CN113070114B - Plating inoculation instrument and liquid transfer control method and device of liquid transfer device of plating inoculation instrument - Google Patents
Plating inoculation instrument and liquid transfer control method and device of liquid transfer device of plating inoculation instrument Download PDFInfo
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Abstract
The invention discloses a liquid transfer control method of a liquid transfer device of a flat inoculation instrument, which comprises the steps of collecting a detection image containing the bottom end of a micro suction head clamped by the liquid transfer device and a reference point mark; carrying out image recognition on the detection image, and determining the vertical height difference between the bottom end of the micro-suction head and the reference point mark; and determining a downward moving distance of the bottom end of the micro-suction head required to move downward according to the vertical height difference and a predetermined fixed distance of the datum mark relative to the upper surface of the plate structure for bearing the agar, and controlling a liquid transfer device to drive the bottom end of the micro-suction head to move downward to the surface of the agar according to the downward moving distance. Utilize machine vision technique to make the micro-suction head move down spacing control more suitable accuracy in this application, promoted the homogeneity of liquid sample at agar surface inoculation to and the effect that follow-up bacterial colony was cultivateed. The application also provides a liquid transfer control device of the pipettor of the flat inoculation instrument, and the flat inoculation instrument, which has the beneficial effects.
Description
Technical Field
The invention relates to the field of inoculating bacteria separation culture of a plating inoculating instrument, in particular to a liquid transfer control method and a liquid transfer control device of a liquid transfer device in the plating inoculating instrument and the plating inoculating instrument.
Background
The flat plate inoculation instrument is mainly used for inoculating and separating pathogenic bacteria single colony for liquid samples (such as sputum, urine, blood, cerebrospinal fluid, hydrothorax and ascites and the like), and is beneficial to assisting clinical treatment and colony research. The process of inoculating the liquid sample by the plate inoculating instrument is to suck the liquid sample by a disposable hydrophobic micro-suction head (TIP for short) and move the micro-suction head to the surface of agar in the plate by clamping the micro-suction head by a liquid transfer machine for inoculation.
However, in the actual inoculation process, the problem of inaccurate control often exists in the moving distance of the pipette tip driving the micro-suction head to move to the surface of the agar, and the uniformity of inoculation of the liquid sample on the surface of the agar is finally influenced, so that the effects of inoculation streaking and single colony separation are further influenced.
Disclosure of Invention
The invention aims to provide a liquid transfer control method and device for a pipettor of a plating instrument and the plating instrument, which ensure the uniformity of a liquid sample inoculated by the plating instrument to a certain extent.
In order to solve the technical problem, the invention provides a liquid transfer control method of a liquid transfer device of a plate inoculation instrument, which comprises the following steps:
acquiring a detection image including the bottom end of the micropipette-clamped micro suction head and a reference point mark;
performing image recognition on the detection image, and determining a vertical height difference between the bottom end of the micro-suction head and the reference point mark;
determining a downward movement distance of the bottom end of the micro-tip required to move downward according to the vertical height difference and a predetermined fixed distance of the datum mark relative to the upper surface of the plate structure for bearing agar;
and controlling the pipettor to drive the bottom end of the micro-pipette head to move downwards to the surface of the agar according to the downward movement distance.
In an alternative embodiment of the present application, image recognition of the inspection image to determine a vertical height difference between the bottom end of the micro-tip and the fiducial mark comprises:
converting the detection image into a gray level image, and performing binarization processing on the gray level image to obtain a binarized image;
and identifying bottom imaging pixel points of the micro suction head and the reference point identification imaging pixel points in the binary image, and determining the vertical height difference according to the number of pixel points of the difference between the bottom of the micro suction head and the imaging pixel points of the reference point identification in the vertical direction.
In an alternative embodiment of the present application, the datum point is identified as a top horizontal ridge of a datum part having a horizontal width greater than the diameter of the micropipette;
the bottom imaging pixel points of the micro suction head and the reference point identification imaging pixel points are identified in the binary image, and the method comprises the following steps:
detecting a connected pixel area in the binary image;
identifying imaging pixel points of the micro-suction head according to a preset first length-width ratio range of a connected pixel region corresponding to the micro-suction head and a first duty ratio in the binary image so as to determine the imaging pixel points corresponding to the bottom end of the micro-suction head;
and identifying imaging pixel points of the reference component according to a preset second length-width ratio range of a communicated pixel region corresponding to the reference component and a second duty ratio in the binary image, and determining pixel points corresponding to the reference point identification according to the imaging pixel points of the reference component.
