Pipetting equipment control architecture and control method thereof

Abstract

The invention discloses a pipetting equipment control architecture and a control method thereof. The control architecture comprises an action interface library, an editing end and an execution end, the editing end generates script information and sends the script information to the execution end; the execution end receives and analyzes the script information and generates a control instruction, and the pipetting equipment executes the target operation according to the control instruction. The script information at least comprises variable information and command information, and the variable information is associated with parameters in the command information; the action interface library comprises a plurality of basic action interfaces, the command information is formed by combining a plurality of target basic actions, and parameters in the command information are represented by variables in the variable information; the script is compiled or automatically generated through the editing end, the execution end analyzes the script and generates the control instruction, a developer only needs to maintain a basic action interface, a user can flexibly combine basic action generation commands to reduce the development cost, the experiment compiling workload of the user is reduced, the same script can run on multiple platforms, and the development efficiency is improved. And the working efficiency is greatly improved.

Description

Technical Field

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

[0002] Pipette workstations are core equipment for automating liquid handling in the field of biology, featuring functions such as precise pipetting, serial dilution, and well plate filling, significantly improving experimental efficiency and reproducibility. With the rapid development of biomedical research and clinical diagnostics, the demand for automation and intelligentization of pipetting operations, as a fundamental part of laboratory work, is increasing daily.

[0003] Currently, control methods for pipetting equipment mainly include fixed-program control and script-based control. Fixed-program control is typically pre-set by the equipment manufacturer, and users can only adjust it within a limited parameter range, making it difficult to meet the needs of complex experiments. Script-based control, on the other hand, offers greater flexibility, allowing users to customize pipetting procedures by writing scripts.

[0004] In the prior art, CN119758778A discloses a control method, apparatus and storage medium for a pipetting device. The method obtains layout information, liquid type information and script information; parses the script information to obtain operation information for performing pipetting operations on the working platform of the pipetting device; and controls the pipetting device to perform pipetting operations based on the operation information, layout information and liquid type information.

[0005] However, existing pipetting equipment control systems still suffer from the following problems: High complexity in developing basic commands; adding or changing basic commands requires developers to implement or adjust related functions according to needs; lack of flexible interfaces to support rapid expansion and customization makes the system difficult to adapt to constantly changing experimental requirements; each functional update necessitates redevelopment and testing, significantly increasing development costs and extending the development cycle. For enterprises with a high degree of personalization, existing source code is unsuitable, requiring frequent revisions and adjustments. When faced with complex business logic, customers need to invest significant time in writing experimental programs, resulting in low work efficiency. Furthermore, existing pipetting equipment control systems suffer from poor platform compatibility. Not only is it difficult to run the same program on different operating systems, but the use of mobile terminals such as tablets and smartphones, as well as related monitoring work, cannot be carried out smoothly in intelligent experimental scenarios, limiting the interoperability and data sharing capabilities of laboratory equipment and increasing the difficulty of integrating laboratory information systems.

[0006] Therefore, how to overcome the shortcomings of existing technologies using effective methods has become an urgent technical challenge. Summary of the Invention

[0007] The purpose of this invention is to address the above-mentioned problems by providing a control architecture and control method for a pipetting device.

[0008] The technical solution of this invention is: a control architecture for a pipetting device, comprising: An action interface library, which contains several basic action interfaces; An editing terminal is used to write script information and send the script information to the execution terminal; the script information includes at least variable information and command information, the variable information is associated with parameters in the command information, wherein the command information is formed by a combination of several target basic actions, and the parameters in the command information are represented by variables in the variable information; The execution end is used to receive the script information and parse it to obtain control instructions for controlling the pipetting device to perform operations. The execution terminal receives and parses the script information. The script information calls the target basic action interfaces corresponding to several target basic actions in the command information and generates control instructions in combination with the variable information. The control terminal then controls the pipetting device to perform the target operation according to the control instructions.

[0009] As an improvement of this embodiment of the invention, the editing terminal is provided with a human-computer interaction interface. The human-computer interaction interface includes at least one script editing module. The script editing module is provided with at least a basic action selection submodule, a variable configuration submodule, and a command combination submodule, which are respectively used for users to select basic actions from the action interface library, set the variable values ​​and association rules of the variable information, and combine the selected basic actions into the command information.

