A fully automated pipetting system based on programmable logic

Abstract

This invention provides a fully automated pipetting system based on programmable logic, comprising a functional terminal, a programmable terminal, a programming module, an execution module, and a data storage unit. The programming module is used to configure the experimental procedure, bind parameters, and perform logic verification in a graphical user interface, and compile the experimental procedure into an engineering metadata file. The execution module is used to parse the engineering metadata file and generate an executable engineering data file, driving the pipetting device to automatically complete tip changing, liquid collection, and liquid discharge operations according to a preset procedure. This invention integrates experimental process modules such as temperature control and oscillation control into the programmable terminal, enabling the sample addition conditions in the reagent zone, mixing zone, and target zone to be uniformly configured and executed under the same software logic. Furthermore, the oscillation time parameter can be set as needed according to the experimental plan, thereby maintaining consistent experimental conditions during multi-zone, multi-stage pipetting processes and effectively reducing the impact of environmental fluctuations on experimental results.

Description

Technical Field

[0001] This invention relates to the field of fully automated pipette technology, and in particular to a fully automated pipette system based on programmable logic. Background Technology

[0002] In molecular biology, cell biology, and other related experiments in the life sciences, pipetting is a core step, and its accuracy, repeatability, and efficiency directly affect the reliability of experimental results and the experimental process. As experimental demands evolve towards higher stability, higher precision, higher safety, and higher throughput, traditional manual pipetting methods are no longer sufficient. Programmable fully automated pipetting workstations have emerged as a necessary trend, integrating multiple pipetting and liquid handling steps to achieve complete experimental operations. In existing technologies, some pipetting workstations already possess a certain degree of automation capability. For example, the technologies disclosed in patent numbers 202311134885.X and 202210707603.X can automate some experimental steps such as automatic pipetting, liquid oscillation, and incubation. However, these existing systems still have many significant shortcomings and cannot meet the core requirements of laboratories for full-process automation, high precision, and high safety. First, the level of automation in the entire process is insufficient; the existing system cannot achieve fully automated operation of the entire experiment. Key steps such as intelligent reagent preparation, optimization of programmable pipetting operation steps, and automatic pipette tip switching (including individual pipette tip switching and integrated pipette tip replacement) still rely on manual intervention, which leads to interruption of the experimental process and limited efficiency. Secondly, the pipetting accuracy and stability are not good; it is not suitable for ultra-micro liquid transfer, making it difficult to accurately complete pipetting operations down to the nanoliter level. Moreover, the repeatability is poor due to the influence of parameter control accuracy during the pipetting process. At the same time, the existing system lacks the flexibility to adjust the oscillation parameters, and cannot be accurately adapted to the reagent characteristics and experimental requirements, affecting the uniformity of reagent mixing and further reducing the reliability of experimental results. Third, the regional functional expansion is limited; in specific scenarios such as ELISA experiments, the coordination between the plate washing step and the tip integration and switching is poor, and the automation connection is not smooth, which restricts the continuity of the experimental process; in addition, the existing system lacks an effective contamination prevention and control mechanism, and cross-contamination is prone to occur during the transfer of experimental samples, which not only affects the purity of experimental results, but also poses a safety hazard to the experimental environment. Fourth, the reusability and ease of operation of the experimental process are insufficient; the existing system has not formed a standardized experimental process compilation and storage mechanism, and the same experiment requires repeated parameter settings, which is cumbersome and prone to errors; at the same time, the lack of an intuitive graphical programming interface and efficient parameter configuration tools increases the user's operating threshold. To address this, a fully automated pipetting system based on programmable logic is proposed. Summary of the Invention

[0003] In view of this, the present invention provides a fully automated pipetting system based on programmable logic to solve or alleviate the technical problems existing in the prior art, and at least provides a beneficial alternative.

[0004] The technical solution of the present invention is implemented as follows: a fully automated pipetting system based on programmable logic, comprising: a functional terminal, a programmable terminal, a programming module, an operating module, and a data storage unit; The functional module provides basic tools and data calibration capabilities, while the programmable module provides configurable functions related to experimental processes. The programming module is used to input, bind, and verify experimental procedures in an interactive user interface, and compile the experimental procedures into engineering metadata files. The execution module reads the engineering metadata files, converts them into machine-executable engineering data files, and calls execution functions to drive the automated execution of pipetting experiments according to the engineering data files. The data storage unit stores engineering metadata files, engineering data files, experimental parameters, and historical data in structured file format to support the saving, retrieval, and traceability of experimental procedures. Through the above architecture, this invention connects "user-side experimental process editing" and "device-side action execution" with engineering files as a bridge, realizing closed-loop control of the experimental process from input, saving, reuse to execution.

