阅读说明：本技术 一种吸液机构及其工作方法 (liquid suction mechanism and working method thereof ) 是由 刘沐芸 李晓智 杜祥熙 李树盛 于 2019-09-29 设计创作，主要内容包括：本发明涉及一种吸液机构及其工作方法,该机构包括支架、离心瓶、控制芯片、吸液组件以及视觉检测组件,视觉检测组件包括摄像组件以及视觉控制器,摄像组件与视觉控制器连接,视觉控制器、吸液组件分别与控制芯片连接；离心瓶、摄像组件以及吸液组件连接于支架上；通过摄像组件拍摄离心瓶的照片,由视觉控制器进行照片分析后获取液体分层位置信息,将液体分层位置信息发送至控制芯片,由控制芯片驱动吸液组件进行离心瓶内上层清液的吸取操作。本发明实现全自动吸取上层清液,且采用视觉识别检测,液体的分离准确率较高。(The invention relates to a liquid suction mechanism and a working method thereof, wherein the liquid suction mechanism comprises a bracket, a centrifugal bottle, a control chip, a liquid suction assembly and a visual detection assembly, wherein the visual detection assembly comprises a camera assembly and a visual controller; the centrifugal bottle, the camera shooting assembly and the liquid suction assembly are connected to the bracket; shoot the photo of centrifuge bottle through the subassembly of making a video recording, carry out the photo analysis by the vision controller and obtain liquid layering position information after, with liquid layering position information transmission to control chip, carry out the absorption operation of supernatant fluid in the centrifuge bottle by control chip drive imbibition subassembly. The invention realizes full-automatic absorption of supernatant, and adopts visual identification detection, so that the liquid separation accuracy is higher.)

1. A liquid suction mechanism is characterized by comprising a support, a centrifugal bottle, a control chip, a liquid suction assembly and a visual detection assembly, wherein the visual detection assembly comprises a camera shooting assembly and a visual controller, the camera shooting assembly is connected with the visual controller, and the visual controller and the liquid suction assembly are respectively connected with the control chip; the centrifugal bottle, the camera shooting assembly and the liquid suction assembly are connected to the bracket; through the subassembly of making a video recording shoots the photo of centrifuge bottle, by the vision controller carries out the photo analysis after acquireing liquid layering position information, with liquid layering position information send to control chip, by control chip drive the imbibition subassembly carries out the absorption operation of upper clear liquid in the centrifuge bottle.

2. a fluid aspirating mechanism as recited in claim 1, wherein the camera assembly comprises a camera disposed on a side of the centrifuge bottle and a light source disposed on a side of the centrifuge bottle.

3. A pipetting mechanism as recited in claim 2 wherein the pipetting assembly includes a moving structure, a peristaltic pump connected to the moving structure, and a pipette connected to the peristaltic pump, the centrifuge tube being positioned below the peristaltic pump.

4. A fluid aspirating mechanism as recited in claim 3, wherein the moving structure comprises a servo module, the servo module is connected to the carriage, a sled mounting plate is connected to the servo module, and the fluid aspirating tube is connected to the sled mounting plate.

5. A pipette mechanism as recited in claim 4 wherein a pipette mounting plate is attached above the sled mounting plate, the pipette mounting plate having a securing feature thereon, the pipette being inserted onto the pipette mounting plate.

6. A fluid aspirating mechanism as recited in claim 4, wherein the servo module is attached to the frame by a module mount.

7. A fluid aspirating mechanism as recited in claim 2, wherein the light source is attached to the support by a light source mount.

8. A fluid intake mechanism as claimed in any one of claims 3 to 6, further comprising a fluid collection bag for storing supernatant fluid, the bag being connected to the support by a bag mount and the bag being connected to the peristaltic pump by a fluid outlet tube.

9. A method of operating a pipetting mechanism comprising:

Shoot the photo of centrifugal flask through the subassembly of making a video recording, carry out the photo analysis by the vision controller and obtain liquid layering position information after, with liquid layering position information transmission to control chip, carry out by control chip drive imbibition subassembly the absorption operation of supernatant in the centrifugal flask.

