calculated by performing vector addition operations in the table coordinate system.

[0113] Therefore, the step of "calculating the actual deployment position of the target experimental consumables according to the theoretical offset of the adapter station position and the actual deployment position of the target adapter" in the sub-step S229 may include:

[0114] Acquire the third position coordinates of the actual deployment position of the target adapter in the table coordinate system of the target pipetting table;

[0115] The third position coordinate is offset according to the theoretical offset of the adapter station position to obtain the actual position coordinate of the actual deployment position of the target experimental consumables in the table coordinate system.

[0116] The coordinate offset operation of the third position coordinate may be regarded as "performing a vector addition operation on the actual vector represented by the third position coordinate and the theoretical offset of the adapter station position in the table coordinate system".

[0117] Therefore, the present application can automatically calculate the actual deployment positions of the consumable carriers, adapters and experimental consumables that are compatible with the operating position and need to be deployed by executing the above-mentioned sub-steps S225 to S229, and realize automatic calibration of the deployment positions of the consumable carriers, adapters and experimental consumables without the need for manual participation in the calibration operation, thereby effectively improving the accuracy and efficiency of the table layout calibration.

[0118] In addition, it can be understood that after the pipetting platform management device 10 calculates the actual deployment position of any target experimental consumable, it can obtain the consumable-related information of the target experimental consumable by accessing the consumable database (including the tube length of the corresponding experimental consumable, the theoretical relative position relationship between the tube mouth position of the corresponding experimental consumable and the consumable origin position, the theoretical relative position relationship between the tube bottom position of the corresponding experimental consumable and the consumable origin position, the tube body diameter of the corresponding experimental consumable, etc.), and then calculate the actual tube mouth position and actual tube bottom position of the target experimental consumable when deployed on the target pipetting table, and the actual liquid height of the target experimental consumable when holding liquid based on the actual deployment position of the target experimental consumable and the consumable-related information. Among them, the consumable database records the consumable-related information of each of the multiple experimental consumables, and the consumable database can be deployed on the pipetting platform management device 10, and can also be deployed on a network server that is communicatively connected to the pipetting platform management device 10.

[0119] On this basis, the present application can execute the above-mentioned steps S210 and S220, based on the one-time manual calibration results of the table machine position when the pipetting platform is assembled, combined with the adaptation deployment conditions between multiple table machine positions, various experimental consumables and various consumable carriers customized by the user, and achieve fast and accurate automatic calibration effects for the actual deployment positions of the experimental consumables and consumable carriers through data calculation, thereby ensuring that the user can realize the table layout customization function for any pipetting platform in the pipetting system, improving the table layout flexibility and table adaptability of the pipetting system, while effectively reducing the manpower input in the pipetting table layout calibration link, reducing the interference of manual operations on the table layout calibration results, and improving the table layout calibration accuracy and table layout calibration efficiency.

[0120] Optionally, see Figure 5 , Figure 5 This is the second flow chart of the method for calibrating the layout of the liquid transfer table provided in the embodiment of the present application. Figure 2 Compared to the pipetting station layout calibration method shown, Figure 5 The pipetting table layout calibration method shown may further include steps S230 to S250 to assist the user in performing a one-time manual calibration result for the table position when the target pipetting platform is assembled, thereby improving the calibration accuracy of the table position.

[0121] Step S230, when the target pipetting platform is assembled, for each operating position in the target pipetting platform, a reference carrier is deployed in the operating position, and a mark detection device is driven to detect the carrier origin mark of the reference carrier to obtain the actual carrier origin position of the reference carrier in the operating position.

[0122] In this embodiment, the reference carrier is a standard consumable carrier that is compatible with all operating positions in the target pipetting platform; when the reference carrier is deployed in any operating position, the user can visually observe and adjust the actual carrier origin position of the reference carrier in the corresponding operating position, so that the actual relative position relationship between the actual carrier origin position of the reference carrier and the actual position origin position of the operating position can be basically consistent with the theoretical carrier position offset of the reference carrier, and then the user manually drives the mark detection device located above the target pipetting table to perform carrier origin mark detection on the reference carrier, so as to obtain the actual carrier origin position of the reference carrier in the operating position.

