Calibration method of liquid transfer device, electronic equipment and storage medium

Abstract

The embodiment of the invention provides a calibration method of a liquid transfer device, electronic equipment and a storage medium. The calibration method of the liquid transfer device comprises the following steps: acquiring at least two reference pipetting amounts of a calibration volume section of the liquid transfer device; aiming at each standard pipetting amount, a target pipetting amount corresponding to the standard pipetting amount is determined, and under the condition that the first pipetting instruction is issued, the actual pipetting amount of the target liquid transferred by the liquid transfer device meets the pipetting precision requirement corresponding to the standard pipetting amount; the first pipetting instruction is used for enabling the liquid transfer device to transfer target liquid with a target pipetting amount; and determining calibration parameters of the calibration volume section according to the at least two reference pipetting amounts and the target pipetting amount corresponding to each reference pipetting amount. The liquid transfer device can be automatically calibrated, the calibration efficiency and accuracy can be improved, the reliability of the liquid transfer device is improved, the calibration parameters are automatically determined, manual operation is not needed, and the influence of human factors on calibration is avoided.

Description

Technical Field

[0001] This invention relates to the field of automation technology. More specifically, it relates to a calibration method for a liquid transfer device, a liquid transfer method, a calibration system for a liquid transfer device, a liquid transfer system, an electronic device, and a storage medium. Background Technology

[0002] Liquid transfer devices are widely used in life sciences, drug development, and clinical diagnostics. The accuracy of these devices directly determines the reliability of critical steps such as reagent dispensing and reaction system construction, significantly impacting the success or failure of the entire experiment or test. In micro-liquid handling, even minute volume errors can lead to serious experimental or testing errors, ultimately significantly affecting experimental conclusions or test results. Common liquid transfer devices include manual pipettes, automated pipettes, and pipetting workstations. The accuracy of liquid transfer devices can be affected by factors such as user fatigue and changes in ambient temperature and humidity.

[0003] Therefore, there is an urgent need for a calibration scheme for liquid transfer devices to ensure that the liquid transfer devices can achieve the specified pipetting accuracy requirements within the nominal volume range. Summary of the Invention

[0004] The present invention was proposed in view of the above-mentioned problems.

[0005] According to one aspect of the present invention, a calibration method for a liquid transfer device is provided. The calibration method for the liquid transfer device includes:

[0006] Obtain at least two reference pipetting volumes for the calibration volume range of the liquid transfer device;

[0007] For each of the at least two reference pipetting volumes in the calibration volume range, a target pipetting volume corresponding to the reference pipetting volume is determined for the liquid transfer device. When a first pipetting instruction is issued, the actual pipetting volume of the target liquid transferred by the liquid transfer device meets the pipetting accuracy requirement corresponding to the reference pipetting volume. The first pipetting instruction is used to cause the liquid transfer device to transfer the target liquid of the target pipetting volume.

[0008] The calibration parameters for the calibration volume segment are determined based on at least two reference pipette volumes for each reference volume segment and the target pipette volume corresponding to each reference volume segment.

[0009] For example, the pipetting accuracy requirement includes an accuracy requirement. Determining the target pipetting volume corresponding to the reference pipetting volume of the liquid transfer device includes: repeatedly performing the pipetting operation when a second pipetting instruction is issued until the actual pipetting volume of the target liquid transferred by the liquid transfer device meets the accuracy requirement corresponding to the reference pipetting volume, and determining the target pipetting volume based on the issued pipetting volume at the end. The second pipetting instruction is used to cause the liquid transfer device to transfer the target liquid of the issued pipetting volume. The pipetting operation includes: controlling the liquid transfer device to transfer the target liquid according to the second pipetting instruction; determining the actual pipetting volume of the target liquid transferred by the liquid transfer device; determining whether the determined actual pipetting volume meets the accuracy requirement corresponding to the reference pipetting volume. If it does not meet the requirement, the current issued pipetting volume is adjusted to perform the pipetting operation again. The issued pipetting volume when the pipetting operation is performed for the first time is the reference pipetting volume.

[0010] For example, determining whether the determined actual pipetting volume meets the accuracy requirement corresponding to the benchmark pipetting volume includes: calculating a first accuracy value of the determined actual pipetting volume based on the difference between the determined actual pipetting volume and the benchmark pipetting volume, wherein the greater the difference, the greater the first accuracy value; wherein the accuracy requirement includes the first accuracy value being less than or equal to an accuracy threshold.

[0011] For example, determining the target pipetting volume based on the pipetting volume issued at the end includes: controlling the liquid transfer device to transfer the target liquid multiple times according to a third pipetting instruction, and correspondingly determining multiple actual pipetting volumes of the target liquid transferred by the liquid transfer device, wherein the third pipetting instruction is used to cause the liquid transfer device to transfer the target liquid at the pipetting volume issued at the end; calculating the coefficient of variation of the multiple actual pipetting volumes; and determining the pipetting volume issued at the end as the target pipetting volume when the coefficient of variation is less than or equal to a repeatability threshold.

[0012] For example, adjusting the current pipetting volume includes: calculating the sum of the current pipetting volume and a first difference to update the pipetting volume, wherein the first difference is the difference between the baseline pipetting volume and the determined actual pipetting volume.

[0013] For example, determining the actual volume of the target liquid transferred by the liquid transfer device includes: determining the actual volume of the target liquid transferred based on the mass data of the target liquid transferred by the liquid transfer device from an electronic balance, wherein the electronic balance includes a weighing module for placing a liquid container for containing the target liquid transferred by the liquid transfer device, and a windproof cover is provided outside the weighing module and the liquid container, the top of the windproof cover having an opening through which the liquid transfer device transfers the target liquid to the liquid container.

[0014] For example, determining the calibration parameters of the calibration volume segment based on at least two reference pipetting volumes of the calibration volume segment and the target pipetting volume corresponding to each reference pipetting volume includes: determining the slope and intercept of the linear function of the target pipetting volume with respect to the reference pipetting volume based on at least two reference pipetting volumes of the calibration volume segment and the target pipetting volume corresponding to each reference pipetting volume, as calibration parameters of the calibration volume segment.

[0015] For example, the liquid transfer device is a pipette, which includes a pipette tip, and each calibration volume segment of the liquid transfer device is a standard shape segment of the pipette tip.

[0016] For example, the difference between the maximum and minimum reference pipette volumes in at least two reference pipette volumes is greater than 50% of the total capacity of the calibration volume segment.

[0017] According to another aspect of the present invention, a liquid transfer method is also provided. The liquid transfer method includes: determining the volume of the target liquid to be transferred based on the desired volume of the target liquid and calibration parameters of the calibration volume range of the liquid transfer device as determined as described above; and controlling the liquid transfer device to transfer the target liquid based on a fourth pipetting command, wherein the fourth pipetting command is used to cause the liquid transfer device to transfer the volume of the target liquid to be transferred.

[0018] For example, the method further includes: storing calibration parameters in association with a target liquid type of the target liquid, wherein the target liquid type includes pipetting parameters for the target liquid; and controlling a liquid transfer device to transfer the target liquid based on a fourth pipetting command, including: controlling the liquid transfer device to transfer the target liquid based on the fourth pipetting command and the target liquid type.

[0019] According to another aspect of the present invention, a calibration system for a liquid transfer device is also provided. The calibration system for the liquid transfer device includes: a first acquisition module, a first determination module, and a second determination module. The first acquisition module is used to acquire at least two reference pipetting volumes for a calibration volume segment of the liquid transfer device; the first determination module is used to determine, for each of the at least two reference pipetting volumes in the calibration volume segment, a target pipetting volume corresponding to that reference pipetting volume of the liquid transfer device, wherein, when a first pipetting instruction is issued, the actual pipetting volume of the target liquid transferred by the liquid transfer device meets the pipetting accuracy requirement corresponding to the reference pipetting volume, and the first pipetting instruction is used to cause the liquid transfer device to transfer the target liquid of the target pipetting volume; the second determination module is used to determine calibration parameters for the calibration volume segment based on the at least two reference pipetting volumes of the calibration volume segment and the target pipetting volume corresponding to each reference pipetting volume.