10. the method of claim 9, wherein the obtaining of the liquid layering position information after the photo analysis by the vision controller comprises:

The visual controller carries out graying processing on the picture to obtain a grayscale image;

Performing Gaussian filtering on the gray level image to obtain a de-noised image;

Calculating gradient values and directions of the de-noised images to obtain images with gradient values;

and carrying out non-maximum value inhibition, double-threshold selection and edge detection on the image with the gradient value to obtain liquid layering position information.

Technical Field

The invention relates to a liquid suction mechanism, in particular to a liquid suction mechanism and a working method thereof.

Background

In the cell preparation process, after the liquid for transferring cells needs to be subjected to centrifugal operation, the cultured stem cells are stripped from a culture dish, the culture dish contains the stem cells and culture solution at the same time, after the stem cells are separated by a centrifugal machine, the cells are precipitated at the bottom of a centrifugal screen, and the centrifuged supernatant needs to be separated from a centrifugal bottle for cell culture.

At present, in the manual or automatic stem cell preparation process, the supernatant is taken out by adopting a mode of manually and quickly pouring liquid by an operator, the existing efficiency is low, partial cells are easy to flow out along with the supernatant in the operation process, or a colloid dispersion system formed by dispersing small particles of the supernatant and suspending the small particles in a gas medium causes cross contamination to the environment, or partial liquid is adhered to the wall of a culture dish and cannot be completely separated in the liquid pouring process, so that the success rate of cell culture is reduced.

Therefore, it is necessary to design a new mechanism to achieve full-automatic supernatant liquid suction with high accuracy.

Disclosure of Invention

The invention aims to overcome the defects of the prior art and provides a liquid suction mechanism and a working method thereof.

In order to achieve the purpose, the invention adopts the following technical scheme: a liquid suction mechanism comprises a support, a centrifugal bottle, a control chip, a liquid suction assembly and a visual detection assembly, wherein the visual detection assembly comprises a camera shooting assembly and a visual controller, the camera shooting assembly is connected with the visual controller, and the visual controller and the liquid suction assembly are respectively connected with the control chip; the centrifugal bottle, the camera shooting assembly and the liquid suction assembly are connected to the bracket; through the subassembly of making a video recording shoots the photo of centrifuge bottle, by the vision controller carries out the photo analysis after acquireing liquid layering position information, with liquid layering position information send to control chip, by control chip drive the imbibition subassembly carries out the absorption operation of upper clear liquid in the centrifuge bottle.

The further technical scheme is as follows: the camera shooting assembly comprises a camera and a light source, the camera is arranged on one side of the centrifuge bottle, and the light source is arranged on one side of the centrifuge bottle.

The further technical scheme is as follows: the imbibition subassembly is including removing structure, peristaltic pump and pipette, the peristaltic pump connect in remove structural, the pipette with the peristaltic pump is connected, the centrifuging tube is arranged in the below of peristaltic pump.

The further technical scheme is as follows: the moving structure comprises a servo module, the servo module is connected to the support, a sliding plate mounting plate is connected to the servo module, and the pipette is connected to the sliding plate mounting plate.

the further technical scheme is as follows: the upper portion of the sliding plate mounting plate is connected with a pipette mounting plate, a fixing part is arranged on the pipette mounting plate, and the pipette is inserted into the pipette mounting plate.

The further technical scheme is as follows: the servo module is connected to the support through a module mounting frame.

The further technical scheme is as follows: the light source is connected to the bracket through a light source fixing frame.

The further technical scheme is as follows: the liquid collecting device is characterized by further comprising a liquid collecting bag for storing supernatant, wherein the liquid collecting bag is connected to the support through a liquid collecting bag fixing frame, and the liquid collecting bag is connected with the peristaltic pump through a liquid outlet pipe.

The invention also provides a working method of the liquid suction mechanism, which comprises the following steps:

Shoot the photo of centrifugal flask through the subassembly of making a video recording, carry out the photo analysis by the vision controller and obtain liquid layering position information after, with liquid layering position information transmission to control chip, carry out by control chip drive imbibition subassembly the absorption operation of supernatant in the centrifugal flask.

The further technical scheme is as follows: the acquiring of the liquid layering position information after the photo analysis by the vision controller comprises the following steps:

The visual controller carries out graying processing on the picture to obtain a grayscale image;

Performing Gaussian filtering on the gray level image to obtain a de-noised image;

calculating gradient values and directions of the de-noised images to obtain images with gradient values;

And carrying out non-maximum value inhibition, double-threshold selection and edge detection on the image with the gradient value to obtain liquid layering position information.