In an optional embodiment of the present application, after detecting a connected pixel region in the binarized image, if there is no connected pixel region corresponding to the micro-suction head and/or the reference component in the binarized image, an alarm is issued, and the binarized image is displayed and output.
In an alternative embodiment of the present application, before determining the downward movement distance at which the bottom end of the micro-tip needs to move downward based on the vertical height difference, the method further comprises:
collecting height data of the agar upper surface on the surface of the flat plate structure from the reference point mark;
determining a downward movement distance at which the bottom end of the micropipette tip needs to move downward based on the vertical height difference, comprising:
and determining the downward movement distance according to the height data and the vertical height difference.
The application also provides a liquid-transfering control device of the pipettor of the flat plate inoculation instrument, including:
the image acquisition module is used for acquiring a detection image containing the bottom end of the micropipette-clamped micro-suction head and the reference point mark;
the image recognition module is used for carrying out image recognition on the detection image and determining the vertical height difference between the bottom end of the micro-suction head and the reference point mark;
a spacing operation module for determining the downward movement spacing of the bottom end of the micro-suction head required to move downward according to the vertical height difference and the predetermined fixed distance of the datum mark relative to the upper surface of the plate structure for bearing agar,
and the liquid transfer control module is used for controlling the liquid transfer device to drive the bottom end of the micro suction head to move downwards to the surface of the agar according to the downward movement distance.
In an optional embodiment of the present application, the image recognition module comprises:
the image processing unit is used for converting the detection image into a gray level image and carrying out binarization processing on the gray level image to obtain a binarization image;
and the height identification unit is used for identifying the bottom imaging pixel points of the micro suction head and the reference point identification imaging pixel points in the binary image, and determining the vertical height difference according to the number of pixel points of the imaging pixel points of the bottom of the micro suction head and the reference point identification which are different in the vertical direction.
The application also provides a plating appearance, includes: a plate structure for carrying agar; a pipette for holding a micropipette; a fiducial component having a fiducial mark, wherein the fiducial mark is fixed in distance relative to the upper surface of the plate structure; the device also comprises a camera and a processor;
the camera is used for shooting a detection image containing the bottom end of the micro-suction head and the reference point mark;
the processor is configured to execute the steps of the method for controlling pipetting of a pipette of the plating apparatus according to any one of the above-described detection images.
In an optional embodiment of the present application, the apparatus further comprises a display for displaying a binarized image which outputs the detected image.
In an optional embodiment of the present application, the system further comprises a distance sensor disposed above the flat plate structure, and configured to collect height data of the agar upper surface on the surface of the flat plate structure from the reference point identifier.
The invention provides a liquid transfer control method of a liquid transfer device of a flat inoculation instrument, which comprises the steps of collecting a detection image containing the bottom end of a micro suction head clamped by the liquid transfer device and a reference point mark; carrying out image recognition on the detection image, and determining the vertical height difference between the bottom end of the micro-suction head and the reference point mark; and determining a downward moving distance of the bottom end of the micro-suction head required to move downward according to the vertical height difference and a predetermined fixed distance of the datum mark relative to the upper surface of the plate structure for bearing the agar, and controlling a liquid transfer device to drive the bottom end of the micro-suction head to move downward to the surface of the agar according to the downward moving distance.
When the control pipettor drives the micropipette and remove the inoculation in this application, utilize machine vision technique to gather the detection image including micropipette and benchmark sign, determine the vertical difference in height between micropipette and the benchmark sign based on image recognition, again according to the fixed distance between benchmark sign and the plate structure. That is to say, utilize the distance of definite micro-suction head distance below flat structure that machine vision technique can be more accurate in this application, and then the accurate spacing that confirms the shifter need drive the micro-suction head that moves down to make micro-suction head move down spacing control more suitable accurate, promoted the homogeneity of liquid sample at agar surface inoculation, and the effect that follow-up bacterial colony was cultivateed.
The application also provides a liquid transfer control device of the pipettor of the flat inoculation instrument, and the flat inoculation instrument, which has the beneficial effects.
Drawings
In order to more clearly illustrate the embodiments or technical solutions of the present invention, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained based on these drawings without creative efforts.