[0005] As a further preferred embodiment of the present invention, the functional terminal includes commonly used functional modules and basic functional modules: Commonly used functional modules are used to provide general operation support, enabling operators to complete necessary auxiliary operations and management in a non-programming state; The basic function module is used to perform data calibration, coordinate data management, and runtime data processing, and includes basic function tests to verify the effectiveness of key actions and parameter settings. These basic function tests include: nozzle replacement test, nozzle removal test, liquid intake test, liquid discharge test, and process liquid intake / discharge test. By conducting the above tests before operation or during maintenance, the present invention can verify key actions and parameter settings before they enter engineered operation, thereby providing a reliable foundation for subsequent automated execution.

[0006] As a further preferred embodiment of the present invention, the programmable terminal includes: a temperature control module, an oscillation control module, a plate washing module, a camera coordination module, and a robotic arm control module, and may further include a dual X-axis coordination control module. The temperature control module provides temperature settings of 2-8℃, 37℃ and room temperature to adapt to the requirements of different experiments on ambient temperature or reaction temperature. The oscillation control module is used to provide oscillation time parameter settings in seconds to meet the oscillation requirements during reagent mixing or reaction. The plate washing module is used in conjunction with the robotic arm to complete the gripping and cleaning of 96-hole plates, enabling the plate washing operation to be integrated into the overall automated process. The camera coordination module is used for microplate coordinate positioning and calibration. It reduces coordinate deviation by guiding the central crosshair of the camera to align with the center of the well, and is also used for pipette tip status and liquid presence detection to improve the reliability of positioning and pipetting results. The robotic arm control module is used to drive the 6-axis robotic arm to transfer samples between the reagent area, mixing area, and target area, and to link with the air purification device to purify the air on the experimental platform, so as to reduce the interference and pollution risk to the external environment during the experiment. The dual X-axis collaborative control module supports the addition of four new suction nozzles to work in conjunction with the existing nozzles, enabling cross-operation of the dual X-axis to improve working efficiency and the range of single liquid volume selection.

[0007] Through the above modular configuration, the present invention can uniformly manage temperature control, oscillation, plate washing, positioning correction and area transfer within the same programmable terminal, and can further expand throughput and efficiency through dual X-axis collaboration.

[0008] As a further preferred embodiment of the present invention, the programming module includes at least: a reagent editing unit, a sampling editing unit, a sample addition editing unit, and a parameter configuration unit. The programming module is configured to render virtual square buttons representing microplate well positions in the user interface, and bind reagent information, sample addition capacity, number of additions, and parameters such as liquid level height, bottom height, aspiration delay, and unloading delay to the well position identifiers corresponding to the virtual square buttons, thereby generating an engineering metadata file; To achieve engineered programming input, this invention further defines the following editing process: The reagent editing unit receives and saves new reagent names entered by the user, displaying them in the reagent data column on the left. It provides "--->" and "All--->" operation controls to support adding single reagent entries to the engineering data column on the right, as well as adding all reagents. An "Exit" control is configured to exit the reagent editing interface after reagent entry is complete. This process establishes and manages reagent names and engineering data, providing a foundation for subsequent sampling / addition binding.

[0009] The sampling editing unit pops up a sampling editing interface when the user selects the target platform location on the main program interface. This interface receives the user-selected specification data and binds it to a specification template. It also renders virtual square buttons for the holes corresponding to the specification template on the main program interface, using button color changes to distinguish between selected and unselected holes. This process binds the experimental object (plate type / specification) to the hole presentation method, enabling subsequent operations to reference holes using a unified hole identifier.

[0010] The sample addition editing unit pops up the sample addition editing interface when the user clicks the virtual square button for the well position, and automatically fills in the well position type and well position identification information; it provides a reagent name drop-down selection control to select the reagent corresponding to the well position identification, and receives the sample addition volume entered by the user. After the mouse leaves the sample addition volume input position, it automatically fills in the liquid level height and bottom height data; it receives the number of sample additions entered by the user, and provides a selection control for the sample addition target area name and microplate model, and renders the virtual square button for the well position corresponding to the target area according to the selection result; it provides a "rectangular selection" function to select target liquid addition positions in batches, and supports adjusting the selection range by scaling. After the user clicks the "OK" control to confirm the selection, the edited data is written to the list at the bottom of the main interface for generating engineering metadata files; Through this process, the present invention enables experimental programming to eliminate the need for manual entry of each hole individually, and allows for the completion of structured data entry for multiple holes under a virtual hole rendering and batch selection mechanism, thereby improving programming efficiency and reducing the risk of omissions or misfilling.