Compared with the prior art, the invention has the beneficial effects that: according to the invention, the visual detection assembly and the liquid suction assembly are arranged, the visual detection assembly is used for obtaining the picture of the centrifugal bottle, the edge detection is carried out on the picture to obtain the liquid layering position information, and the control chip is used for driving the moving structure to move corresponding displacement according to the liquid layering position information, so that the liquid suction tube can only suck the supernatant liquid, the full-automatic suction of the supernatant liquid is realized, and the visual identification detection is adopted, so that the liquid separation accuracy is higher.

The invention is further described below with reference to the accompanying drawings and specific embodiments.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.

Fig. 1 is a schematic perspective view of a liquid suction mechanism according to an embodiment of the present invention.

Detailed Description

in order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in detail with reference to the accompanying drawings and the detailed description.

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the 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.

In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", and the like, indicate orientations and positional relationships based on those shown in the drawings, and are used only for convenience of description and simplicity of description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be considered as limiting the present invention.

furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless specifically defined otherwise.

In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be connected or detachably connected or integrated; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

In the present invention, unless otherwise expressly stated or limited, "above" or "below" a first feature means that the first and second features are in direct contact, or that the first and second features are not in direct contact but are in contact with each other via another feature therebetween. Also, the first feature being "on," "above" and "over" the second feature includes the first feature being directly on and obliquely above the second feature, or merely indicating that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature includes the first feature being directly under and obliquely below the second feature, or simply meaning that the first feature is at a lesser elevation than the second feature.

in the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above should not be understood to necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples described in this specification can be combined and combined by one skilled in the art.

As shown in the specific embodiment shown in fig. 1, the liquid suction mechanism provided in this embodiment can be applied to a centrifugal liquid processing scenario, so as to achieve full-automatic suction of supernatant, and the liquid separation accuracy is high.

Referring to fig. 1, the liquid suction mechanism includes a bracket (not shown), a centrifuge bottle, a control chip, a liquid suction assembly and a visual inspection assembly, the visual inspection assembly includes a camera assembly and a visual controller 10, the camera assembly is connected with the visual controller 10, and the visual controller 10 and the liquid suction assembly are respectively connected with the control chip; the centrifugal bottle, the camera shooting assembly and the liquid suction assembly are connected to the bracket; shoot the photo of centrifugal flask through the subassembly of making a video recording, carry out the photo analysis by vision controller 10 and obtain liquid layering position information, with liquid layering position information transmission to control chip, carry out the absorption operation of upper clear liquid in the centrifugal flask by control chip drive imbibition subassembly.

Shoot the photo by the visual detection subassembly, from the angle that visual identification detected, discern the boundary of the non-clear liquid of upper clear liquid and lower floor in the centrifuge bottle to absorb the upper clear liquid by control chip drive imbibition subassembly, both can realize absorbing the upper clear liquid fully automatically, separate the liquid in centrifuge tube 40, and the rate of accuracy of liquid separation is high.

In one embodiment, the camera assembly comprises a camera 11 and a light source 12, the camera 11 is disposed on one side of the centrifuge bottle, and the light source 12 is disposed on one side of the centrifuge bottle.

The light source 12 can play a role in supplementing light when the centrifugal tube 40 is shot by the camera 11, so that the accuracy of identification is improved.

In one embodiment, referring to fig. 1, the pipetting assembly includes a moving structure, a peristaltic pump (not shown) connected to the moving structure, and a pipette (not shown) connected to the peristaltic pump, wherein the centrifuge tube 40 is disposed below the peristaltic pump. The moving structure can drive the pipette to move so as to flexibly adjust the height of the pipette according to the boundary of the cells and the supernatant. The camera 11 is used for detecting the height of the cells from the bottom of the bottle to the boundary of the supernatant in the centrifuge bottle; the height data is transmitted to the control chip, the control chip controls the stroke of the moving structure, the liquid suction pipe is controlled to descend to the boundary of the supernatant and the cells, then the peristaltic pump is started to suck the supernatant out, and the supernatant is collected in the liquid collection bag, so that the purpose of fully automatically sucking the supernatant is achieved.

in one embodiment, the moving structure includes a servo module 30, the servo module 30 is connected to the rack, a slide mounting plate 31 is connected to the servo module 30, and the pipette is connected to the slide mounting plate 31.