Fig. 1 is a schematic flow chart of a pipetting control method for a pipettor of a plating apparatus provided in an embodiment of the present application;
fig. 2 is a schematic structural diagram of a pipette control device of a plating apparatus provided in an embodiment of the present application;
fig. 3 is a schematic diagram of a binarized image corresponding to a detected image according to an embodiment of the present application;
fig. 4 is a block diagram illustrating a structure of a pipette control device of a pipette of the plating apparatus according to the embodiment of the present invention.
Detailed Description
The main components of the plate inoculating instrument comprise a plate structure for bearing agar, a liquid transfer device positioned right above the plate structure, a driving device for controlling the liquid transfer device to move up and down, and the like. In the process of transferring and inoculating a liquid sample, the plate inoculating instrument needs to clamp a micro-suction head adsorbing and carrying the liquid sample on a liquid transfer device, and then the liquid transfer device is driven by a driving device to move downwards until the bottom end of the micro-suction head is attached to the surface of agar, so that the liquid sample is released to the surface of the agar from the bottom end of the micro-suction head.
During the downward movement of a pipette carrying a micropipette, the pipette is typically driven to move downward by a specified height based on the relative distance between the pipette and the plate structure so that the bottom end of the micropipette is just proximate to the surface of the agar. However, in practice, there are dimensional differences between each of the tips and the tips are not all perfectly uniform in distance from the surface of the plate structure after they are held on the pipette. Thus, moving the tips all at the same downshifting height may eventually result in the tips being too far from the surface of the agar, or becoming lodged within the agar, affecting uniform inoculation of the liquid sample.
To this end, the present application provides a solution that allows for a somewhat more accurate downward movement of the tip bottom end to the surface of the agar.
In order that those skilled in the art will better understand the disclosure, the invention will be described in further detail with reference to the accompanying drawings and specific embodiments. It should be apparent that the described embodiments are only some embodiments of the present invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
As shown in fig. 1 and fig. 2, fig. 1 is a schematic flow chart of a method for controlling pipetting of a pipette of a plating apparatus provided in an embodiment of the present application, and fig. 2 is a schematic structural diagram of a pipette control device of a plating apparatus provided in an embodiment of the present application, where the method for controlling pipetting may include:
s11: acquiring a detection image including the bottom end of the micropipette-held micropipette and the reference point mark.
Referring to fig. 2, a camera 4 and a fiducial part 3 may be provided on each side of the micropipette 2, wherein the fiducial part 3 carries fiducial marks. The relative positions between the camera 4, the reference member 3 and the plate structure 1 are fixed.
After the pipette finishes grabbing and clamping the micro suction head 2, the camera 4 aligns to the direction of the micro suction head 2 and the reference point mark to shoot, and a detection image containing the bottom end of the micro suction head 2 and the reference point mark at the same time can be obtained.
S12: and carrying out image recognition on the detection image, and determining the vertical height difference between the bottom end of the micro-suction head and the reference point mark.
By identifying the tip and the reference point identity in the test image, the imaging distance in the vertical direction between the bottom end of the tip 2 and the reference point identity in the test image can be determined, whereas the actual vertical height difference in the vertical direction between the bottom end of the tip 2 and the reference point identity is obviously proportional to the imaging distance.
Before liquid transfer control is carried out through the liquid transfer device, the micro suction head 2 is driven by the liquid transfer device to move to a certain position, a first sample image is shot through the camera 4, and a first imaging interval in the vertical direction between the bottom end of the micro suction head 2 and the datum point mark in the first sample image is determined.
And then the pipette is used for driving the micro suction head 2 to move downwards for a preset distance, and a camera 4 is used for shooting a second sample image to determine a second imaging distance between the bottom end of the micro suction head 2 and the reference point mark in the second sample image in the vertical direction.
The ratio between the difference between the first imaging interval and the second imaging interval and the preset interval is calculated as the ratio between the imaging interval in the vertical direction of the bottom end of the micropipette 2 and the reference point identity in the detection image and the actual vertical height difference, whereby the actual vertical height difference between the bottom end of the micropipette 2 and the reference point identity can be determined based on this ratio by using the imaging interval between the bottom end of the micropipette 2 and the reference point identity.
S13: the downward movement distance at which the bottom end of the microtip needs to be moved downward is determined based on the vertical height difference and the predetermined fixed distance of the fiducial mark relative to the upper surface of the plate structure used to carry the agar.
