Pipetting and bubble penetrating control system and pipetting and bubble penetrating method

Abstract

The invention relates to the technical field of biochemical detection experiment technologies, and discloses a pipetting and bubble penetrating control system and a pipetting and bubble penetrating method.A controller controls a pipetting device to move towards a foam reagent and controls a power assembly to move at the same time, and the moving direction of the power assembly is the same as that of the pipetting device, and the moving speed of the power assembly is different from that of the pipetting device; when the real-time acceleration of the power assembly reaches the target acceleration, the power assembly is controlled to stop moving, original pressure information sent by a pressure sensor is obtained, and detection pressure information in a target time domain is intercepted from the original pressure information; filtering the detection pressure information to obtain a filtered pressure signal; when the filtering pressure signal meets the liquid level detection condition, it is determined that the probe makes contact with the liquid level of the foam reagent, noise interference in the moving process is processed through time domain-filtering cooperation, the signal-to-noise ratio is increased, and the liquid level of the foam reagent is accurately detected.

Description

Technical Field

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

[0002] When a pipette probe is ready to draw reagent, liquid level detection is required. Conventional capacitance and pressure methods can detect the surface of a foam-free reagent. However, when a layer of foam floats on the surface of the reagent, these methods cannot accurately detect whether the probe has penetrated the foam and entered the liquid below the surface. Furthermore, existing optical detection methods cannot be used due to the presence of foam or turbidity in the reagent. Summary of the Invention

[0003] In view of this, the purpose of the present invention is to provide a method for detecting the reagent liquid level with a pipette, so as to accurately detect whether the probe has penetrated the foam and entered below the reagent liquid level.

[0004] This invention provides a pipetting and bubble-piercing control system, comprising: a pipetting device and a controller for controlling the pipetting device; The pipetting device includes a nozzle, a power assembly disposed inside the nozzle and slidable relative to the nozzle, a probe connected to the nozzle, and a pressure sensor for acquiring pressure inside the nozzle. The controller controls the pipetting device to move toward the foam reagent, and simultaneously controls the power assembly to move. The power assembly moves in the same direction as the pipetting device, but at different speeds. When the real-time acceleration of the power component reaches the target acceleration, the power component is controlled to stop moving, and the raw pressure information sent by the pressure sensor is acquired. The detected pressure information in the target time domain is extracted from the raw pressure information. The detected pressure information is filtered to obtain a filtered pressure signal; When the filtered pressure signal meets the liquid level detection conditions, it is determined that the probe is in contact with the surface of the foam reagent liquid.

[0005] Preferably, after acquiring the filtered pressure signal and before the filtered pressure signal meets the liquid level detection conditions, the method includes: Determine whether the peak value of the filtered pressure signal is greater than the maximum determined peak value, and whether the rise time of the pressure signal is less than the first preset time. If the peak value of the filtered pressure signal is greater than the maximum judgment peak value, and the rise time of the pressure signal is less than the first preset time, then the filtered pressure signal meets the liquid level detection condition.

[0006] Preferably, if the peak value of the filtered pressure signal is between the minimum and maximum judgment peak values, and the rise time of the pressure signal is between a first preset time and a second preset time, then the filtered pressure signal does not meet the liquid level detection condition; or, If the peak value of the filtered pressure signal is less than the minimum judgment peak value, then the filtered pressure signal does not meet the liquid level detection condition. If the filtered pressure signal does not meet the liquid level detection conditions, the pipetting device is controlled to move toward the foam reagent, and the power component is also controlled to move.

[0007] Preferably, filtering the detected pressure information to obtain a filtered pressure signal includes: filtering the detected pressure information using a high-order bandpass filter to obtain a filtered pressure signal.

[0008] Preferably, the filtering frequency of the high-order bandpass filter is 120-400Hz.

[0009] Preferably, the power component is a piston assembly.

[0010] This invention provides a pipetting method for breaking bubbles, including a pipetting device connected to a controller, the controller performing the following steps: S1: Control the pipette to move toward the foam reagent, and simultaneously control the power component to move. The direction of movement of the power component is the same as the direction of movement of the pipette, but the speeds are different. S2: When the real-time acceleration of the power component reaches the target acceleration, the power component is controlled to stop moving, and the raw pressure information sent by the pressure sensor is acquired, and the detected pressure information in the target time domain is extracted from the raw pressure information; S3: Filter the detected pressure information to obtain a filtered pressure signal; S4: When the filtered pressure signal meets the liquid level detection conditions, it is determined that the probe is in contact with the foam reagent liquid surface.