[0010] As an improvement of this embodiment of the invention, the editing terminal is further provided with an intelligent script generation module, which is used to receive the pipetting requirement description input by the user and automatically generate the script information according to the pipetting requirement.

[0011] As an improvement of this invention, the human-computer interaction interface of the editing terminal further includes a template area, which has several basic action combination templates and several variable configuration templates preset.

[0012] As an improvement of this embodiment of the invention, both the editing end and the execution end have an interpreter built in, and the interpreter is used to call the script information and parse and run it.

[0013] As an improvement to this embodiment of the invention, the command information is formed by combining at least two basic actions in a preset execution order.

[0014] To achieve one of the above-mentioned objectives, an embodiment of the present invention provides a pipetting device control method, the pipetting device control method being used in the pipetting device control architecture as described in any of the preceding claims, comprising the following steps: S1: The editing end generates script information and sends the script information to the execution end; S2: The execution end receives the script information and parses it. The script information calls the target basic action interface corresponding to several target basic actions in the command information and generates control instructions in combination with the variable information. S3: The execution end controls the pipetting device to perform the target operation based on the control command.

[0015] As an improvement to this embodiment of the invention, in step S1, the "generating script information" includes: In response to the user's operation on the basic action selection submodule, select the target basic action from the action interface library; In response to user operations on the variable configuration submodule, the initial values, calculation rules, and relationships with parameters in the command information are set for the variable information; In response to the user's operation on the command combination submodule, the selected target basic actions are arranged in a preset sequence and associated variable parameters are embedded to generate the command information; the target basic actions, variable information and command information are integrated to obtain the script information.

[0016] As an improvement to this embodiment of the invention, in step S1, when the editing terminal is equipped with an intelligent script generation module, the "generating script information" includes: automatically generating the script information in response to the user's operation on the intelligent script generation module.

[0017] As an improvement to this embodiment of the invention, step S2, "generating control instructions" specifically includes: parsing the association rules between the parameters in the variable information and the command information; according to the logic of the command information, sequentially calling the corresponding target basic action interfaces in the action interface library, and combining the calculation results of the variable parameters to configure specific execution parameters for each target basic action and integrate them in sequence to generate control instructions.

[0018] The control architecture and method for a pipetting device provided in this invention have the following advantages: This invention allows script information to be written or automatically generated by an editor, and the script information is parsed and control instructions are generated by an execution end. Developers only need to maintain the basic action interface, and users can flexibly combine basic actions to generate command information to reduce development costs, avoid repeated adjustments to the source program, reduce the workload of users writing experiments, and are compatible with different systems. Intelligent experiments can be achieved by running the same script on multiple platforms, which greatly improves work efficiency. Attached Figure Description

[0019] Figure 1 This is a schematic diagram of the control architecture of the pipetting device described in this invention; Figure 2 This is a schematic diagram of the control method for the pipetting device described in this invention. Detailed Implementation

[0020] The present invention will now be described in detail with reference to the specific embodiments shown in the accompanying drawings. However, these embodiments do not limit the present invention, and any structural, methodological, or functional modifications made by those skilled in the art based on these embodiments are included within the scope of protection of the present invention.

[0021] The scope of the embodiments described herein includes the entire scope of the claims and all available equivalents thereof. Throughout this document, the terms “first,” “second,” etc., are used only to distinguish one element from another without requiring or implying any actual relationship or order between the elements. Indeed, a first element can also be referred to as a second element, and vice versa. Furthermore, the terms “comprising,” “including,” or any other variations thereof are intended to cover non-exclusive inclusion, such that a structure, apparatus, or device that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a structure, apparatus, or device. Without further limitations, an element defined by the phrase “comprising one…” does not exclude the presence of other identical elements in the structure, apparatus, or device that includes said element. The various embodiments described herein are presented in a progressive manner, with each embodiment focusing on its differences from other embodiments. Similar or identical parts between embodiments can be referred to interchangeably.

[0022] The terms "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer" used in this document to indicate orientation or positional relationships are based on the orientation or positional relationships shown in the accompanying drawings and are used only for the convenience of describing this document and simplifying the description. They do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as limiting the invention. In the description herein, unless otherwise specified and limited, the terms "installed," "connected," and "linked" should be interpreted broadly. For example, they can refer to mechanical or electrical connections, or internal connections between two elements, or direct connections or indirect connections through an intermediate medium. Those skilled in the art can understand the specific meaning of the above terms according to the specific circumstances.

