1. A robot-based cell fluid extraction control method, comprising:

responding to a liquid taking instruction which is from a user and carries position information of a cell liquid taking point, and controlling a robot to move an absorption tube to the cell liquid taking point for the first time;

after the suction tube enters a microscope visual field picture, controlling the robot to slow down the moving speed of the first movement according to the proximity degree of the suction tube and a cell liquid taking point presented by the microscope visual field picture; the slowing degree of the moving speed is positively correlated with the approaching degree;

when the microscope visual field picture shows that the suction tube reaches the cell liquid taking point, setting the current first position of the suction tube as a liquid taking preset position, and recording liquid taking displacement information generated by the fact that the user operates the robot to enable the suction tube to move from the liquid taking preset position to the cell liquid taking point for the second time;

and responding to a liquid taking backspacing instruction from the user, and controlling the robot to backspace the suction pipe from the current second position to the liquid taking preset position according to the liquid taking displacement information.

2. The method according to claim 1, wherein after controlling the robot to retract the suction tube from the second position to the predetermined liquid-extracting position according to the liquid-extracting displacement information in response to a retraction instruction from the user, the method further comprises:

in response to a liquid placing instruction carrying liquid placing hole position information from the user, controlling the robot to move the suction pipe from the liquid taking preset position to a liquid placing hole for the third time;

when the suction pipe is detected to reach the liquid placing hole, setting the current third position of the suction pipe as a liquid placing preset position, and recording liquid placing displacement information generated when the user operates the robot to enable the suction pipe to move from the liquid placing preset position to the liquid placing hole in a fourth mode;

and responding to a liquid placing and returning instruction from the user, and controlling the robot to return the suction pipe to the liquid placing preset position from the current fourth position according to the liquid placing displacement information.

3. The method according to claim 2, wherein after controlling the robot to retreat the suction tube from the fourth position to the preset liquid placement position according to the liquid placement displacement information in response to a liquid placement retreat instruction from the user, the method further comprises:

in response to a cleaning instruction carrying cleaning hole position information from the user, controlling the robot to move the suction pipe from the liquid-placing preset position to a cleaning hole in a fifth mode;

when the suction pipe is detected to reach the cleaning hole, setting the current fifth position of the suction pipe as a cleaning preset position, and recording cleaning displacement information generated when the user operates the robot to enable the suction pipe to move from the cleaning preset position to the cleaning hole in a sixth mode;

and responding to a washing backspacing instruction from the user, controlling the robot to backspace the suction pipe from the current sixth position to the preset washing position and return the suction pipe to the original position from the preset washing position according to the washing displacement information.

4. The method of claim 1, wherein before controlling the robot to move the aspiration tube to the cell pipetting point for the first movement in response to the pipetting instruction from the user carrying information on the location of the cell pipetting point, the method further comprises:

displaying a liquid taking operation interface; the liquid taking operation interface is provided with the microscope visual field picture and a plurality of liquid taking areas pre-divided aiming at the microscope visual field picture; the size of the liquid taking area is matched with the size of the cells in the microscope visual field picture;

acquiring the liquid taking instruction according to the selected liquid taking area; the selected liquid extracting area is a liquid extracting area selected by the user from the plurality of liquid extracting areas; the cell liquid taking point is positioned in the selected liquid taking area.

5. The method of claim 4, wherein the controlling the robot to move the aspiration tube toward the cell pipetting station in a first direction in response to the pipetting instruction from the user carrying information on the position of the cell pipetting point comprises:

and responding to the liquid taking instruction, controlling the robot to move the suction pipe from the current original point position to the selected liquid taking area for the first time.

6. The method of claim 4, wherein after the controlling the robot to slow the movement speed of the first movement, the method further comprises:

and when the suction tube reaches the selected liquid taking area, determining that the suction tube reaches the cell liquid taking point, and stopping the first movement.

7. The method according to any one of claims 1 to 6, further comprising:

acquiring first position information of a suction end of the suction tube and second position information of a cell liquid taking point in the microscope visual field picture;

and determining the proximity degree according to the first position information and the second position information.

8. A cell liquid-taking control device based on a robot is characterized by comprising:

the first moving module is used for responding to a liquid taking instruction which is from a user and carries position information of a cell liquid taking point, and controlling the robot to move the suction pipe to the cell liquid taking point for the first time;

the movement slowing module is used for controlling the robot to slow down the movement speed of the first movement according to the proximity degree of the suction tube and a cell liquid taking point presented by the microscope visual field picture after detecting that the suction tube enters the microscope visual field picture; the slowing degree of the moving speed is positively correlated with the approaching degree;

a liquid taking arrival module, configured to set a current first position of the suction tube as a liquid taking preset position when the microscope view shows that the suction tube arrives at the cell liquid taking point, and record liquid taking displacement information generated when the user operates the robot to cause the suction tube to perform a second movement from the liquid taking preset position to the cell liquid taking point;

and the liquid taking backspacing module is used for responding to a liquid taking backspacing instruction from the user and controlling the robot to backspace the suction pipe from the second position where the suction pipe is located to the liquid taking preset position according to the liquid taking displacement information.