Since the reference part 3 and the plate structure 1 are relatively fixed, the distance between the reference point marking and the plate structure 1 should also be fixed, whereby a fixed distance between the reference point marking and the upper surface of the plate structure 1 can be measured in advance.
Under the condition that the fixed distance between the reference point mark and the flat plate structure 1 is known, the vertical height difference between the bottom end of the micro-suction head 2 and the reference point is determined, obviously, the distance between the micro-suction head 2 and the surface of the flat plate structure 1 can be obtained, and therefore, the distance for the micro-suction head 2 to move downwards can be accurately determined; the problem that the descending distance of the micro-suction head 2 is uncertain because the distance between the micro-suction head 2 and agar on the flat plate structure 1 cannot be accurately determined due to slightly different clamping heights or different sizes of the micro-suction head 2 when the micro-suction head 2 is clamped on the shifter at each time is solved.
S14: and controlling a liquid transfer device to drive the bottom end of the micro suction head to move downwards to the surface of the agar according to the downward movement distance.
The application utilizes the machine vision technology to shoot the images of the micro-suction heads 2 and the reference point marks, and based on the image recognition technology, the distance between the micro-suction heads 2 and the flat plate structure 1 bearing the agar 5 in the vertical direction is accurately determined, and the distance that the micro-suction heads 2 move downwards is determined based on the distance in the vertical direction.
Therefore, the method and the device can control the micro-suction head to move downwards without adopting the same standard to move downwards for a distance, fully consider the problem that the distance between the micro-suction head and a plate structure is not unique and has accidental errors, determine the distance that the micro-suction head should move downwards more accurately and reasonably by utilizing an image recognition mode, avoid the problem that the micro-suction head moves downwards with too high or too low height, and are favorable for the uniformity of follow-up inoculation of a liquid sample of the micro-suction head.
Based on the above embodiments, in an alternative embodiment of the present application, the process of performing image recognition based on the inspection image to determine a vertical height difference between the bottom end of the micro-tip and the fiducial mark may comprise:
converting the detection image into a gray level image, and performing binarization processing on the gray level image to obtain a binarized image;
and identifying bottom imaging pixel points and reference point identification imaging pixel points of the micro suction head in the binary image, and determining vertical height difference according to the number of pixel points of the imaging pixel points of the bottom and reference point identification of the micro suction head, which are different in the vertical direction.
Referring to fig. 3, fig. 3 is a schematic diagram of a binarized image corresponding to a detected image according to an embodiment of the present application. After the detection image is subjected to image processing to form a binary image, the pixel points of the micropipette and the imaging pixel points of the reference point identification can be identified according to the shape of the micropipette contour and the imaging contour of the reference point identification. On the basis, the imaging distance between the bottom end of the micro-suction head and the reference point mark in the detection image is determined based on the number of the spaced pixel points between the bottom end of the micro-suction head and the reference point mark, and therefore the vertical height difference between the bottom end of the micro-suction head and the reference point mark is determined.
In the present application, the reference member with the reference point mark may be a mark member specially provided on the plating apparatus, or may be a fixing member already provided in the plating apparatus itself, and a specific position point on the fixing member which is easy to mark is used as the reference point mark.
In the embodiment shown in fig. 3, the side of the reference member facing the camera is a long surface, and the reference point is identified as a reference member horizontal ridge. And when the imaging distance between the bottom end of the micro suction head and the reference point identifier in the detection image is determined, the distance between the edge pixel point at the bottommost end of the micro suction head and the edge pixel point at the topmost end of the reference component is the imaging distance.
Of course, other forms of reference members and reference point markings on the reference members are not excluded in the present application, as long as the distance between the reference point markings on the reference members and the microtip can be easily and quickly identified in the inspection image.
Based on the embodiment shown in fig. 3, in another alternative embodiment of the present application, the process of identifying the bottom imaging pixel points and the fiducial mark imaging pixel points of the microtip in the binarized image may include:
identifying imaging pixel points of the micro-suction head according to a preset first length-width ratio range of a connected pixel region corresponding to the micro-suction head and a first duty ratio in a binary image so as to determine the imaging pixel points corresponding to the bottom end of the micro-suction head;
and identifying imaging pixel points of the reference component according to a preset second length-width ratio range of the communicated pixel region corresponding to the reference component and a second duty ratio in the binary image, and determining pixel points corresponding to the reference point identification according to the imaging pixel points of the reference component.