[0011] As a further preferred embodiment of the present invention, the running module supports at least two execution modes: Mode 1: After converting the project metadata file generated by the programming module into a project data file and temporarily saving it, the execution function is called to execute it; Mode 2: Import the stored project metadata file, convert it into a project data file, temporarily save it, and then call the execution function to execute it. The above two modes are suitable for scenarios of "just-in-time programming and running" and "reproducing and running historical project processes," respectively, enabling the experimental process to be repeatedly invoked and run in batches.

[0012] As a further preferred embodiment of the present invention, the execution function is the MOUNT function, which is used to drive the execution of pipette changing, liquid collection, camera recognition, liquid ejection, liquid unloading and pipette removal operations according to the engineering data file, and automatically match the pipette model based on the sample loading capacity to realize automatic pipette switching and status verification; the data storage unit stores relevant files and data in XML file format; Furthermore, the nozzle status verification and liquid presence verification process includes: after a reagent is added, the nozzle is first removed and then replaced with a new nozzle; after the new nozzle is installed, it is moved to the detection position above the camera to verify the installation status and determine whether the nozzle is crooked or not installed properly; after the verification is passed, it is moved to the liquid collection microplate to complete the liquid collection action, and after liquid collection, it returns to the detection position above the camera to verify the liquid presence; when the liquid presence verification is passed, it is moved to the top of the sample addition microplate to perform the liquid removal operation; when the liquid presence verification is failed, it is moved to the preset waste area to perform the liquid disposal operation. By using the nozzle installation status and liquid presence as key verification nodes in the operation process, this invention enables the automated execution driven by engineering files to not only have process control capabilities, but also process verification capabilities oriented towards actual execution quality.

[0013] The embodiments of the present invention have the following advantages due to the adoption of the above technical solutions: I. This invention integrates experimental process modules such as temperature control and oscillation control into the programmable terminal, enabling unified configuration and execution of sample addition conditions in the reagent zone, mixing zone, and target zone under the same software logic. The system supports flexible selection between various ambient temperature ranges, including 2–8℃, 37℃, and room temperature, according to experimental requirements. It also allows for setting oscillation time parameters as needed based on the experimental protocol, thereby maintaining consistent experimental conditions during multi-zone, multi-stage pipetting processes and effectively reducing the impact of environmental fluctuations on experimental results.

[0014] Second, this invention achieves stable control of pipetting actions under different capacity ranges through engineering parameter binding and data-driven execution, ensuring the consistency and repeatability of liquid transfer during multi-threshold pipetting, and effectively avoiding sampling errors caused by manual operation or parameter fluctuations.

[0015] Third, this invention compiles the complete experimental process into project files using software and stores them in a structured format in a library file, enabling the experimental process to be saved, retrieved, and reproduced as engineering data. The same experiment can be directly executed without repeated programming, improving experimental efficiency and ensuring consistency of experimental parameters and operating steps, facilitating result comparison, quality control, and process traceability.

[0016] Fourth, this invention uses a 6-axis robotic arm to transfer samples between the reagent area, mixing area and target area, replacing manual handling or simple mechanical movement methods. This allows samples to flow in a closed and controllable path, effectively reducing the risk of environmental pollution caused by human intervention, improving the biosafety and cleanliness of the experimental process, and is suitable for life science experimental scenarios with high environmental requirements.

[0017] Fifth, the invention achieves automated control of the entire pipetting process through programmable logic and automatic execution mechanisms, reducing human intervention and significantly lowering the probability of experimental errors. Simultaneously, the system supports high-throughput pipetting operations while ensuring pipetting accuracy and repeatability, effectively replacing arduous manual pipetting work, reducing experimental operating costs, and improving overall experimental efficiency.

[0018] The above overview is for illustrative purposes only and is not intended to be limiting in any way. In addition to the illustrative aspects, embodiments, and features described above, further aspects, embodiments, and features of the invention will become readily apparent from the accompanying drawings and the following detailed description. Attached Figure Description

[0019] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0020] Figure 1 This is a structural diagram of the programmable fully automated pipetting system of the present invention. Figure 2 This is a diagram illustrating the programming process of the present invention; Figure 3 This is a hardware structure diagram of the computer device of the present invention; Figure 4 This is a schematic diagram of the logical judgment result of the present invention; Figure 5 This is a schematic diagram illustrating the data classification and transformation relationship of the present invention; Figure 6 This is a hardware dual-X-axis structure diagram of the computer device of the present invention. Detailed Implementation

[0021] In the following description, only certain exemplary embodiments are briefly described. As those skilled in the art will recognize, the described embodiments can be modified in various ways without departing from the spirit or scope of the invention. Therefore, the drawings and description are considered to be exemplary in nature and not restrictive.