Specifically, the servo module 30 is provided with a slider, and the sliding plate mounting plate 31 is connected to the slider to slide on the servo module 30, so as to drive the sliding plate mounting plate 31 to move up and down, thereby achieving the up and down movement of the pipette.

In an embodiment, referring to fig. 1, a pipette mounting plate is connected above the slide plate mounting plate 31, and a fixing member is disposed on the pipette mounting plate, and the pipette is inserted into the pipette mounting plate. The pipette mounting panel can play the guide effect in inserting the centrifuge bottle to the pipette, and the operation of absorbing the supernatant in establishing the centrifuge bottle is inserted fast to the pipette of being convenient for.

The pipette mounting plate comprises a transition plate 21 and a vertical plate 20, wherein the upper end surface of the transition plate 21 is arranged above the sliding plate mounting plate 31, the vertical plate 20 is connected to the lower end surface of the transition plate 21, and the fixing part is connected to the outer side surface of the vertical plate 20.

In addition, the fixing part comprises a left clamping block and a right clamping block, a groove for the liquid suction pipe to be inserted is formed by enclosing between the left clamping block and the right clamping block, and the liquid suction pipe is fixed by the left clamping block and the right clamping block.

In one embodiment, referring to fig. 1, the servo module 30 is connected to the frame through a module mount.

In one embodiment, referring to fig. 1, the light source 12 is connected to the bracket through a light source fixing frame 13.

in one embodiment, referring to FIG. 1, the camera 11 is attached to the stand by a camera mount 14.

In an embodiment, the liquid suction mechanism further includes a liquid collection bag (not shown in the figure) for storing supernatant, the liquid collection bag is connected to the bracket through a liquid collection bag fixing frame, and the liquid collection bag is connected to the peristaltic pump through a liquid outlet pipe. And the liquid collecting bag is used for collecting the supernatant liquid absorbed.

In the present embodiment, the model of the control chip is, but not limited to, STM32F103ZET 6; the vision controller 10 is of the type described above, but not limited to, SCI-Q3.

The vision controller 10 uses edge detection technology to identify and obtain the liquid layering position information, firstly detects the discontinuity of the local characteristics of the graph, then connects them into boundaries, the boundaries divide the graph into different areas, and the graph with the detected edges can be used for feature extraction and shape analysis.

Foretell liquid suction structure, through setting up visual detection subassembly and liquid suction subassembly, acquire the photo of centrifuge bottle by the visual detection subassembly, and adopt and carry out edge detection to this photo, in order to obtain liquid layering positional information, and move the displacement that the structure removed the correspondence according to liquid layering positional information drive by control chip, make the pipette can only absorb the supernatant, realize full-automatic absorption supernatant, and adopt visual identification to detect, the separation rate of accuracy of liquid is higher.

In one embodiment, there is also provided a method of operating a pipetting mechanism comprising:

Shoot the photo of centrifugal flask through the subassembly of making a video recording, carry out the photo analysis by vision controller 10 and obtain liquid layering position information, with liquid layering position information transmission to control chip, carry out the absorption operation of upper clear liquid in the centrifugal flask by control chip drive imbibition subassembly.

the above "acquiring the liquid layer position information after the photographic analysis by the vision controller 10" includes:

The vision controller 10 performs graying processing on the picture to obtain a grayscale image;

Performing Gaussian filtering on the gray level image to obtain a de-noised image;

Calculating gradient values and directions of the de-noised images to obtain images with the gradient values;

And carrying out non-maximum value inhibition, double-threshold selection and edge detection on the image with the gradient value to obtain liquid layering position information.

Specifically, the local characteristic discontinuity of the graph at the edge of the graph, such as the reflection of a gray level abrupt change, a color abrupt change, a texture abrupt change and the like, marks the end of one region and the beginning of another region, and for the sake of convenience of calculation, the first-order and second-order derivatives are usually selected to detect the boundary, and the derivative method is used to easily detect the discontinuous effect of the gray level. In this example, Canny operator was used to detect the edges of the cells and the supernatant.

The above-mentioned vision controller 10 performs a graying process on the picture to obtain a grayscale image, in order to change the color image into a grayscale image; the formula used for graying is generally: gray is 0.299R +0.587G +0.114B, Gray is a Gray value, R is a red primary color value, G is a green primary color value, and B is a blue primary color value.