[0023] This invention provides a control architecture for a pipetting device, comprising: The motion interface library contains several basic motion interfaces; these basic motion interfaces are a set of interfaces for controlling the pipetting device to perform various basic operations. These basic motion interfaces can be interface definitions for basic operations such as aspiration, dispensing, movement, and mixing, providing a standardized set of operating instructions for the pipetting device. In the specific implementation of the motion interface library, each basic motion interface should include parameter definitions and execution logic. For example, the aspiration interface needs to specify parameters such as aspiration volume, aspiration speed, and pipette tip specifications, where the aspiration volume range is set according to the pipetting device's range, and the aspiration speed corresponds to different motor speed parameters; the movement interface can include three-dimensional coordinate information, movement path type, acceleration and deceleration parameters, etc., to ensure that the pipetting device's robotic arm moves smoothly along a preset trajectory. These basic motion interfaces are encapsulated through a standardized function call format, supporting compatible calls across different device models.

[0024] The editing end, which can be deployed on the Windows platform, is used to write script information and send it to the execution end. The script information includes at least variable information and command information. The variable information is associated with parameters in the command information. The command information is formed by combining several target basic actions, and the parameters in the command information are represented by variables in the variable information. The command information is formed by combining several target basic actions from the action interface library according to a preset execution order of the experimental procedure, such as combining aspiration, pipetting, and dispensing to form a one-aspiration-multiple-dispense command. The parameters in the command information can be aspiration volume, pipetting speed, dispensing position coordinates, etc., and are represented by variables in the variable information. It is understood that developers only need to maintain the basic action interface, and users can flexibly combine basic actions to generate command information to reduce development costs and the workload of writing experiments, thereby greatly improving work efficiency.

[0025] In practice, the script information should also include liquid type, worktable information, consumable information, and equipment information. Liquid type information can include attributes such as liquid name, viscosity, density, and volatility. These attributes are bound to parameters in the command information through variable information. For example, when the liquid type is high-viscosity glycerol, the user can preset a high-viscosity liquid pipetting speed variable in the variable information and assign it a value of 5 mm / s. This variable will be associated with the pipetting speed parameter of the basic pipetting action. When the editing terminal generates a one-absorption-multiple-spray command, it calls this variable value to adjust the pipetting speed, avoiding pipetting errors caused by differences in liquid viscosity. If the liquid is volatile ethanol, an evaporation compensation volume variable can be set in the variable information, associated with the aspiration volume parameter of the basic aspiration action, to ensure that the actual aspiration volume meets experimental requirements.

[0026] The tabletop information includes the division of the experimental tabletop areas, coordinate calibration, and safety boundary parameters. The editing terminal provides a visual tabletop editing interface, where users can mark functional areas such as reagent areas, consumable areas, and waste liquid areas, and set the coordinate range of each area. At the same time, the editing terminal will check in real time whether the coordinate parameters in the command information exceed the safety boundary. If they do, a warning will pop up to ensure the safety of experimental operations.

[0027] Consumable information can include the model, specifications, and compatibility parameters of the consumables used in the experiment, such as the measuring range of pipette tips, the volume and material of centrifuge tubes, and the interface type of reagent bottles. Equipment information can include the model, hardware parameters, and functional limitations of the execution device, such as the motion accuracy of the robotic arm, the minimum increment of the pipette, and the temperature range of the temperature control module. These parameters will serve as the basic constraints for variable information.

[0028] The execution end, which can be deployed on a Linux platform, receives the script information and parses it to obtain control commands for controlling the pipetting device to perform operations. After receiving the script information, the execution end uses a built-in interpreter to parse the association between the command information and variable information, calls the corresponding basic action interface in the action interface library, and generates control commands. Based on these control commands, it controls the pipetting device to perform the target operation. This allows users to conveniently monitor and control the experimental process or trigger preset experimental procedures on mobile devices, improving the flexibility of experimental control.