[0022] The embodiments of the present invention will now be described in detail with reference to the accompanying drawings.

[0023] like Figure 1-6As shown in the figure, the present invention provides a fully automated pipetting system based on programmable logic, which consists of a functional terminal, a programmable terminal, a programming module, an operating module, and a data storage unit. Each module interacts bidirectionally with the data bus through a standardized software interface, forming a complete closed loop of "process programming - engineering storage - automated execution", ensuring that the entire pipetting experiment process does not require manual intervention.

[0024] The functional module, serving as the system's fundamental support unit, undertakes the core tasks of providing general tools and data calibration. The programmable module focuses on the implementation of experimental processes, integrating various configurable functional modules to adapt to the parameter requirements of different experimental scenarios. The programming module uses a graphical interactive user interface to guide users in defining the experimental process, binding parameters for each stage, and performing logical verification, ultimately compiling the complete experimental process into a structured engineering metadata file. The execution module, as the core of execution, is responsible for reading the engineering metadata file, generating machine-executable engineering data files through parsing and conversion algorithms, and calling preset execution functions to drive the hardware devices to complete the entire pipetting experiment sequentially. The data storage unit adopts a standardized structured storage scheme to uniformly manage the engineering metadata file, engineering data file, experimental process parameters, and historical running data, ensuring that the experimental process can be saved, traced, and reused.

[0025] This modular architecture decouples the operational logic of experimenters from the execution logic of equipment, and standardizes the experimental process in the form of engineering documents, which greatly improves the automation level of the system and the consistency and repeatability of the experimental process.

[0026] In a specific implementation, the functional side adopts a layered design, including commonly used functional modules and basic functional modules, which work together through an internal data interface.

[0027] Commonly used functional modules provide general operational support for system operation, covering functions such as real-time system status viewing, pre-run preparation confirmation, and auxiliary operations in non-programming scenarios. Their design goal is to reduce the operational threshold and provide users with a convenient system interaction entry point. Basic functional modules undertake the core data processing tasks of the system, specifically including data calibration, coordinate data management, and runtime data processing, to ensure the accuracy and stability of system operation.

[0028] Furthermore, the basic function module integrates a basic function testing unit, specifically designed for equipment debugging and parameter verification. The testing content covers nozzle changing tests, nozzle removal tests, liquid sampling tests, liquid unloading tests, and process liquid sampling / unloading tests. Before formal experiment operation or during equipment maintenance, users can use this unit to verify the effectiveness of key actions and parameter settings. For example, liquid sampling and unloading tests can verify the accuracy of liquid transfer under current parameters, and nozzle changing tests can confirm the smoothness of the nozzle switching mechanism. This allows for early detection of operational risks caused by improper parameter configuration or equipment malfunctions, ensuring the smooth progress of the experimental process.

[0029] In a specific implementation, the programmable terminal is built around the experimental process requirements, including a temperature control module, an oscillation control module, a plate washing module, a camera coordination module, and a robotic arm control module. Each module is linked through a process logic link to achieve precise control of experimental conditions and automated execution of operations.

[0030] The temperature control module provides multi-level temperature adjustment capabilities for experiments, specifically setting three levels: 2-8℃, 37℃, and room temperature, to adapt to different scenarios such as reagent refrigeration, isothermal reactions, and routine operations. Users can preset these levels during the programming stage according to experimental needs, and the system automatically maintains the target temperature during operation. The oscillation control module supports setting oscillation time parameters in seconds. Users input the specific duration through the interface, and the system drives the oscillation mechanism to work according to the preset time during reagent preparation or reaction stages to ensure uniform reagent mixing. The plate washing module is specifically designed for 96-well plate cleaning and works in conjunction with the robotic arm control module. The robotic arm grabs the target microplate according to the programmed instructions and moves it to the washing area. The plate washing module automatically starts the cleaning process, completing actions such as adding cleaning solution, soaking, and aspiration, realizing the automated integration of plate washing operations.