The gaussian filtering is performed on the grayscale image to obtain the de-noised image, so as to remove noise from the grayscale image, and further improve the accuracy of edge detection, because the noise is also concentrated in the high-frequency signal and is easily identified as a false edge. And removing noise by applying Gaussian blur, and reducing the identification of false edges. However, since the image edge information is also a high frequency signal, the selection of the radius of the gaussian blur is important, and an excessively large radius easily makes some weak edges undetectable.

For calculating gradient value G and direction of the denoised image to obtain an image with gradient values, the edge of the image can point to different directions, so that the classic Canny algorithm uses four gradient operators to calculate the gradient in the horizontal direction, the vertical direction and the diagonal direction respectively. But four gradient operators are generally not used to compute four directions separately. Common edge difference operators such as Rober, Prewitt, Sobel calculate the differences Gx and Gy in the horizontal and vertical directions. The gradient value G and the direction θ can thus be calculated as follows:θ＝atan2(G_y，G_x) (ii) a The gradient angle θ ranges from radian- π to π, and is approximated to four directions, representing horizontal, vertical, and two diagonal directions (0, 45, 90, 135), respectively. The segmentation may be performed in ± i pi/8 (i ═ 1,3,5,7), and the gradient angle falling in each region is given a specific value, representing one of the four directions.

And carrying out non-maximum suppression, double-threshold selection and edge detection on the image with the gradient value to obtain liquid layering position information, wherein the non-maximum suppression is an edge thinning method and suppresses elements which are not maximum. The gradient edge that is usually obtained is more than one pixel wide, but a plurality of pixels wide. And a double threshold is selected, and in a common edge detection algorithm, a threshold is used for filtering small gradient values caused by noise or color change, and large gradient values are reserved. The Canny algorithm applies dual thresholds, a high threshold and a low threshold, to distinguish edge pixels. If the gradient value of the edge pixel point is larger than the high threshold value, the edge pixel point is considered as a strong edge point. If the edge gradient value is less than the high threshold and greater than the low threshold, the edge point is marked as a weak edge point. Points below the low threshold are suppressed. Up to this point, strong edge points can be considered true edges. Weak edge points may be true edges or may be caused by noise or color changes. For accurate results, the weak edge points caused by the latter should be removed. It is generally considered that the weak edge points and the strong edge points caused by the real edges are connected, but the weak edge points caused by the noise are not. The so-called lag boundary tracking algorithm examines the 8 connected domain pixels of a weak edge point, which is considered to be true edge left as long as a strong edge point exists. After the photo is processed by the method, the edge boundary of the cell and the supernatant can be obtained, and the highest position h of the cell in the centrifugal bottle, namely the liquid layering position information, can be obtained, so that the accuracy of liquid separation is improved.

The motor in the servo module 30 rotates to drive the slider on the screw rod in the servo module 30 to move up and down. The slider is provided with a mounting slide plate mounting plate 31, and the pipette is fixed on the slide plate mounting plate 31 by a pipette mounting rod, so that the pipette can move up and down linearly when the motor of the servo module 30 rotates. Through visual inspection technique, the height of cell at the centrifugal flask is surveyed and calculated, and servo module 30's motor drives the pipette from top to bottom, moves to appointed position.

the peristaltic pump is respectively connected with the liquid suction pipe and the liquid collecting bag, and after the peristaltic pump is started, the liquid suction pipe and the liquid outlet pipe of the peristaltic pump are alternately squeezed and released to pump fluid. Just like squeezing the hose with two fingers, along with the removal of finger, negative pressure forms in the intraductal, and liquid flows thereupon to inhale the collection liquid bag to the supernatant of centrifuging tube 40, easy operation, and efficient.

It should be noted that, as will be clear to those skilled in the art, the specific implementation process of the working method of the liquid suction mechanism described above can refer to the corresponding description in the previous embodiment of the liquid suction mechanism, and for convenience and brevity of description, no further description is provided herein.

The technical contents of the present invention are further illustrated by the examples only for the convenience of the reader, but the embodiments of the present invention are not limited thereto, and any technical extension or re-creation based on the present invention is protected by the present invention. The protection scope of the invention is subject to the claims.