As shown in FIG. 3, in the binary image, both the micropipette and the reference part can only display the outline with the pixel points connected in a piece, so that when the micropipette and the reference part are identified, the pixel points connected in a piece can be identified firstly.
Furthermore, in the embodiment shown in figure 3, the side of the reference member facing the camera is a rectangular side, whereas the microtip is generally an elongate tubular member, whereby the ratio between the transverse width and the longitudinal length of the profile of the reference member in the binarized image is obviously greater than the ratio between the transverse width and the longitudinal length of the profile of the microtip.
Thus, the present embodiment may be based on the magnitude of the ratio between the lateral width and the longitudinal length of the identified connected pixel regions as a feature for identifying the micro-tip and the reference feature. The ratio between the transverse width and the longitudinal length of the communicated pixel regions corresponding to the micro-suction head and the reference component is within a certain ratio range, and the communicated pixel regions corresponding to the micro-suction head and the reference component can be identified as long as the communicated pixel points conforming to the ratio range are identified.
Furthermore, when actually capturing the inspection image, the relative position between the camera and the reference component is generally fixed, and the heights of different micro-suction heads in the inspection image are generally only slightly changed, so that the number of pixels occupied by the reference component and the micro-suction heads in the inspection image is relatively fixed, and this can be used as a second feature for identifying the connected pixel regions corresponding to the reference component and the micro-suction heads in the binarization process. The specific value range of the number of pixel points of the micro-suction head and the reference component which are imaged in the detection image in the whole detection image in the number of pixel points of the whole detection image can be determined in advance, and if the duty ratio of the identified connected pixel region in the whole binary image is in the specific value range, the connected pixel regions corresponding to the micro-suction head and the reference component respectively can be determined.
When discerning the formation of image region of micro-suction head and reference part in the detection image in this application, do not use comparatively complicated image recognition technique such as image characteristic information in the discernment image, the profile shape of accurate discernment micro-suction head and reference part, and utilize the profile characteristics of micro-suction head and reference part itself in this embodiment, only the formation of image region of micro-suction head and reference part is confirmed to length and width ratio and the regional duty cycle discernment of corresponding pixel in binary image based on micro-image and reference part, and confirm the most extreme marginal pixel of micro-suction head and the most top pixel of reference part with this, the discernment degree of difficulty of micro-suction head and reference part has been simplified to a certain extent.
Further, after the binarization processing of the detection image in the embodiment shown in fig. 3, only one contour can be displayed for both the micro-tip and the reference component, and obviously, when the detection image is actually acquired, it should be ensured as much as possible that the angles between the micro-tip and the reference component in the shooting direction are isolated from each other, for example, as shown in fig. 3, the micro-tip is higher than the reference component, so that the two do not have an overlapping region in the detection image.
Of course, in the above embodiments, the reference member is a member having a rectangular side surface, and the reference point is indicated by its tip ridge. In practical application, other structural forms of the reference component can be adopted, and in the corresponding imaging region identification process, the length-width ratio characteristic and the imaging region duty ratio range can be set according to the actual shape characteristic. For example, the side of the reference component corresponding to the camera is trapezoidal, and the length-width ratio of the trapezoidal side should be gradually changed within a certain range; in addition, because the detection image generally only includes the micropipette and the reference component, edge contour shape fitting can also be directly performed on edge pixel points of a connected pixel region in the binary image, if the fitted geometric shape is substantially the same as the geometric shapes corresponding to the micropipette and the reference component, the connected pixel region corresponding to the micropipette and the reference component can be determined, and similar manners for identifying the connected pixel region corresponding to the micropipette and the reference component are not listed in this application.
Based on the recognition detection of the communicated pixel regions corresponding to the micro-tip and the reference feature in the above-described embodiments, there may be a failure in recognition of the micro-tip and the reference feature because there is overlap between the micro-tip and the reference feature in the camera shooting direction or the spacing between the micro-tip and the reference feature is too far, resulting in the micro-tip not entering the detection image. Therefore, in another optional embodiment of the present application, the method may further include:
and if the communicated pixel region corresponding to the micro suction head and/or the reference component does not exist in the binary image, sending an alarm, and displaying and outputting the binary image.
When the communicated pixel region corresponding to the micro-suction head and/or the reference component cannot be identified in the binary image, the position of the micro-suction head and the reference component is wrong, and therefore the binary image at the moment can be output and an alarm is given to prompt a worker to check so that the worker can properly adjust the position of the micro-suction head or the reference component.