[0029] In practice, the editing terminal can connect to multiple execution terminals simultaneously, corresponding to different pipetting devices. By using the device identifier field in the script information, different command sequences are sent to the corresponding execution terminals, enabling synchronized operation of multiple pipetting devices. For example, in high-throughput experiments, one device is responsible for sample dilution, while another is responsible for adding samples to the reaction plate. The editing terminal uses a unified script scheduling mechanism to ensure the timing of the actions of the two devices matches, improving the continuity and efficiency of the experimental workflow.

[0030] The execution terminal receives and parses the script information. The script information calls the target basic action interfaces corresponding to several target basic actions in the command information and generates control instructions in combination with the variable information. The control terminal then controls the pipetting device to perform the target operation according to the control instructions.

[0031] In practice, the execution end can employ a priority scheduling mechanism when running script information. When multiple script tasks are received simultaneously, they can be sorted according to their urgency and resource consumption, with higher-priority tasks being executed first. For example, an urgent calibration task has a higher priority than a regular pipetting task; the execution end will pause the current lower-priority task, save its execution status, switch to the calibration task, and resume execution of the original task upon completion. Preferably, when an anomaly occurs in the target operation, the execution end will immediately trigger an exception handling mechanism, execute preset remedial actions, and synchronously update the status information to the editing end.

[0032] In this invention, the editing terminal is equipped with a human-computer interaction interface, which includes at least one script editing module. The script editing module includes at least a basic action selection submodule, a variable configuration submodule, and a command combination submodule. In practice, the basic action selection submodule provides a visual list of actions, allowing users to select basic actions from the action interface library by checking boxes and / or dragging and dropping. The variable configuration submodule supports users in inputting variable names, setting initial variable values, configuring calculation rules, and their association with parameters in the command information. The command combination submodule provides a timing arrangement panel, allowing users to adjust the execution order of basic actions by dragging and dropping, and embedding associated variable parameters to generate complete command information.

[0033] In this invention, the editing terminal is further equipped with an intelligent script generation module. This module integrates large-scale model algorithms, which can be pre-trained language models based on the Transformer architecture, including but not limited to GPT, LLaMA, BERT, and their improved models. These large-scale models possess powerful natural language understanding and generation capabilities, and can automatically generate script content that meets logical and format requirements based on user input of needs descriptions and scene information, effectively improving script generation efficiency.

[0034] The intelligent script generation module receives user-inputted natural language descriptions of pipetting needs, extracts key parameters (including aspiration volume, pipetting speed, and dispensing position) through semantic parsing, matches them with basic actions in the action interface library, generates variable association rules, and automatically generates script information that conforms to grammatical rules. Users can edit and adjust the generated script information through a human-computer interaction interface. The intelligent script generation module can employ a multi-turn semantic interaction mechanism when processing natural language needs. When the user's input description is ambiguous or key parameters are missing, it automatically generates follow-up questions until complete information is obtained. Preferably, the module has a built-in experimental operation specification knowledge base, automatically verifying the rationality of the action sequence during script generation to ensure that the generated script conforms to experimental operation logic. In essence, the intelligent script generation module can convert user-described natural language pipetting needs into script information, which users can edit, improving both experimental writing speed and script accuracy.

[0035] In this invention, the human-computer interaction interface of the editing terminal also includes a template area. The template area has several basic action combination templates, including but not limited to one-suction-multiple-spray and gradient dilution; and several variable configuration templates, including but not limited to common volume variable templates and microplate position variable templates. Users can directly call the templates and modify the variable values ​​in the templates to quickly generate script information and reduce repetitive configuration operations.

[0036] In this invention, both the editing end and the execution end have built-in interpreters. Preferably, the interpreter can be a Python interpreter, used to call the script information and parse and run it, converting the control instructions after script parsing into hardware drive signals that the pipetting device can recognize, including but not limited to pulse signals for controlling motor rotation and level signals for controlling valve opening and closing.

[0037] In this invention, the command information is formed by combining at least two basic actions in a preset execution order. In practice, the at least two basic actions can be combined using conditional judgments and loop logic. It is understood that this combination method allows the command information to flexibly handle various complex scenarios during the experimental process, achieving automated operations with logical judgments without the need for writing complex code.

[0038] The present invention also provides a pipetting device control method, wherein the pipetting device control method is used in the pipetting device control architecture as described in any of the preceding claims, such as... Figure 2 As shown, it includes the following steps: Step S1: The editing terminal generates script information and sends the script information to the execution terminal. In practice, script information can be generated in the following ways: Manually edited and generated, responding to the user's operation on the basic action selection submodule, selecting the target basic action, such as selecting pipetting tip, aspiration, pipetting, dispensing, and withdrawing pipetting tip.

