Liquid level detection method, pipetting method, pipetting system and storage medium

Abstract

The invention provides a liquid level detection method based on capacitance detection, a pipetting system comprises a plurality of first pipettors and a plurality of second pipettors, and each first pipettor and each second pipettor comprise a suction head; the liquid level detection method comprises the following steps: driving at least one first pipettor to move towards a first group of target containers, detecting first real-time capacitance of the at least one first pipettor in a first time period, and judging whether a suction head of the at least one first pipettor is in contact with liquid in the first target container or not according to the first real-time capacitance; driving the at least one second pipettor to move towards the second group of target containers, detecting a second real-time capacitance of the at least one second pipettor in a second time period, and judging whether a suction head of the at least one second pipettor is in contact with liquid in the second target container or not according to the second real-time capacitance; the first time period and the second time period are not overlapped. The invention further provides a pipetting method and system based on capacitance detection and a computer readable storage medium.

Description

Technical Field

[0001] The present application relates to the field of pipetting technology, and in particular to a liquid level detection method based on capacitance detection, a pipetting method including the liquid level detection method, a pipetting system applying the liquid level detection method and the pipetting method, and a computer-readable storage medium. Background Art

[0002] A pipette is an experimental pipetting tool used to automatically and accurately transfer liquid from a specific container to another container to complete various experiments and reduce manual operations.

[0003] A pipette uses capacitance detection to detect the liquid level in a specific container. When multiple pipettes are used simultaneously to detect the liquid level, capacitance interference may occur between adjacent pipettes, affecting detection accuracy. Summary of the Invention

[0004] A first aspect of the present application provides a liquid level detection method based on capacitance detection, which is applied to a pipetting system, wherein the pipetting system includes a plurality of first pipettes and a plurality of second pipettes, wherein the plurality of first pipettes are not adjacent to each other and the plurality of second pipettes are not adjacent to each other, and each of the first pipettes and each of the second pipettes includes a tip;

[0005] The liquid level detection method comprises:

[0006] driving at least one first pipette among the plurality of first pipettes to move toward a first group of target containers, detecting a first real-time capacitance of the at least one first pipette during a first time period, and determining whether a tip of the at least one first pipette contacts liquid in the first target container based on the first real-time capacitance; and

[0007] driving at least one second pipette among the plurality of second pipettes to move toward a second group of target containers, detecting a second real-time capacitance of the at least one second pipette during a second time period, and determining whether a tip of the at least one second pipette contacts liquid in the second target container based on the second real-time capacitance;

[0008] The first time period and the second time period do not overlap.

[0009] A second aspect of the present application provides a pipetting method based on capacitance detection, which is applied to a pipetting system, wherein the pipetting system includes a plurality of first pipettes and a plurality of second pipettes, wherein the plurality of first pipettes are not adjacent to each other and the plurality of second pipettes are not adjacent to each other, and each of the first pipettes and each of the second pipettes includes a tip;

[0010] The pipetting method comprises:

[0011] driving at least one first pipette among the plurality of first pipettes to move toward a first group of target containers, detecting a first real-time capacitance of the at least one first pipette during a first time period, and determining whether a tip of the at least one first pipette contacts liquid in the first target container based on the first real-time capacitance;

[0012] driving at least one second pipette among the plurality of second pipettes to move toward a second group of target containers, detecting a second real-time capacitance of the at least one second pipette during a second time period, and determining whether the tip of the at least one second pipette contacts liquid in the second target container based on the second real-time capacitance, wherein the first time period and the second time period do not overlap; and

[0013] The tips of the at least one first pipette and the at least one second pipette are driven to aspirate the liquid.

[0014] A third aspect of the present application provides a pipetting system, comprising a plurality of first pipettes, a plurality of second pipettes, a capacitance detection circuit, and a controller, wherein the controller is electrically connected to the plurality of first pipettes, the plurality of second pipettes, and the capacitance detection circuit, respectively;

[0015] The capacitance detection circuit is used to detect the capacitance of at least one of the first pipettes and at least one of the second pipettes. The pipetting system stores a computer program. The controller is used to implement the above-mentioned liquid level detection method based on capacitance detection or the steps of the above-mentioned pipetting method based on capacitance detection when executing the computer program.

[0016] A fourth aspect of the present application provides a computer-readable storage medium storing a computer program, which, when executed, can implement the steps of the above-mentioned liquid level detection method based on capacitance detection or the above-mentioned pipetting method based on capacitance detection.