[0020] According to another aspect of the present invention, a liquid transfer system is also provided. The liquid transfer system includes: a third determining module and a control module. The third determining module is used to determine the volume of the target liquid to be transferred based on the desired volume of the target liquid and calibration parameters of the calibration volume range of the liquid transfer device as determined above; the control module is used to control the liquid transfer device to transfer the target liquid based on a fourth pipetting command, wherein the fourth pipetting command is used to cause the liquid transfer device to transfer the target liquid volume to be transferred.

[0021] According to another aspect of the present invention, an electronic device is also provided, comprising: a processor and a memory, wherein the memory stores computer program instructions, which, when executed by the processor, are used to perform the calibration method of the liquid transfer device as described above or the liquid transfer method as described above.

[0022] According to another aspect of the present invention, a storage medium is also provided, on which program instructions are stored, which, when executed, are used to perform the calibration method of the liquid transfer device as described above or the liquid transfer method as described above.

[0023] In the above technical solution, at least two reference pipetting volumes for the calibration volume segment of the liquid transfer device are obtained, and the target pipetting volume corresponding to each reference volume is determined. Based on the at least two reference pipetting volumes for the calibration volume segment and the target pipetting volume corresponding to each reference volume, the calibration parameters for the calibration volume segment are determined. This allows for automatic calibration of the liquid transfer device, improving calibration efficiency and accuracy, enhancing the reliability of the liquid transfer device, and automatically determining calibration parameters without manual operation, thus avoiding the influence of human factors on the calibration.

[0024] The above description is merely an overview of the technical solution of the present invention. In order to better understand the technical means of the present invention and to implement it in accordance with the contents of the specification, and in order to make the above and other objects, features and advantages of the present invention more apparent and understandable, specific embodiments of the present invention are described below. Attached Figure Description

[0025] The above and other objects, features, and advantages of the present invention will become more apparent from the more detailed description of the embodiments of the invention in conjunction with the accompanying drawings. The drawings are provided to further illustrate the embodiments of the invention and form part of the specification. They are used together with the embodiments of the invention to explain the invention and do not constitute a limitation thereof.

[0026] Figure 1 A schematic flowchart of a calibration method for a liquid transfer device according to an embodiment of the present invention is shown;

[0027] Figure 2A schematic flowchart of a pipetting operation according to an embodiment of the present invention is shown;

[0028] Figure 3 A schematic flowchart of a pipetting operation according to another embodiment of the present invention is shown;

[0029] Figure 4 A schematic flowchart of a liquid transfer method according to an embodiment of the present invention is shown;

[0030] Figure 5 A schematic block diagram of a calibration system for a liquid transfer apparatus according to an embodiment of the present invention is shown;

[0031] Figure 6 A schematic block diagram of a liquid transfer system according to an embodiment of the present invention is shown;

[0032] Figure 7 A schematic block diagram of an electronic device according to an embodiment of the present invention is shown. Detailed Implementation

[0033] To make the objectives, technical solutions, and advantages of the present invention more apparent, exemplary embodiments according to the present invention will be described in detail below with reference to the accompanying drawings. Obviously, the described embodiments are merely a subset of embodiments of the present invention.

[0034] To at least partially solve the aforementioned technical problems, this invention provides a calibration method for a liquid transfer device. The liquid transfer device can be used to aspirate and release liquid to achieve liquid transfer. A specific volume of target liquid can be transferred by a pipetting command. This calibration method determines the target pipetting volume by determining the calibration parameters for the calibration volume range based on at least two reference pipetting volumes for each reference volume within a calibration volume range. The liquid transfer device can be calibrated automatically, improving calibration efficiency and accuracy. The calibration method can be applied to any electronic device, i.e., executed by any electronic device. Specifically, the calibration method can be applied to the processor of any electronic device, i.e., executed by the processor of any electronic device. The electronic device can be the liquid transfer device itself, or it can be a different electronic device that can communicate with the liquid transfer device. The communication connection described herein can be implemented using any wired and / or wireless connection method.

[0035] For example, Figure 1 A schematic flowchart illustrating a calibration method for a liquid transfer device according to an embodiment of the present invention is shown. Figure 1 As shown, the calibration method for the liquid transfer device includes steps S1100, S1200, and S1300.

[0036] In step S1100, at least two reference pipetting volumes of the calibration volume segment of the liquid transfer device are obtained.

[0037] The calibration volume range of the liquid transfer device can be determined. In some embodiments, the calibration volume range can be automatically determined based on the range and shape of the liquid transfer device, and at least two reference pipetting volumes can be determined within each calibration volume range. For example, the range of the liquid transfer device can be divided to obtain multiple calibration volume ranges. At least two reference pipetting volumes are determined within each calibration volume range. For example, if the range of the liquid transfer device is 50 μL, three volume ranges can be determined: volume range 1 corresponds to 0.01 to 5 μL, volume range 2 corresponds to 5.01 to 10 μL, and volume range 3 corresponds to 10.01 to 50 μL. If the range of the liquid transfer device is 200 μL, two volume ranges can be determined: volume range 1 corresponds to 0.01 to 15 μL, and volume range 2 corresponds to 15.01 to 200 μL. At least two reference pipetting volumes corresponding to each volume range can be determined based on the range corresponding to each volume range. For example, if volume segment 1 corresponds to 0.01 to 5 microliters, then reference pipetting volume 1 can be 2 microliters and reference pipetting volume 2 can be 5 microliters. Optionally, the liquid transfer device can have multiple preset calibration volume segments. Each calibration volume segment can have at least two preset reference pipetting volumes. The corresponding calibration volume segment and at least two reference pipetting volumes for each calibration volume segment can be determined within the range of the liquid transfer device. In other embodiments, at least two reference pipetting volumes for the calibration volume segment of the liquid transfer device input by the user can be obtained. For example, the user can input multiple reference pipetting volumes and divide the calibration volume segments to which the multiple reference pipetting volumes belong. Thus, at least two reference pipetting volumes corresponding to each calibration volume segment can be obtained.

[0038] In step S1200, for each of the at least two reference pipetting volumes in the calibration volume range, a target pipetting volume corresponding to the reference pipetting volume is determined for the liquid transfer device. Specifically, when a first pipetting instruction is issued, the actual pipetting volume of the target liquid transferred by the liquid transfer device meets the pipetting accuracy requirement corresponding to the reference pipetting volume. The first pipetting instruction is used to instruct the liquid transfer device to transfer the target liquid at the target pipetting volume.

[0039] Different baseline pipetting volumes correspond to different pipetting accuracy requirements. The pipetting accuracy requirement for each baseline pipetting volume can be determined. Multiple standard pipetting volumes can have preset pipetting accuracy requirements. For each baseline pipetting volume, the pipetting accuracy requirement corresponding to that baseline pipetting volume can be determined as the pipetting accuracy requirement of the standard pipetting volume closest to that baseline pipetting volume. For example, the pipetting accuracy requirement for a standard pipetting volume of 2 μL can be an accuracy of less than or equal to 5%; the pipetting accuracy requirement for a standard pipetting volume of 5 μL can be an accuracy of less than or equal to 4%; the pipetting accuracy requirement for a standard pipetting volume of 10 μL can be an accuracy of less than or equal to 3%; the pipetting accuracy requirement for standard pipetting volumes of 15, 50, or 200 μL can be an accuracy of less than or equal to 2%; and the pipetting accuracy requirement for a standard pipetting volume of 1000 μL can be an accuracy of less than or equal to 1%. For example, if the reference pipetting volume 1 is 4 μL and the reference pipetting volume 2 is 9 μL, then the pipetting accuracy requirement corresponding to the reference pipetting volume 1 can be an accuracy of less than or equal to 4%, and the pipetting accuracy requirement corresponding to the reference pipetting volume 2 can be an accuracy of less than or equal to 3%.