[0031] The camera coordination module performs two core functions: first, it performs microplate coordinate positioning and calibration. During positioning, the system guides the camera's central crosshair to align with the well center, calculates coordinate deviations using image recognition algorithms, and automatically corrects them, effectively reducing coordinate data errors; second, it detects the pipette tip status and liquid presence, providing accurate verification for subsequent actions. The robotic arm control module specifically drives the 6-axis robotic arm, planning the optimal motion trajectory according to programmed instructions to accurately transfer samples between the reagent area, mixing area, and target area. Simultaneously, it activates an air purification device to purify the experimental platform during sample transfer, reducing the impact of environmental pollutants on experimental results and ensuring the biosafety of the experiment.

[0032] In a specific implementation, the programming module adopts a modular design, including at least a reagent editing unit, a sampling editing unit, a sample addition editing unit, and a parameter configuration unit. Each unit is presented through a unified user interface framework, providing users with an integrated programming experience.

[0033] The core feature of the programming module is its graphical interactive design. Virtual square buttons are rendered in the user interface according to the actual well positions of the microplate. Each button uniquely corresponds to a well position on the microplate, intuitively presenting the distribution of experimental objects. During programming, users bind key parameters such as reagent information, sample volume, number of additions, liquid level, bottom height, aspiration delay, and unloading delay to the well positions corresponding to the virtual square buttons through interface operations, forming a structured set of experimental data.

[0034] Once all parameters are configured and bound, the programming module automatically integrates these data in a preset format and compiles them into a project metadata file. The file contains complete information about the experimental process, including the order of operation steps, parameters for each step, and hardware action instructions, providing a comprehensive and accurate data foundation for subsequent automated execution.

[0035] In a specific implementation, the reagent editing unit is specifically designed for experimental reagent information management and engineering integration. Its operation process is simple and intuitive, as detailed below: After clicking the "Reagent Edit" control on the main interface, a separate reagent editing interface pops up. The left side of the interface displays the reagent data column, and the right side displays the engineering data column. Users enter a new reagent name in the designated input box and click the "Save" button. The entered reagent name is immediately displayed in the left-hand reagent data column for easy verification. Once all reagents required for the experiment have been entered, users can use the "--->" control to add individual reagent entries from the left-hand reagent data column to the right-hand engineering data column, or use the "All--->" control to add all entered reagents at once, thus linking reagents to the current engineering workflow.

[0036] Once the reagent association configuration is complete, the user can exit the reagent editing interface by clicking the "Exit" control. All entered reagent data will be saved by the system and synchronized to the sampling editing unit and the sample addition editing unit, providing data support for subsequent well site reagent selection.

[0037] In a specific implementation, the sampling editing unit is used to define the specifications and well layout of the microplate used in the experiment, providing a basic template for subsequent sample addition operations. The implementation process is as follows: After the user clicks on the target workbench location in the main program interface, the system will automatically pop up the sampling editing interface. The interface provides common microplate specification options. The user selects the corresponding specification data according to the actual parameters of the microplate used in the experiment. After clicking the "OK" button, the system will bind the selected specification data as the specification template for the current project.

[0038] The system then returns to the main program interface and renders virtual square buttons for the corresponding well positions based on the bound specification template. The button arrangement perfectly matches the actual well position distribution of the microplate. When the user clicks a virtual square button, the button color changes noticeably, clearly distinguishing between selected and unselected well positions, allowing the user to intuitively select the target sampling well position. Simultaneously, the system automatically binds the parameters of the selected specification template to the rendered virtual buttons, allowing for direct data retrieval during subsequent sample addition and editing processes, eliminating the need for repeated input.

[0039] In a specific implementation, the sample addition editing unit is the core functional unit of the programming module, used to complete the detailed parameter configuration of the sample addition process. Its implementation process is as follows: When a user clicks the virtual square button for a well on the main interface, the system immediately pops up the sample loading editing interface. The interface automatically fills in the well type and well identifier information corresponding to that well, eliminating the need for manual input and improving operational efficiency. The interface includes a drop-down selection control for "Reagent Name," which lists all reagent names entered and associated with the reagent editing unit. Users can directly select the reagent corresponding to the current well. In the "Sample Loading Volume" input box, the user enters the required sample loading volume. When the mouse leaves the input area, the system automatically completes the liquid level and bottom height data according to preset algorithm rules. This data is calculated based on parameters such as the microplate well size and sample loading volume, ensuring the accuracy of the liquid aspiration and unloading process.

[0040] After entering the corresponding experimental data in the "Number of Sample Additions" input box, the user proceeds to configure the target area for sample addition: selecting the sample addition location name via the drop-down control and choosing the target microplate model (i.e., the actual number of microplates) according to the experimental requirements. Once the "Type" and model are selected, the system calls a rendering function to draw a virtual square button corresponding to the target area microplate at the bottom of the interface. After drawing, the user can click the "Rectangle Selection" control on the interface to select target liquid addition locations in batches by dragging and scaling, eliminating the need to click individually and improving operational efficiency.