9. A computer device comprising a memory and a processor, the memory storing a computer program, characterized in that the processor, when executing the computer program, implements the steps of the method of any of claims 1 to 7.

10. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the steps of the method of any one of claims 1 to 7.

Background

With the development of biotechnology, biological laboratories need more and more batches of biological cell samples to be tested by technicians, and thus the workload and the working intensity are higher and higher.

In the prior art, the processes of cell liquid extraction and the like are mainly carried out manually by technicians, but the technical problem of low liquid extraction efficiency exists when the cell liquid extraction is carried out in the mode.

Disclosure of Invention

In view of the above, it is desirable to provide a robot-based cell fluid collection control method, device, computer device, and storage medium.

A robot-based cell tapping control method, the method comprising:

responding to a liquid taking instruction which is from a user and carries position information of a cell liquid taking point, and controlling a robot to move an absorption tube to the cell liquid taking point for the first time;

after the suction tube enters a microscope visual field picture, controlling the robot to slow down the moving speed of the first movement according to the proximity degree of the suction tube and a cell liquid taking point presented by the microscope visual field picture; the slowing degree of the moving speed is positively correlated with the approaching degree;

when the microscope visual field picture shows that the suction tube reaches the cell liquid taking point, setting the current first position of the suction tube as a liquid taking preset position, and recording liquid taking displacement information generated by the fact that the user operates the robot to enable the suction tube to move from the liquid taking preset position to the cell liquid taking point for the second time;

and responding to a liquid taking backspacing instruction from the user, and controlling the robot to backspace the suction pipe from the current second position to the liquid taking preset position according to the liquid taking displacement information.

A cell liquid taking control device based on a robot comprises:

the first moving module is used for responding to a liquid taking instruction which is from a user and carries position information of a cell liquid taking point, and controlling the robot to move the suction pipe to the cell liquid taking point for the first time;

the movement slowing module is used for controlling the robot to slow down the movement speed of the first movement according to the proximity degree of the suction tube and a cell liquid taking point presented by the microscope visual field picture after detecting that the suction tube enters the microscope visual field picture; the slowing degree of the moving speed is positively correlated with the approaching degree;

a liquid taking arrival module, configured to set a current first position of the suction tube as a liquid taking preset position when the microscope view shows that the suction tube arrives at the cell liquid taking point, and record liquid taking displacement information generated when the user operates the robot to cause the suction tube to perform a second movement from the liquid taking preset position to the cell liquid taking point;

and the liquid taking backspacing module is used for responding to a liquid taking backspacing instruction from the user and controlling the robot to backspace the suction pipe from the second position where the suction pipe is located to the liquid taking preset position according to the liquid taking displacement information.

A computer device comprising a memory and a processor, the memory storing a computer program, the processor implementing the following steps when executing the computer program:

responding to a liquid taking instruction which is from a user and carries position information of a cell liquid taking point, and controlling a robot to move an absorption tube to the cell liquid taking point for the first time; after the suction tube enters a microscope visual field picture, controlling the robot to slow down the moving speed of the first movement according to the proximity degree of the suction tube and a cell liquid taking point presented by the microscope visual field picture; the slowing degree of the moving speed is positively correlated with the approaching degree; when the microscope visual field picture shows that the suction tube reaches the cell liquid taking point, setting the current first position of the suction tube as a liquid taking preset position, and recording liquid taking displacement information generated by the fact that the user operates the robot to enable the suction tube to move from the liquid taking preset position to the cell liquid taking point for the second time; and responding to a liquid taking backspacing instruction from the user, and controlling the robot to backspace the suction pipe from the current second position to the liquid taking preset position according to the liquid taking displacement information.

A computer-readable storage medium, on which a computer program is stored which, when executed by a processor, carries out the steps of:

responding to a liquid taking instruction which is from a user and carries position information of a cell liquid taking point, and controlling a robot to move an absorption tube to the cell liquid taking point for the first time; after the suction tube enters a microscope visual field picture, controlling the robot to slow down the moving speed of the first movement according to the proximity degree of the suction tube and a cell liquid taking point presented by the microscope visual field picture; the slowing degree of the moving speed is positively correlated with the approaching degree; when the microscope visual field picture shows that the suction tube reaches the cell liquid taking point, setting the current first position of the suction tube as a liquid taking preset position, and recording liquid taking displacement information generated by the fact that the user operates the robot to enable the suction tube to move from the liquid taking preset position to the cell liquid taking point for the second time; and responding to a liquid taking backspacing instruction from the user, and controlling the robot to backspace the suction pipe from the current second position to the liquid taking preset position according to the liquid taking displacement information.