[0040] For each reference pipetting volume, a corresponding target pipetting volume can be determined. Due to the existence of calibration errors, it is expected that if a first pipetting instruction is issued to the liquid transfer device to transfer the target pipetting volume, the liquid transfer device will transfer the reference pipetting volume during the actual pipetting operation. If the liquid transfer device has undergone ideal calibration, the actual pipetting volume of the target liquid transferred when the first pipetting instruction is issued to it will be the reference pipetting volume. It is understandable that, still due to the existence of errors in the liquid transfer device, although a first pipetting instruction to transfer the target pipetting volume is issued to the liquid transfer device, the actual pipetting volume during the actual pipetting process may not be the reference pipetting volume, but rather deviate from it to some extent. However, as long as the actual pipetting volume of the target liquid transferred by the liquid transfer device meets the pipetting accuracy requirements corresponding to the reference pipetting volume, i.e., the deviation from the reference pipetting volume is small, it can be considered that the pipetting volume in the first pipetting instruction corresponding to the actual pipetting volume is the target pipetting volume corresponding to the reference pipetting volume.

[0041] In some embodiments, the target pipetting volume can be determined based on the model of the liquid transfer device, the reference pipetting volume, the environmental temperature and humidity, and the physical parameters of the target liquid (such as density, viscosity, compressibility, etc.). The target pipetting volume can be verified by controlling the liquid transfer device to transfer the target liquid with the target pipetting volume. When controlling the liquid transfer device to transfer the target liquid with the target pipetting volume, if the actual pipetting volume meets the pipetting accuracy requirements corresponding to the reference pipetting volume, it is determined that the target pipetting volume is qualified. For example, if the reference pipetting volume is 30 microliters, the corresponding pipetting accuracy requirement can be that the accuracy is less than or equal to 2%. The determined target pipetting volume is 33 microliters, and the actual pipetting volume is 29.8 microliters, which meets the pipetting accuracy requirements corresponding to the reference pipetting volume, then it is determined that the target pipetting volume is 33 microliters. If it is unqualified, the target pipetting volume can be re-determined and verified again.

[0042] In other embodiments, the initial pipetting volume can be determined as the reference pipetting volume, and then control the liquid transfer device to transfer the target liquid, determine the actual pipetting volume. If it does not meet the pipetting accuracy requirements corresponding to the reference pipetting volume, adjust the initial pipetting volume, and then control the liquid transfer device to transfer the target liquid again to determine the new actual pipetting volume until it meets the pipetting accuracy requirements corresponding to the reference pipetting volume. For example, if the reference pipetting volume is 5 microliters, the corresponding pipetting accuracy requirement is that the accuracy is less than or equal to 4%. First, control the liquid transfer device to transfer the target liquid with the initial pipetting volume (5 microliters), and the determined actual pipetting volume is 4.30 microliters, and the accuracy is 14%, which does not meet the pipetting accuracy requirements. The initial pipetting volume can be adjusted to 5.7 microliters, and control the liquid transfer device to transfer 5.7 microliters of the target liquid. If the actual pipetting volume is 4.95 microliters and the accuracy is 1%, which meets the pipetting accuracy requirements, then it can be determined that the target pipetting volume corresponding to the reference pipetting volume of 5 microliters is 5.7 microliters.

[0043] The process of determining the target pipetting volume corresponding to the reference pipetting volume above can be completed by an automated device and the corresponding automated system without manual participation. Thus, the target pipetting volume corresponding to each reference pipetting volume can be automatically determined.

[0044] In step S1300, according to at least two reference pipetting volumes of the calibration volume segment and the target pipetting volume corresponding to each reference pipetting volume, determine the calibration parameters of the calibration volume segment.

[0045] In some embodiments, a linear function can be used to calibrate each calibration volume segment. Calibration parameters may include the slope and intercept of the linear function. The slope and intercept of the linear function can be determined based on each reference pipette volume within the calibration volume segment and the corresponding target pipette volume. For calibration volume segments with only two reference pipette volumes, the slope and intercept of the linear function can be directly calculated to determine the calibration parameters for that volume segment. For calibration volume segments with three or more reference pipette volumes, a linear function can be fitted to determine its slope and intercept as the calibration parameters for that volume segment. Different calibration volume segments can have different calibration parameters. For example, volume segment 1 corresponds to 15.01 to 200 μL, with a linear function slope of 1.012 and an intercept of 0.2. If a user needs to transfer 80 μL of target liquid, the target pipette volume sent to the liquid transfer device is 81.16 μL (1.012 * 80 + 0.2). In other embodiments, higher-order functions can be used to calibrate the calibration volume range, where the parameters in the higher-order functions are the calibration parameters for the calibration volume range. The calibration parameters for the calibration volume range can be determined by fitting a higher-order function based on at least two reference pipetting volumes and the target pipetting volume corresponding to each reference volume.

[0046] In the above technical solution, at least two reference pipetting volumes for the calibration volume segment of the liquid transfer device are obtained, and the target pipetting volume corresponding to each reference volume is determined. Based on the at least two reference pipetting volumes for the calibration volume segment and the target pipetting volume corresponding to each reference volume, the calibration parameters for the calibration volume segment are determined. This allows for automatic calibration of the liquid transfer device, improving calibration efficiency and accuracy, enhancing the reliability of the liquid transfer device, and automatically determining calibration parameters without manual operation, thus avoiding the influence of human factors on the calibration.

[0047] For example, the liquid transfer device is a pipette, which includes a pipette tip. Each calibration volume segment of the liquid transfer device is a standard shape segment of the pipette tip. The pipette tip can transfer a target liquid using the pipette tip. The pipette tip can be used to contain the target liquid. A closed air passage can be formed inside the pipette tip, and the aspiration and release of the target liquid are achieved by the negative / positive pressure generated by the movement of the pipette piston. The pipette tip can have continuous geometric segments with the same inner diameter, taper, or volume characteristics in the axial length direction. These geometric segments can be standard shape segments. For example, the pipette tip can include a tapered shape segment and a cylindrical shape segment. Each calibration volume segment of the liquid transfer device can correspond to a standard shape segment of the pipette tip. In other words, a calibration volume segment does not include multiple standard shape segments. A calibration volume segment is calibrated only for one standard shape segment. Multiple calibration volume segments of the liquid transfer device can be determined based on the standard shape segments of the pipette tip.

[0048] In the above technical solution, the liquid transfer device is a pipette, which includes a pipette tip. Each calibration volume segment of the liquid transfer device is a standard shape segment of the pipette tip. Therefore, by calibrating one calibration volume segment for one standard shape segment, the systematic deviation of each standard shape segment can be specifically corrected, significantly improving the accuracy across the entire volume range.

[0049] For example, the difference between the maximum and minimum reference pipette volumes in at least two reference pipette volumes is greater than 50% of the total capacity of the calibration volume segment.

[0050] For example, the calibration volume range corresponds to 10 μL to 200 μL, with a total capacity of 190 μL. When determining at least two reference pipette volumes corresponding to this calibration volume range, the difference between the maximum and minimum reference pipette volumes can be greater than 190 * 0.5 = 95 μL. This ensures that both the maximum and minimum reference pipette volumes are relatively close to the boundaries of the calibration volume range.