Based on the above embodiments, in an alternative embodiment of the present application, upon determining the vertical height difference between the bottom end of the micro-tip and the datum mark, the method may further comprise:
collecting height data of the agar upper surface on the surface of the flat plate structure from the reference point mark;
further, a downward movement distance by which the bottom end of the micropipette needs to be moved downward is determined based on the vertical height difference and the height data.
As shown in fig. 2, agar 5 needs to be provided on the surface of the plate structure 1 to culture colonies in the liquid sample. Although the thickness of the agar 5 is set to a standard thickness, the thickness of the agar 5 is actually formed with an error. Therefore, the thickness of the agar 5 formed on the surface of the plate structure 1 deviates from the predetermined thickness.
For this reason, a distance measuring sensor may be disposed at a fixed height position close to the flat plate structure 1, after detecting a first distance from the distance measuring sensor to the agar surface, because of a second distance in the vertical direction between the distance measuring sensor and the reference point mark, height data between the agar upper surface and the reference point mark may be determined based on the first distance and the second distance, even the second distance may be measured in advance, and the measurement zero point of the distance measuring sensor is set to the height at which the reference point mark is located, and the measurement result output by the corresponding distance measuring sensor is height data from the agar surface to the reference point mark. Of course, also can directly set up the scale in the side position of flat plate structure 1 in this application, read agar 5 thickness data through the scale, can also adopt other modes to measure agar thickness data, not enumerate one by one here.
As previously mentioned, the vertical height difference determined on the basis of the detection image is the height difference between the bottom end of the microtip 2 and the reference point marker, and the height data between the reference point marker determined by the ranging sensor and the upper surface of the agar, i.e. the distance between the microtip 2 and the upper surface of the agar 5, which is obviously the distance over which the microtip 2 has to be moved downwards.
In the embodiment, considering that the uncertainty of the agar thickness can also influence the accuracy of the downward movement distance of the micro-suction head to a certain extent, the height data of the agar relative to the reference point identification is detected, the downward movement distance of the micro-suction head is set by taking the height data as the basis, and the downward movement accuracy of the micro-suction head is ensured to a certain extent.
The following describes a liquid transfer control device for a liquid transfer device of a plate inoculating instrument according to an embodiment of the present invention, and the liquid transfer control device for a liquid transfer device of a plate inoculating instrument described below and the liquid transfer control method for a liquid transfer device of a plate inoculating instrument described above may be referred to in correspondence with each other.
Fig. 4 is a block diagram illustrating a configuration of a pipette control device of a pipette of the plating apparatus according to an embodiment of the present invention, and the pipette control device of the pipette of the plating apparatus shown in fig. 4 may include:
the image acquisition module 100 is used for acquiring a detection image containing the bottom end of the micropipette-clamped micro-suction head and a datum point mark;
the image recognition module 200 is used for carrying out image recognition on the detection image and determining the vertical height difference between the bottom end of the micro-suction head and the reference point mark;
a distance calculation module 300 for determining a downward movement distance at which the bottom end of the micro-tip needs to move downward based on the vertical height difference and a predetermined fixed distance of the reference point mark relative to the upper surface of the plate structure for carrying agar,
and the liquid transfer control module 400 is used for controlling the liquid transfer device to drive the bottom end of the micro suction head to move downwards to the surface of the agar according to the downward moving distance.
In an optional embodiment of the present application, the image recognition module 200 includes:
the image processing unit is used for converting the detection image into a gray level image and carrying out binarization processing on the gray level image to obtain a binarization image;
and the height identification unit is used for identifying the bottom imaging pixel points of the micro suction head and the reference point identification imaging pixel points in the binary image, and determining the vertical height difference according to the number of pixel points of the imaging pixel points of the bottom of the micro suction head and the reference point identification which are different in the vertical direction.
In an alternative embodiment of the present application, the reference point is identified as a top horizontal ridge of a reference member having a horizontal width greater than the diameter of the micropipette;
the height identification unit is used for detecting a connected pixel area in the binary image; identifying imaging pixel points of the micro-suction head according to a preset first length-width ratio range of a connected pixel region corresponding to the micro-suction head and a first duty ratio in the binary image so as to determine the imaging pixel points corresponding to the bottom end of the micro-suction head; and identifying imaging pixel points of the reference component according to a preset second length-width ratio range of a communicated pixel region corresponding to the reference component and a second duty ratio in the binary image, and determining pixel points corresponding to the reference point identification according to the imaging pixel points of the reference component.