The cell liquid taking control method, the cell liquid taking control device, the computer equipment and the storage medium based on the robot respond to a liquid taking instruction carrying cell liquid taking point position information, the robot is controlled to move the suction tube to the cell liquid taking point for the first time, after the suction tube is detected to enter a microscope visual field picture, the robot is controlled to slow down the moving speed of the first movement according to the proximity degree of the suction tube and the cell liquid taking point presented by the microscope visual field picture, the slowing down degree of the moving speed is in positive correlation with the proximity degree, when the microscope visual field picture displays that the suction tube reaches the cell liquid taking point, the current first position of the suction tube is set as a liquid taking preset position, liquid taking displacement information generated by the fact that a user operates the robot to enable the suction tube to carry out second movement from the liquid taking preset position to the cell liquid taking point is recorded, then, the robot is controlled to retreat the suction tube from the current second position to the liquid taking preset position according to the liquid taking displacement information in response to the liquid taking retreat instruction And (4) placing. According to the scheme, a manual mode and an automatic mode are combined, so that a user can efficiently finish cell liquid taking processing by matching with a robot only by performing operations such as instruction input, position fine adjustment and the like, and the cell liquid taking efficiency is improved; moreover, the scheme can also avoid the problem of high error rate caused by frequent actions of technical personnel in the traditional mode, and improve the cell liquid taking and processing precision.

Drawings

FIG. 1 is a diagram illustrating an exemplary embodiment of a robotic-based cell tapping control method;

FIG. 2 is a schematic flow chart of a robot-based cell tapping control method according to an embodiment;

FIG. 3 is a schematic flow chart illustrating the steps of fluid withdrawal and replacement in one embodiment;

FIG. 4 is a schematic flow chart of the steps of post-rinse rinsing in one embodiment;

FIG. 5 is a schematic flow chart of a robot-based cell tapping control method according to another embodiment;

FIG. 6 is a block diagram of a robot-based cell tapping control device according to an embodiment;

FIG. 7 is a diagram illustrating an internal structure of a computer device according to an embodiment.

Detailed Description

In order to make the objects, technical solutions and advantages of the present application more apparent, the present application is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.

The cell liquid extraction control method based on the robot provided by the application can be applied to an application scenario as shown in fig. 1, and the application scenario can include: the device comprises a terminal 101, a shock absorption platform 102, a robot 103, a fine adjustment mechanism 104, a fine adjuster 105, an automatic homing device 106, an absorption pump 107, an absorption tube 108, an absorption needle 109, a microscope 110, a microscope lens 111, a container box 112 and a small material box 113. Specifically, the terminal 101 may be communicatively coupled to the robot 103 to control the robot 103. The terminal 101 may be, but is not limited to, various personal computers, notebook computers, smart phones, tablet computers, and portable wearable devices. The robot 103 may employ a six-axis robot; the automatic homing device 106 can be in communication connection with the terminal 101 and can automatically home the robot 103 under the instruction of the terminal 101; the fine adjustment mechanism 104 (suction pipe fine adjustment mechanism) can be arranged on a flange plate at the tail end of the robot 103; the cell sucking mechanism may generally include a sucking pump 107, a sucking tube 108, and a sucking needle 109, the sucking tube 108 and the sucking needle 109 may be mounted on the fine adjustment mechanism 104, and the cell sucking mechanism may generally include the sucking pump 107, the sucking tube 108, and the sucking needle 109; a container box 112 can be placed at the center position below a microscope lens 111 on the microscope 110, and cell sap can be placed in the container box 112; the fine actuator 105 may include three fine actuator handwheels for controlling the fine actuator 104 to move in X, Y and Z-axis to change the position of the suction tube 108; the small magazine 113 may have 96-hole or 60-hole specifications, and in a specific application, the small magazine 113 may be supported on the damping platform 102 by a magazine holder.

The following describes a robot-based cell fluid extraction control method provided by the present application with reference to corresponding embodiments based on the application scenario shown in fig. 1.

In one embodiment, as shown in fig. 2, a cell liquid-taking control method based on a robot is provided, which is described by taking the method as an example applied to the terminal 101 in fig. 1, and includes the following steps:

step S201, responding to a liquid taking instruction which is from a user and carries position information of a cell liquid taking point, and controlling a robot to move an absorption tube to the cell liquid taking point for the first time;

specifically, before the liquid taking process, the robot 103 may be located at a zero position to wait for the terminal 101 to issue an instruction; when a user such as a technician needs to take liquid, a liquid taking instruction can be input after a cell liquid taking point is selected on the terminal 101, the terminal 101 receives and responds to the liquid taking instruction carrying cell liquid taking point position information, and the robot 103 is controlled to move the suction tube 108 to the cell liquid taking point for the first time according to the cell liquid taking point position information. The cell pipette point is located in a container box 112, and the container box 112 can be placed under a microscope lens 111 of the microscope 110, so that a view of the microscope 110 (hereinafter referred to as a microscope view) can be displayed on a display of the terminal 101 by electrically connecting the terminal 101 to the microscope 110. Therefore, the distribution of the cells in the container box 112 can be displayed on the terminal 101 in real time, and the terminal 101 can provide a function of selecting the position of the cell liquid taking point for the user, so that the user can select the position of the cell to be obtained on the terminal 101 and issue the liquid taking instruction.