[0051] In the above technical solution, the difference between the maximum and minimum reference pipetting volumes among at least two reference pipetting volumes is greater than 50% of the total capacity of the calibration volume segment. This avoids a concentrated distribution of reference pipetting volumes within the calibration volume segment, ensuring the reliability of the calibration of the liquid transfer device.

[0052] For example, pipetting accuracy requirements include precision requirements. Different baseline pipetting volumes can have the same or different precision requirements. The precision requirement for each baseline pipetting volume can be determined. Precision can be calculated based on the baseline pipetting volume and the corresponding actual pipetting volume.

[0053] Step S1200, determining the target pipetting volume corresponding to the reference pipetting volume of the liquid transfer device, includes step S1210. In step S1210, the pipetting operation is repeatedly executed when a second pipetting instruction is issued, until the actual pipetting volume of the target liquid transferred by the liquid transfer device meets the accuracy requirement corresponding to the reference pipetting volume. The target pipetting volume is then determined based on the pipetting volume issued at the end of the operation. The second pipetting instruction is used to instruct the liquid transfer device to transfer the target liquid of the issued pipetting volume. The target liquid can be transferred according to the second pipetting instruction. Each time a second pipetting instruction is issued, a pipetting operation can be performed. For each pipetting operation, it can be determined whether the actual pipetting volume meets the accuracy requirement corresponding to the reference pipetting volume. If it does, the pipetting operation can be terminated, and the pipetting volume issued at the end of the pipetting operation can be determined as the target pipetting volume.

[0054] Figure 2 A schematic flowchart of a pipetting operation according to an embodiment of the present invention is shown. Figure 2As shown, the pipetting operation may include steps S1211, S1212, and S1213. It can be understood that steps S1211, S1212, and S1213 can be executed each time a pipetting operation is performed.

[0055] For each baseline pipetting volume, the pipetting operation can be repeated to determine the target pipetting volume corresponding to each baseline pipetting volume. For each baseline pipetting volume, the pipetting volume issued in the first pipetting operation is the baseline pipetting volume.

[0056] In step S1211, the liquid transfer device is controlled to transfer the target liquid according to the second pipetting instruction. The liquid transfer device can be controlled to transfer the target liquid of the specified volume according to the second pipetting instruction issued for this pipetting operation. For example, the target liquid can be drawn into the target container and released at the target location to complete the transfer of the target liquid. A measuring device can be set at the target location to determine the actual volume transferred in this pipetting operation. For example, the measuring device can be an electronic balance.

[0057] In step S1212, the actual volume of the target liquid transferred by the liquid transfer device is determined.

[0058] For example, after transferring the target liquid to the target location, the actual volume of the target liquid transferred in this pipetting operation can be automatically acquired from the measuring device. Taking an electronic balance as an example, the mass data sent by the electronic balance can be automatically acquired. The actual volume transferred can be determined based on the density and mass data of the target liquid.

[0059] In step S1213, it is determined whether the determined actual pipetting volume meets the accuracy requirements corresponding to the baseline pipetting volume. If it does not meet the requirements, the current pipetting volume is adjusted and the pipetting operation is performed again.

[0060] For example, if the baseline pipetting volume is 10.1 μL, and the accuracy requirement for this baseline volume is less than or equal to 3%, and the actual pipetting volume in this operation is 9.3 μL with an accuracy of 7.9%, which does not meet the accuracy requirement, then the current pipetting volume is adjusted, and the pipetting operation is performed again. In some embodiments, the current pipetting volume can be adjusted based on the relationship between the baseline and actual pipetting volumes. If the baseline volume is greater than the actual volume, the current pipetting volume is increased by a preset amount; if the baseline volume is less than the actual volume, the current pipetting volume is decreased by a preset amount. In other embodiments, the current pipetting volume can be adjusted based on the difference between the baseline and actual volume. Using the baseline pipetting volume of 10.1 μL as an example, with an accuracy requirement of less than or equal to 3%, and considering that the actual pipetting volume in this operation was 9.3 μL with an accuracy of 7.9%, which does not meet the accuracy requirement, the current pipetting volume could be 10.1 μL. Therefore, the current pipetting volume can be adjusted to 10.9 μL, and the pipetting operation can be performed again, resulting in a new actual pipetting volume of 10.02 μL, which meets the accuracy requirement, and the operation can be terminated. It can be determined that the target pipetting volume corresponding to the baseline pipetting volume of 10.1 μL is 10.9 μL (i.e., the pipetting volume at the end).

[0061] In the above technical solution, the pipetting operation is repeatedly executed upon receiving a second pipetting command until the actual pipetting volume of the target liquid transferred by the liquid transfer device meets the accuracy requirement corresponding to the reference pipetting volume. The target pipetting volume is then determined based on the pipetting volume received at the end of the operation. The second pipetting command is used to instruct the liquid transfer device to transfer the target liquid at the issued pipetting volume. This automatically determines the target pipetting volume corresponding to the reference pipetting volume without manual operation, improving calibration efficiency and consistency. It is particularly suitable for rapid calibration of numerous liquid transfer devices in high-throughput scenarios.

[0062] For example, step S1212 determines the actual volume of the target liquid transferred by the liquid transfer device, including step S1212A. In step S1212A, the actual volume of the target liquid transferred is determined based on the mass data of the target liquid transferred by the liquid transfer device from the electronic balance. The electronic balance includes a weighing module for placing a liquid container. The liquid container is used to contain the target liquid transferred by the liquid transfer device. A windproof cover is provided outside the weighing module and the liquid container. The top of the windproof cover has an opening through which the liquid transfer device transfers the target liquid into the liquid container.

[0063] In a pipetting operation, a liquid transfer device can be controlled to transfer a target liquid to the weighing module of an electronic balance. The electronic balance can weigh the target liquid actually transferred in this pipetting operation to obtain mass data. Furthermore, the electronic balance can send the mass data of the target liquid to an electronic device that performs the calibration method of the liquid transfer device. This electronic device can determine the actual volume of the target liquid transferred based on the mass data of the target liquid transferred by the liquid transfer device from the electronic balance. For example, based on the mass of the target liquid actually transferred in this pipetting operation, the actual volume of the target liquid transferred can be determined according to the density of the target liquid. The electronic balance includes a weighing module, which can weigh the mass of an object placed on it. A liquid container can be placed on the weighing module of the electronic balance. The liquid container is used to contain the target liquid transferred by the liquid transfer device. The liquid container can be of any shape. For example, the liquid container can be a hollow cylinder, cube, etc., with an opening at the top. Preferably, the size of the liquid container can be smaller than the size of the weighing module. The central axis of the liquid container can coincide with the central axis of the weighing module. In each pipetting operation, before transferring the target liquid to the liquid container, the electronic balance automatically tare to weigh the mass of the target liquid transferred in that operation. A windproof shield is installed around the weighing module and the liquid container, with an opening at the top. The windproof shield can be of any shape. For example, it can be a hollow cylinder, cube, hemisphere, etc., with an opening at the top. The weighing module and the liquid container can be located inside the windproof shield. The central axis of the opening of the liquid container can coincide with the central axis of the opening in the windproof shield. The liquid transfer device can transfer the target liquid to the liquid container through the opening. For example, the liquid transfer device can move to the central axis of the opening in the windproof shield and then release the target liquid into the liquid container. The bottom of the electronic balance can be insulated to prevent electromagnetic interference.