[0011] Preferably, after step S3 and before step S4, that is, after acquiring the filtered pressure signal and before the filtered pressure signal satisfies the liquid level detection condition, the method includes: Determine whether the peak value of the filtered pressure signal is greater than the maximum determined peak value, and whether the rise time of the pressure signal is less than the first preset time. If the peak value of the filtered pressure signal is greater than the maximum judgment peak value, and the rise time of the pressure signal is less than the first preset time, then the filtered pressure signal meets the liquid level detection condition.

[0012] Preferably, if the peak value of the filtered pressure signal is between the minimum and maximum judgment peak values, and the rise time of the pressure signal is between a first preset time and a second preset time, then the filtered pressure signal does not meet the liquid level detection condition; or, If the peak value of the filtered pressure signal is less than the minimum judgment peak value, then the filtered pressure signal does not meet the liquid level detection condition. If the filtered pressure signal does not meet the liquid level detection conditions, the pipetting device is controlled to move toward the foam reagent, and the power component is also controlled to move.

[0013] Preferably, step S3, namely filtering the detected pressure information to obtain a filtered pressure signal, includes: using a high-order bandpass filter to filter the detected pressure information to obtain a filtered pressure signal.

[0014] The technical solution of this invention has at least the following advantages and beneficial effects: the moving speed of the power component and the pipetting device are different. The power component accelerates. When the acceleration of the power component reaches the target acceleration, the power component is controlled to stop suddenly, thereby generating pressure on the end port of the probe near the foam reagent. The pressure sensor collects pressure information in real time and filters out the detection pressure information in the target time domain. The detection pressure information is filtered to remove interference factors to obtain a filtered pressure signal. Based on the filtered pressure information, it is determined whether the probe has passed through the foam and entered the foam reagent liquid surface. By using time domain-filtering to process noise interference during the movement process, the signal-to-noise ratio is improved, and the liquid surface of the foam reagent is accurately detected. Attached Figure Description

[0015] Figure 1 A flowchart of a pipetting and bubble-piercing method provided for an embodiment of the present invention. Detailed Implementation

[0016] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this invention will be clearly and completely described below in conjunction with specific embodiments. The same reference numerals in the accompanying drawings represent the same components. It should be noted that the described embodiments are only some, not all, of the embodiments of this invention. All other embodiments obtained by those skilled in the art based on the described embodiments of this invention without creative effort are within the scope of protection of this invention.

[0017] This invention provides a pipetting bubble-piercing control system, comprising: a pipetting device and a controller for controlling the pipetting device; the pipetting device includes a nozzle, a power assembly disposed within the nozzle and slidable relative to the nozzle, a probe connected to the nozzle, and a pressure sensor for acquiring pressure within the nozzle; the controller controls the pipetting device to move toward the foam reagent, and simultaneously controls the power assembly to move, the power assembly moving in the same direction as the pipetting device but at different speeds; when the real-time acceleration of the power assembly reaches a target acceleration, the power assembly is controlled to stop moving, and raw pressure information sent by the pressure sensor is acquired, and detection pressure information in the target time domain is extracted from the raw pressure information; the detection pressure information is filtered to obtain a filtered pressure signal; when the filtered pressure signal meets the liquid surface detection condition, it is determined that the probe is in contact with the foam reagent liquid surface. In this embodiment, the power assembly is a piston assembly.

[0018] It should be noted that before the power unit stops abruptly, the power unit and the pipetting device move simultaneously. The pressure at the end of the foam reagent is superimposed on the effect of their simultaneous movement. This embodiment only filters the detection pressure information within the target time domain to reduce the noise caused by the superposition of the simultaneous movement of the pipetting device and the power unit, thereby improving the accuracy of subsequent detection. The detection pressure information is filtered to remove pressure fluctuations caused by liquid film rupture and reduce interference from other factors on the detection.

[0019] In this embodiment, the moving speeds of the power component and the pipetting device are different. The power component accelerates, and when the acceleration of the power component reaches the target acceleration, the power component is stopped abruptly. This generates pressure on the probe near the end port of the foam reagent. The pressure sensor collects pressure information in real time and filters out the detection pressure information in the target time domain. The detection pressure information is filtered to remove interference factors, resulting in a filtered pressure signal. Based on the filtered pressure information, it is determined whether the probe has passed through the foam and entered the foam reagent liquid surface. By using time domain-filtering collaborative processing to handle noise interference during the movement process, the signal-to-noise ratio is improved, and the liquid surface of the foam reagent is accurately detected.

[0020] Specifically, after acquiring the filtered pressure signal and before the filtered pressure signal meets the liquid level detection conditions, the system includes: Determine whether the peak value of the filtered pressure signal is greater than the maximum determined peak value, and whether the rise time of the pressure signal is less than the first preset time. If the peak value of the filtered pressure signal is greater than the maximum judgment peak value, and the rise time of the pressure signal is less than the first preset time, then the filtered pressure signal meets the liquid level detection condition.