In this regard, in some embodiments, before step S201, the user' S instruction to draw liquid may be obtained as follows: and displaying a liquid taking operation interface, and acquiring a liquid taking instruction according to the selected liquid taking area.

In this embodiment, the terminal 101 displays a liquid-taking operation interface; the content displayed by the liquid-extracting operation interface includes the microscope visual field picture and a plurality of liquid-extracting regions pre-divided for the microscope visual field picture, each liquid-extracting region may correspond to a different picture position of the microscope visual field picture, and the size of each liquid-extracting region may be the same, that is, each liquid-extracting region may be divided uniformly according to the microscope visual field picture, the size of the liquid-extracting region may be adapted to the size of the cells in the microscope visual field picture, that is, the larger the size of the cells in the microscope visual field picture is, the larger the size of the cells can be used to divide the liquid-extracting region, and exemplarily, one liquid-extracting region may cover or cover one or several cells in the container box 112. After the terminal 101 displays the liquid extracting operation interface, a user can select a liquid extracting area from a plurality of liquid extracting areas by clicking and other operation modes on the liquid extracting operation interface, and after the user finishes selecting the liquid extracting area, the terminal 101 can determine the liquid extracting area selected by the user from the plurality of liquid extracting areas as the selected liquid extracting area and obtain the liquid extracting instruction according to the selected liquid extracting area, wherein the cell liquid extracting point is located in the selected liquid extracting area. According to the scheme provided by the embodiment, a user can finish the selection of the liquid taking position and the issuing of the liquid taking instruction on the terminal interface, so that the liquid taking efficiency can be improved, and the probability of liquid taking processing errors caused by frequent actions of a traditional liquid taking mode is reduced.

Based on this, in some embodiments, step S201 may include: and responding to the liquid taking instruction, controlling the robot to move the suction pipe from the current original point position to the selected liquid taking area for the first time.

Specifically, the robot 103 is located at a zero point position before liquid taking, and the suction pipe 108 on the robot 103 is correspondingly located at an original point position. In this embodiment, after the user selects the liquid extracting area from the plurality of liquid extracting areas on the terminal 101, the terminal 101 may obtain the liquid extracting instruction, that is, the robot 103 may be controlled to move the suction pipe 108 from the current original position to the selected liquid extracting area in the first movement, and the first movement has a characteristic of being automatically moved by the robot 103, and does not need to be manually operated by the user during the first movement. According to the scheme provided by the embodiment, after the user selects the liquid taking position and issues the liquid taking instruction, the robot 103 can automatically move the suction pipe 108 to the liquid taking area selected by the user for the first time, so that the times of manual operation in the liquid taking process are effectively reduced.

Step S202, after detecting that the suction tube enters the microscope visual field picture, controlling the robot to slow down the moving speed of the first movement according to the proximity degree of the suction tube and the cell liquid taking point presented by the microscope visual field picture.

In the first moving process of the robot 103 controlling the suction tube 108 to move towards the cell liquid taking point, the suction tube 108 gradually approaches the cell liquid taking point; before the suction tube 108 reaches the cell liquid taking point, the suction tube 108 enters the microscope view picture, and before the suction tube 108 does not enter the microscope view picture, the distance between the suction tube 108 and the cell liquid taking point is considered to be far, the terminal 101 can control the robot 103 to carry out first movement on the suction tube 108 to the cell liquid taking point at the stage according to a fast movement speed, and whether the suction tube 108 enters the microscope view picture or not is detected in real time.

When the terminal 101 detects that the suction tube 108 enters the microscope view picture, the proximity between the suction tube and the cell liquid-extracting point shown in the microscope view picture is obtained, and the robot 103 is controlled to slow down the moving speed of the first movement according to the proximity. Specifically, after the suction tube 108 enters the microscope field of view picture, the terminal 101 needs to slow down the moving speed of the suction tube 108, and the slowing down degree is in positive correlation with the approaching degree, that is, along with the suction tube 108 approaching the cell liquid taking point more and more, the moving speed of the suction tube 108 is slower and slower, which can avoid the unexpected situations such as skipping the cell liquid taking point caused by the robot 103 still moving the suction tube 108 according to the faster original speed on the one hand, and on the other hand, the suction tube 108 can approach and reach the cell liquid taking point with the speed as fast as possible.

In some embodiments, the step of determining the proximity in step S202 may specifically include: acquiring first position information of a suction end of a suction tube and second position information of a cell liquid taking point in a microscope field picture, and determining the proximity degree according to the first position information and the second position information.