[0123] The mark detection device may be implemented by a pipetting robot in the pipetting system equipped with a mark detector, and the mark detector may be, but is not limited to, a laser emitter, a conductive needle, etc. For example, when the mark detector is implemented by a laser emitter, the user can determine whether the carrier origin mark is detected by observing whether the laser emitted by the laser emitter hits the center of the carrier origin mark of the reference carrier, and use the laser point position aligned with the center of the carrier origin mark as the actual carrier origin position of the reference carrier in the corresponding operating position.

[0124] Step S240: Calculate the theoretical carriage origin position of the reference carriage in the operating position according to the theoretical carriage position offset of the operating position and the theoretical carriage position offset of the reference carriage.

[0125] Among them, the theoretical carrier origin position of the reference carrier in the operating position can be obtained by performing vector addition operation on the carrier position theoretical offset of the reference carrier and the position theoretical offset of the corresponding operating position in the table coordinate system. In one implementation of this embodiment, in order to further reduce the manual participation of the user in the table position calibration process, the pipetting platform management device 10 can first drive the mark detection device to move above the theoretical carrier origin position of the reference carrier in the corresponding operating position, and then the user manually drives the mark detection device to perform carrier origin mark detection on the reference carrier.

[0126] Step S250, calculating the position deviation between the actual carrier origin position and the theoretical carrier origin position of the reference carrier in the operating position, and using the calculated position deviation as the position origin position calibration deviation of the operating position.

[0127] In this embodiment, a vector subtraction operation can be performed on the actual carrier origin position and the theoretical carrier origin position of the reference carrier in a certain operating position in the table coordinate system to obtain the position origin position calibration deviation of the operating position. The position origin position calibration deviation is used to represent the position deviation between the actual position origin position and the theoretical position origin position of the corresponding operating position on the target pipetting table.

[0128] Therefore, the present application can assist the user to perform a one-time manual calibration result for the table machine position by executing the above steps S230 to S250 when the target pipetting platform is assembled, thereby improving the calibration accuracy of the table machine position.

[0129] In the embodiments provided in the present application, it should be understood that the disclosed devices and methods can also be implemented in other ways. The device embodiments described above are merely schematic, for example, the flowcharts and block diagrams in the accompanying drawings show the possible architecture, functions and operations of the devices, methods and computer program products according to the embodiments of the present application. In this regard, each box in the flowchart or block diagram can represent a module, a program segment or a part of a code, and a module, a program segment or a part of a code contains one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in a different order from the order marked in the accompanying drawings. For example, two consecutive boxes can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram and / or the flowchart, and the combination of boxes in the block diagram and / or the flowchart can be implemented with a dedicated hardware-based system that performs a specified function or action, or can be implemented with a combination of dedicated hardware and computer instructions.

[0130] In addition, each functional module in each embodiment of the present application can be integrated together to form an independent part, or each module can exist separately, or two or more modules can be integrated to form an independent part. If the various functions provided by the present application are implemented in the form of software functional modules and sold or used as independent products, they can be stored in a storage medium. Based on such an understanding, the technical solution of the present application is essentially or the part that contributes to the prior art or the part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a readable storage medium, including several instructions to enable a liquid transfer platform management device 10 (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method recorded in each embodiment of the present application. The aforementioned readable storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or CD-ROM and other media that can store program codes.

[0131] The above are only various implementations of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art who is familiar with the present technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

Claims

1. A method for calibrating a pipetting table layout, characterized in that: The calibration method comprises: Obtaining the machine position origin calibration deviation of each operating machine position on the target pipetting table of the target pipetting platform, and a table layout configuration file matching the target pipetting table; wherein the table layout configuration file is used to describe the adaptation deployment status between various experimental consumables and various consumables carrying equipment that need to be deployed on the target pipetting table and each operating machine position; For each operating station on the target pipetting table, according to the calibration deviation of the operating station's machine origin position and the theoretical machine position offset, the actual deployment positions of the target consumables carriers and target experimental consumables that need to be deployed on the operating station are calculated based on the table layout configuration file; wherein the theoretical machine position offset is used to represent the theoretical relative position relationship between the machine origin position of the corresponding operating station and the table origin position of the target pipetting table.

