Control method and apparatus for pipetting device, and storage medium

Abstract

A control method and apparatus for a pipetting device, and a storage medium. The control method for the pipetting device comprises: acquiring layout information and liquid type information, the layout information representing the layout of a working platform of the pipetting device, and the liquid type information representing liquid parameters of a pipetting operation executed by the pipetting device; acquiring script information, the script information comprising variable information and script command information, and the variable information being associated with parameters in the script command information; parsing the script information to obtain operation information for executing the pipetting operation on the working platform of the pipetting device; and on the basis of the operation information, the layout information and the liquid type information, controlling the pipetting device to execute the pipetting operation.

Description

Control methods, apparatus and storage media for pipetting devices

[0001] This application claims priority to Chinese Patent Application No. 202411900379.1, filed on December 20, 2024, entitled "Control method, apparatus and storage medium for pipetting device", the entire contents of which are incorporated herein by reference. Technical Field

[0002] This application relates to the field of control, and more specifically to a control method for a pipetting apparatus, a control device for a pipetting apparatus, electronic equipment, storage media, and computer program products. Background Technology

[0003] Pipettes are highly automated devices used for the precise transfer and measurement of liquids. These devices can replace manual pipetting operations, thereby significantly improving work efficiency, reducing human error, and ensuring the consistency and repeatability of pipetting operations.

[0004] However, existing pipetting devices can only perform simple, fixed pipetting operations. With the development of biotechnology, chemical analysis, and drug development, increasingly complex pipetting tasks are required to handle large numbers of samples and complex research systems. Existing pipetting devices struggle to meet the diverse and complex pipetting needs of different application scenarios. Summary of the Invention

[0005] This application is made in consideration of the above-mentioned issues.

[0006] According to a first aspect of this application, a control method for a pipetting device is provided, comprising:

[0007] The system acquires layout information and liquid type information, where layout information represents the layout of the pipetting device's working platform, and liquid type information represents the liquid parameters for the pipetting operation performed by the pipetting device; it acquires script information, where script information includes variable information and script command information, and the variable information is associated with the parameters in the script command information; it parses the script information to obtain the operation information for performing the pipetting operation on the working platform of the pipetting device; and it controls the pipetting device to perform the pipetting operation based on the operation information, layout information, and liquid type information.

[0008] For example, the method further includes: providing a first human-computer interaction interface, the first human-computer interaction interface including one or more script information modules, wherein each script information module includes at least one or more script command information, at least one script information module further includes variable information, and each script command information corresponds to a command operation of the pipetting device; obtaining script information includes: in response to the user's operation on the script information module, obtaining variable information and script command information.

[0009] For example, in response to a user's operation on a script information module, obtaining variable information and script command information includes: in response to a user's operation on a script information module, displaying the script command module and control command module corresponding to the script information module respectively; in response to a user's operation on a control command module, obtaining the corresponding control command information, wherein the control command information includes variable information; and in response to a user's operation on a script command module, obtaining the corresponding script command information.

[0010] For example, in response to a user's operation on the control command module, obtaining corresponding control command information includes: in response to a first operation by the user on the control command module, determining the variable value of a variable in the variable information; in response to a user's operation on the script command module, obtaining corresponding script command information includes: in response to a second operation by the user on the script command module, determining the expression of a parameter in the script command information, wherein the parameter in the script command information is represented by a variable in the variable information.

[0011] For example, the first human-computer interaction interface further includes a template area, which includes a script command template module and / or a control command template module; the method further includes: in response to the user's operation on the script command template module, determining the script command module corresponding to the currently selected script information module; and / or in response to the user's operation on the control command template module, determining the control command module corresponding to the currently selected script information module.

[0012] For example, in the first human-computer interaction interface, the script information module is displayed according to the layout information corresponding to the script information module, and script information modules with the same layout information are displayed together in the same area.

[0013] For example, the script command information includes a liquid volume parameter, which is represented by a variable in the variable information.

[0014] According to a second aspect of this application, a control device for a pipetting apparatus is also provided, comprising a first acquisition module, a second acquisition module, a parsing module, and a control module. The first acquisition module is used to acquire layout information and liquid type information, wherein the layout information represents the layout of the working platform of the pipetting apparatus, and the liquid type information represents the liquid parameters of the pipetting operation performed by the pipetting apparatus. The second acquisition module is used to acquire script information, wherein the script information includes variable information and script command information, and the variable information is associated with the parameters in the script command information. The parsing module is used to parse the script information to obtain operation information for performing a pipetting operation on the working platform of the pipetting apparatus. The control module is used to control the pipetting apparatus to perform the pipetting operation based on the operation information, layout information, and liquid type information.

[0015] According to a third aspect of this application, an electronic device is also provided, comprising: a processor and a memory, wherein the memory stores computer program instructions, which are executed by the processor to perform the control method for a pipetting device as described above.

[0016] According to a fourth aspect of this application, a storage medium is also provided, on which program instructions are stored, which, when executed, are used to perform the control method for a pipetting device as described above.

[0017] According to a fifth aspect of this application, a computer program product is also provided, including computer program instructions that, when executed, perform the control method for a pipetting device as described above.