In an optional embodiment of the present application, the apparatus further includes an alarm module, configured to send an alarm and display and output the binarized image if the binarized image does not have a connected pixel region corresponding to the micropipette and/or the reference component after detecting the connected pixel region in the binarized image.
In an optional embodiment of the present application, the apparatus further comprises a height acquisition module for acquiring height data of the top surface of the agar on the surface of the plate structure from the reference point identifier before determining a downward movement distance at which the bottom end of the micro-tip needs to move downward according to the vertical height difference;
a distance operation module 300, configured to determine the downward movement distance according to the height data and the vertical height difference.
The liquid transfer control device of the pipettor of the plating apparatus in this embodiment is used to implement the liquid transfer control method of the pipettor of the plating apparatus, so the specific implementation of the liquid transfer control device of the pipettor of the plating apparatus can be found in the above embodiment section of the liquid transfer control method of the pipettor of the plating apparatus, and the specific implementation thereof can refer to the description of the corresponding embodiments of each section, and is not described again here.
The present application also provides an embodiment of a plating apparatus, referring to fig. 2, comprising:
a plate structure 1 for carrying agar 5;
a pipette for holding the micropipette 2;
a reference component 3 with a reference point identification,
wherein the reference point identification is fixed with respect to the distance of the upper surface of the plate structure 1; the device also comprises a camera 4 and a processor;
the camera 4 is used for shooting a detection image containing the bottom end of the micro-suction head 2 and the reference point mark;
the processor is configured to execute the steps of the method for controlling pipetting of a pipette of the plating apparatus according to any of the above-described detection images.
The processor may execute a method of pipette control for a pipettor of a plating apparatus comprising:
acquiring a detection image including the bottom end of the micropipette-clamped micro-suction head 2 and a reference point mark;
carrying out image recognition on the detection image, and determining the vertical height difference between the bottom end of the micro-suction head 2 and the reference point mark;
determining a downward movement distance of the bottom end of the micro-tip 2 required to move downward according to the vertical height difference and a predetermined fixed distance of the datum mark relative to the upper surface of the plate structure 1 for bearing agar;
and controlling the pipettor to drive the bottom end of the micro-suction head 2 to move downwards to the surface of the agar 5 according to the downwards moving distance.
As shown in fig. 2, it is possible to arrange the camera 4 and the reference part 3 on both sides of the micro-tip 2, respectively, with the micro-tip 2 slightly higher than the reference part 3, so that the captured detection image is just above the reference part 3 as shown in fig. 3, facilitating the recognition of the vertical height difference between the micro-tip 2 and the reference point identity.
Optionally, the present embodiment may further include a display, configured to display the detected image, or display a binarized image after performing the grayscale processing and the binarization processing on the detected image, so that a worker determines whether there is an error in the identification of the vertical height difference based on the image.
Optionally, a distance sensor disposed above the plate structure 1 may be further included for collecting height data of the top surface of the agar 5 on the surface of the plate structure 1 from the reference point identification in order to more accurately determine the distance of the micro-tip 2 from the top surface of the agar 5.
It should be noted that, in this document, relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Furthermore, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include elements inherent in the list. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element. In addition, parts of the above technical solutions provided in the embodiments of the present application, which are consistent with the implementation principles of corresponding technical solutions in the prior art, are not described in detail so as to avoid redundant description.
The embodiments are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same or similar parts among the embodiments are referred to each other. The device disclosed by the embodiment corresponds to the method disclosed by the embodiment, so that the description is simple, and the relevant points can be referred to the method part for description.