[0017] The above-mentioned liquid level detection method, pipetting method, pipetting system and computer-readable storage medium based on capacitance detection, by dividing the pipettes in the pipetting system into multiple groups (for example, into two groups: multiple first pipettes as the first group, and multiple second pipettes as the second group), and driving each group of pipettes in a time-sharing manner to detect real-time capacitance, can effectively avoid capacitive crosstalk between adjacent pipettes (first pipette and second pipette), which is beneficial to improving pipetting accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 Schematic diagram of the module structure of the pipetting system according to an embodiment of the present application.

[0019] Figure 2 for Figure 1 Schematic diagram of the structure of the first pipette.

[0020] Figure 3 This is a flow chart of the steps of the pipetting method based on capacitance detection according to an embodiment of the present application.

[0021] Figure 4 The figure is a line graph showing the change in capacitance over time when the pipetting system is in standby state.

[0022] Figure 5 This is a schematic diagram of the working sequence of multiple first pipettes and multiple second pipettes.

[0023] Figure 6 The line graph shows the change in capacitance detected over time when the pipetting system is in the startup period and the detection period.

[0024] Figure 7 This is a line graph showing the change in capacitance over time when the tip contacts the liquid surface.

[0025] Description of main component symbols

[0026] Pipetting system 1

[0027] Controller 10

[0028] Capacitance detection circuit 20

[0029] First pipette 30

[0030] Second pipette 40

[0031] Steps S1, S2, S3, S4, S5

[0032] First target container 21

[0033] Second target container 22

[0034] Liquid 31, 32

[0035] The following specific implementation methods will further illustrate the present application in conjunction with the above-mentioned drawings. DETAILED DESCRIPTION

[0036] This application provides a pipetting system, primarily used in biochemistry, medicine, and pharmacy experiments, for accurately transferring liquid from one container to another to complete an experiment. The pipetting system offers high precision and efficiency, making it suitable for a variety of liquid handling and dispensing operations.

[0037] See also Figure 1The pipetting system 1 of the present application includes a controller 10, a capacitance detection circuit 20, a plurality of first pipettes 30, and a plurality of second pipettes 40. The controller 10 is electrically connected to the capacitance detection circuit 20, the plurality of first pipettes 30, and the plurality of second pipettes 40, respectively. The controller 10 is used to control the workflow of each first pipette 30 and each second pipette 40 according to the capacitance detected by the capacitance detection circuit 20. In this embodiment, the controller 10 is a control chip, and the chip model can be, for example, STM32F103C8T6, which has multiple communication interfaces such as CANBU S, SPI, and IIC to realize communication.

[0038] Each first pipette 30 and each second pipette 40 has substantially the same structure. Figure 2 Taking the first pipette 30 as an example, each first pipette 30 includes a pipette tip 301 and a capacitance sensor 302. The pipette tip is used to aspirate liquid. The capacitance sensor is used to sense capacitance during pipette operation to generate an electrical signal. The capacitance detection circuit 20 is electrically connected to the capacitance sensor to receive the electrical signal output by the capacitance sensor and obtain capacitance data.

[0039] In this embodiment, the pipetting system 1 includes two groups of pipettes: a first group of multiple first pipettes 30 and a second group of multiple second pipettes 40. Pipettes belonging to the same group are not adjacent to each other, at least one pipette belonging to the same group operates simultaneously, and pipettes belonging to different groups operate in a time-sharing manner. That is, the multiple first pipettes 30 are not adjacent to each other, and the multiple second pipettes 40 are not adjacent to each other; during the same time period, at least one of the first pipettes 30 starts operating simultaneously (the specific number of first pipettes 30 operating simultaneously is determined by the number of samples to be pipetted); during the same time period, at least one of the second pipettes 40 starts operating simultaneously (the specific number of second pipettes 40 operating simultaneously is determined by the number of samples to be pipetted); and the first pipettes 30 and the second pipettes 40 operate in a time-sharing manner. In other embodiments, the pipetting system 1 may further include more groups of pipettes, and the pipettes belonging to the same group are not adjacent to each other, and the pipettes belonging to different groups operate in a time-sharing manner.