[0018] The above technical solution acquires the layout information of the working platform of the pipetting device and the type of liquid to be moved, as well as script information. In the script information, variable information is associated with parameters in the script command information. This script information is parsed to control the pipetting device to perform pipetting operations. By setting variable information and then implementing pipetting operations with complex logic based on associated script command information, the application capability of the pipetting device in complex pipetting operation scenarios is significantly improved.

[0019] The above description is only an overview of the technical solution of this application. In order to better understand the technical means of this application and to implement it in accordance with the contents of the specification, and to make the above and other objects, features and advantages of this application more obvious and understandable, the following are specific embodiments of this application. Attached Figure Description

[0020] The above and other objects, features, and advantages of this application will become more apparent from the more detailed description of the embodiments of this application in conjunction with the accompanying drawings. The accompanying drawings are used to provide a further understanding of the embodiments of this application and form part of the specification. They are used together with the embodiments of this application to explain this application and do not constitute a limitation thereof.

[0021] Figure 1 shows a schematic flowchart of a control method for a pipetting device according to an embodiment of this application;

[0022] Figure 2 shows a partial schematic diagram of a human-computer interaction interface for setting layout information according to an embodiment of this application;

[0023] Figure 3 shows a schematic diagram of a first human-computer interaction interface according to an embodiment of this application;

[0024] Figure 4 shows a schematic diagram of a first human-computer interaction interface according to another embodiment of this application;

[0025] Figure 5 shows a schematic block diagram of a control device for a pipetting apparatus according to an embodiment of this application;

[0026] Figure 6 shows a schematic block diagram of an electronic device according to an embodiment of the present application. Detailed Implementation

[0027] To make the objectives, technical solutions, and advantages of this application more apparent, exemplary embodiments according to this application will be described in detail below with reference to the accompanying drawings. Obviously, the described embodiments are merely a part of the embodiments of this application.

[0028] To at least address the aforementioned technical problems, this application provides a control method for pipetting equipment. This control method can be used for the automatic control of various pipetting devices. Pipetting devices may include pipetting workstations, automated pipetting systems, pipettes, etc. By associating variable information with script command information in the script information, pipetting operations with complex logic can be implemented.

[0029] Figure 1 shows a schematic flowchart of a control method for a pipetting device according to an embodiment of this application. As shown in Figure 1, it includes steps S1100, S1200, S1300, and S1400.

[0030] In step S1100, layout information and liquid type information are obtained. The layout information represents the layout of the working platform of the pipetting device, and the liquid type information represents the liquid parameters of the pipetting operation performed by the pipetting device.

[0031] The layout information describes the arrangement of the working platform of the pipetting device, including the position and arrangement of components such as the carrier, instruments, and grippers. The liquid type information indicates the liquid parameters used by the pipetting device to perform pipetting operations, including aspiration rate, lead-in gas seal, tail-out gas seal, and spray rate. Both the layout and liquid type information can be set by the user according to their pipetting needs.

[0032] In some embodiments, users can set layout information, such as the position information of carriers, devices, grippers, etc., through a human-machine interface. The positions of carriers, devices, grippers, etc., in the human-machine interface correspond to their actual positions on the working platform of the pipetting device. Users can set layout information according to pipetting needs in the human-machine interface. Figure 2 shows a partial schematic diagram of a human-machine interface for setting layout information according to an embodiment of this application. As shown in Figure 2, the components supported by the pipetting device are provided in the first area 210 of the human-machine interface. Only carriers, waste bins, microplates, and deep-well plates are shown in Figure 2; other components are not shown. Furthermore, the components shown may include various models. Users can set components that meet pipetting needs in the second area 220, and the positions of each component in the second area 220 correspond to their actual positions on the working platform of the pipetting device. As shown in Figure 2, users set three carriers arranged sequentially in the second area 220 according to pipetting needs. The first carrier has a waste bin, the second carrier has four microplates, and the third carrier has two deep-well plates. The orifice plates can be of different types, such as 24-well plates, 48-well plates, 96-well plates, etc.

[0033] Similarly, a human-machine interface (HMI) can be provided for users to set liquid type information, allowing them to configure this setting. Specifically, this can include settings for aspiration rate, pre-pipette seal, tail-pipette seal, and spray rate. It is understood that different liquids and different pipetting requirements can have different liquid type information set. For example, for a specific liquid, relevant liquid type information can be provided to the user. Furthermore, for the same liquid, such as water, different liquid type information can be set according to requirements, such as volume, number of sprays, pre-pipette seal volume, and tail-pipette seal volume, making it easier to pipet different types of water in subsequent operations.

[0034] Alternatively, layout and liquid type information can be automatically generated based on pipetting requirements. For example, a given pipetting device may have fixed default layout and liquid type information.

[0035] The layout information and liquid type information can be obtained in any order. The layout information can be obtained first, the liquid type information first, or both can be obtained simultaneously.

[0036] In step S1200, script information is obtained. This script information includes variable information and script command information, with the variable information associated with the parameters in the script command information.