[0041] After the user clicks the "OK" control to confirm the selected liquid addition location, the system will write all the edited data into the data list at the bottom of the main interface. This data list displays the configured well position information, reagent name, sample addition capacity, number of additions and other key parameters in real time, which the user can check intuitively. All data will be an important part of the generated engineering metadata file.

[0042] In a specific implementation, the running module supports two independent execution modes to adapt to different experimental scenario requirements. The core difference between the two modes lies in the source of the project data files. The specific implementation is as follows: The first mode is the instant execution mode, which is suitable for scenarios where users program on-site and execute experiments immediately. After the programming module completes the experimental procedure programming, the system automatically sends the generated project metadata file to the execution module. The execution module uses a built-in conversion algorithm to convert it into a machine-executable project data file and temporarily stores it in the system cache. Then, it automatically calls the execution function to drive the hardware device to execute the experimental procedure according to the instructions in the project data file, achieving a seamless connection between "programming and execution".

[0043] The second mode is the engineering reproduction mode, suitable for scenarios where historical experiments need to be repeated. Users select a stored engineering metadata file using the "Import" function on the system interface. The execution module reads this file, converts it into an engineering data file, temporarily saves it to the cache, and then calls the execution function to start the experiment execution process. This mode eliminates the need for user reprogramming and can accurately reproduce all parameters and operational steps of historical experiments, ensuring the comparability and repeatability of experimental results.

[0044] In a specific implementation, the execution function is the MOUNT function, which is the core driving unit for the system hardware actions and integrates the operation logic of the entire pipetting experiment process.

[0045] After the execution module enters the execution phase, it sequentially calls the corresponding function interfaces of the MOUNT function according to the step sequence and parameter settings defined in the engineering data file. This drives the system to perform a series of operations, including changing pipette tips, liquid collection, camera recognition, liquid ejection, liquid unloading, and pipette tip removal. During the pipette tip selection process, the MOUNT function automatically matches the appropriate pipette model based on the sample loading capacity parameters in the engineering data file. For example, it selects a pipette with a 50nL capacity for ultra-micro liquid transfer and a pipette with the corresponding capacity for regular volume transfer, achieving automatic pipette tip switching and precise adaptation.

[0046] Meanwhile, the MOUNT function incorporates built-in nozzle status verification logic. After nozzle switching is complete, it verifies the nozzle installation status through data interaction with the camera coordination module, ensuring that the nozzle is installed correctly and without misalignment. The data storage unit uses XML file format to structure and store project files, experimental parameters, and operational data. The XML file organizes data in the form of nodes, containing all key data such as reagent information, well position parameters, execution steps, and equipment status. This ensures both the standardization of data storage and facilitates subsequent retrieval and traceability.

[0047] In a specific implementation, the system employs a dual verification mechanism during experimental operation: nozzle status verification and liquid presence verification. Through deep collaboration with the camera module, the accuracy and reliability of the operation are ensured. The specific implementation process is as follows: After a reagent is added, the operating module sends a nozzle removal command via the MOUNT function. The nozzle switching mechanism removes the current nozzle and moves it to the waste nozzle collection area, then picks up a new nozzle and installs it. After the new nozzle is installed, the robotic arm control module drives the robotic arm to move the nozzle to a preset detection position above the camera. The camera coordination module then initiates the image acquisition and recognition process, analyzing the image features of the nozzle to determine if there are any abnormalities such as nozzle misalignment or improper installation.

[0048] If the nozzle status verification passes, the robotic arm carries the nozzle to the target well of the liquid-collecting microplate and completes the liquid collection action according to the parameters in the engineering data file. After liquid collection, the robotic arm moves the nozzle back to the detection position above the camera. The camera-coordinated module uses image recognition to determine whether there is liquid in the nozzle, completing the liquid presence verification. When the liquid presence verification passes, the robotic arm drives the nozzle to the target well of the sample-addition microplate to perform the liquid unloading operation. When the liquid presence verification fails, the robotic arm moves the nozzle to the preset waste area to perform the liquid disposal operation, avoiding experimental errors caused by empty aspiration or liquid residue, and then proceeds to the next well for sample addition.

[0049] In a specific implementation, the dual X-axis collaborative control module serves as the core module for improving system efficiency. It works in deep collaboration with the operation module and the robotic arm control module to enable multiple suction nozzles to work in parallel.