[0064] Figure 3 A schematic flowchart of a pipetting operation according to another embodiment of the present invention is shown. Figure 3 As shown, the liquid transfer device first acquires the pipette tip corresponding to its range, moves it to the location of the target liquid, and aspirates the target liquid according to the assigned pipetting volume. It then moves to the liquid release position of the electronic balance, waits for a first preset time, the electronic balance tare, and then releases the target liquid into the liquid container. After waiting for a second preset time to allow the electronic balance to stabilize, it is weighed to obtain the actual mass of the target liquid transferred in this pipetting operation, thus determining the actual pipetting volume.

[0065] In the above technical solution, the actual volume of the target liquid transferred is determined based on the mass data of the target liquid transferred by the liquid transfer device from the electronic balance. The electronic balance includes a weighing module for placing a liquid container, which contains the target liquid transferred by the liquid transfer device. A windproof cover is installed outside the weighing module and the liquid container, with an opening at the top. The liquid transfer device transfers the target liquid into the liquid container through this opening. Therefore, the actual volume of liquid transferred can be quickly determined using the electronic balance, and the windproof cover effectively isolates environmental interference, significantly improving the weighing stability of the electronic balance and thus enhancing the reliability of calibration.

[0066] For example, step S1213, determining whether the determined actual pipetting volume meets the accuracy requirement corresponding to the benchmark pipetting volume, includes step S1213A. In step S1213A, based on the difference between the determined actual pipetting volume and the benchmark pipetting volume, a first accuracy value for the determined actual pipetting volume is calculated. The greater the difference, the greater the first accuracy value. The accuracy requirement includes that the first accuracy value is less than or equal to an accuracy threshold.

[0067] An accuracy threshold corresponding to the baseline pipetting volume can be determined. The accuracy thresholds for different baseline pipetting volumes can be the same or different. In some embodiments, the absolute value of the difference between the determined actual pipetting volume and the baseline pipetting volume can be calculated, and the ratio of this absolute value to the baseline pipetting volume can be used as a first accuracy value for the determined actual pipetting volume. In other embodiments, the absolute value of the difference between the determined actual pipetting volume and the baseline pipetting volume can be calculated, and the ratio of this absolute value to twice the baseline pipetting volume can be used as a first accuracy value for the determined actual pipetting volume, for a more stringent limitation. If the first accuracy value is less than or equal to the accuracy threshold, the determined actual pipetting volume meets the accuracy requirements corresponding to the baseline pipetting volume; if the first accuracy value is greater than the accuracy threshold, the determined actual pipetting volume does not meet the accuracy requirements corresponding to the baseline pipetting volume.

[0068] In the above technical solution, based on the difference between the determined actual pipetting volume and the reference pipetting volume, a first accuracy value for the determined actual pipetting volume is calculated. The accuracy requirement includes that the first accuracy value is less than or equal to an accuracy threshold. Therefore, it is possible to quickly and accurately determine whether the determined actual pipetting volume meets the corresponding accuracy requirements. The determination method is simple and efficient, improving calibration efficiency.

[0069] For example, step S1210, which determines the target pipetting volume based on the pipetting volume at the end, includes steps S1214, S1215, and S1216. Steps S1214, S1215, and S1216 can be performed after the above pipetting operation is completed.

[0070] In step S1214, according to the third pipetting instruction, the liquid transfer device is controlled to transfer the target liquid multiple times, and the actual pipetting volume of the target liquid transferred by the liquid transfer device is determined accordingly. The third pipetting instruction is used to send the pipetting volume of the target liquid when the liquid transfer device ends the transfer.

[0071] The volume of liquid transferred at the end of the above pipetting operation can be used as the volume of the third pipetting command. Based on the third pipetting command, the liquid transfer device can be controlled to transfer the target liquid multiple times. The volume of liquid transferred each time can be the same. The actual volume of the target liquid transferred by the liquid transfer device each time can be determined, thus identifying multiple actual volumes. For example, if the volume transferred at the end of the above pipetting operation is 10.9 μL, the liquid transfer device can be controlled to transfer the target liquid 10 times based on this volume, obtaining 10 actual volumes. These 10 actual volumes can be 10.02 μL, 9.75 μL, 9.72 μL, 9.97 μL, 10.12 μL, 9.95 μL, 9.95 μL, 9.95 μL, 10.1 μL, 9.9 μL, and 10.03 μL.

[0072] In step S1215, the coefficient of variation (CV) of the multiple actual pipette volumes is calculated. The coefficient of variation (CV) is a relative indicator that measures the dispersion of multiple actual pipette volumes. For example, the CV can be the ratio of its standard deviation to its mean. The standard deviation of the multiple actual pipette volumes can be calculated first, then the mean of the multiple actual pipette volumes can be calculated, and finally the ratio of the standard deviation to the mean can be calculated as the CV.

[0073] In step S1216, when the coefficient of variation is less than or equal to the repeatability threshold, the volume of pipetting at the end is determined as the target volume of pipetting.

[0074] Different baseline pipetting volumes can have the same or different repeatability thresholds. The repeatability threshold corresponding to this baseline pipetting volume can be determined. For example, if the repeatability threshold for this baseline pipetting volume is 2%, and the coefficient of variation for multiple actual pipetting volumes is 1.33%, the final pipetting volume can be determined as the target pipetting volume.

[0075] If the coefficient of variation is greater than the repeatability threshold, the above pipetting operation can be repeated for the baseline pipetting volume, and the coefficient of variation should be checked again at the end of the pipetting operation to see if it is less than or equal to the repeatability threshold.

[0076] Optionally, the average accuracy of multiple actual pipetting volumes can also be calculated. This can be done by calculating the mean of multiple actual pipetting volumes, then calculating the absolute value of the difference between the mean of multiple actual pipetting volumes and the baseline pipetting volume, and finally calculating the ratio of the absolute value to the baseline pipetting volume to calculate the average accuracy of the multiple actual pipetting volumes. The final pipetting volume can be determined as the target pipetting volume when the average accuracy is less than or equal to an accuracy threshold and the coefficient of variation is less than or equal to a repeatability threshold.

[0077] In the above technical solution, according to the third pipetting command, the liquid transfer device is controlled to transfer the target liquid multiple times, and the actual pipetting volumes of the target liquid transferred by the liquid transfer device are determined accordingly. The coefficient of variation of the multiple actual pipetting volumes is calculated. When the coefficient of variation is less than or equal to the repeatability threshold, the final pipetting volume is determined as the target pipetting volume. This verifies the repeatability of the target pipetting volume, improves the reliability and robustness of the calibration parameters, and fully guarantees the performance of the liquid transfer device.

[0078] For example, step S1213 adjusts the current pipetting volume, including step S1213B. In step S1213B, the sum of the current pipetting volume and a first difference is calculated to update the pipetting volume. The first difference is the difference between the reference pipetting volume and the determined actual pipetting volume.

[0079] In a pipetting operation, if the actual volume determined in this operation does not meet the accuracy requirements corresponding to the baseline pipetting volume, the difference between the baseline pipetting volume and the determined actual volume can be calculated as the first difference. The issued pipetting volume can then be updated to the sum of the current issued pipetting volume and the first difference. For example, if the baseline pipetting volume is 10.1 μL, and the actual volume of this pipetting operation is 9.3 μL, the current issued pipetting volume could be 10.1 μL. Therefore, the current issued pipetting volume can be adjusted to 10.9 μL, i.e., 10.1 + 10.1 - 9.3 = 10.9. The next pipetting operation can then be performed based on the updated issued pipetting volume of 10.9 μL.

[0080] In the above technical solution, the sum of the current pipetting volume and the first difference is calculated to update the pipetting volume, where the first difference is the difference between the reference pipetting volume and the determined actual pipetting volume. Therefore, based on the deviation between the reference pipetting volume and the determined actual pipetting volume, the current pipetting volume can be accurately adjusted, reducing the number of pipetting operations and improving calibration efficiency.