[0037] Script information can include relevant information for controlling the pipetting apparatus to perform pipetting operations. Script information can include variable information and script command information. Script command information can include single or combined script commands such as picking up pipette tips, aspirating, dispensing, discarding pipette tips, cyclic operations, and conditional operations. Script command information may involve parameters, such as aspiration volume and number of pipetting operations. Parameters in the script command information can be set or manipulated through variable information, and various script commands, such as cyclic, selection, and conditional operations, can be used to further modify the parameters in the script command information to control complex pipetting operations.

[0038] For example, the script command information may include aspiration operation commands, which in turn may include loop operation commands. The loop operation commands may specify the number of loops. Variable information may include variable `i`, and the aspiration command information may include the aspiration volume for each operation. Variable `i` can be associated with the aspiration volume for each operation. An initial value of 11 can be set for variable `i`, and this value increases by a fixed 1 with each loop iteration. Therefore, each time an aspiration operation is performed, the aspiration volume can be determined based on the value of variable `i`. Alternatively, the initial value of `i` (11) can be set within the loop, and each loop iteration sets the initial value to 11 before increasing it by the fixed 1, resulting in an aspiration volume of 12 for each operation. Another approach is to set the initial value of `i` outside the loop, meaning that each loop iteration increases `i` by the fixed 1, resulting in an aspiration volume of 12 for the first operation, 13 for the second, and so on. The loop ends after the specified number of iterations, and the aspiration operation is complete.

[0039] In some embodiments, users can set script command information and variable information based on liquid type information and layout information to obtain script information. For example, when setting up liquid aspiration, users can select liquid aspiration-related components in the layout information and select the corresponding liquid type information according to the liquid being aspirated.

[0040] Script information can be a combination of script commands and variable information written in script form. Alternatively, it can be script information automatically generated by the system based on pipetting requirements. Script information can be code written in any programming language, such as Python, JavaScript, Bash, Perl, etc.

[0041] In step S1300, the script information is parsed to obtain the operation information for performing pipetting operations on the working platform of the pipetting device.

[0042] As mentioned above, the script information can include relevant information for controlling the pipetting apparatus to perform pipetting operations. Specifically, the script information can include operational information for performing pipetting operations on the working platform of the pipetting apparatus. For example, controlling the pipetting apparatus to perform multiple pipetting operations, with each pipetting volume being 1 ml larger than the previous pipetting volume. The script information can be written in script form. The script information can be parsed to obtain operational information. This parsing can be done using a virtual machine, script interpreter, etc. Specifically, the script information can be analyzed and interpreted to obtain operational information for the pipetting apparatus to perform pipetting operations on the working platform. This operational information can include various parameter information involved in the pipetting operation of the pipetting apparatus, the correspondence between the pipetting channels of the pipetting apparatus and the well positions on the plate on its working platform, etc. By parsing the script information, the correctness and maintainability of the script code can be ensured, thereby ensuring that the pipetting apparatus can smoothly perform its pipetting operations based on the operational information obtained from parsing the script information.

[0043] In step S1400, the pipetting device is controlled to perform a pipetting operation based on the operation information, layout information and liquid type information.

[0044] Layout information describes the layout of the pipetting device's work platform, while liquid type information describes the liquid parameters used by the pipetting device to perform pipetting operations. Operation information is used to control the pipetting operations performed on the work platform of the pipetting device. Pitting operations that move liquid from the source board to the target board can be implemented based on these three types of information. The specific positions of the source and target boards on the work platform, as well as the specific positions of necessary consumables and components, can be determined based on the layout information. During pipetting operations, corresponding operations can be performed on the relevant liquids according to the operation information, based on the relevant parameters in the liquid type information. Therefore, controlling the pipetting device to perform pipetting operations can be achieved based on operation information, layout information, and liquid type information. In some embodiments, when controlling the pipetting device to perform pipetting operations based on operation information, layout information, and liquid type information, a human-machine interface can be provided. This human-machine interface can display script information and layout information, and provide start, stop, and initialization controls. Users can control the start, stop, and initialization of pipetting operations by manipulating these controls.

[0045] The above technical solution acquires the layout information of the working platform of the pipetting device and the type of liquid to be moved, as well as script information. In the script information, variable information is associated with parameters in the script command information. This script information is parsed to control the pipetting device to perform pipetting operations. By setting variable information and then implementing pipetting operations with complex logic based on associated script command information, the application capability of the pipetting device in complex pipetting operation scenarios is significantly improved.

[0046] For example, the control method described above further includes: providing a first human-machine interface. The first human-machine interface may include one or more script information modules.

[0047] In some embodiments, a first human-computer interaction interface (HCI) may be provided to the user. The HCI may include multiple functional areas. For example, it may include a script list area and a script editing area. The user can select or create one or more script information modules in the script list area. Different script information modules can correspond to different pipetting operations, meeting different pipetting needs. The currently selected script information module can be displayed and edited in the script editing area.

[0048] Each script information module includes at least one or more script command information. Each script command information corresponds to a command operation of the pipetting device. Script command information can correspond to single operations such as picking up pipette tips, aspirating liquid, dispensing liquid, and discarding pipette tips. It can be understood that single operations can be combined into one command operation. For example, the operations of picking up and discarding pipette tips can be combined into one operation, and the command operation of the pipetting device corresponding to this script command information can perform both operations.