[0021] If the peak value of the filtered pressure signal is between the minimum and maximum judgment peak values, and the rise time of the pressure signal is between the first and second preset times, then the filtered pressure signal does not meet the liquid level detection conditions; or, If the peak value of the filtered pressure signal is less than the minimum judgment peak value, then the filtered pressure signal does not meet the liquid level detection condition. If the filtered pressure signal does not meet the liquid level detection conditions, the pipetting device is controlled to move toward the foam reagent, and the power component is also controlled to move.

[0022] The maximum and minimum judgment peak values ​​are preset pressure values, with the maximum judgment peak value being greater than the minimum judgment peak value. The first preset duration and the second preset duration are preset duration values, with the first preset duration being less than the second preset duration.

[0023] In this embodiment, the position of the probe is determined by judging the peak value of the filtered pressure signal and the duration of the pressure signal, thereby determining whether the probe is below the liquid surface of the foam reagent.

[0024] As one embodiment, filtering the detected pressure information to obtain a filtered pressure signal includes: filtering the detected pressure information using a high-order bandpass filter to obtain a filtered pressure signal. This embodiment uses a high-order bandpass filter to remove interference signals from the detected pressure information, obtaining a signal that can characterize the probe's position, ensuring accurate detection results. Specifically, the filtering frequency of the high-order bandpass filter is 120-400Hz.

[0025] In one embodiment, such as Figure 1 As shown, the present invention provides a pipetting method for breaking bubbles, including a pipetting device connected to a controller, the controller performing the following steps: S1: Control the pipette to move toward the foam reagent, and simultaneously control the power component to move. The direction of movement of the power component is the same as the direction of movement of the pipette, but the speeds are different. S2: When the real-time acceleration of the power component reaches the target acceleration, the power component is controlled to stop moving, and the raw pressure information sent by the pressure sensor is acquired, and the detected pressure information in the target time domain is extracted from the raw pressure information; S3: Filter the detected pressure information to obtain a filtered pressure signal; S4: When the filtered pressure signal meets the liquid level detection conditions, it is determined that the probe is in contact with the foam reagent liquid surface.

[0026] It should be noted that before the power unit stops abruptly, the power unit and the pipetting device move simultaneously. The pressure at the end of the foam reagent is superimposed on the effect of their simultaneous movement. This embodiment only filters the detection pressure information within the target time domain to reduce the noise caused by the superposition of the simultaneous movement of the pipetting device and the power unit, thereby improving the accuracy of subsequent detection. The detection pressure information is filtered to remove pressure fluctuations caused by liquid film rupture and reduce interference from other factors on the detection.

[0027] In this embodiment, the moving speeds of the power component and the pipetting device are different. The power component accelerates, and when the acceleration of the power component reaches the target acceleration, the power component is stopped abruptly. This generates pressure on the probe near the end port of the foam reagent. The pressure sensor collects pressure information in real time and filters out the detection pressure information in the target time domain. The detection pressure information is filtered to remove interference factors, resulting in a filtered pressure signal. Based on the filtered pressure information, it is determined whether the probe has passed through the foam and entered the foam reagent liquid surface. By using time domain-filtering collaborative processing to handle noise interference during the movement process, the signal-to-noise ratio is improved, and the liquid surface of the foam reagent is accurately detected.

[0028] After step S3 and before step S4, that is, after acquiring the filtered pressure signal and before the filtered pressure signal satisfies the liquid level detection condition, the method includes: Determine whether the peak value of the filtered pressure signal is greater than the maximum determined peak value, and whether the rise time of the pressure signal is less than the first preset time. If the peak value of the filtered pressure signal is greater than the maximum judgment peak value, and the rise time of the pressure signal is less than the first preset time, then the filtered pressure signal meets the liquid level detection condition.

[0029] If the peak value of the filtered pressure signal is between the minimum and maximum judgment peak values, and the rise time of the pressure signal is between the first and second preset times, then the filtered pressure signal does not meet the liquid level detection conditions; or, If the peak value of the filtered pressure signal is less than the minimum judgment peak value, then the filtered pressure signal does not meet the liquid level detection condition. If the filtered pressure signal does not meet the liquid level detection conditions, the pipetting device is controlled to move toward the foam reagent, and the power component is also controlled to move.

[0030] In this embodiment, the position of the probe is determined by judging the peak value of the filtered pressure signal and the duration of the pressure signal, thereby determining whether the probe is below the liquid surface of the foam reagent.

[0031] In one embodiment, step S3, namely filtering the detected pressure information to obtain a filtered pressure signal, includes: filtering the detected pressure information using a high-order bandpass filter to obtain a filtered pressure signal. This embodiment uses a high-order bandpass filter to remove interference signals from the detected pressure information, obtaining a signal that can characterize the probe's position, ensuring accurate detection results. Specifically, the filtering frequency of the high-order bandpass filter is 120-400Hz.