[0040] In this embodiment, the pipetting system 1 includes four first pipettes 30 and four second pipettes 40. The four first pipettes 30 and the four second pipettes 40 are arranged in a row along a straight line, and the four first pipettes 30 and the four second pipettes 40 are arranged alternately. In this embodiment, the vertical distance d (refer to Figure 5 ) is greater than or equal to 9mm.

[0041] In other embodiments, the arrangement of the groups of pipettes may be different, for example, they may be arranged in a matrix including multiple rows and columns or in an irregular arrangement.

[0042] Each first pipette 30 is used to suck a liquid 31 in a corresponding first target container 21 , and each second pipette 40 is used to suck a liquid 32 in a corresponding second target container 22 .

[0043] The present application also provides a liquid level detection method based on capacitance detection and a liquid transfer method based on capacitance detection including the liquid level detection method. The liquid level detection method and the liquid transfer method are applied to the above-mentioned liquid transfer system 1. The liquid transfer system 1 is used to aspirate liquids 31 and 32 to transfer the liquids 31 and 32 to other containers. Before aspirating liquids 31 and 32, the liquid transfer system 1 needs to first detect the liquid level heights of the liquids 31 and 32 so that the aspiration operation can be started at the appropriate time to accurately calculate the aspirated amount (the amount of each type needs to be strictly controlled during the experiment).

[0044] The liquid level detection method described in the embodiment of the present application continuously detects the capacitance of the pipette system 1 as it approaches the liquid surface, determines whether the pipette tip of the pipette system 1 has contacted the liquid surface, and stops movement at the moment contact is determined to detect the liquid surface. The liquid level detection method described in the embodiment of the present application utilizes the liquid level detection method to detect the liquid level, thereby initiating aspiration at the correct location.

[0045] See also Figure 3 The capacitance detection-based pipetting method of this embodiment includes:

[0046] Step S1, in a first time period, driving at least one first pipette among the plurality of first pipettes to move toward a first group of target containers, and detecting a first real-time capacitance of the at least one first pipette;

[0047] Step S2, determining whether the tip of the at least one first pipette contacts the liquid in the first target container based on the first real-time capacitance;

[0048] If the answer in step S2 is yes, step S3 is executed to stop detecting the first real-time capacitance, and in a second time period, drive at least one second pipette of the plurality of second pipettes to move toward the second group of target containers, and detect a second real-time capacitance of the at least one second pipette;

[0049] Step S4, determining whether the tip of the at least one second pipette contacts the liquid in the second target container based on the second real-time capacitance;

[0050] If the answer in step S4 is yes, step S5 is executed to stop detecting the second real-time capacitance and control the at least one first pipette and the at least one second pipette to absorb the liquid.

[0051] The first time period and the second time period do not overlap.

[0052] In this embodiment, the working process of the pipetting system 1 is described by taking the four first pipettes 30 and the four second pipettes 40 as an example. In other embodiments of the present application, only one, two, or three of the four first pipettes 30 may be selected to work simultaneously, and only one, two, or three of the four second pipettes 40 may be selected to work simultaneously.

[0053] Before aspiration, the pipetting system 1 is moved directly above each first target container 21 and each second target container 22, such that each first pipette 30 is directly above a first target container 21 and each second pipette 40 is directly above a second target container 22. At this point, the pipetting system 1 does not begin to move and remains in a hovering position, which is defined as being in a standby state.

[0054] When the pipetting system 1 is in the standby state, the capacitance detected by the capacitance detection circuit 20 is as follows: Figure 4 As shown, Figure 4 The horizontal axis is time and the vertical axis is capacitance. When the pipetting system 1 is in the standby state, due to interference from the external environment, even if the pipetting system 1 is not moving, the capacitance detected by the capacitance detection circuit 20 is not constant, but fluctuates within a certain range. The capacitance detection circuit 20 detects the capacitance once at a preset time interval. In this embodiment, the preset time interval is 2ms. That is, the capacitance detection circuit 20 detects the capacitance once every 2ms, and the capacitance detected in the standby state is the standby capacitance. That is, before step S1 of this embodiment, the capacitance detection circuit 20 detects the standby capacitance once every 2ms when the pipetting system 1 is in the standby state.

[0055] See also Figure 5 In step S1, in the first time period T1, the pipetting system 1 is started, and the controller 10 outputs a signal to control each first pipette 30 to move vertically downward toward each first target container 21, while the capacitance detection circuit 20 continuously detects the first real-time capacitance.