2. The calibration method according to claim 1, characterized in that: For any operating position, when the target consumables carrier matched with the operating position belongs to a consumables carrier, the table layout configuration file records the station consumables correspondence between each carrier station of the target consumables carrier and the corresponding target experimental consumables; at this time, the step of calculating the actual deployment positions of the target consumables carrier and the target experimental consumables to be deployed on the operating position based on the table layout configuration file according to the position origin position calibration deviation and the position position theoretical offset of the operating position, includes: The theoretical offset of the carrier position of the target consumable carrier is searched in the carrier database, and the actual deployment position of the target consumable carrier is calculated according to the theoretical offset of the carrier position, the calibration deviation of the machine position origin of the operating machine position and the theoretical offset of the machine position; wherein the theoretical offset of the carrier position is used to represent the theoretical relative position relationship between the carrier origin position of the corresponding consumable carrier and the machine position origin position of the adapted operating machine position, and the actual deployment position of the target consumable carrier is used to represent the actual carrier origin position of the target consumable carrier; For each of the target experimental consumables, according to the corresponding relationship between the workstation consumables corresponding to the target experimental consumables, the first workstation position theoretical offset of the first carrier workstation is searched in the carrier database; wherein the first carrier workstation is the carrier workstation of the target consumables carrier corresponding to the target experimental consumables, and the first workstation position theoretical offset is used to represent the theoretical relative position relationship between the workstation reference point position corresponding to the first carrier workstation and the carrier origin position of the target consumables carrier; The actual deployment position of the target experimental consumables is calculated based on the theoretical offset of the first workstation position and the actual deployment position of the target consumables carrier; wherein the actual deployment position of the target experimental consumables is used to represent the actual consumables origin position of the target experimental consumables.

3. The calibration method according to claim 2, characterized in that: The step of calculating the actual deployment position of the target experimental consumables according to the first workstation position theoretical offset and the actual deployment position of the target consumables carrying equipment comprises: Obtaining the first position coordinates of the actual deployment position of the target consumables carrying device in the table coordinate system of the target pipetting table; The first position coordinates are offset according to the first workstation position theoretical offset to obtain the actual position coordinates of the actual deployment position of the target experimental consumables in the table coordinate system.

4. The calibration method according to claim 1, characterized in that: For any operating station, when the target consumables carrying equipment adapted to the operating station includes a target consumables carrier and a target adapter, the table layout configuration file records the station adapter correspondence between each carrier station of the target consumables carrier and the target adapter, and the station consumables correspondence between each adapter station of the target adapter and the corresponding target experimental consumables. At this time, the step of calculating the actual deployment positions of the target consumables carrying equipment and the target experimental consumables to be deployed on the operating station based on the table layout configuration file according to the calibration deviation of the station origin position and the theoretical offset of the station position of the operating station includes: The theoretical offset of the carrier position of the target consumable carrier is searched in the carrier equipment database, and the actual deployment position of the target consumable carrier is calculated according to the theoretical offset of the carrier position, the calibration deviation of the machine position origin of the operating machine position and the theoretical offset of the machine position; wherein the theoretical offset of the carrier position is used to represent the theoretical relative position relationship between the carrier origin position of the corresponding consumable carrier and the machine position origin position of the adapted operating machine position, and the actual deployment position of the target consumable carrier is used to represent the actual carrier origin position of the target consumable carrier; For each of the target adapters, according to the corresponding relationship between the station adapters and the target adapters, the second station position theoretical offset of the second carrier station is searched in the carrier database; wherein the second carrier station is the carrier station of the target consumable carrier corresponding to the target adapter, and the second station position theoretical offset is used to indicate the theoretical relative position relationship between the station reference point position corresponding to the second carrier station and the carrier origin position of the target consumable carrier; Calculate the actual deployment position of the target adapter according to the theoretical offset of the second station position and the actual deployment position of the target consumable carrier; wherein the actual deployment position of the target adapter is used to represent the actual adapter origin position of the target adapter; For each of the target experimental consumables, according to the corresponding relationship between the workstation consumables corresponding to the target experimental consumables, the adapter station position theoretical offset of the expected adapter station is searched in the carrier database; wherein the expected adapter station is the adapter station of the target adapter corresponding to the target experimental consumables, and the adapter station position theoretical offset is used to represent the theoretical relative position relationship between the station reference point position of the corresponding adapter station and the adapter origin position of the target adapter; The actual deployment position of the target experimental consumables is calculated based on the theoretical offset of the adapter station position and the actual deployment position of the target adapter; wherein the actual deployment position of the target experimental consumables is used to represent the actual consumable origin position of the target experimental consumables.