[0081] For example, step S1300 determines the calibration parameters of the calibration volume segment based on at least two reference pipetting volumes and a target pipetting volume corresponding to each reference pipetting volume, including step S1310. In step S1310, the slope and intercept of the linear function of the target pipetting volume with respect to the reference pipetting volumes are determined based on at least two reference pipetting volumes and a target pipetting volume corresponding to each reference pipetting volume, and are used as the calibration parameters of the calibration volume segment.

[0082] A linear function can be used to calibrate each calibration volume segment. Calibration parameters can include the slope and intercept of the linear function. The slope and intercept of the linear function can be determined based on each reference pipette volume and its corresponding target pipette volume within the calibration volume segment. For calibration volume segments with only two reference pipette volumes, the slope and intercept of the linear function can be directly calculated to determine the calibration parameters for that volume segment. For calibration volume segments with three or more reference pipette volumes, the slope and intercept of the linear function can be fitted to determine the calibration parameters for that volume segment. Different calibration volume segments can have different calibration parameters. For example, calibration volume segment 2 corresponds to 10.1 to 50 μL, with reference pipette volume 1 being 10.1 μL and reference pipette volume 2 being 45 μL. The target pipette volume 1 corresponding to reference pipette volume 1 is 10.9 μL, and the target pipette volume 2 corresponding to reference pipette volume 2 is 49.85 μL. Therefore, the slope of the linear function is calculated to be 1.116, and the intercept is -0.372. If a user needs to transfer 30 microliters of target liquid, the target liquid transfer volume sent to the liquid transfer device is 1.116*30-0.372=33.11 microliters.

[0083] In the above technical solution, based on at least two reference pipetting volumes within the calibration volume segment and the target pipetting volume corresponding to each reference volume, the slope and intercept of the linear function of the target pipetting volume with respect to the reference pipetting volumes are determined and used as calibration parameters for the calibration volume segment. Therefore, using a linear function for calibration is simple to calculate, requires minimal computation, and allows for rapid calibration of the liquid transfer device.

[0084] According to another aspect of the invention, a liquid transfer method is also provided. Figure 4 A schematic flowchart of a liquid transfer method according to an embodiment of the present invention is shown. Figure 4 As shown, the liquid transfer method includes steps S4100 and S4200.

[0085] In step S4100, the volume of the target liquid to be transferred is determined based on the desired volume of the target liquid and the calibration parameters of the calibration volume range of the liquid transfer device as determined by the calibration method of the liquid transfer device as described above.

[0086] The calibration volume range to which the desired pipetting volume belongs can be defined as the calibration volume range corresponding to that desired pipetting volume. The volume to be transferred can be determined based on the calibration parameters of this calibration volume range. For example, if the calibration volume range corresponds to 10.1 to 50 μL, and the calibration parameters for this range include a linear function with a slope of 1.116 and an intercept of -0.372, then if the desired pipetting volume is 30 μL, which falls within this volume range, the volume to be transferred can be calculated as 1.116 * 30 - 0.372 = 33.11 μL based on the slope and intercept.

[0087] In step S4200, based on the fourth pipetting command, the liquid transfer device is controlled to transfer the target liquid. The fourth pipetting command is used to instruct the liquid transfer device to transfer the target liquid volume to be transferred. The fourth pipetting command can be used to control the liquid transfer device to transfer the target liquid volume to be transferred. For example, still using the above example where the desired pipetting volume is 30 microliters and the volume to be transferred is 33.11 microliters, the liquid transfer device transfers the target liquid according to the volume to be transferred of 33.11 microliters, and its actual pipetting volume can meet the pipetting accuracy requirement of 30 microliters.

[0088] In the above technical solution, based on the desired volume of the target liquid and the calibration parameters of the calibration volume range of the liquid transfer device as determined above, the volume of the target liquid to be transferred is determined, and the liquid transfer device transfers the target liquid of the desired volume. Therefore, it can be ensured that the actual target liquid transferred by the liquid transfer device meets the accuracy requirements of the desired volume.

[0089] For example, the liquid transfer method further includes step S4300. In step S4300, calibration parameters are stored in association with the target liquid type of the target liquid, wherein the target liquid type includes pipetting parameters for the target liquid.

[0090] The target liquid type can include pipetting parameters used when transferring the target liquid. For example, the target liquid type can include aspiration rate, lead-in opening, tail-in opening, spray rate, and wetting volume. Different calibration volume segments can correspond to different target liquid types. Calibration parameters for calibration volume segments can be stored in association with target liquid types. The target liquid type associated with a calibration volume segment can be the target liquid type used when calibrating that calibration volume segment. For example, calibration volume segment 1 can be associated with target liquid type 1, and calibration volume segment 2 can be associated with target liquid type 2.

[0091] Step S4200 includes step S4100. In step S4100, based on the fourth pipetting command and the target liquid type, the liquid transfer device is controlled to transfer the target liquid. The target liquid type associated with the calibration volume segment can be determined. For example, still taking the above-mentioned expected pipetting volume as 30 μL and the volume to be transferred as 33.11 μL as an example, the liquid transfer device transfers the target liquid according to the volume to be transferred 33.11 μL and the associated target liquid type.

[0092] In the above technical solution, calibration parameters are stored in association with the target liquid type. Based on the fourth pipetting command and the target liquid type, the liquid transfer device is controlled to transfer the target liquid. Therefore, the same target liquid type as during calibration can be used for transfer, avoiding errors caused by different target liquid types and improving the accuracy of liquid transfer.

[0093] By way of example, according to another aspect of the present invention, a calibration system for a liquid transfer device is also provided. Figure 5 A schematic block diagram of a calibration system 500 for a liquid transfer apparatus according to an embodiment of the present invention is shown. Figure 5 As shown, the calibration system 500 for the liquid transfer device includes a first acquisition module 510, a first determination module 520, and a second determination module 530.

[0094] The first acquisition module 510 is used to acquire at least two reference pipetting volumes of the calibration volume segment of the liquid transfer device. The first determination module 520 is used to determine the target pipetting volume of the liquid transfer device corresponding to each of the at least two reference pipetting volumes of the calibration volume segment, wherein, when a first pipetting instruction is issued, the actual pipetting volume of the target liquid transferred by the liquid transfer device meets the pipetting accuracy requirement corresponding to the reference pipetting volume, and the first pipetting instruction is used to cause the liquid transfer device to transfer the target liquid of the target pipetting volume. The second determination module 530 is used to determine the calibration parameters of the calibration volume segment based on the at least two reference pipetting volumes of the calibration volume segment and the target pipetting volume corresponding to each reference pipetting volume.

[0095] For example, the pipetting accuracy requirement includes an accuracy requirement, and the first determining module 520 includes a first determining submodule. The first determining submodule is used to repeatedly execute the pipetting operation upon receiving a second pipetting instruction until the actual pipetting volume of the target liquid transferred by the liquid transfer device meets the accuracy requirement corresponding to the reference pipetting volume. It then determines the target pipetting volume based on the pipetting volume at the end of the operation, wherein the second pipetting instruction is used to cause the liquid transfer device to transfer the target liquid of the issued pipetting volume. The first determining submodule includes a first control unit, a first determining unit, and a first judging unit. The first control unit is used to control the liquid transfer device to transfer the target liquid according to the second pipetting instruction. The first determining unit is used to determine the actual pipetting volume of the target liquid transferred by the liquid transfer device. The first judging unit is used to judge whether the determined actual pipetting volume meets the accuracy requirement corresponding to the reference pipetting volume. If it does not meet the requirement, the current issued pipetting volume is adjusted to execute the pipetting operation again, wherein the issued pipetting volume during the first execution of the pipetting operation is the reference pipetting volume.