[0032] The above are merely preferred embodiments of the present invention and are not intended to limit the present invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A pipetting and bubble-piercing control system, characterized in that, include: A pipetting apparatus and a controller for controlling the pipetting apparatus; The pipetting device includes a nozzle, a power assembly disposed inside the nozzle and slidable relative to the nozzle, a probe connected to the nozzle, and a pressure sensor for acquiring pressure inside the nozzle. The controller controls the pipetting device to move toward the foam reagent, and simultaneously controls the power assembly to move. The power assembly moves in the same direction as the pipetting device, but at different speeds. When the real-time acceleration of the power component reaches the target acceleration, the power component is controlled to stop moving, and the raw pressure information sent by the pressure sensor is acquired. The detected pressure information in the target time domain is extracted from the raw pressure information. The detected pressure information is filtered to obtain a filtered pressure signal; When the filtered pressure signal meets the liquid level detection conditions, it is determined that the probe is in contact with the surface of the foam reagent liquid.

2. The pipetting and bubble-piercing control system according to claim 1, characterized in that, After acquiring the filtered pressure signal, and before the filtered pressure signal meets the liquid level detection conditions, the system includes: Determine whether the peak value of the filtered pressure signal is greater than the maximum determined peak value, and whether the rise time of the pressure signal is less than the first preset time. If the peak value of the filtered pressure signal is greater than the maximum judgment peak value, and the rise time of the pressure signal is less than the first preset time, then the filtered pressure signal meets the liquid level detection condition.

3. The pipetting and bubble-piercing control system according to claim 2, characterized in that, If the peak value of the filtered pressure signal is between the minimum judgment peak value and the maximum judgment peak value, and the rise time of the pressure signal is between the first preset time and the second preset time, then the filtered pressure signal does not meet the liquid level detection condition. or, If the peak value of the filtered pressure signal is less than the minimum judgment peak value, then the filtered pressure signal does not meet the liquid level detection condition. If the filtered pressure signal does not meet the liquid level detection conditions, the pipetting device is controlled to move toward the foam reagent, and the power component is also controlled to move.

4. The pipetting and bubble-piercing control system according to claim 1, characterized in that, The step of filtering the detected pressure information to obtain a filtered pressure signal includes: using a high-order bandpass filter to filter the detected pressure information to obtain a filtered pressure signal.

5. The pipetting and bubble-piercing control system according to claim 4, characterized in that, The high-order bandpass filter has a filtering frequency of 120-400Hz.

6. The pipetting and bubble-piercing control system according to claim 1, characterized in that, The power component is a piston assembly.

7. A method for pipetting and puncturing bubbles, characterized in that, Includes the pipetting device of claim 1, wherein the pipetting device is connected to a controller, and the controller performs the following steps: S1: Control the pipette to move toward the foam reagent, and simultaneously control the power component to move. The direction of movement of the power component is the same as the direction of movement of the pipette, but the speeds are different. S2: When the real-time acceleration of the power component reaches the target acceleration, the power component is controlled to stop moving, and the raw pressure information sent by the pressure sensor is acquired, and the detected pressure information in the target time domain is extracted from the raw pressure information; S3: Filter the detected pressure information to obtain a filtered pressure signal; S4: When the filtered pressure signal meets the liquid level detection conditions, it is determined that the probe is in contact with the foam reagent liquid surface.

8. The pipetting and bubble-piercing method according to claim 7, characterized in that, After step S3 and before step S4, that is, after acquiring the filtered pressure signal and before the filtered pressure signal satisfies the liquid level detection condition, the method includes: Determine whether the peak value of the filtered pressure signal is greater than the maximum determined peak value, and whether the rise time of the pressure signal is less than the first preset time. If the peak value of the filtered pressure signal is greater than the maximum judgment peak value, and the rise time of the pressure signal is less than the first preset time, then the filtered pressure signal meets the liquid level detection condition.

9. The pipetting and bubble-piercing method according to claim 8, characterized in that, If the peak value of the filtered pressure signal is between the minimum judgment peak value and the maximum judgment peak value, and the rise time of the pressure signal is between the first preset time and the second preset time, then the filtered pressure signal does not meet the liquid level detection condition. or, If the peak value of the filtered pressure signal is less than the minimum judgment peak value, then the filtered pressure signal does not meet the liquid level detection condition. If the filtered pressure signal does not meet the liquid level detection conditions, the pipetting device is controlled to move toward the foam reagent, and the power component is also controlled to move.

10. The pipetting and bubble-piercing method according to claim 7, characterized in that, Step S3, namely filtering the detected pressure information to obtain a filtered pressure signal, includes: using a high-order bandpass filter to filter the detected pressure information to obtain a filtered pressure signal.

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