[0056] From the moment the pipetting system 1 is activated, each first pipette 30 continuously moves toward its corresponding first target container 21 until its tip contacts the liquid surface of the liquid 31 in the first target container 21. In this embodiment, due to factors such as the varying liquid levels of the liquid 31 in each first target container 21 and structural differences among the first pipettes 30, the tips of each first pipette 30 may not contact the liquid surface simultaneously. In this embodiment, the detection period of the first pipette 30 is defined as the period from the moment the first pipette 30 begins moving to the moment it stops moving after contacting the liquid surface.

[0057] See also Figure 6 The detection period is divided into a startup period and a working period after the startup period. The capacitance detection circuit 20 fluctuates within a small range in the standby state, drops sharply during the entire startup period, and increases as the suction head approaches the liquid surface during the working period.

[0058] In step S2, the first real-time capacitance is compared with a preset threshold value to determine whether the suction head is in contact with the liquid surface. In this embodiment, if the first real-time capacitance is greater than the preset threshold value in step S2, it is determined that the suction head is in contact with the liquid surface, and step S3 is executed to stop detecting the first real-time capacitance and enter the second time period T2. Please refer to Figure 5 During a second time period T2, each second pipette 40 is driven toward the corresponding second target container 22, and each second real-time capacitance is detected during the movement. If, in step S2, the first real-time capacitance is determined to be less than or equal to the preset threshold, it is determined that the pipette tip is not in contact with the liquid surface at this time, detection is not completed, and step S1 is continued.

[0059] At the moment the suction head touches the liquid surface, the capacitance detected by the capacitance detection circuit 20 suddenly changes. Figure 7 The capacitance at point M and point N in the diagram is shown. The capacitance at point M increases slightly compared to the capacitance at the previous point, while the capacitance at point N increases significantly compared to the capacitance at point M. The controller 10 compares the first real-time capacitance feedback from the capacitance detection circuit 20 with a preset threshold value to determine whether the suction tip is in contact with the liquid surface. In this embodiment, the preset threshold value is adjustable based on the application conditions, rather than being a fixed value. In at least one embodiment of the present application, the preset threshold value is typically set to 80% of the amplitude of the signal change under a given operating condition.

[0060] After the tips of all first pipettes 30 have contacted the liquid surface, the second period begins, during which steps S3 and S4 are executed. Each second pipette 40 is driven toward its corresponding second target container 22 to detect the liquid surface and determine, based on the second real-time capacitance, whether the tip of each second pipette 40 has contacted the liquid 32 in the second target container 22. The details of steps S3 and S4 can be found in the description of steps S1 and S2 above and are not repeated here.

[0061] Pipette is in the detection period, and the capacitance sensor in the pipette is that the capacitance changes continuously, and that is at this moment, capacitance detection circuit 20 synchronously continues to detect the induced electrical signal of capacitance sensor feedback to detect capacitance.And pipette is in the liquid absorption process, and capacitance sensor closes.In order to avoid the capacitance crosstalk between adjacent pipettes (being the first pipette 30 and the second pipette 40 in the present embodiment), avoid the capacitance sensor between adjacent pipettes to work simultaneously.Therefore, the first pipette 30 and the second pipette 40 need to be in the detection period in time-sharing, but can carry out liquid absorption operation simultaneously.

[0062] Therefore, in at least one embodiment of the present application, the second period T2 can be started at the end of the first period T1 (that is, the end time of the first period T1 is the same as the start time of the second period T2), and after the end of the second period T2, each first pipette 30 and each second pipette 40 are controlled to perform aspiration operation. In at least one embodiment of the present application, the capacitance sensor of each first pipette 30 can also be turned off at the end of the first period T1, and each first pipette 30 is controlled to perform aspiration operation, while the capacitance sensor of each second pipette 40 is controlled to open so that each second pipette 40 enters the detection period and starts to detect the liquid level. In at least one embodiment of the present application, the capacitance sensor of each first pipette 30 can also be turned off at the end of the first period T1, and each first pipette 30 is controlled to perform aspiration operation, after the completion of the aspiration operation of each first pipette 30, each first pipette 30 is controlled to be in a standby state, and then enter the second period T2, and the capacitance sensor of each second pipette 40 is controlled to open so that each second pipette 40 enters the detection period and starts to detect the liquid level. In at least one embodiment of the present application, each first pipette 30 and each second pipette 40 can also be controlled to move downward at the same time. During the downward movement, the first time period T1 is first entered to detect the first real-time capacitance of each first pipette 30. After each first pipette 30 touches the liquid surface, the second time period T2 is entered to detect the second real-time capacitance of each second pipette 40.