Claims (7)
1. A liquid transfer control method for a liquid transfer device of a plate inoculation instrument is characterized by comprising the following steps:
acquiring a detection image including the bottom end of the micropipette-clamped micro suction head and a reference point mark;
performing image recognition on the detection image, and determining a vertical height difference between the bottom end of the micro-suction head and the reference point mark;
determining a downward movement distance of the bottom end of the micro-tip required to move downward according to the vertical height difference and a predetermined fixed distance of the datum mark relative to the upper surface of the plate structure for bearing agar;
controlling the pipettor to drive the bottom end of the micropipette to move downwards to the surface of the agar according to the downward movement distance;
performing image recognition on the inspection image to determine a vertical height difference between the bottom end of the micropipette and the datum mark, comprising:
converting the detection image into a gray level image, and performing binarization processing on the gray level image to obtain a binarized image;
identifying bottom imaging pixel points of the micro suction head and the reference point identification imaging pixel points in the binary image, and determining the vertical height difference according to the number of pixel points of the difference between the bottom of the micro suction head and the imaging pixel points of the reference point identification in the vertical direction;
the datum point mark is a top horizontal ridge line of a datum part with the horizontal width larger than the diameter of the micro-suction head;
the bottom imaging pixel points of the micro suction head and the reference point identification imaging pixel points are identified in the binary image, and the method comprises the following steps:
detecting a connected pixel area in the binary image;
identifying imaging pixel points of the micro-suction head according to a preset first length-width ratio range of a connected pixel region corresponding to the micro-suction head and a first duty ratio in the binary image so as to determine the imaging pixel points corresponding to the bottom end of the micro-suction head;
and identifying imaging pixel points of the reference component according to a preset second length-width ratio range of a communicated pixel region corresponding to the reference component and a second duty ratio in the binary image, and determining pixel points corresponding to the reference point identification according to the imaging pixel points of the reference component.
2. The method for controlling pipetting of a pipette of a plate incubator according to claim 1, wherein after detection of a connected pixel region in the binarized image, if a connected pixel region corresponding to the micropipette and/or the reference member does not exist in the binarized image, an alarm is issued and the binarized image is displayed and output.
3. The method of any of claims 1 to 2, wherein prior to determining a downward movement pitch at which the bottom end of the micropipette needs to be moved downward based on the vertical height difference, further comprising:
collecting height data of the agar upper surface on the surface of the flat plate structure from the reference point mark;
determining a downward movement distance at which the bottom end of the micropipette tip needs to move downward based on the vertical height difference, comprising:
and determining the downward movement distance according to the height data and the vertical height difference.
4. A liquid transfer control device of a liquid transfer device of a flat plate inoculation instrument is characterized by comprising:
the image acquisition module is used for acquiring a detection image containing the bottom end of the micropipette-clamped micro-suction head and the reference point mark;
the image recognition module is used for carrying out image recognition on the detection image and determining the vertical height difference between the bottom end of the micro-suction head and the reference point mark;
a spacing operation module for determining the downward movement spacing of the bottom end of the micro-suction head required to move downward according to the vertical height difference and the predetermined fixed distance of the datum mark relative to the upper surface of the plate structure for bearing agar,
the liquid transfer control module is used for controlling the liquid transfer device to drive the bottom end of the micro suction head to move downwards to the surface of the agar according to the downwards moving distance;
the image recognition module specifically comprises:
the image processing unit is used for converting the detection image into a gray level image and carrying out binarization processing on the gray level image to obtain a binarization image;
the height identification unit is used for identifying bottom imaging pixel points of the micro suction head and the reference point identification imaging pixel points in the binary image and determining the vertical height difference according to the number of pixel points of the difference between the bottom of the micro suction head and the imaging pixel points of the reference point identification in the vertical direction;
the datum point mark is a top horizontal ridge line of a datum part with the horizontal width larger than the diameter of the micro-suction head;
a height identification unit for detecting a connected pixel area in the binarized image;
identifying imaging pixel points of the micro-suction head according to a preset first length-width ratio range of a connected pixel region corresponding to the micro-suction head and a first duty ratio in the binary image so as to determine the imaging pixel points corresponding to the bottom end of the micro-suction head;
and identifying imaging pixel points of the reference component according to a preset second length-width ratio range of a communicated pixel region corresponding to the reference component and a second duty ratio in the binary image, and determining pixel points corresponding to the reference point identification according to the imaging pixel points of the reference component.
5. A plating apparatus, comprising: a plate structure for carrying agar; a pipette for holding a micropipette; a fiducial component having a fiducial mark, wherein the fiducial mark is fixed in distance relative to the upper surface of the plate structure; the device also comprises a camera and a processor;
the camera is used for shooting a detection image containing the bottom end of the micro-suction head and the reference point mark;
the processor is configured to execute the steps of the method for controlling pipetting of a pipette of a plating apparatus according to any of claims 1 to 3 based on the detection image.
6. A plating apparatus according to claim 5, further comprising a display for displaying a binarized image from which the detected image is output.
7. A plating apparatus according to claim 5, further comprising a distance sensor disposed above the plate structure for collecting height data of the top surface of the agar on the surface of the plate structure from the datum mark.
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