Specifically, the terminal 101 may detect a microscope view image in real time, acquire first position information of a suction end (which may be a suction needle 109 on the suction tube 108) of the suction tube 108 in the microscope view image, and second position information of a cell liquid extraction point, obtain a distance between the suction tube 108 and the cell liquid extraction point according to the first position information and the second position information, and determine a proximity degree according to the distance, where the smaller the distance is, the higher the proximity degree is, and the larger the distance is, the lower the proximity degree is. The scheme provided by the embodiment can effectively quantify the proximity of the suction tube 108 and the cell liquid taking point in the first moving process of the suction tube to the cell liquid taking point, and provides an accurate basis for the moving speed reduction control of the first moving.

Step S203, when the microscope visual field picture shows that the suction tube reaches the cell liquid taking point, setting the current first position of the suction tube as a liquid taking preset position, and recording liquid taking displacement information generated by a user operating the robot to enable the suction tube to perform second movement from the liquid taking preset position to the cell liquid taking point;

in this step, the suction tube 108 moves first and is continuously close to the cell tapping point under the automatic control of the robot 103, and the terminal 101 can detect and determine whether the microscope view image shows that the suction tube 108 reaches the cell tapping point in real time. When the microscope visual field picture shows that the suction tube 108 reaches the cell liquid taking point, the terminal 101 judges that the suction tube 108 has substantially reached the liquid taking position specified by the user on the two-dimensional plane because the picture shown in the microscope visual field picture corresponds to the two-dimensional plane, the robot 103 completes the automatic moving process of the first stage, and the terminal 101 sets the first position where the suction tube 108 is currently located as the liquid taking preset position.

In some embodiments, the determining that the aspiration tube reaches the cell pipetting point may specifically include: when the suction tube reaches the selected liquid taking area, the first movement is stopped.

In this embodiment, the user can determine the selected fluid extraction area through the terminal 101, and the cell fluid extraction point is located in the selected fluid extraction area. Specifically, the terminal 101 may continuously detect the position of the suction needle 109 on the suction tube 108 in the microscope view picture, and when it is detected that the suction needle 109 on the suction tube 108 reaches a preset position point (e.g., a corner point of a square region) on the boundary of the selected liquid extraction region, it may be determined that the microscope view picture shows that the suction tube 108 reaches the cell liquid extraction point, and the robot 103 is controlled to stop the first movement. The scheme provided by the embodiment can be convenient for planning the moving path of the robot 103 from the origin position to each liquid taking area in specific application, and effectively realizes that the robot 103 automatically moves the suction tube 108 to the liquid taking position designated by the user in the microscope visual field picture.

After setting the liquid-taking preset position, the terminal 101 may prompt the user to perform a subsequent manual operation related to liquid taking, specifically, the user may operate the robot 103 through the fine-tuning device 105 to make the suction tube 108 perform a second movement from the liquid-taking preset position to the cell liquid-taking point, where the second movement corresponds to the manual operation of the user, and since the suction tube 108 has substantially reached the cell liquid-taking point, the user only needs to perform a longitudinal movement of the suction tube 108 and a two-dimensional planar movement with a small amplitude to finally reach the cell liquid-taking point and perform the manual liquid taking. In the process of the user operation, the terminal 101 continuously records the liquid taking displacement information generated by the second movement of the suction tube 108 from the liquid taking preset position to the cell liquid taking point by the user operating the robot 103, so as to perform the liquid taking retraction process or the liquid taking homing process in the following.

And step S204, responding to a liquid taking backspacing instruction from a user, and controlling the robot to backspace the suction pipe from the current second position to the liquid taking preset position according to the liquid taking displacement information.

In this step, after the user finishes taking the liquid from the cell, the user may input a liquid taking retraction instruction to the terminal 101, and the terminal 101 controls the robot 103 to retract the suction tube 108 from the second position where the suction tube is currently located to the predetermined liquid taking position according to the liquid taking displacement information recorded in step S203 in response to the liquid taking retraction instruction, so that after the user performs manual operation, the robot 103 completes the second stage of automatic movement, that is, the process of retracting the suction tube to the predetermined liquid taking position after taking the liquid. When the cell tapping operation is completed, the suction tube 108 may be located at the predetermined tapping position to wait for a subsequent instruction issued by the user through the terminal 101.