[0063] In any of the above-mentioned embodiments, the capacitive sensors in the plurality of first pipettes 30 and the plurality of second pipettes 40 are alternately in an operating state, so that the plurality of first pipettes 30 and the plurality of second pipettes 40 are alternately in a detection period, which can effectively avoid capacitive crosstalk between adjacent pipettes. That is, for the pipetting system 1 as a whole, it can operate in the first period or the second period. During the entire operation of the pipetting system 1, there may be multiple first periods and multiple second periods. Multiple first periods and multiple second periods alternate, that is, after the end of a first period, there is a second period, and after the end of a second period, there is a first period, and according to this rule, a first period and a second period appear in sequence. For the pipetting system 1 as a whole, the first period and the second period alternate, and the pipetting system 1 as a whole alternates between the first period and the second period. The specific working method of the pipetting system 1 in the first period and the second period can be found in the above-mentioned embodiment.

[0064] In this embodiment, the first time period and the second time period appear consecutively, that is, the end time of the previous first time period is the start time of the next second time period, or the end time of the previous second time period is the start time of the next first time period. In other embodiments of the present application, adjacent first time periods and second time periods may not appear consecutively but have a time interval between them.

[0065] The numbers S1, S2, S3, S4, and S5 of the steps described above in this application do not limit the actual execution order of the steps due to the order of the numbers.

[0066] The pipetting system 1 of the above-mentioned embodiment of the present application can effectively avoid capacitive crosstalk between adjacent pipettes by dividing the pipettes in the pipetting system 1 into multiple groups (for example, divided into two groups in this embodiment: multiple first pipettes 30 are the first group, and multiple second pipettes 40 are the second group), and driving each group of pipettes in a time-sharing manner to detect real-time capacitance, which is beneficial to improving pipetting accuracy.

[0067] The controller 10 of the embodiment of the present application includes an electrically connected memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the program, any step of the above-mentioned liquid level detection method and pipetting method based on capacitance detection is implemented.

[0068] An embodiment of the present application also provides a non-volatile computer-readable storage medium having a computer program stored thereon. When the computer program is executed by a processor, the steps of any of the above-mentioned liquid level detection methods and pipetting methods based on capacitance detection are implemented.

[0069] When the above-mentioned liquid level detection method and pipetting method based on capacitance detection are implemented and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on such understanding, the present application implements all or part of the processes in the above-mentioned embodiment method, and can also be completed by instructing related hardware through a computer program. The computer program can be stored in a computer-readable storage medium, and the computer program can implement the steps of the above-mentioned various method embodiments when executed by a processor. Wherein, the computer program includes computer program code, and the computer program code can be in source code form, object code form, executable file or some intermediate form, etc. The computer-readable storage medium may include: any entity or device that can carry the computer program code, recording medium, U disk, mobile hard disk, magnetic disk, optical disk, computer memory, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), electric carrier signal, telecommunication signal and software distribution medium, etc.

[0070] The processor may be a central processing unit (CPU), other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor may be a microprocessor or any conventional processor, etc. The processor is the control center of the gene sequencing system / gene sequencer, and uses various interfaces and lines to connect various parts of the entire gene sequencing system / gene sequencer.

[0071] The memory is used to store the computer program and / or module, and the processor realizes the various functions of the gene sequencing system / gene sequencer by running or executing the computer program and / or module stored in the memory, and calling the data stored in the memory. The memory may mainly include a program storage area and a data storage area, wherein the program storage area may store an operating system, an application program required for at least one function (such as a sound playback function, an image playback function, etc.). In addition, the memory may include a high-speed random access memory, and may also include a non-volatile memory, such as a hard disk, a memory, a plug-in hard disk, a smart memory card (Smart Media Card, SMC), a secure digital (Secure Digital, SD) card, a flash card (Flash Card), at least one disk storage device, a flash memory device, or other volatile solid-state storage device.

[0072] Those skilled in the art should recognize that the above embodiments are merely intended to illustrate the present application and are not intended to limit the present application. As long as they are within the spirit of the present application, appropriate changes and modifications to the above embodiments are within the scope of protection claimed in the present application.