[0039] In response to user actions on the variable configuration submodule, the initial values, calculation rules, and relationships between variable information and parameters in the command information are set. The variable configuration submodule can perform correlation calculations between variables. For example, the user can set variable A as the initial volume, variable B as the volume for each pipetting operation, and variable C is automatically calculated as the difference between A and B. Variable C is then associated with the volume parameter for the next pipetting action, enabling automatic updates of the remaining volume during continuous pipetting.

[0040] In response to the user's operation on the command combination submodule, the selected target basic actions are arranged in a preset sequence and associated variable parameters are embedded to generate the command information. The user can set conditional branches through a visual interface to integrate the target basic actions, variable information and command information to obtain the script information and realize complex process control.

[0041] Intelligent generation: When the editing terminal is equipped with an intelligent script generation module, in response to user operations on the intelligent script generation module, for example, if the user inputs: "Transfer 350μL of liquid to each of 10 centrifuge tubes, and automatically remove the pipette tip after completion," the intelligent script generation module extracts the required parameters through semantic parsing: the volume of liquid transferred is 350μL, the target container is 10 centrifuge tubes, and the action sequence is pipetting-liquid aspiration-transferring-dispensing-removing the pipette tip cycled 10 times. It automatically matches the target basic action interface, generation variable configuration, and command logic of the action interface library to obtain the script information.

[0042] Step S2: The execution end receives and parses the script information. The script information calls the target basic action interfaces corresponding to several target basic actions in the command information and generates control instructions by combining the variable information. In practice, the parsing of the script information can be as follows: identify the variable names, initial values ​​and operation rules defined in the script, and determine the variable parameters corresponding to each command information according to the associated statements in the script; the target basic action interface call can call the corresponding basic action interface in the action interface library through the Python.Net component according to the logical order of the command information; the control instruction generation can convert the call parameters of the basic action interface into the driving parameters of the pipetting device hardware, and integrate them into a control instruction sequence according to the execution order.

[0043] Step S3: The execution end controls the pipetting device to perform the target operation based on the control command.

[0044] In practice, the actuator can send the generated control commands to the controller of the pipetting device through a hardware interface. The controller drives the various actuators to operate according to the commands, including but not limited to: the pipette tip assembly, which receives the pipette tip control command, drives the motor to lower the pipette tip mounting mechanism, and completes the assembly of the pipette tip with the pipette; the liquid handling assembly, which receives the liquid aspiration / dispensing control command, drives the pump to draw or release liquid at a set volume and speed; the moving assembly, which receives the pipetting control command, drives the motor to move to the target position at a set speed; and the pipette tip retraction assembly, which receives the pipette tip retraction control command, drives the pipette tip retraction mechanism to detach the used pipette tip from the pipette.

[0045] When the pipetting device performs the target operation, the execution terminal can receive status signals from the device in real time. If an abnormal signal is detected, the operation is immediately paused and an alarm signal is sent to the editing terminal. Users can view the cause of the abnormality and adjust the script information through the human-machine interface of the editing terminal. The execution terminal can record the completed action sequence and variable status in real time. In the event of an unexpected interruption, after power is restored or the fault is resolved, the execution terminal can read the breakpoint information and continue the remaining operations from the interrupted position without re-executing the entire script, reducing waste of experimental materials and time. At the same time, the execution terminal stores key data during the operation process in a local log file, facilitating subsequent experimental traceability and data analysis.

[0046] The above-described pipetting device control method achieves flexible control of the pipetting device. Users can easily write scripts through the human-computer interaction interface on the editing end, or automatically generate scripts using the intelligent script generation module. The execution end is responsible for parsing the script and controlling the pipetting device to perform operations, greatly improving the flexibility and scalability of pipetting operations. This invention abstracts complex pipetting device control commands into combinations of basic actions and variables, reducing the difficulty of experimental programming and improving operational efficiency.

[0047] This invention can be an apparatus, method, and / or computer program product. A computer program product may include a readable storage medium having computer-readable program instructions loaded thereon for causing a processor to implement various aspects of the invention.