[0049] At least one script information module also includes variable information. This variable information can be used to configure complex pipetting operations. Specifically, the variable information is associated with parameters in the script command information. The values ​​of parameters in the script command information can be set or changed by configuring and calculating the variable information in the script information module. For example, the variable information can be used to set control structures such as loops, selections, and parameter initialization to achieve complex pipetting operations.

[0050] Step S1200, obtaining script information may include step S1210, in response to the user's operation on the script information module, obtaining variable information and script command information.

[0051] After a user selects or creates a script information module, the first human-computer interaction interface provides a script editing area corresponding to that module. This editing area can include preset variable information and script command information. Users can edit the preset variable information and script command information according to their pipetting needs to obtain the required information.

[0052] For example, after the user selects the liquid aspiration command information module in the script information module, in addition to setting the number of times the liquid aspiration command is executed, the type of liquid targeted for aspiration, source board parameters, and target board parameters through editing operations on the liquid aspiration command module, the user can also associate variable information with the liquid aspiration volume in the script command information and set a loop to change the current total liquid aspiration volume. In a specific embodiment, a variable 'a' can be constructed first in the script editing area, i.e., variable 'a' is set. Here, variable 'a' can be given an initial value. This variable 'a' is associated with the liquid aspiration command information in the script command information; for example, variable 'a' can be the volume of liquid aspirated each time. In the liquid aspiration command information, variable 'a' is incremented by a preset fixed value. Thus, after executing the liquid aspiration command a specific number of times, the current total liquid aspiration volume can be automatically determined.

[0053] Figure 3 shows a schematic diagram of a first human-computer interaction interface according to an embodiment of this application. As shown in Figure 3, the first human-computer interaction interface may include a script list area 310 and a script editing area 320. The script list area may display the names of one or more script information modules, and the user can select or create a script information module in the script list area 310. The user can edit the currently selected script information module in the script editing area 320 to obtain variable information and script command information.

[0054] The above technical solution provides a first human-computer interaction interface. Users can operate the script information module through this interface to obtain variable and script command information. The interaction method is simple, requires minimal user input, and improves operational efficiency.

[0055] For example, step S1210 responds to the user's operation on the script information module by obtaining variable information and script command information, including steps S1211, S1212 and S1213.

[0056] In step S1211, in response to the user's operation on a script information module, the script command module and control command module corresponding to the script information module are displayed respectively.

[0057] In some embodiments, a user can select or create a script information module. For example, a user can operate a script information module using input devices such as a mouse or keyboard. Based on the user's operation, the corresponding script command module and control command module are displayed.

[0058] A control system for a pipetting device can have multiple script command modules and control command modules. These modules correspond to one or more script information modules. In other words, for each script information module, its corresponding script command modules and control command modules are all or some of the configured ones. For a newly created script information module, all script command modules and control command modules configured in the pipetting device's control system can be displayed, allowing the user to select and configure them according to the specific needs of the current script information module.

[0059] Figure 4 shows a schematic diagram of a first human-computer interaction interface according to another embodiment of this application. As shown in Figure 4, the first human-computer interaction interface includes a script list area 410, which displays the names of one or more script information modules. The first human-computer interaction interface also includes a script editing area 420, which displays the script command module and control command module corresponding to a script information module currently operated by the user. In Figure 4, these are shown as script command module 1, script command module 2, script command module 3, and control command module 1.

[0060] In step S1212, in response to the user's operation on the control command module, the corresponding control command information is obtained, wherein the control command information includes variable information.

[0061] Users can operate the control command modules displayed in the first human-computer interaction interface. These modules can perform operations such as looping, selection, judgment, and variable setting. Each control command module can correspond to different control command information. In response to user operations on the control command modules, the corresponding control command information can be obtained. This control command information includes variable information. In some embodiments, different control command modules can operate on the same variable.

[0062] In some embodiments, a control command module can be operated on first to set a variable. Then, other control command modules can operate on this variable, such as increasing or decreasing it. Thus, complex pipetting operations can be achieved through looping, selection, and judgment operations involving this variable in the control command modules.

[0063] Referring again to the first human-computer interaction interface shown in Figure 4, the script information module may include a script information module 1 for pipetting a specific liquid L1. The user can edit the control command module 1 in the script editing area 420 according to the pipetting requirements of the specific liquid L1 to obtain the control command information corresponding to the control command module 1. This control command information may include variable information, such as the volume of the specific liquid L1 aspirated each time. For clarity, the specific calculations and parameters in the control command module 1 are not shown in Figure 4.

[0064] In step S1213, in response to the user's operation on the script command module, the corresponding script command information is obtained.