[0050] This module supports adding four new nozzles to form a dual-nozzle group with the existing nozzles. Each nozzle is controlled by two independent X-axis drive mechanisms, creating a dual-X-axis cross-working mode. During operation, the dual-X-axis collaborative control module uses an internal scheduling algorithm to rationally plan the motion trajectory and working sequence of the two X-axis to avoid action conflicts. For example, when X-axis 1 controls the existing nozzle group to perform liquid retrieval, X-axis 2 can control the newly added nozzle group to perform liquid unloading, achieving parallel execution of the operation process.

[0051] With its dual X-axis cross-operation design, the system's working efficiency is doubled compared to the single X-axis mode. For example, processing a 96-well plate in the original single X-axis mode takes a certain amount of time, while in the dual X-axis mode, this time can be reduced to half. At the same time, the range of liquid volume that can be selected in a single sampling is also doubled. The liquid volume range of the original single nozzle group is supplemented by the range of the newly added nozzle group, which can meet more experimental scenarios with different volume requirements, thereby improving the system's high-throughput processing capability and applicability.

[0052] like Figure 1 and Figure 2 As shown, the programming implementation process of the programmable pipetting system is explained in detail below: Click the "Reagent Edit" button. In the pop-up "Reagent Edit" window, enter the name of the reagent needed for the experiment in the "Enter New Reagent Name" field, and then click the "Save" button. The text you just entered will be displayed in the reagent data column on the left. After entering the names of the reagents needed for this experiment, you can click the "--->" or "All--->" button to add them to the engineering data column on the right. After confirming, click the "Exit" button. At this point, return to the main program interface, click on the tabletop location to be operated, and a "Sampling Edit" window will pop up. Select the corresponding specification data and click the "OK" button. At this point, the corresponding hole position data for the selected specification data from the previous step is rendered in the main program interface, presented as a square button. When this square button is clicked, its color changes to distinguish it from the unclicked graphic. In this step, the specification template data has been bound for use in subsequent steps. In the previous step, clicking the square button will open the "Sample Addition Editing" window. In the "Reagent Area," the type and ID information (the square button represents the plate's position number) from the previous steps will be automatically completed. Select the reagent for the current ID from the "Reagent Name" dropdown menu. Then, enter the corresponding data in "Sample Volume." When the mouse leaves the input area, the liquid level and bottom height data will be automatically completed (in the toolbox, select the corresponding location to enter the actual data for each well of the microplate required for the experiment). Then, enter the corresponding experimental data in "Number of Additions." Next, select the sample addition data. First, select the addition location by choosing the name of the corresponding location from the dropdown menu, and select the appropriate microplate according to the experimental requirements; the model is the actual number of microplates. After selecting the "Type" and model, the rendering function will start drawing similar square buttons below. After drawing, you can click the nearby "Rectangle Selection" to add liquid to the required location. Click the "OK" button to confirm the selected button, and then exit this editing interface.

[0053] At this point, the data presented during the above editing process will appear at the bottom of the main interface (the unshown data is only necessary for program operation and is not displayed here). If there is other reagent information, repeat steps 1 to 4. At this point, the basic programming information entry is complete.

[0054] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any person skilled in the art can easily conceive of various variations or substitutions within the technical scope disclosed in the present invention, and these should all be included within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. A fully automated pipetting system based on programmable logic, characterized in that, It includes a functional terminal, a programmable terminal, a programming module, an execution module, and a data storage unit; The functional terminal is used to provide basic tools and data calibration capabilities, while the programmable terminal is used to provide configurable functions related to experimental processes. The programming module is used to complete the input, binding and verification of the experimental process in the interactive user interface, and to compile the experimental process into a project metadata file; The running module is used to read the engineering metadata file, convert it into a machine-executable engineering data file, and call the execution function to drive the automated execution of the pipetting experiment according to the engineering data file; The data storage unit is used to store engineering metadata files, engineering data files, experimental parameters, and historical data in the form of structured files to support the saving, retrieval, and traceability of experimental procedures.

2. The fully automated pipetting system based on programmable logic according to claim 1, characterized in that, The functional module includes commonly used functional modules and basic functional modules. The commonly used functional modules are used to provide general operation support, while the basic functional modules are used to perform data calibration, coordinate data management, operation data processing, and basic function testing. The basic function testing includes nozzle replacement testing, nozzle removal testing, liquid slurry testing, liquid unloading testing, and process liquid slurry / unloading testing.