5. The calibration method according to claim 4, characterized in that: The step of calculating the actual deployment position of the target adapter according to the second station position theoretical offset and the actual deployment position of the target consumable carrier comprises: Acquire the second position coordinates of the actual deployment position of the target consumables carrier in the table coordinate system of the target pipetting table; The second position coordinates are offset according to the second workstation position theoretical offset to obtain the actual position coordinates of the actual deployment position of the target adapter in the table coordinate system.

6. The calibration method according to claim 4, characterized in that: The step of calculating the actual deployment position of the target experimental consumable according to the theoretical offset of the adapter station position and the actual deployment position of the target adapter includes: Acquire the third position coordinates of the actual deployment position of the target adapter in the table coordinate system of the target pipetting table; The third position coordinate is offset according to the theoretical offset of the adapter station position to obtain the actual position coordinate of the actual deployment position of the target experimental consumables in the table coordinate system.

7. The calibration method according to any one of claims 2 to 6, characterized in that: For any consumable carrier, the step of calculating the actual deployment position of the consumable carrier according to the theoretical offset of the carrier position corresponding to the consumable carrier, and the machine position origin position calibration deviation and the theoretical offset of the machine position of the operating machine position adapted to the consumable carrier includes: Determine the theoretical position coordinates of the origin of the operating position of the operating position in the table coordinate system of the target pipetting table according to the theoretical position offset of the operating position of the operating position; Performing coordinate shifting on the theoretical position coordinates of the machine origin according to the machine origin position calibration deviation of the operating machine position, so as to obtain the actual position coordinates of the machine origin of the operating machine position in the table coordinate system; The actual position coordinates of the machine origin are offset according to the theoretical offset of the carrier position corresponding to the consumable carrier, so as to obtain the actual position coordinates of the actual deployment position of the consumable carrier in the table coordinate system.

8. The calibration method according to any one of claims 1 to 6, characterized in that: The calibration method further comprises: When the target pipetting platform is assembled, for each operating position in the target pipetting platform, a reference carrier is deployed in the operating position, and a mark detection device is driven to detect the carrier origin mark of the reference carrier to obtain the actual carrier origin position of the reference carrier in the operating position; Calculating the theoretical carriage origin position of the reference carriage in the operating position according to the theoretical carriage position offset of the operating position and the theoretical carriage position offset of the reference carriage; The position deviation between the actual carrier origin position and the theoretical carrier origin position of the reference carrier in the operating position is calculated, and the calculated position deviation is used as the machine position origin position calibration deviation of the operating position, wherein the machine position origin position calibration deviation is used to represent the position deviation between the actual machine position origin position and the theoretical machine position origin position of the corresponding operating position on the target pipetting table.

9. A pipetting platform management device, characterized in that: It comprises a processor and a memory, wherein the memory stores a computer program executable by the processor, and the processor can execute the computer program to implement the pipetting table layout calibration method according to any one of claims 1 to 8.

10. A readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a pipetting platform management device, the pipetting table layout calibration method described in any one of claims 1 to 8 is implemented.

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