[0065] Users can operate the script command modules displayed in the first human-computer interaction interface. Different script command modules can correspond to different command operations, such as single operations like picking up the nozzle, aspirating liquid, spraying liquid, and discarding the nozzle, or combinations of multiple single operations. For example, for picking up the nozzle, users can use the corresponding script command module to set the nozzle type and position. For spraying liquid, users can use the corresponding script command module to set the spraying method, number of channels, nozzle spacing, and spray volume. The system can respond to user operations on the script command modules and obtain script command information. As mentioned earlier, the script command information may involve parameters. These parameters can be associated with the variable information obtained in step S1212. For example, in the above spraying operation, the spray volume can be set using variables, and the spray volume can be changed by changing the value of the variables in the control command module.

[0066] Referring again to Figure 4 and the above embodiment for pipetting a specific liquid L1, the user can edit script command module 1, script command module 2, and script command module 3 in the script editing area 420 according to pipetting needs to obtain the corresponding script command information. For clarity, the specific operations and parameters in script command module 1, script command module 2, and script command module 3 are not shown in Figure 4.

[0067] The above steps S1212, which responds to the user's operation on the control command module to obtain the corresponding control command information, and S1213, which responds to the user's operation on the script command module to obtain the corresponding script command information, do not have a fixed execution order. Instead, they depend on the user's operation. Step S1213 can be performed first, followed by step S1212, or vice versa.

[0068] The above technical solution acquires control command information and script command information in response to user operations on the control command module and script command module, respectively. The modular and visual operation not only meets complex and diverse pipetting needs but also facilitates user operation, accelerates the editing efficiency of the control flow for pipetting equipment, and significantly improves the user experience.

[0069] For example, step S1212 responds to the user's operation on the control command module by obtaining the corresponding control command information, including: step S1212a responds to the user's first operation on the control command module by determining the variable value of the variable in the variable information.

[0070] In some embodiments, a user's first operation on the control command module may include setting operations for control commands that include variable information. For example, the control command module may be used to create and initialize variable information. The variable in this variable information can have any name. For example, the variable may be represented as 'a'. A value may be assigned to the variable 'a', for example, setting 'a = 10'. This determines the variable value in the variable information. Alternatively, the control command module may be used to manipulate the variable to change its value. For example, the control command module may be a module that performs a loop operation. Through user settings of this loop operation module, the value of a certain variable can be changed in each loop operation. Based on the initial variable value, the number of times the loop operation is executed, and the change in the variable value in each loop operation, the current variable value can be determined.

[0071] Step S1213 responds to the user's operation on the script command module to obtain the corresponding script command information, including: step S1213a responds to the user's second operation on the script command module to determine the expression of the parameter in the script command information, wherein the parameter in the script command information is represented by the variable in the variable information.

[0072] In some embodiments, a second operation by the user on the script command module may include setting an expression for a parameter in the script command module. In a specific example, the script command module includes a liquid aspiration command module. The expression for the liquid aspiration parameter can be set in response to the user's operation on the liquid aspiration command module. In this example application scenario, the pipetting device includes four pipetting channels 1, 2, 3, and 4. The aspiration volumes corresponding to the four pipetting channels form a geometric sequence. The aspiration volumes of the four pipetting channels can be associated with variables in the variable information. For example, if the variable is variable b, the expressions for the aspiration volumes of pipetting channels 1, 2, 3, and 4 are b, 2b, 3b, and 4b, respectively. Step S1212a determines that the value of variable b is 10. Therefore, the aspiration volumes of channels 1, 2, 3, and 4 are 10, 20, 30, and 40, respectively. When the value of variable b changes, the liquid absorption volume of channels 1, 2, 3, and 4 will also change accordingly. For example, when the value of variable b is 11, the liquid absorption volumes of channels 1, 2, 3, and 4 are 11, 22, 33, and 44, respectively.

[0073] The above technical solution, through a first operation on the control command module, determines the variable values ​​in the variable information; through a second operation on the script information module, it determines the expressions of the parameters in the script command information, and the parameters are represented by variables. Therefore, relevant parameters in pipetting operations can change accordingly based on the variable values, saving users the trouble of setting numerous parameter values ​​one by one, automatically performing complex pipetting operations, and improving the application capability of pipetting equipment in complex pipetting scenarios.

[0074] For example, the first human-computer interaction interface further includes a template area, which includes a script command template module and / or a control command template module.

[0075] The template area can provide users with pre-configured script command template modules and / or control command template modules. It can be understood that the template area may only provide script command template modules, only provide control command template modules, or provide both. The template area in the first human-computer interaction interface can display both script command template modules and control command template modules simultaneously. Alternatively, users can select to display either script command template modules or control command template modules via a toggle option.

[0076] The script command template module can include multiple preset script command modules. Similarly, the control command template module can include multiple preset control command modules. Referring again to the first human-machine interface shown in Figure 4, in addition to the script list area 410 and the script editing area 420, it also includes a template area 430. In the template area 430, the names of all script command modules and control command modules in the control system of the pipetting device can be displayed.

[0077] The control method for a pipetting device may further include steps S1500 and / or S1600. It is understood that step S1500 can be executed when the template area includes a script command module. Step S1600 can be executed when the template area includes a control command template module.

[0078] In step S1500, in response to the user's operation on the script command template module, the script command module corresponding to the currently selected script information module is determined.