[0048] Storage media can be tangible devices that hold and store instructions for use by instruction execution devices. Storage media can include, but are not limited to, electrical storage devices, magnetic storage devices, optical storage devices, electromagnetic storage devices, semiconductor storage devices, or any suitable combination thereof. More specific examples (a non-exhaustive list) of readable storage media include: portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), static random access memory (SRAM), portable compact disc read-only memory (CD-ROM), digital multifunction disc (DVD), memory sticks, floppy disks, mechanical encoding devices, such as punch cards or recessed protrusions storing instructions thereon, and any suitable combination thereof.

[0049] It should be understood that although this specification describes embodiments, not every embodiment contains only one independent technical solution. This way of describing the specification is only for clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment can also be appropriately combined to form other embodiments that can be understood by those skilled in the art.

[0050] The detailed descriptions listed above are merely specific descriptions of feasible embodiments of the present invention, and are not intended to limit the scope of protection of the present invention. All equivalent embodiments or modifications made without departing from the spirit of the present invention should be included within the scope of protection of the present invention.

Claims

1. A control architecture for a pipetting device, characterized in that, include: An action interface library, which contains several basic action interfaces; An editing terminal is used to write script information and send the script information to the execution terminal; the script information includes at least variable information and command information, the variable information is associated with parameters in the command information, wherein the command information is formed by a combination of several target basic actions, and the parameters in the command information are represented by variables in the variable information; The execution end is used to receive the script information and parse it to obtain control instructions for controlling the pipetting device to perform operations. The execution terminal receives and parses the script information. The script information calls the target basic action interfaces corresponding to several target basic actions in the command information and generates control instructions in combination with the variable information. The control terminal then controls the pipetting device to perform the target operation according to the control instructions.

2. The control architecture for the pipetting device according to claim 1, characterized in that, The editing terminal is equipped with a human-computer interaction interface, which includes at least one script editing module. The script editing module includes at least a basic action selection submodule, a variable configuration submodule, and a command combination submodule, which are used for users to select basic actions from the action interface library, set the variable values ​​and association rules of the variable information, and combine the selected basic actions into the command information.

3. The control architecture for the pipetting device according to claim 1, characterized in that, The editing terminal is also equipped with an intelligent script generation module, which is used to receive the pipetting requirement description input by the user and automatically generate the script information according to the pipetting requirement.

4. The control architecture for the pipetting device according to claim 2, characterized in that, The human-computer interaction interface of the editing terminal also includes a template area, which has several basic action combination templates and several variable configuration templates.

5. The control architecture for the pipetting device according to claim 1, characterized in that, Both the editing end and the execution end have a built-in interpreter, which is used to call the script information and parse and run it.

6. The control architecture for the pipetting device according to claim 1, characterized in that, The command information is formed by combining at least two basic actions in a preset execution order.

7. A pipetting device control method, wherein the pipetting device control method is used in the pipetting device control architecture as described in claims 1-6, characterized in that, Includes the following steps: S1: The editing end generates script information and sends the script information to the execution end; S2: The execution end receives the script information and parses it. The script information calls the target basic action interface corresponding to several target basic actions in the command information and generates control instructions in combination with the variable information. S3: The execution end controls the pipetting device to perform the target operation based on the control command.

8. The pipetting device control method according to claim 7, characterized in that, In step S1, the "generating script information" includes: In response to the user's operation on the basic action selection submodule, select the target basic action from the action interface library; In response to user operations on the variable configuration submodule, the initial values, calculation rules, and relationships with parameters in the command information are set for the variable information; In response to the user's operation on the command combination submodule, the selected target basic actions are arranged in a preset sequence and associated variable parameters are embedded to generate the command information; the target basic actions, variable information and command information are integrated to obtain the script information.

9. The pipetting device control method according to claim 7, characterized in that, In step S1, when the editing terminal is equipped with an intelligent script generation module, the "generated script information" includes: The script information is automatically generated in response to the user's operation on the intelligent script generation module.

10. The pipetting device control method according to claim 7, characterized in that, In step S2, the "generating control instructions" specifically includes: Analyze the association rules between variable information and parameters in command information; Based on the logic of the command information, the corresponding target basic action interfaces in the action interface library are called sequentially. Combined with the calculation results of the variable parameters, specific execution parameters are configured for each target basic action and integrated in sequence to generate control instructions.

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