[0096] For example, the first judgment unit includes a first judgment subunit. The first judgment subunit is used to calculate a first accuracy value of the determined actual pipetting volume based on the difference between the determined actual pipetting volume and the reference pipetting volume, wherein the greater the difference, the greater the first accuracy value; wherein the accuracy requirement includes the first accuracy value being less than or equal to an accuracy threshold.

[0097] For example, the first determining submodule includes: a second control unit, a first calculation unit, and a second determining unit. The second control unit is used to control the liquid transfer device to transfer the target liquid multiple times according to a third pipetting instruction, and correspondingly determine multiple actual pipetting volumes of the target liquid transferred by the liquid transfer device, wherein the third pipetting instruction is used to determine the target liquid at the end of the transfer by the liquid transfer device. The first calculation unit is used to calculate the coefficient of variation of the multiple actual pipetting volumes. The second determining unit is used to determine the final pipetting volume as the target pipetting volume when the coefficient of variation is less than or equal to a repeatability threshold.

[0098] For example, the first judgment unit includes a second judgment subunit. The second judgment subunit is used to calculate the sum of the current pipetting volume and a first difference to update the pipetting volume, wherein the first difference is the difference between the reference pipetting volume and the determined actual pipetting volume.

[0099] For example, the first determining unit includes a first determining subunit. The first determining subunit is used to determine the actual volume of the target liquid transferred based on the mass data of the target liquid transferred by the liquid transfer device from the electronic balance. The electronic balance includes a weighing module for placing a liquid container, the liquid container for containing the target liquid transferred by the liquid transfer device, and a windproof cover is provided outside the weighing module and the liquid container. The top of the windproof cover has an opening through which the liquid transfer device transfers the target liquid into the liquid container.

[0100] For example, the second determining module 530 includes a second determining submodule. The second determining submodule always determines the slope and intercept of a linear function of the target pipette volume with respect to the reference pipette volume based on at least two reference pipette volumes of the calibration volume segment and the target pipette volume corresponding to each reference pipette volume, as calibration parameters for the calibration volume segment.

[0101] For example, the liquid transfer device is a pipette, which includes a pipette tip, and each calibration volume segment of the liquid transfer device is a standard shape segment of the pipette tip.

[0102] For example, the difference between the maximum and minimum reference pipette volumes in at least two reference pipette volumes is greater than 50% of the total capacity of the calibration volume segment.

[0103] By way of example, according to another aspect of the present invention, a liquid transfer system is also provided. Figure 6 A schematic block diagram of a liquid transfer system 600 according to an embodiment of the present invention is shown. Figure 6 As shown, the liquid transfer system 600 includes a third determining module 610 and a control module 620.

[0104] The third determining module 610 is used to determine the volume of the target liquid to be transferred based on the desired volume of the target liquid and the calibration parameters of the calibration volume range of the liquid transfer device as determined above. The control module 620 is used to control the liquid transfer device to transfer the target liquid based on a fourth pipetting command, wherein the fourth pipetting command is used to cause the liquid transfer device to transfer the target liquid volume to be transferred.

[0105] For example, the liquid transfer system 600 further includes a storage module. The storage module is used to store calibration parameters in association with a target liquid type of the target liquid, wherein the target liquid type includes pipetting parameters for the target liquid. The control module 620 includes a first control submodule. The first control submodule is used to control the liquid transfer device to transfer the target liquid based on a fourth pipetting command and the target liquid type.

[0106] By way of example, according to another aspect of the present invention, an electronic device is also provided. Figure 7A schematic block diagram of an electronic device 700 according to an embodiment of the present invention is shown. The electronic device 700 includes a processor 710 and a memory 720. The memory 720 stores computer program instructions, which, when executed by the processor 710, are used to perform the calibration method of the liquid transfer device as described above or the liquid transfer method as described above.

[0107] By way of example, according to another aspect of the present invention, a storage medium is also provided, on which program instructions are stored, which, when executed, are used to perform the calibration method of the liquid transfer device as described above or the liquid transfer method as described above. The storage medium may, for example, include an erasable programmable read-only memory (EPROM), a portable read-only memory (CD-ROM), a USB memory, or any combination of the above storage media. The storage medium may be any combination of one or more computer-readable storage media.

[0108] By way of example, according to another aspect of the present invention, a computer program product is also provided, including computer program instructions, which, when executed, are used to perform the calibration method of the liquid transfer device as described above or the liquid transfer method as described above.

[0109] Those skilled in the art can understand the specific implementation scheme and beneficial effects of the above-mentioned calibration system, liquid transfer system, electronic device, storage medium and computer program product by reading the relevant descriptions of the calibration method and liquid transfer method of the liquid transfer device. For the sake of brevity, they will not be described in detail here.

[0110] Although exemplary embodiments have been described herein with reference to the accompanying drawings, it should be understood that the above exemplary embodiments are merely illustrative and are not intended to limit the scope of this application. Various changes and modifications can be made therein by those skilled in the art without departing from the scope and spirit of this application. All such changes and modifications are intended to be included within the scope of this application as claimed in the appended claims.

[0111] Those skilled in the art will recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0112] In the several embodiments provided in this application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are merely illustrative. For instance, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another device, or some features may be ignored or not executed.

[0113] Numerous specific details are set forth in the specification provided herein. However, it will be understood that embodiments of this application may be practiced without these specific details. In some instances, well-known methods, structures, and techniques have not been shown in detail so as not to obscure the understanding of this specification.

[0114] Similarly, it should be understood that, in order to simplify this application and aid in understanding one or more of the various inventive aspects, features of this application are sometimes grouped together in a single embodiment, figure, or description thereof in the description of exemplary embodiments of this application. However, this approach should not be construed as reflecting an intention that the claimed application requires more features than are expressly recited in each claim. Rather, as reflected in the corresponding claims, the inventive point lies in solving the corresponding technical problem with fewer features than all of those in a single disclosed embodiment. Therefore, the claims following the detailed description are hereby expressly incorporated into that detailed description, wherein each claim itself is a separate embodiment of this application.

[0115] Those skilled in the art will understand that, apart from the mutual exclusion of features, all features disclosed in this specification (including the accompanying claims, abstract, and drawings) and all processes or units of any method or apparatus so disclosed can be combined in any combination. Unless otherwise expressly stated, each feature disclosed in this specification (including the accompanying claims, abstract, and drawings) may be replaced by an alternative feature that serves the same, equivalent, or similar purpose.

[0116] Furthermore, those skilled in the art will understand that although some embodiments described herein include certain features but not others included in other embodiments, combinations of features from different embodiments are intended to be within the scope of this application and form different embodiments. For example, in the claims, any one of the claimed embodiments can be used in any combination.

[0117] The various component embodiments of this application can be implemented in hardware, or as software modules running on one or more processors, or a combination thereof. Those skilled in the art will understand that microprocessors or digital signal processors (DSPs) can be used in practice to implement some or all of the functions of some modules in the calibration system or liquid transfer system of the liquid transfer apparatus according to the embodiments of this application. This application can also be implemented as an apparatus program (e.g., a computer program and computer program product) for performing part or all of the methods described herein. Such an implementation of this application can be stored on a computer-readable medium, or can be in the form of one or more signals. Such signals can be downloaded from an Internet website, provided on a carrier signal, or provided in any other form.

[0118] It should be noted that the above embodiments are illustrative of this application and not restrictive, and that those skilled in the art can devise alternative embodiments without departing from the scope of the appended claims. In the claims, any reference signs placed between parentheses should not be construed as limiting the claims. The word "comprising" does not exclude the presence of elements or steps not listed in the claims. The word "a" or "an" preceding an element does not exclude the presence of a plurality of such elements. This application can be implemented by means of hardware comprising several different elements and by means of a suitably programmed computer. In the unit claims enumerating several means, several of these means may be embodied by the same item of hardware. The use of the words first, second, and third, etc., does not indicate any order. These words can be interpreted as names.