[0079] In the embodiment shown in Figure 4, the user can select a script information module in the script list area 410. Then, the user can operate on the script command template modules in the template area 430 according to pipetting needs. One or more script command template modules that meet pipetting needs can be selected from the multiple script command template modules included in the script command template module for use as the script command module corresponding to the currently selected script information module. As described in step S1213, in response to further user operations on the script command module in the script editing area 420, the corresponding script command information can be obtained.

[0080] In step S1600, in response to the user's operation on the control command template module, the control command module corresponding to the currently selected script information module is determined.

[0081] Taking the embodiment shown in Figure 4 as an example, after a user selects a script information module in the script list area, they can operate on the control command template module in the template area 430 according to their pipetting needs. One or more control command template modules that meet the pipetting needs can be selected from the control command template modules in the template area 430 for use as the control command module corresponding to the currently selected script information module. As described in step S1212, in response to further user operations on the control command module in the script editing area 420, the corresponding control command information can be obtained.

[0082] The above technical solution provides script command template modules and / or control command template modules through the template area in the first interactive interface. User operations on these modules determine the script command module and / or control command module corresponding to the currently selected script information module. Using templates to determine the script command module and / or control command module reduces the complexity of user operations, facilitates the setting of control flows for complex pipetting operations, and improves the user experience.

[0083] Alternatively, the first human-computer interaction interface may not include the aforementioned template area. Users can directly create and edit the corresponding script command modules and control command modules when performing editing operations on the script information module.

[0084] For example, in the first human-computer interaction interface, the script information module is displayed according to the layout information corresponding to the script information module, and script information modules with the same layout information are displayed together in the same area.

[0085] The layout information represents the arrangement of various components in the working platform of the pipetting device, such as the position and arrangement of components like the carrier, devices, and grippers. The script information module includes script command information; each script command corresponds to a command operation of the pipetting device, and thus to an operation performed on the working platform of the pipetting device. Therefore, the script information module is related to the layout information. Conversely, the same layout information can correspond to different operations, thus allowing for multiple script information modules. In the first human-machine interface, each script information module can be displayed according to its corresponding layout information. Script information modules corresponding to the same layout information can be displayed together in the same area. Referring again to the first user interface shown in Figure 4, script information modules 1 to 3 all correspond to the same layout information, and are therefore displayed sequentially at the top of the script list area 410. Script information modules 4 (not shown) to n correspond to another layout information. Therefore, these script information modules are displayed sequentially at the bottom of the script list area 410.

[0086] The above technical solution displays script information modules with the same layout information together in the same area. This facilitates user management and operation of different script information modules, improving the user experience.

[0087] For example, the script command information includes a liquid volume parameter. The liquid volume parameter is represented by a variable in the variable information.

[0088] In one specific embodiment, the variable information includes variable c, and the value of variable c is initialized to c = 10 through the control command module. The variable information can be associated with the liquid volume parameter in the script command information, i.e., the liquid volume parameter is c. Calculations can be performed on this liquid volume parameter based on the script command information to perform a pipetting operation on the desired volume of liquid. For example, the expression c = c + 5 in the script command information can be used to update the value of the liquid volume parameter. It is understood that the control command module can also be used to set up loop operations, etc., to automatically change the liquid volume parameter. Specifically, the loop operation can nest the above expression. Each loop operation increases the parameter value by 5. After one loop operation, the liquid volume parameter is 15. After two loop operations, the liquid volume parameter is 20, and so on, until the loop operation ends. At this point, the total amount of liquid operated can be determined based on the value of the liquid volume parameter.

[0089] The above technical solution represents liquid volume parameters using variables within variable information. Therefore, liquid volume parameters can be changed as desired using various calculations. This facilitates complex pipetting operations.

[0090] By way of example, according to a second aspect of this application, a control device for a pipetting apparatus is also provided. FIG5 shows a schematic block diagram of a control device 500 for a pipetting apparatus according to an embodiment of this application. As shown in FIG5, the control device 500 for a pipetting apparatus includes a first acquisition module 510, a second acquisition module 520, a parsing module 530, and a control module 540.

[0091] The first acquisition module 510 is used to acquire layout information and liquid type information, wherein the layout information represents the layout of the working platform of the pipetting device, and the liquid type information represents the liquid parameters of the pipetting operation performed by the pipetting device. The second acquisition module 520 is used to acquire script information, wherein the script information includes variable information and script command information, and the variable information is associated with the parameters in the script command information. The parsing module 530 is used to parse the script information to obtain operation information for performing the pipetting operation on the working platform of the pipetting device. The control module 540 is used to control the pipetting device to perform the pipetting operation based on the operation information, the layout information, and the liquid type information.

[0092] For example, the control device 500 for the pipetting apparatus further includes an interface module. The interface module provides a first human-machine interface, which includes one or more script information modules. Each script information module includes at least one or more script command information items, and at least one script information module also includes variable information. Each script command information item corresponds to a command operation of the pipetting apparatus. The second acquisition module includes a first acquisition submodule. The first acquisition submodule is used to acquire the variable information and the script command information in response to user operations on the script information modules.