The cell liquid taking control method based on the robot responds to the liquid taking instruction carrying the position information of the cell liquid taking point, controls the robot to move the suction tube to the cell liquid taking point for the first time, detects that the suction tube enters a microscope visual field picture, controlling the robot to slow down the moving speed of the first movement according to the proximity degree of the suction tube and the cell liquid taking point presented by the microscope visual field picture, the slowing degree of the moving speed is positively correlated with the approaching degree, when the microscope visual field picture shows that the suction tube reaches the cell liquid taking point, setting the current first position of the suction tube as a liquid taking preset position, recording liquid taking displacement information generated by a user operating the robot to enable the suction tube to perform second movement from the liquid taking preset position to a cell liquid taking point, and then responding to a liquid taking backspacing instruction, and controlling the robot to backspace the suction pipe from the current second position to the liquid taking preset position according to the liquid taking displacement information. According to the scheme, a manual mode and an automatic mode are combined, so that a user can efficiently finish cell liquid taking processing by matching with a robot only by performing operations such as instruction input, position fine adjustment and the like, and the cell liquid taking efficiency is improved; moreover, the scheme can also avoid the problem of high error rate caused by frequent actions of technical personnel in the traditional mode, and improve the cell liquid taking and processing precision.

In some embodiments, the cell fluid-taking process of step S204 may be followed by a fluid-placing process, as shown in fig. 3, and the specific steps may include:

step S301, in response to a liquid placing instruction carrying position information of a liquid placing hole from a user, controlling a robot to perform third movement on a suction pipe from a liquid taking preset position to the liquid placing hole;

in this step, the user can select the position of the liquid filling hole corresponding to the hole position of the small magazine 113 shown in fig. 1 and issue a liquid filling command at the terminal 101. The terminal 101 controls the robot 103 to move the suction pipe 108 from the predetermined liquid-extracting position to the liquid-placing hole selected by the user in response to the liquid-placing command carrying the position information of the liquid-placing hole. Wherein the third movement also belongs to the automatic movement process of the robot 103, and does not need manual operation of the user.

Step S302, when detecting that the suction pipe reaches the liquid placing hole, setting a current third position of the suction pipe as a liquid placing preset position, and recording liquid placing displacement information generated when a user operates the robot to enable the suction pipe to move from the liquid placing preset position to the liquid placing hole in a fourth way;

specifically, similar to the process after the suction tube 108 reaches the cell pipetting point, the terminal 101 may stop the third movement and set the current third position of the suction tube 108 as the predetermined pipetting position when detecting that the suction tube 108 reaches the position above the pipetting hole selected by the user. At this time, the user operates the robot 103 to move the suction tube 108 from the predetermined liquid-placing position to the liquid-placing hole in a fourth movement, which is a movement process by the manual operation of the user. Meanwhile, the terminal 101 records the liquid-placing displacement information generated when the user operates the robot 103 to move the suction tube 108 from the predetermined liquid-placing position to the liquid-placing hole for performing the liquid-placing retraction process or the liquid-placing return process.

And step S303, responding to a liquid placing and returning instruction from a user, and controlling the robot to return the suction pipe from the current fourth position to the preset liquid placing position according to the liquid placing displacement information.

After the cell liquid placement is finished, the user can input a liquid placement returning instruction to the terminal 101, and the terminal 101 responds to the liquid placement returning instruction and controls the robot 103 to return the suction tube 108 from the fourth position where the suction tube is currently located to the liquid placement preset position according to the recorded liquid placement displacement information.

The scheme that this embodiment provided can carry out cell after the liquid processing is got to the user and then carry out cell and put the liquid processing procedure, and this cell puts the liquid processing procedure and just needs the user to carry out simple instruction input and fine setting operation alright accomplish equally, improves the efficiency and the precision of getting liquid postposition liquid processing.

In some embodiments, the liquid disposing process of the above embodiments may be followed by a cleaning process, as shown in fig. 4, and the specific steps may include:

step S401, in response to a cleaning instruction carrying cleaning hole position information from a user, controlling a robot to move a suction pipe from a liquid-holding preset position to a cleaning hole in a fifth way;

specifically, the user can select a cleaning hole position corresponding to the hole position of the small magazine 113 shown in fig. 1 and issue a cleaning command at the terminal 101. Then, the terminal 101 controls the robot 103 to perform a fifth movement of the suction pipe 108 from the predetermined liquid-feeding position to the cleaning hole selected by the user in response to the cleaning instruction carrying the cleaning hole position information, the fifth movement belonging to an automatic movement process of the robot 103 without a manual operation by the user.

Step S402, when the suction pipe is detected to reach the cleaning hole, setting the current fifth position of the suction pipe as a cleaning preset position, and recording cleaning displacement information generated when a user operates the robot to enable the suction pipe to move from the cleaning preset position to the cleaning hole in a sixth mode;

similar to the process after the suction tube 108 reaches the cell pipetting point and reaches the pipetting hole, the terminal 101 may stop the fifth movement and set the fifth position where the suction tube 108 is currently located as the predetermined position for washing when detecting that the suction tube 108 reaches above the washing hole selected by the user. Then, the user operates the robot 103 to move the suction tube 108 from the predetermined cleaning position to the cleaning hole in a sixth movement, which is a movement process caused by the manual operation of the user. During the operation by the user, the terminal 101 records cleaning displacement information generated when the user operates the robot 103 to move the suction pipe 108 from the predetermined cleaning position to the cleaning hole in the sixth direction, so as to perform a cleaning return process or a cleaning return process in the subsequent step.