[0119] The above description is merely a specific embodiment or illustration of the embodiments of this application. The scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application. The scope of protection of this application shall be determined by the scope of the claims.

Claims

1. A calibration method for a liquid transfer device, characterized in that, include: Obtain at least two reference pipetting volumes for the calibration volume range of the liquid transfer device; For each of the at least two reference pipetting volumes in the calibration volume range, a target pipetting volume corresponding to the reference pipetting volume of the liquid transfer device is determined. When a first pipetting instruction is issued, the actual pipetting volume of the target liquid transferred by the liquid transfer device meets the pipetting accuracy requirement corresponding to the reference pipetting volume. The first pipetting instruction is used to cause the liquid transfer device to transfer the target liquid of the target pipetting volume. The calibration parameters of the calibration volume segment are determined based on the at least two reference pipetting volumes of the calibration volume segment and the target pipetting volume corresponding to each reference pipetting volume.

2. The calibration method for the liquid transfer device according to claim 1, characterized in that, The pipetting accuracy requirement includes an accuracy requirement, and determining the target pipetting volume corresponding to the baseline pipetting volume of the liquid transfer device includes: The pipetting operation is repeated upon receiving a second pipetting instruction until the actual volume of the target liquid transferred by the liquid transfer device meets the accuracy requirement corresponding to the reference pipetting volume. The target pipetting volume is then determined based on the pipetting volume received at the end of the operation. The second pipetting instruction is used to instruct the liquid transfer device to transfer the target liquid of the issued pipetting volume. The pipetting operation includes: According to the second pipetting command, the liquid transfer device is controlled to transfer the target liquid; Determine the actual volume of the target liquid transferred by the liquid transfer device; Determine whether the determined actual pipetting volume meets the accuracy requirements corresponding to the baseline pipetting volume. If it does not meet the requirements, adjust the current pipetting volume and perform the pipetting operation again. The pipetting volume issued when the pipetting operation is performed for the first time is the baseline pipetting volume.

3. The calibration method for the liquid transfer device according to claim 2, characterized in that, The determination of whether the actual pipetting volume meets the accuracy requirements corresponding to the benchmark pipetting volume includes: Based on the difference between the determined actual pipetting volume and the baseline pipetting volume, a first accuracy value for the determined actual pipetting volume is calculated, wherein the greater the difference, the greater the first accuracy value; The accuracy requirement includes that the first accuracy value is less than or equal to the accuracy threshold.

4. The calibration method for the liquid transfer device according to claim 2, characterized in that, Determining the target pipetting volume based on the pipetting volume at the end includes: According to the third pipetting instruction, the liquid transfer device is controlled to transfer the target liquid multiple times, and the actual pipetting volume of the target liquid transferred by the liquid transfer device is determined accordingly. The third pipetting instruction is used to cause the liquid transfer device to transfer the target liquid of the issued pipetting volume at the end. Calculate the coefficient of variation of the multiple actual pipetting volumes; When the coefficient of variation is less than or equal to the repeatability threshold, the volume of pipetting at the end is determined as the target volume of pipetting.

5. The calibration method for the liquid transfer device according to claim 2, characterized in that, The adjustment of the current dispensing volume includes: Calculate the sum of the current pipetting volume and the first difference to update the pipetting volume, wherein the first difference is the difference between the baseline pipetting volume and the determined actual pipetting volume.

6. The calibration method for the liquid transfer device according to claim 2, characterized in that, Determining the actual volume of the target liquid transferred by the liquid transfer device includes: The actual volume of the target liquid transferred is determined based on the mass data of the target liquid transferred by the liquid transfer device from the electronic balance. The electronic balance includes a weighing module for placing a liquid container, which is used to contain the target liquid transferred by the liquid transfer device. A windproof cover is provided outside the weighing module and the liquid container. The top of the windproof cover has an opening through which the liquid transfer device transfers the target liquid to the liquid container.

7. The calibration method for the liquid transfer device according to any one of claims 1 to 6, characterized in that, The step of determining the calibration parameters for the calibration volume segment based on the at least two reference pipetting volumes for the calibration volume segment and the target pipetting volume corresponding to each reference pipetting volume includes: Based on the at least two reference pipetting volumes of the calibration volume segment and the target pipetting volume corresponding to each reference pipetting volume, the slope and intercept of the linear function of the target pipetting volume with respect to the reference pipetting volume are determined as calibration parameters for the calibration volume segment.

8. The calibration method for the liquid transfer device according to any one of claims 1 to 6, characterized in that, The liquid transfer device is a pipette, which includes a pipette tip. Each calibration volume segment of the liquid transfer device is a standard shape segment of the pipette tip.

9. The calibration method for the liquid transfer device according to any one of claims 1 to 6, characterized in that, The difference between the maximum and minimum reference pipette volumes among the at least two reference pipette volumes is greater than 50% of the total capacity of the calibration volume segment.

10. A liquid transfer method, characterized in that, The method includes: The volume of the target liquid to be transferred is determined based on the desired volume of the target liquid and the calibration parameters of the calibration volume range of the liquid transfer device as determined by any one of claims 1 to 9. Based on the fourth pipetting command, the liquid transfer device is controlled to transfer the target liquid, wherein the fourth pipetting command is used to cause the liquid transfer device to transfer the target liquid volume to be transferred.

11. The liquid transfer method according to claim 10, characterized in that, The method further includes: The calibration parameters are stored in association with the target liquid type of the target liquid, wherein the target liquid type includes pipetting parameters for the target liquid; The step of controlling the liquid transfer device to transfer the target liquid based on the fourth pipetting command includes: Based on the fourth pipetting command and the target liquid type, the liquid transfer device is controlled to transfer the target liquid.

12. A calibration system for a liquid transfer device, characterized in that, include: The first acquisition module is used to acquire at least two reference pipetting volumes of the calibration volume segment of the liquid transfer device; The first determining module is used to determine the target liquid volume corresponding to the reference liquid volume of the liquid transfer device for each of the at least two reference liquid volumes in the calibration volume segment, wherein, when a first liquid transfer instruction is issued, the actual liquid volume of the target liquid transferred by the liquid transfer device meets the liquid transfer accuracy requirement corresponding to the reference liquid volume, and the first liquid transfer instruction is used to cause the liquid transfer device to transfer the target liquid volume of the target liquid volume; The second determining module is used to determine the calibration parameters of the calibration volume segment based on the at least two reference pipetting volumes of the calibration volume segment and the target pipetting volume corresponding to each reference pipetting volume.

13. A liquid transfer system, characterized in that, include: The third determining module is used to determine the volume of the target liquid to be transferred based on the expected volume of the target liquid and the calibration parameters of the calibration volume segment of the liquid transfer device as determined by any one of claims 1 to 9. The control module is used to control the liquid transfer device to transfer the target liquid based on a fourth pipetting command, wherein the fourth pipetting command is used to cause the liquid transfer device to transfer the target liquid volume to be transferred.

14. An electronic device, comprising: Processor and memory, characterized in that, The memory stores computer program instructions, which, when executed by the processor, are used to perform a calibration method for the liquid transfer apparatus as described in any one of claims 1 to 9 or a liquid transfer method as described in claims 10 and 11.

15. A storage medium on which program instructions are stored, characterized in that, The program instructions, when executed, are used to perform a calibration method for the liquid transfer apparatus as described in any one of claims 1 to 9, or a liquid transfer method as described in claims 10 and 11.

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