Claims

1. A liquid level detection method based on capacitance detection, characterized in that: Applicable to a pipetting system, the pipetting system comprising a plurality of first pipettes and a plurality of second pipettes, the plurality of first pipettes being non-adjacent to each other and the plurality of second pipettes being non-adjacent to each other, each of the first pipettes and each of the second pipettes comprising a pipette tip; The liquid level detection method comprises: driving at least one first pipette among the plurality of first pipettes to move toward a first group of target containers, detecting a first real-time capacitance of the at least one first pipette during a first time period, and determining whether a tip of the at least one first pipette contacts liquid in the first target container based on the first real-time capacitance; and driving at least one second pipette among the plurality of second pipettes to move toward a second group of target containers, detecting a second real-time capacitance of the at least one second pipette during a second time period, and determining whether a tip of the at least one second pipette contacts liquid in the second target container based on the second real-time capacitance; The first time period and the second time period do not overlap.

2. The liquid level detection method based on capacitance detection according to claim 1, characterized in that: The pipetting system works alternately in the first time period and the second time period.

3. The liquid level detection method based on capacitance detection according to claim 2, characterized in that: The end time of the first time period is the start time of the second time period.

4. The liquid level detection method based on capacitance detection according to claim 1, characterized in that: The step of determining whether the tip of the at least one first pipette contacts the liquid in the first target container based on the first real-time capacitance includes: When the first real-time capacitance is greater than a preset threshold, it is determined that the tip of the at least one first pipette is in contact with the liquid in the first target container; The step of determining whether the tip of the at least one second pipette contacts the liquid in the second target container based on the second real-time capacitance includes: When the second real-time capacitance is greater than the preset threshold, it is determined that the tip of the at least one second pipette is in contact with the liquid in the second target container.

5. The liquid level detection method based on capacitance detection according to claim 1, characterized in that: When driving the at least one first pipette to move toward the first group of target containers, simultaneously driving the at least one second pipette to move toward the second group of target containers; or The at least one first pipette is driven to move toward a first group of target containers during the first period, and the at least one second pipette is driven to move toward a second group of target containers during the second period.

6. The liquid level detection method based on capacitance detection according to any one of claims 1 to 5, characterized in that: Also includes: When the tip of the at least one first pipette contacts the liquid in the first target container, stopping detecting the first real-time capacitance; as well as When the tip of the at least one second pipette contacts the liquid in the second target container, detecting the second real-time capacitance is stopped.

7. A pipetting method based on capacitance detection, characterized in that: Applicable to a pipetting system, the pipetting system comprising a plurality of first pipettes and a plurality of second pipettes, the plurality of first pipettes being non-adjacent to each other and the plurality of second pipettes being non-adjacent to each other, each of the first pipettes and each of the second pipettes comprising a pipette tip; The pipetting method comprises: driving at least one first pipette among the plurality of first pipettes to move toward a first group of target containers, detecting a first real-time capacitance of the at least one first pipette during a first time period, and determining whether a tip of the at least one first pipette contacts liquid in the first target container based on the first real-time capacitance; driving at least one second pipette among the plurality of second pipettes to move toward a second group of target containers, detecting a second real-time capacitance of the at least one second pipette during a second time period, and determining whether the tip of the at least one second pipette contacts liquid in the second target container based on the second real-time capacitance, wherein the first time period and the second time period do not overlap; and The tips of the at least one first pipette and the at least one second pipette are driven to aspirate the liquid.

8. A pipetting system, characterized in that: It includes a plurality of first pipettes, a plurality of second pipettes, a capacitance detection circuit and a controller, wherein the controller is electrically connected to the plurality of first pipettes, the plurality of second pipettes and the capacitance detection circuit respectively; The capacitance detection circuit is used to detect the capacitance of at least one of the first pipettes and at least one of the second pipettes. The pipetting system stores a computer program. The controller is used to implement the steps of the liquid level detection method based on capacitance detection as described in any one of claims 1 to 6 or the pipetting method based on capacitance detection as described in claim 7 when executing the computer program.

9. The pipetting system according to claim 8, wherein: The plurality of first pipettes and the plurality of second pipettes are alternately arranged along a straight line.

10. A computer-readable storage medium, characterized in that A computer program is stored, which, when executed, can implement the steps of the liquid level detection method based on capacitance detection according to any one of claims 1 to 6 or the pipetting method based on capacitance detection according to claim 7.

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