And S403, in response to a washing backspacing instruction from a user, controlling the robot to backspace the suction pipe from the current sixth position to the preset washing position and return the suction pipe from the preset washing position to the original position according to the washing displacement information.

After the suction pipe 108 is cleaned, the user may input a cleaning return instruction to the terminal 101, and in response to the cleaning return instruction, the terminal 101 controls the robot 103 to return the suction pipe 108 from the current sixth position to the predetermined cleaning position according to the cleaning displacement information, and then controls the robot 103 to return to the zero point position so that the robot 103 returns the suction pipe 108 from the predetermined cleaning position to the original origin position.

The scheme that this embodiment provided can carry out the washing processing process that the suction tube 108 was carried out after the cell was put liquid and is handled at the user, and this process only needs the user to carry out simple instruction input and fine setting operation alright accomplish and can make suction tube 108 get back to the initial position and wait for next round and get liquid, put liquid and washing processing, improves overall process treatment efficiency and precision.

In an application example, the whole process of the liquid taking, liquid placing and cleaning treatment is described with reference to fig. 1 and 5, and the main steps comprise:

s1, the terminal 101 sets the robot 103 to the origin attitude. In this initial state, the robot 103 is located at the zero point position, and the suction pipe 108 is correspondingly located at the origin position thereof.

S2, the terminal 101 receives and responds to the liquid taking instruction from the user, and controls the robot 103 to move the suction tube 108 to the cell liquid taking point.

And S3, the terminal 101 controls the robot 103 to automatically move the suction tube 108 to a cell liquid taking point, and then the user manually performs position fine adjustment and liquid taking treatment.

S4, the terminal 101 receives and responds to the liquid placing command from the user, and the robot 103 is controlled to move the suction pipe 108 to the position of the liquid placing hole.

S5, the terminal 101 detects that the aspiration tube 108 reaches the liquid-placing position.

S6, the terminal 101 may prompt the user to perform position adjustment and liquid handling.

S7, the terminal 101 receives and responds to the washing instruction from the user, and controls the robot 103 to move the suction pipe 108 to the position of the washing hole.

S8, the terminal 101 detects that the suction pipe 108 reaches the cleaning position, and prompts the user to perform position adjustment and cleaning.

S9, the terminal 101 receives and responds to the washing back command from the user, and controls the robot 103 to back the suction tube 108 and return to the home position to wait for the next round of liquid taking, liquid placing and washing process at the home position.

The scheme provided by the application example can improve the efficiency and the precision of cell selection, carrying and moving and other treatments, can avoid the occurrence of the situations of placing more, placing less or placing less cells and the like in the operation process caused by visual fatigue or other human factors, can reduce the times of manual operation, reduce errors, lighten the working strength and improve the working efficiency, is easy to operate, and is beneficial to the wide popularization of the application in the cell selection, carrying and moving and other treatments.

It should be understood that, although the steps in the above flowcharts are shown in sequence as indicated by the arrows, the steps are not necessarily performed in sequence as indicated by the arrows. The steps are not performed in the exact order shown and described, and may be performed in other orders, unless explicitly stated otherwise. Moreover, at least a part of the steps in the above flowcharts may include a plurality of steps or a plurality of stages, which are not necessarily performed at the same time, but may be performed at different times, and the order of performing the steps or the stages is not necessarily performed in sequence, but may be performed alternately or alternately with other steps or at least a part of the steps or the stages in other steps.

In one embodiment, as shown in fig. 6, a robot-based cell tapping control device is provided, and the device 600 may include:

the first moving module 601 is used for responding to a liquid taking instruction which is from a user and carries position information of a cell liquid taking point, and controlling the robot to perform first movement on the suction pipe to the cell liquid taking point;

a movement slowing module 602, configured to control the robot to slow down a movement speed of the first movement according to a proximity between the aspiration tube and a cell liquid extraction point, which is shown in a microscope view picture, after detecting that the aspiration tube enters the microscope view picture; the slowing degree of the moving speed is positively correlated with the approaching degree;

a liquid taking reaching module 603, configured to set a current first position of the suction tube as a liquid taking preset position when the microscope view shows that the suction tube reaches the cell liquid taking point, and record liquid taking displacement information generated when the user operates the robot to make the suction tube perform a second movement from the liquid taking preset position to the cell liquid taking point;

and a liquid taking and returning module 604, configured to respond to a liquid taking and returning instruction from the user, and control the robot to return the suction pipe from the second position where the suction pipe is currently located to the liquid taking preset position according to the liquid taking displacement information.