[0093] For example, the first acquisition submodule includes a display unit, a first operation unit, and a second operation unit. The display unit, in response to a user's operation on a script information module, displays the script command module and control command module corresponding to that script information module. The first operation unit, in response to a user's operation on the control command module, acquires the corresponding control command information, wherein the control command information includes the variable information. The second operation unit, in response to a user's operation on the script command module, acquires the corresponding script command information.

[0094] For example, the first operation unit includes a first operation subunit. The second operation unit includes a second operation subunit. The first operation subunit is configured to determine the variable value of a variable in the variable information in response to a first operation by the user on the control command module. The second operation subunit is configured to determine the expression of a parameter in the script command information in response to a second operation by the user on the script command module, wherein the parameter in the script command information is represented by a variable in the variable information.

[0095] For example, the first human-computer interaction interface further includes a template area, which includes a script command template module and / or a control command template module. The control device 500 for the pipetting apparatus further includes a first operation module and / or a second operation module. The first operation module is used to determine the script command module corresponding to the currently selected script information module in response to the user's operation on the script command template module. The second operation module is used to determine the control command module corresponding to the currently selected script information module in response to the user's operation on the control command template module.

[0096] For example, in the interface module, the script information module is displayed according to the layout information corresponding to the script information module, and script information modules with the same layout information are displayed together in the same area.

[0097] By way of example, according to a third aspect of this application, an electronic device is also provided. FIG6 shows a schematic block diagram of an electronic device 600 according to an embodiment of this application. The electronic device 600 includes a processor 610 and a memory 620. The memory 620 stores computer program instructions, which, when executed by the processor 610, are used to perform the control method for a pipetting device as described above.

[0098] By way of example, according to a fourth aspect of this application, a storage medium is also provided, on which program instructions are stored, which, when executed, are used to perform the control method for a pipetting device 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.

[0099] By way of example, according to a fifth aspect of this application, a computer program product is also provided, including computer program instructions that, when executed, are used to perform the control method for a pipetting device as described above.

[0100] Those skilled in the art can understand the specific implementation schemes and beneficial effects of the control devices, electronic devices, storage media, and computer program products for pipetting equipment by reading the above description of the control methods for pipetting equipment. For the sake of brevity, they will not be described in detail here.

[0101] Example

[0102] Example 1. A control method for a pipetting device, characterized in that,

[0103] Obtain layout information and liquid type information, wherein the layout information represents the layout of the working platform of the pipetting device, and the liquid type information represents the liquid parameters of the pipetting operation performed by the pipetting device;

[0104] Obtain script information, wherein the script information includes variable information and script command information, and the variable information is associated with the parameters in the script command information;

[0105] The script information is parsed to obtain operation information for performing the pipetting operation on the working platform of the pipetting device;

[0106] The pipetting device is controlled to perform the pipetting operation based on the operation information, the layout information, and the liquid type information.

[0107] Example 2. The control method for a pipetting device according to Example 1, wherein the method further includes:

[0108] A first human-computer interaction interface is provided, the first human-computer interaction interface includes one or more script information modules, wherein each script information module includes at least one or more script command information, and at least one script information module also includes variable information, and each script command information corresponds to a command operation of the pipetting device;

[0109] The obtained script information includes:

[0110] In response to the user's operation on the script information module, the variable information and the script command information are obtained.

[0111] Example 3. A control method for a pipetting device according to Example 1 or 2, wherein the step of obtaining the variable information and the script command information in response to a user's operation on the script information module includes:

[0112] In response to a user's operation on a script information module, the corresponding script command module and control command module are displayed respectively;

[0113] In response to the user's operation on the control command module, the corresponding control command information is obtained, wherein the control command information includes the variable information;

[0114] In response to the user's operation on the script command module, the corresponding script command information is obtained.

[0115] Example 4. A control method for a pipetting apparatus according to any one of Examples 1 to 3, wherein,

[0116] The step of responding to the user's operation on the control command module and obtaining the corresponding control command information includes:

[0117] In response to the user's first operation on the control command module, the variable value of the variable in the variable information is determined;

[0118] The step of responding to user operations on the script command module and obtaining corresponding script command information includes:

[0119] In response to a second operation by the user on the script command module, an expression for a parameter in the script command information is determined, wherein the parameter in the script command information is represented by a variable in the variable information.

[0120] Example 5. A control method for a pipetting device according to any one of Examples 1 to 4, wherein the first human-machine interface further includes a template area, the template area including a script command template module and / or a control command template module;

[0121] The method further includes:

[0122] In response to the user's operation on the script command template module, determine the script command module corresponding to the currently selected script information module; and / or

[0123] In response to the user's operation on the control command template module, the control command module corresponding to the currently selected script information module is determined.

[0124] Example 6. A control method for a pipetting device according to any one of Examples 1 to 5, wherein, in the first human-machine interface, the script information module is displayed according to the layout information corresponding to the script information module, and script information modules with the same layout information are displayed together in the same area.

[0125] Example 7. A control method for a pipetting device according to any one of Examples 1 to 6, wherein the script command information includes a liquid volume parameter, and the liquid volume parameter is represented by a variable in the variable information.