3. The fully automated pipetting system based on programmable logic according to claim 1, characterized in that, The programmable terminal includes a temperature control module, an oscillation control module, a plate washing module, a camera coordination module, and a robotic arm control module. The temperature control module is used to provide temperature settings of 2-8℃, 37℃ and normal temperature. The oscillation control module is used to provide oscillation time parameter settings in seconds; The plate washing module is used in conjunction with the robotic arm to complete the gripping and cleaning of the 96-hole plate; The camera coordination module is used for microplate coordinate positioning and correction, guides the camera center crosshair to align with the orifice center to reduce coordinate deviation, and is used for pipette tip status and liquid presence detection. The robotic arm control module is used to drive the 6-axis robotic arm to complete the transfer of samples between the reagent area, the mixing area, and the target area, and to link the air purification device to achieve air purification on the experimental platform. Furthermore, the programmable terminal also includes a dual X-axis collaborative control module, which supports the addition of four new suction nozzles to work in conjunction with the existing suction nozzles, enabling cross-operation of the dual X-axis to improve working efficiency and the range of single liquid volume selection.

4. The fully automated pipetting system based on programmable logic according to claim 1, characterized in that, The programming module includes at least a reagent editing unit, a sampling editing unit, a sample addition editing unit, and a parameter configuration unit; The programming module is configured to render virtual square buttons in the user interface to represent the well positions of the microplate, and bind parameters such as reagent information, sample volume, number of sample additions, liquid level height, bottom height, aspiration delay, and unloading delay to the well position identifiers corresponding to the virtual square buttons, thereby generating the engineering metadata file.

5. The fully automated pipetting system based on programmable logic according to claim 4, characterized in that, The editing process of the reagent editing unit includes: Receive and save the new reagent name entered by the user, and display the new reagent name in the reagent data column on the left. Provides "--->" and "All--->" operation controls, supporting the addition of single reagent entries to the right-hand engineering data column and the addition of all reagent entries; Configure an "Exit" control so that users can exit the reagent editing interface after completing reagent entry.

6. The fully automated pipetting system based on programmable logic according to claim 4, characterized in that, The editing process of the sampling editing unit includes: When the user selects the target countertop location in the main program interface, a sampling editing interface pops up to receive the specification data selected by the user and bind the specification template. The main program interface renders virtual square buttons for the hole positions corresponding to the specified template, and the selected and unselected hole positions are distinguished by the button color change.

7. The fully automated pipetting system based on programmable logic according to claim 4, characterized in that, The editing process of the sample addition editing unit includes: When the user clicks the virtual square button for the hole position, a sample addition editing interface pops up and automatically fills in the hole position type and hole position identification information; Provides a drop-down selection control for reagent names to select the reagent corresponding to the well position identifier, receives the sample volume input by the user, and automatically completes the liquid level height and bottom height data after the mouse leaves the sample volume input position; It receives the number of times the sample is added from the user and provides a selection control for the name of the target area and the microplate model. Based on the selection result, it renders a virtual square button for the well position corresponding to the target area. The system provides a "rectangular selection" function to select target liquid addition locations in batches. It supports adjusting the selection range by zooming. After the user clicks the "OK" control to confirm the selection, the edited data is written to the list at the bottom of the main interface for generating project metadata files.

8. The fully automated pipetting system based on programmable logic according to claim 1, characterized in that, The runtime module supports at least two execution modes: Mode 1: After converting the project metadata file generated by the programming module into a project data file and temporarily saving it, the execution function is called to execute it; Mode 2: Import the stored project metadata file, convert it into a project data file and temporarily save it, then call the execution function to execute it.

9. The fully automated pipetting system based on programmable logic according to claim 1, characterized in that, The execution function is the MOUNT function, which is used to drive the execution of pipette replacement, liquid collection, camera recognition, liquid ejection, liquid unloading, and pipette removal operations according to the engineering data file, and automatically matches the pipette model based on the sample loading capacity to realize automatic pipette switching and status verification; the data storage unit stores relevant files and data in XML file format.

10. The fully automated pipetting system based on programmable logic according to claim 9, characterized in that, The nozzle status verification and liquid presence verification process includes: After adding one reagent, first remove the pipette tip, then replace it with a new one; After the new nozzle is installed, move it to the detection position above the camera to check the installation status and determine whether the nozzle is crooked or not installed in place. After the verification is passed, move to the liquid sampling microplate to complete the liquid sampling action, and then return to the detection position above the camera to verify the presence of liquid; When the liquid presence test passes, move the plate above the sample loading microplate to perform the liquid unloading operation; when the liquid presence test fails, move the plate to the preset waste area to perform the liquid disposal operation.

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