In one embodiment, the apparatus 600 may further include: the liquid placing processing module is used for responding to a liquid placing instruction which carries liquid placing hole position information and is from the user, and controlling the robot to make a third movement on the suction pipe from the liquid taking preset position to the liquid placing hole; when the suction pipe is detected to reach the liquid placing hole, setting the current third position of the suction pipe as a liquid placing preset position, and recording liquid placing displacement information generated when the user operates the robot to enable the suction pipe to move from the liquid placing preset position to the liquid placing hole in a fourth mode; and responding to a liquid placing and returning instruction from the user, and controlling the robot to return the suction pipe to the liquid placing preset position from the current fourth position according to the liquid placing displacement information.

In one embodiment, the apparatus 600 may further include: the cleaning processing module is used for responding to a cleaning instruction which is from the user and carries cleaning hole position information, and controlling the robot to move the suction pipe from the liquid feeding preset position to the cleaning hole in a fifth mode; when the suction pipe is detected to reach the cleaning hole, setting the current fifth position of the suction pipe as a cleaning preset position, and recording cleaning displacement information generated when the user operates the robot to enable the suction pipe to move from the cleaning preset position to the cleaning hole in a sixth mode; and responding to a washing backspacing instruction from the user, controlling the robot to backspace the suction pipe from the current sixth position to the preset washing position and return the suction pipe to the original position from the preset washing position according to the washing displacement information.

In one embodiment, the apparatus 600 may further include: the instruction acquisition module is used for displaying a liquid taking operation interface; the liquid taking operation interface is provided with the microscope visual field picture and a plurality of liquid taking areas pre-divided aiming at the microscope visual field picture; the size of the liquid taking area is matched with the size of the cells in the microscope visual field picture; acquiring the liquid taking instruction according to the selected liquid taking area; the selected liquid extracting area is a liquid extracting area selected by the user from the plurality of liquid extracting areas; the cell liquid taking point is positioned in the selected liquid taking area.

In one embodiment, the first moving module 601 is configured to control the robot to perform a first movement on the suction pipe from the current origin position to the selected liquid taking area in response to the liquid taking instruction.

In one embodiment, the apparatus 600 may further include: and the arrival judgment module is used for determining that the microscope visual field picture displays that the suction tube arrives at the cell liquid taking point and stopping the first movement when the suction tube arrives at the selected liquid taking area in the microscope visual field picture.

In one embodiment, the apparatus 600 may further include: the degree determining module is used for acquiring first position information of a suction end of the suction tube and second position information of the cell liquid taking point in the microscope visual field picture; and determining the proximity degree according to the first position information and the second position information.

For specific limitations of the robot-based cell fluid extraction control device, see the above limitations of the robot-based cell fluid extraction control method, which are not repeated herein. The various modules of the robot-based cell-picking control device described above may be implemented in whole or in part by software, hardware, and combinations thereof. The modules can be embedded in a hardware form or independent from a processor in the computer device, and can also be stored in a memory in the computer device in a software form, so that the processor can call and execute operations corresponding to the modules.

In one embodiment, a computer device is provided, which may be a terminal, and its internal structure diagram may be as shown in fig. 7. The computer device includes a processor, a memory, a communication interface, a display screen, and an input device connected by a system bus. Wherein the processor of the computer device is configured to provide computing and control capabilities. The memory of the computer device comprises a nonvolatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of an operating system and computer programs in the non-volatile storage medium. The communication interface of the computer device is used for carrying out wired or wireless communication with an external terminal, and the wireless communication can be realized through WIFI, an operator network, NFC (near field communication) or other technologies. The computer program is executed by a processor to implement a robot-based cell fluid extraction control method. The display screen of the computer equipment can be a liquid crystal display screen or an electronic ink display screen, and the input device of the computer equipment can be a touch layer covered on the display screen, a key, a track ball or a touch pad arranged on the shell of the computer equipment, an external keyboard, a touch pad or a mouse and the like.

Those skilled in the art will appreciate that the architecture shown in fig. 7 is merely a block diagram of some of the structures associated with the disclosed aspects and is not intended to limit the computing devices to which the disclosed aspects apply, as particular computing devices may include more or less components than those shown, or may combine certain components, or have a different arrangement of components.

In one embodiment, a computer device is further provided, which includes a memory and a processor, the memory stores a computer program, and the processor implements the steps of the above method embodiments when executing the computer program.

In an embodiment, a computer-readable storage medium is provided, on which a computer program is stored which, when being executed by a processor, carries out the steps of the above-mentioned method embodiments.

It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by hardware instructions of a computer program, which can be stored in a non-volatile computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. Any reference to memory, storage, database or other medium used in the embodiments provided herein can include at least one of non-volatile and volatile memory. Non-volatile Memory may include Read-Only Memory (ROM), magnetic tape, floppy disk, flash Memory, optical storage, or the like. Volatile Memory can include Random Access Memory (RAM) or external cache Memory. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM), for example.

The technical features of the above embodiments can be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the above embodiments are not described, but should be considered as the scope of the present specification as long as there is no contradiction between the combinations of the technical features.

The above-mentioned embodiments only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present patent shall be subject to the appended claims.