[0126] Example 8. A control device for a pipetting apparatus, characterized in that it comprises:

[0127] The first acquisition module is used to acquire layout information and liquid type information, wherein the layout information represents the layout of the working platform of the pipetting device, and the liquid type information represents the liquid parameters of the pipetting operation performed by the pipetting device;

[0128] The second acquisition module is used to acquire script information, wherein the script information includes variable information and script command information, and the variable information is associated with the parameters in the script command information;

[0129] The parsing module is used to parse the script information to obtain operation information for performing the pipetting operation on the working platform of the pipetting device;

[0130] The control module is used to control the pipetting device to perform the pipetting operation based on the operation information, the layout information, and the liquid type information.

[0131] Example 9. An electronic device, comprising: a processor and a memory, characterized in that,

[0132] The memory stores computer program instructions, which, when executed by the processor, are used to perform a control method for a pipetting device as described in any one of Examples 1 to 7.

[0133] Example 10. A storage medium storing program instructions, characterized in that the program instructions, when executed, are used to perform a control method for a pipetting device as described in any one of Examples 1 to 7.

[0134] Example 11. A computer program product, comprising computer program instructions, characterized in that the computer program instructions, when executed, are used to perform a control method for a pipetting device as described in any one of Examples 1 to 7.

[0135] 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.

[0136] 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.

[0137] 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.

[0138] 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.

[0139] Similarly, it should be understood that, in order to streamline this application and aid in understanding one or more of the various inventive aspects, features of this application may sometimes be 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, its inventive point lies in solving the corresponding technical problem with features fewer than all features of 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.

[0140] 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.

[0141] 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.

[0142] 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 control device for a pipetting apparatus according to 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 take 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.

[0143] 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.

[0144] 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 control method for a pipetting device, characterized in that, Obtain layout information and liquid type information, wherein the layout information represents the layout of the working platform of the pipetting device, and the liquid type information represents the liquid parameters of the pipetting operation performed by the pipetting device; Obtain script information, wherein the script information includes variable information and script command information, and the variable information is associated with the parameters in the script command information; The script information is parsed to obtain operation information for performing the pipetting operation on the working platform of the pipetting device; The pipetting device is controlled to perform the pipetting operation based on the operation information, the layout information, and the liquid type information.

2. The control method for a pipetting device according to claim 1, wherein, The method further includes: A first human-computer interaction interface is provided, the first human-computer interaction interface includes one or more script information modules, wherein each script information module includes at least one or more script command information, and at least one script information module also includes variable information, and each script command information corresponds to a command operation of the pipetting device; The obtained script information includes: In response to the user's operation on the script information module, the variable information and the script command information are obtained.

3. The control method for a pipetting device according to claim 2, wherein, The step of responding to user operations on the script information module and obtaining the variable information and the script command information includes: In response to a user's operation on a script information module, the corresponding script command module and control command module are displayed respectively; In response to the user's operation on the control command module, the corresponding control command information is obtained, wherein the control command information includes the variable information; In response to the user's operation on the script command module, the corresponding script command information is obtained.

4. The control method for a pipetting device according to claim 3, wherein, The step of responding to the user's operation on the control command module and obtaining the corresponding control command information includes: In response to the user's first operation on the control command module, the variable value of the variable in the variable information is determined; The step of responding to user operations on the script command module and obtaining corresponding script command information includes: In response to a second operation by the user on the script command module, an expression for a parameter in the script command information is determined, wherein the parameter in the script command information is represented by a variable in the variable information.

5. The control method for a pipetting device according to claim 3, wherein, The first human-computer interaction interface further includes a template area, which includes a script command template module and / or a control command template module; The method further includes: In response to the user's operation on the script command template module, determine the script command module corresponding to the currently selected script information module; and / or In response to the user's operation on the control command template module, the control command module corresponding to the currently selected script information module is determined.

6. The control method for a pipetting apparatus according to any one of claims 2 to 5, wherein, In the first human-computer interaction interface, the script information module is displayed according to the layout information corresponding to the script information module, and script information modules with the same layout information are displayed together in the same area.

7. The control method for a pipetting apparatus according to any one of claims 1 to 5, wherein, The script command information includes liquid volume parameters, which are represented by a variable in the variable information.

8. A control device for a pipetting apparatus, characterized in that, include: The first acquisition module is used to acquire layout information and liquid type information, wherein the layout information represents the layout of the working platform of the pipetting device, and the liquid type information represents the liquid parameters of the pipetting operation performed by the pipetting device; The second acquisition module is used to acquire script information, wherein the script information includes variable information and script command information, and the variable information is associated with the parameters in the script command information; The parsing module is used to parse the script information to obtain operation information for performing the pipetting operation on the working platform of the pipetting device; The control module is used to control the pipetting device to perform the pipetting operation based on the operation information, the layout information, and the liquid type information.

9. 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 the control method for a pipetting device as described in any one of claims 1 to 7.

10. A storage medium on which program instructions are stored, characterized in that, The program instructions, when executed, are used to perform the control method for a pipetting device as described in any one of claims 1 to 7.

11. A computer program product comprising computer program instructions, characterized in that, The computer program instructions, when executed, are used to perform the control method for a pipetting device as described in any one of claims 1 to 7.

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